Load end torque fluctuation suppression method, electronic device and storage medium

Abstract

The embodiment of the present application relates to the field of motor technology, and discloses a method for suppressing torque fluctuation at the load end, including: obtaining the torque fluctuation period based on the load reduction ratio; setting multiple sampling positions within the torque fluctuation period; obtaining the fluctuation torque value of each sampling position, and obtaining the torque compensation increment of each sampling position; obtaining the position value of the load within the torque fluctuation period based on the incremental position of the actual operation of the load and the torque fluctuation period; obtaining the compensation array value corresponding to the sampling position based on the position value of the load within the torque fluctuation period; and compensating the load output torque based on the torque compensation increment corresponding to the compensation array value. The embodiment of the present application achieves the purpose of suppressing load fluctuation in advance by compensating the load output torque at the sampling position.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of motor technology, and in particular to a method for suppressing load-end torque fluctuations, an electronic device, and a storage medium. Background Art

[0002] As control technology continues to improve, the requirements for the installation accuracy of mechanical equipment are also increasing. During the movement of mechanical equipment, elastic deformation occurs due to limited mechanical rigidity, resulting in angular deviation. In addition, there will be problems with bias when the mechanical assembly is fitted, or the gears or reducers of the mechanical load will age and wear after long-term use, and the output accuracy will also decrease, which will make it difficult for the previously debugged system equipment to output the original debugging accuracy. Therefore, it is necessary to replace mechanical parts, which reduces the service life and virtually increases unnecessary debugging time.

[0003] For mechanical rotating load eccentricity, such as reducer, in actual operation, the installation concentricity difference between the motor and the reducer is quite obvious, which leads to different torque fluctuations caused by concentricity deviation, causing system error and reducing operation accuracy. Summary of the invention

[0004] The purpose of the embodiments of the present application is to provide a method for suppressing load-end torque fluctuations, an electronic device, and a storage medium to compensate for the load output torque at a sampling position to achieve the purpose of suppressing load fluctuations in advance.

[0005] To solve the above technical problems, an embodiment of the present application provides a method for suppressing torque fluctuations at the load end, including: obtaining a torque fluctuation period based on a load reduction ratio; setting multiple sampling positions within the torque fluctuation period; obtaining a fluctuation torque value at each sampling position, and obtaining a torque compensation increment at each sampling position; obtaining a position value of the load within the torque fluctuation period based on the incremental position of the actual operation of the load and the torque fluctuation period; obtaining a compensation array value corresponding to the sampling position based on the position value of the load within the torque fluctuation period; and compensating the load output torque based on the torque compensation increment corresponding to the compensation array value.

[0006] In addition, the position value of the load within the torque fluctuation period is obtained by formula (1):

[0007] Pos2=(EncPos-Pos1) / T inc (1)

[0008] Among them, Pos2 is the position value of the load in the torque fluctuation period, EncPos is the encoder count value corresponding to the actual operating position of the load, Pos1 is the encoder count value corresponding to the trigger position of the load, T incis the torque fluctuation period.

[0009] In addition, the compensation array value is obtained by formula (2):

[0010]

[0011] Among them, i is the compensation array value, P max is the number of sampling locations.

[0012] In addition, before obtaining the fluctuating torque value of each sampling position and obtaining the torque compensation increment of each sampling position, it includes: setting the torque compensation starting position; judging whether the load is in a uniform speed state; if not, the torque compensation starting position is the encoder count value corresponding to the actual operating position of the load, and the fluctuating torque value of the sampling position is 0; if so, the torque compensation starting position is the encoder count value corresponding to the actual operating position of the load, and enters the sampling state.

[0013] In addition, the fluctuating torque value at the sampling position is obtained when the load runs clockwise, and / or the fluctuating torque value at the sampling position is obtained when the load runs counterclockwise; the fluctuating torque value at each sampling position is obtained, including: when the load is in a uniform speed state, setting a trigger position; judging whether the encoder count value corresponding to the actual running position of the load is less than the encoder count value corresponding to the trigger position; if so, the actual torque value of the load before the sampling position is equal to the current output torque value of the load; if not, the actual torque value of the load after the sampling position is equal to the current output torque value of the load; based on the actual torque value of the load before the sampling position and the actual torque value of the load after the sampling position, the fluctuating torque values ​​at different sampling positions are obtained.

[0014] In addition, the fluctuation torque values ​​at different sampling positions are obtained by formula (3):

[0015]

[0016] Among them, T p [i] is the fluctuation torque value at different sampling positions, T p0 is the actual torque value of the load before the sampling position, T p1 is the actual torque value of the load after the sampling position, and i is the array value of the sampling position.

[0017] In addition, the torque compensation increment at each sampling position is obtained based on the fluctuation torque values ​​at adjacent sampling positions.

[0018] In addition, the load reduction ratio is the ratio of the number of load rotations to the number of motor rotations; when the load reduction ratio is greater than or equal to 1, the torque fluctuation period is equal to 1; when the load reduction ratio is less than 1, the torque fluctuation period is equal to the load reduction ratio.

[0019] An embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned load-end torque fluctuation suppression method.

[0020] An embodiment of the present application also provides a computer-readable storage medium storing a computer program, which implements the above-mentioned load-end torque fluctuation suppression method when executed by a processor.

[0021] Compared with the prior art, the technical solution provided by the embodiment of the present application has the following advantages:

[0022] The embodiment of the present application aims at the problem that the load output torque fluctuates due to the concentricity deviation when the load and the motor are running, thereby causing the synchronous operation accuracy of the load and the motor to be poor. A method for suppressing the torque fluctuation at the load end is proposed, and the purpose of suppressing the concentricity deviation is achieved by compensating the torque fluctuation. First, based on the load reduction ratio, the torque fluctuation period is obtained; within the torque fluctuation period, multiple sampling positions are set; the fluctuation torque value of each sampling position is obtained, and the torque compensation increment of each sampling position is obtained; based on the incremental position of the actual operation of the load and the torque fluctuation period, the position value of the load within the torque fluctuation period is obtained; based on the position value of the load within the torque fluctuation period, the compensation array value corresponding to the sampling position is obtained; based on the torque compensation increment corresponding to the compensation array value, the load output torque is compensated, thereby reducing the concentricity deviation of the load and the motor and improving the synchronous operation accuracy of the load and the motor. The present application obtains the torque compensation increments at different sampling positions, obtains the compensation array values ​​corresponding to the sampling positions to be compensated based on the incremental positions of the actual operation of the load, and directly superimposes the torque compensation increments at the sampling positions to be compensated, so as to achieve the purpose of suppressing load fluctuations in advance, while reducing the concentricity deviation of the load and the motor, and improving the synchronous operation accuracy of the load and the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0023] One or more embodiments are exemplarily described by the pictures in the corresponding drawings, and these exemplary descriptions do not constitute limitations on the embodiments.

[0024] Figure 1 It is a flow chart of a method for suppressing load-end torque fluctuation provided by an embodiment of the present application;

[0025] Figure 2 It is a schematic diagram of a flow chart of obtaining a fluctuating torque value at a sampling position according to a load state provided by an embodiment of the present application;

[0026] Figure 3It is a schematic diagram of a flow chart of obtaining a fluctuating torque value at a sampling position when a load is in a uniform speed state provided by an embodiment of the present application;

[0027] Figure 4 It is a schematic diagram of a flow chart of obtaining a fluctuating torque value at a sampling position when a load is in a uniform speed state, provided by another embodiment of the present application;

[0028] Figure 5 It is a structural schematic diagram of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0029] To make the purpose, technical scheme and advantages of the embodiments of the present application clearer, the embodiments of the present application will be described in detail below in conjunction with the accompanying drawings. However, it will be appreciated by those skilled in the art that in the present application, many technical details are proposed in order to enable the reader to better understand the present application. However, even without these technical details and various changes and modifications based on the following embodiments, the technical scheme claimed in the present application can also be implemented. The division of the following embodiments is for the convenience of description, and the specific implementation of the present application should not be construed as any limitation, and the various embodiments can be combined and referenced with each other under the premise of no contradiction.

[0030] See also Figure 1 , the embodiment of the present application provides a method for suppressing load end torque fluctuation, comprising:

[0031] Step S1: Obtain the torque fluctuation period based on the load reduction ratio.

[0032] Step S2, setting a plurality of sampling positions within a torque fluctuation period;

[0033] Step S3: Obtain the fluctuation torque value at each sampling position, and obtain the torque compensation increment at each sampling position.

[0034] Step S4: based on the incremental position of the load actually running and the torque fluctuation period, obtain the position value of the load within the torque fluctuation period.

[0035] Step S5: Based on the position value of the load within the torque fluctuation period, a compensation array value corresponding to the sampling position is obtained.

[0036] Step S6: Compensate the load output torque based on the torque compensation increment corresponding to the compensation array value.

[0037] The embodiment of the present application mainly aims at the problem of periodic pulsating torque fluctuation caused by eccentric installation of mechanical rotating loads, and proposes a method for suppressing torque fluctuation at the load end, which compensates the load output torque at the sampling position to achieve the purpose of suppressing load fluctuation in advance.

[0038] It should be noted that the load of the embodiment of the present application may be, for example, a reducer, which can be effectively identified during the motor control process and complete the torque fluctuation suppression and compensation functions to a certain extent, so that it can better adapt to mechanical errors.

[0039] The load-end torque fluctuation suppression method provided in the embodiment of the present application can be applied to compensate for mechanical errors in the processing technology of circular knife die-cutting equipment. Circular knife die-cutting generally consists of a knife shaft and a material shaft, and a knife seat is installed on the knife shaft; the knife shaft generally operates in a position mode or a speed mode, and is mainly responsible for the material belt transmission and outer surface processing; the material shaft works in a torque mode, maintains constant tension operation, and is used for the transmission, winding and unwinding of the load material belt. When the circular knife die-cutting equipment is in operation, the knife shaft usually maintains a constant speed, and the knife shaft drives the load material belt to run in one direction through the rubber roller placed on the knife shaft. At the same time, special tools for different processing technologies will be installed on the knife shaft, and the tools at different positions are combined at a constant speed to complete the processing of the load equipment. By checking whether the preset shape pattern is formed at the final output position, the synchronization performance of the rectification die-cutting system can be effectively tested. If the synchronization performance of the die-cutting system is not good, the preset shape pattern will not be formed in the end.

[0040] Usually, there are several control methods for circular die cutting:

[0041] (1) Synchronous control: All tool axes are kept in sync with the virtual axes of the controller.

[0042] (2) Asynchronous control: This is another major process of the die-cutting machine, that is, the master and slave axes maintain a specific ratio during operation, such as the master axis running 100mm and each slave axis running 90mm.

[0043] (3) Constant tension control: All material shafts are operated under constant tension control. The output torque on the motor shaft must be calculated in real time based on the roll diameter of the load and the constant tension, so as to effectively maintain the balanced force of the processing equipment.

[0044] (4) Tracking control: Using photoelectric sensors installed in a fixed position on the machine, the running trajectory of the load end is adjusted in real time to achieve a closed-loop control accuracy.

[0045] (5) Display control: Generally, the controller and the user operation display screen are connected through modbus, etc., for user operation and display control, etc.

[0046] Therefore, based on the above-mentioned circular knife die-cutting control method and process requirements, the operation synchronization between the knife shafts directly determines the accuracy of the produced products. The accuracy of the product is determined by the running accuracy of the motor controlled by the servo controller on the one hand, and the running accuracy between the motor end and the load end on the other hand. Generally speaking, the theoretical accuracy of the servo motor can be very high, but the actual running accuracy of the load often limits the final accuracy effect of the die-cutting industry. In actual operation, the difference in installation concentricity between the motor and the knife seat reducer is quite obvious, so it is difficult to ensure that all the knife seats on a die-cutting machine have the same installation accuracy, which leads to different torque fluctuations caused by assembly concentricity between different knife shafts in actual operation, thereby increasing the synchronization error of each operation stage of the circular knife die-cutting equipment.

[0047] In order to suppress this synchronization error, the embodiment of the present application proposes a load-end torque fluctuation suppression method, which compensates for the torque fluctuation to suppress the concentricity deviation and increase the synchronous operation accuracy of related industries such as die cutting. Since the fluctuation of the concentricity deviation of the reducer installation has an obvious characteristic, the frequency of its torque fluctuation is generally proportional to the number of revolutions of the reducer, so the torque fluctuation period can be obtained by the load reduction ratio. First, based on the load reduction ratio, the torque fluctuation period is obtained; then, within the torque fluctuation period, multiple sampling positions are set; then, the fluctuation torque value of each sampling position is obtained, and the torque compensation increment of each sampling position is obtained; then, according to the incremental position of the actual operation of the load and the torque fluctuation period, the position value of the load within the torque fluctuation period is obtained; next, according to the position value of the load within the torque fluctuation period, the compensation array value corresponding to the sampling position is obtained; finally, according to the torque compensation increment corresponding to the compensation array value, the load output torque is compensated.

[0048] The embodiment of the present application obtains the torque compensation increments at different sampling positions, obtains the compensation array value corresponding to the sampling position to be compensated based on the incremental position of the actual operation of the load, and directly superimposes the torque compensation increment on the sampling position to be compensated, so as to achieve the purpose of suppressing load fluctuations in advance, while reducing the concentricity deviation of the load and the motor, and improving the synchronous operation accuracy of the load and the motor.

[0049] In some embodiments, the torque fluctuation period is obtained based on the load reduction ratio, which is the ratio of the number of load rotations to the number of motor rotations; when the load reduction ratio is greater than or equal to 1, the torque fluctuation period is equal to 1; when the load reduction ratio is less than 1, the torque fluctuation period is equal to the load reduction ratio.

[0050] As mentioned above, the fluctuation of the concentricity deviation of the reducer installation has an obvious characteristic. The frequency of the torque fluctuation is generally proportional to the number of revolutions of the reducer. Therefore, the torque fluctuation period can be obtained by the load reduction ratio. Let the load reduction ratio be k, where k is the ratio of the number of revolutions of the load to the number of revolutions of the motor; when the load is a reducer, k is expressed as:

[0051]

[0052] When the load reduction ratio k≥1, it means that the motor runs one circle and the load runs multiple circles, then the torque fluctuation period T r =1.

[0053] When the load reduction ratio k is less than 1, it means that the load runs one circle and the motor runs multiple circles, then the torque fluctuation period T r =k.

[0054] As an example, when the load reduction ratio k is 1:5, it means that the reducer runs one circle and the motor runs five circles; when the load reduction ratio k is 5:1, it means that the reducer runs five circles and the motor runs one circle.

[0055] In some embodiments, the torque fluctuation period is obtained by formula (4):

[0056] T inc =T r *PulsePR (4)

[0057] Among them, T inc is the torque fluctuation period, T r is the rotation speed fluctuation period, and PlusePR is the single-turn pulse value of the encoder.

[0058] It should be noted that when obtaining the torque fluctuation period T inc When the speed fluctuation period T is first obtained based on the load reduction ratio r , the unit of the speed fluctuation period is r (revolution); the unit of the torque fluctuation period is inc (encoder resolution); that is to say, based on the load reduction ratio, after obtaining the speed fluctuation period, the speed fluctuation period in revolutions is converted into the torque fluctuation period in encoder resolution, thus obtaining the torque fluctuation period of the load.

[0059] As an example, the single-turn pulse value of the encoder PlusePR is 131072inc. When the load reduction ratio k is 1:5, the motor runs five turns and the load runs one turn. The rotation fluctuation period T r =k=1 / 5; According to formula (4), the torque fluctuation period T inc =1 / 5*131072inc. In the torque fluctuation period T incIn the embodiment, multiple sampling positions are set, and the collected torque data needs to involve the range of one rotation of the load in the positive direction and / or the range of one rotation of the load in the reverse direction. Here, it should be noted that in order to ensure the accuracy of the torque compensation increment data calculated later, the fluctuating torque values ​​of different sampling positions when the load is running in the positive direction and the fluctuating torque values ​​of different sampling positions when the load is running in the reverse direction are usually collected.

[0060] In some embodiments, the position value of the load within the torque fluctuation period is obtained by formula (1):

[0061] Pos2=(EncPos-Pos1) / T inc (1)

[0062] Among them, Pos2 is the position value of the load in the torque fluctuation period, EncPos is the encoder count value corresponding to the actual operating position of the load, Pos1 is the encoder count value corresponding to the trigger position of the load, T inc is the torque fluctuation period.

[0063] The embodiment of the present application achieves the purpose of suppressing load fluctuation in advance by feed-forward compensation of the torque in operation. As shown in formula (1), the incremental position of the load in actual operation is obtained by subtracting the encoder count value Pos1 corresponding to the load at the trigger position from the encoder count value EncPos corresponding to the actual operation position of the load; inc Take the remainder and get the position value Pos2 of the load within the torque fluctuation period.

[0064] In some embodiments, the compensation array value is obtained by formula (2):

[0065]

[0066] Among them, i is the compensation array value, P max is the number of sampling locations, T inc is the torque fluctuation period.

[0067] It should be noted that the compensation array value i is obtained by rounding down the value in formula (2).

[0068] As shown in formula (2), the position value Pos2 of the load in the torque fluctuation period is divided into the number of sampling positions P max Multiply them to get the fluctuation value of the load in the torque fluctuation period, and then use the fluctuation value of the load in the torque fluctuation period to calculate the torque fluctuation period T inc To take the remainder, the compensation array value i is obtained, and then the output torque at the i-th sampling position is compensated.

[0069] See also Figure 2In some embodiments, before obtaining the fluctuation torque value of each sampling position and obtaining the torque compensation increment of each sampling position, the following steps are included:

[0070] Step S201, setting the torque compensation starting position.

[0071] Step S202: determine whether the load is in a uniform speed state.

[0072] If not, then execute step S203, the torque compensation starting position is the encoder count value corresponding to the actual operating position of the load, and the fluctuation torque value of the sampling position is 0;

[0073] If yes, step S203' is executed, the torque compensation starting position is the encoder count value corresponding to the actual operating position of the load, and the sampling state is entered.

[0074] Specifically, in step S201, the torque compensation starting position is set, and the encoder count value corresponding to the torque compensation starting position is Pos0. Then, step S202 is executed to determine whether the load is in a uniform speed state. If the load is in a non-uniform speed operation stage, or the current speed command is 0, step S203 is executed, and the torque compensation starting position is the encoder count value corresponding to the actual operating position of the load, and the fluctuation torque value of the sampling position is 0, that is, Pos0 = EncPos, T p [i] = 0. If the load is in a uniform speed state, step S203' is executed to set the torque compensation starting position to the encoder count value corresponding to the actual running position of the load, and enter the sampling state.

[0075] It should be noted that the torque fluctuation data collection of the embodiment of the present application is performed when the load is in a uniform speed state. When the load is in a variable speed state, there is an angular acceleration that affects the torque fluctuation data. Therefore, there is also the influence of acceleration torque when the torque fluctuates, and it is not possible to reflect the fluctuation characteristics of the load. Therefore, the embodiment of the present application collects the torque fluctuation data (sampling state) when the load is in a uniform speed state. If the load is in a variable speed state and the torque fluctuation data collection is not completed, jump to step S201 and perform the operation of step S201.

[0076] In the above embodiment, EncPos is the encoder count value corresponding to the actual operating position of the load, T p [i] is the fluctuating torque value at different sampling positions, for example, the fluctuating torque value at the i-th sampling position, i can also be understood as a sampling point, or i is a compensation array value.

[0077] If the current load is running in the uniform speed running stage, the encoder count value Pos0 corresponding to the torque compensation starting position is equal to the encoder count value EncPos corresponding to the actual running position of the load, then the sampling state is entered to collect the torque fluctuation data at different sampling positions.

[0078] In some embodiments, the ripple torque value at the sampling location is acquired when the load operates clockwise, and / or the ripple torque value at the sampling location is acquired when the load operates counterclockwise.

[0079] See also Figure 3 , obtaining the fluctuation torque value of each sampling position, including the following steps:

[0080] Step 301: When the load is in a uniform speed state, set the trigger position.

[0081] Step 302: Determine whether the encoder count value corresponding to the actual operating position of the load is less than the encoder count value corresponding to the trigger position.

[0082] If yes, step 303 is executed, and the actual torque value of the load before the sampling position is equal to the current output torque value of the load.

[0083] If not, step 303 ′ is executed, and the actual torque value of the load after the sampling position is equal to the current output torque value of the load.

[0084] Step 304: Obtain the fluctuation torque values ​​at different sampling positions based on the actual torque value of the load before the sampling position and the actual torque value of the load after the sampling position.

[0085] Specifically, when the load is in a uniform speed state, the trigger position is set, and the encoder count value corresponding to the load at the trigger position is calculated by formula (5):

[0086] Pos1=Pos0+i*T inc (5)

[0087] Among them, Pos1 is the encoder count value corresponding to the load at the trigger position, Pos0 is the encoder count value corresponding to the torque compensation starting position, i is the array value of the sampling point, i=[0,P max ], where P max is the number of sampling locations, P max It can also be understood as the number of sampling positions, which is generally set to a fixed value, such as 1024; T inc is the torque fluctuation period.

[0088] For example, when the encoder count value Pos0 corresponding to the load at the starting position of torque compensation is 1000inc, i is 1024 sampling points, and the encoder count value Pos1 corresponding to the load at the trigger position is 1000+1024*T inc .

[0089] It is understandable that the number of sampling positions depends on the number of sampling points i, which can range from 0 to P. max Set i sampling positions Pos1.

[0090] Let the actual torque value of the load before the sampling position be T p0 , the actual torque value of the load after the sampling position is T p1 , the current output torque value of the load is T cur , the trigger position is Pos1, and the encoder count value corresponding to the actual operating position of the load is EncPos. When EncPos<Pos1, then T p0 =T cur , then keep in this state and continue data collection. When EncPos≥Pos1, then T p1 =T cur , then stop data acquisition and immediately jump to the step of calculating the fluctuation torque value.

[0091] In some embodiments, the fluctuation torque values ​​at different sampling positions are obtained by formula (3):

[0092]

[0093] Among them, T p [i] is the fluctuation torque value at different sampling positions, T p0 is the actual torque value of the load before the sampling position, T p1 is the actual torque value of the load after the sampling position, i is the array value of the sampling position, and i can also be considered as the sampling point.

[0094] Repeat the above steps S301 to S304 to complete the steps 0 to P max The data of the fluctuating torque value of each sampling position (sampling point) is collected to obtain the fluctuating torque value of each sampling position. Then, based on the fluctuating torque value of each sampling position, the torque compensation increment of each sampling position is calculated.

[0095] In some embodiments, the torque compensation increment at each sampling position is obtained based on the fluctuation torque values ​​at adjacent sampling positions.

[0096] It should be noted that in the above embodiment of the present application, the torque fluctuation data collection (the fluctuation torque value at each sampling position) is performed when the load is in a uniform speed state and the load is collected when it is running in the positive direction (clockwise rotation). Of course, it can be understood that the torque fluctuation data collection can also be collected when the load is in a uniform speed state and the load is running in the negative direction (counterclockwise rotation).

[0097] In the embodiment of the present application, the torque fluctuation data can be collected respectively when the load is running in the positive direction and when the load is running in the negative direction. Then, in step S3, when the load is running in the positive direction and in the negative direction, the fluctuation torque value of each sampling position is obtained, and the torque compensation increment of each sampling position is obtained. Specifically, when the load is running in the positive direction, the fluctuation torque value of each sampling position is first obtained, and then based on the fluctuation torque values ​​of two adjacent sampling positions, the torque compensation increment dT of each sampling position when the load is running in the positive direction is calculated. p [i], as shown in formula (6):

[0098] dT p [i] =T p [i+1]-T p [i] (6)

[0099] Among them, T p [i] is the fluctuation torque value at sampling point i when the load is running in the forward direction.

[0100] Next, use the same method to calculate the incremental compensation value dT when the load is running in the negative direction N [i], as shown in formula (7):

[0101] dT N [i] =T N [i+1]-T N [i] (7)

[0102] Among them, T N [i] is the fluctuation torque value at sampling point i when the load is running in negative direction.

[0103] It should be noted that, before calculating the torque compensation increment at each sampling position, the process further includes step S305 of calculating the maximum value and the minimum value of the fluctuation torque value at all sampling positions to obtain a set of discrete data points.

[0104] See also Figure 4 , after completing 0 to P max After the data of the fluctuating torque value at the point is collected, step S305 is then executed to calculate the maximum and minimum values ​​of the fluctuating torque values ​​at all sampling positions to obtain a set of discrete data points, as shown in formulas (8) and (9):

[0105] Tpmax =Max(T p [i]) (8)

[0106] T pmin =Min(T p [i]) (9)

[0107] Among them, T pmax is the maximum value of the ripple torque value among all sampling positions, T pmin is the minimum value of the ripple torque among all sampling positions, T p [i] is the fluctuating torque value at sampling point i, where the fluctuating torque value is also called the sampling torque value.

[0108] In the embodiment of the present application, during the uniform speed stage during the actual operation of the load, the fluctuating torque values ​​in the positive direction and the reverse direction are respectively obtained and stored in a set of discrete data points, as shown in formulas (8) and (9). Then, the torque compensation increment corresponding to the specific sampling position is directly superimposed at the specific sampling position to achieve the purpose of suppressing load fluctuations in advance.

[0109] Based on the above technical scheme, the embodiment of the present application provides a method for suppressing torque fluctuations at the load end, which compensates for the torque fluctuations to achieve the purpose of suppressing the concentricity deviation, so as to solve the problem that the load output torque fluctuations caused by the concentricity deviation when the load and the motor are running, thereby causing the load and the motor to have poor synchronous operation accuracy. First, based on the load reduction ratio, the torque fluctuation period is obtained; within the torque fluctuation period, multiple sampling positions are set; the fluctuation torque value of each sampling position is obtained, and the torque compensation increment of each sampling position is obtained; based on the incremental position of the actual operation of the load and the torque fluctuation period, the position value of the load within the torque fluctuation period is obtained; based on the position value of the load within the torque fluctuation period, the compensation array value corresponding to the sampling position is obtained; based on the torque compensation increment corresponding to the compensation array value, the load output torque is compensated, thereby reducing the concentricity deviation of the load and the motor and improving the synchronous operation accuracy of the load and the motor.

[0110] The present application obtains the torque compensation increments at different sampling positions, obtains the compensation array values ​​corresponding to the sampling positions to be compensated based on the incremental positions of the actual operation of the load, and directly superimposes the torque compensation increments at the sampling positions to be compensated, so as to achieve the purpose of suppressing load fluctuations in advance, while reducing the concentricity deviation of the load and the motor, and improving the synchronous operation accuracy of the load and the motor.

[0111] An embodiment of the present application also provides an electronic device, comprising: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the above-mentioned load-end torque fluctuation suppression method.

[0112] Another embodiment of the present application relates to an electronic device, such as Figure 5 As shown, it includes at least one processor 101; and a memory 102 that is communicatively connected to the at least one processor 101; wherein the memory 102 stores instructions that can be executed by the at least one processor 101, and the instructions are executed by the at least one processor 101 so that the at least one processor 101 can execute any of the above method embodiments.

[0113] The memory 102 and the processor 101 are connected in a bus manner, and the bus may include any number of interconnected buses and bridges, and the bus connects various circuits of one or more processors 101 and the memory 102 together. The bus can also connect various other circuits such as peripheral devices, voltage regulators, and power management circuits, which are well known in the art and are therefore not further described herein. The bus interface provides an interface between the bus and the transceiver. The transceiver can be one element or multiple elements, such as multiple receivers and transmitters, providing a unit for communicating with various other devices on a transmission medium. The data processed by the processor 101 is transmitted on a wireless medium through an antenna, and further, the antenna also receives data and transmits the data to the processor 101.

[0114] The processor 101 is responsible for managing the bus and general processing, and may also provide various functions, including timing, peripheral interfaces, voltage regulation, power management, and other control functions. The memory 102 may be used to store data used by the processor 101 when performing operations.

[0115] An embodiment of the present application also provides a computer-readable storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the above-mentioned load-end torque fluctuation suppression method is implemented.

[0116] Another embodiment of the present application relates to a computer-readable storage medium storing a computer program, which implements the above method embodiment when executed by a processor.

[0117] That is, those skilled in the art can understand that all or part of the steps in the above-mentioned embodiment method can be completed by instructing the relevant hardware through a program, and the program is stored in a storage medium, including a number of instructions to enable a device (which can be a single-chip microcomputer, chip, etc.) or a processor to execute all or part of the steps of the above-mentioned method of each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0118] Those skilled in the art will appreciate that the above embodiments are specific embodiments for implementing the present application, and in actual applications, various changes may be made thereto in form and detail without departing from the spirit and scope of the present application.

Claims

1. A method for suppressing load end torque fluctuation, characterized in that: include: Based on the load reduction ratio, the torque fluctuation period is obtained; In the torque fluctuation period, a plurality of sampling positions are set; Obtaining a fluctuation torque value at each of the sampling positions, and obtaining a torque compensation increment at each of the sampling positions; Before obtaining the fluctuating torque value of each sampling position and obtaining the torque compensation increment of each sampling position, it includes: setting the torque compensation starting position; judging whether the load is in a uniform speed state; if not, the torque compensation starting position is the encoder count value corresponding to the actual running position of the load, and the fluctuating torque value of the sampling position is 0; if yes, the torque compensation starting position is the encoder count value corresponding to the actual running position of the load, and entering the sampling state; Based on the incremental position of the load and the torque fluctuation period, the position value of the load within the torque fluctuation period is obtained. Based on the position value of the load in the torque fluctuation period, obtaining a compensation array value corresponding to the sampling position; Compensating the load output torque based on the torque compensation increment corresponding to the compensation array value; When the load runs clockwise, a fluctuation torque value at the sampling position is obtained, and / or when the load runs counterclockwise, a fluctuation torque value at the sampling position is obtained; The obtaining of the fluctuation torque value at each sampling position comprises: When the load is at a constant speed, set the trigger position; Determine whether the encoder count value corresponding to the actual operating position of the load is less than the encoder count value corresponding to the trigger position; If so, the actual torque value of the load before the sampling position is equal to the current output torque value of the load; If not, the actual torque value of the load after the sampling position is equal to the current output torque value of the load; Based on the actual torque value of the load before the sampling position and the actual torque value of the load after the sampling position, the fluctuation torque values ​​at different sampling positions are obtained.

2. The method for suppressing load end torque fluctuation according to claim 1, characterized in that: The position value of the load within the torque fluctuation period is obtained by formula (1): Pos2=(EncPos-Pos1) / T inc (1) Among them, Pos2 is the position value of the load in the torque fluctuation period, EncPos is the encoder count value corresponding to the actual operating position of the load, Pos1 is the encoder count value corresponding to the trigger position of the load, T inc is the torque fluctuation period.

3. The method for suppressing load end torque fluctuation according to claim 2, characterized in that: The compensation array value is obtained by formula (2): Among them, i is the compensation array value, P max is the number of sampling locations.

4. The method for suppressing load end torque fluctuation according to claim 1, characterized in that: The fluctuation torque values ​​at different sampling positions are obtained by formula (3): Among them, T p [i] is the fluctuation torque value at different sampling positions, T p0 is the actual torque value of the load before the sampling position, T p1 is the actual torque value of the load after the sampling position, and i is the array value of the sampling position.

5. The method for suppressing load end torque fluctuation according to claim 1, characterized in that: The torque compensation increment at each of the sampling positions is obtained based on the fluctuation torque values ​​at the adjacent sampling positions.

6. The method for suppressing load end torque fluctuation according to claim 1, characterized in that: The load reduction ratio is the ratio of the number of load rotations to the number of motor rotations; When the load reduction ratio is greater than or equal to 1, the torque fluctuation period is equal to 1; When the load reduction ratio is less than 1, the torque fluctuation period is equal to the load reduction ratio.

7. An electronic device, characterized in that: include: at least one processor; as well as, a memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the load-end torque fluctuation suppression method as described in any one of claims 1 to 6.

8. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the load-end torque fluctuation suppression method described in any one of claims 1 to 6 is implemented.

Images