A rudder state identification method, device, equipment and storage medium

Abstract

The application discloses a rudder state recognition method, device and equipment and a storage medium, and is applied to the field of rudders. The method comprises the following steps: acquiring a rudder position feedback signal Vf1 through a sampling frequency f1, and determining a jitter state according to the rudder position feedback signal Vf1; acquiring a rudder position feedback signal Vf2 and a rudder position control signal Vg2 through a sampling frequency f2, and determining a static error state according to the rudder position feedback signal Vf2 and the rudder position control signal Vg2; and determining a rudder state according to the jitter state and the static error state. The application judges various states of the rudder from multiple aspects, so that a more real and reliable rudder state is obtained, the rudder can be better controlled subsequently, and the rudder can quickly and stably respond to control information.

Description

Technical Field

[0001] This invention relates to the field of servo motors, and in particular to a servo motor status identification method, apparatus, device, and storage medium. Background Technology

[0002] As a common position actuator, the ability of servo motors to respond quickly, stably, and accurately to control signals is a key focus in the industry. PID (Proportional Integral Derivative) control is widely used in servo motor control due to its simplicity, ease of operation, and good adaptability. However, PID control also has many drawbacks, one significant one being its susceptibility to jitter.

[0003] Currently, the general method for identifying the status of a servo motor is to consider its jitter state and adjust the servo motor accordingly to reduce jitter. However, when traditional PID control uses only PD (Proportional-Derivative) to reduce jitter, the servo motor is prone to steady-state error during response, leading to inaccurate movement. Furthermore, jitter may still occur under certain operating conditions, affecting the overall status of the servo motor. Summary of the Invention

[0004] In view of this, the purpose of the present invention is to provide a servo motor status identification method, device, equipment and storage medium, which solves the problems of inaccurate and unreliable servo motor status identification in the prior art.

[0005] To solve the above-mentioned technical problems, the present invention provides a servo motor status identification method, comprising:

[0006] The servo position feedback signal Vf1 is obtained by sampling frequency f1, and the jitter state is determined based on the servo position feedback signal Vf1.

[0007] The servo position feedback signal Vf2 and the servo position control signal Vg2 are obtained by sampling frequency f2, and the static error state is determined based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0008] The servo state is determined based on the jitter state and the static error state.

[0009] Optionally, after acquiring the servo position feedback signal Vf1 via sampling frequency f1, the method further includes:

[0010] The servo position control signal Vg1 is obtained through the sampling frequency f1;

[0011] Accordingly, determining the jitter state based on the servo position feedback signal Vf1 includes:

[0012] The jitter state is determined based on the servo position feedback signal Vf1 and the servo position control signal Vg1.

[0013] Optionally, determining the jitter state based on the servo position feedback signal Vf1 and the servo position control signal Vg1 includes:

[0014] The difference between the servo position feedback signal Vf1 and the difference between the servo position control signal Vg1 in each cycle are calculated based on the servo position feedback signal Vf1 and the servo position control signal Vg1, and stored in an array.

[0015] Obtain the number of cycles. If the number of cycles is greater than or equal to the preset number of cycles, determine the jitter level based on the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in the array.

[0016] The number of judgments is recorded. When the number of judgments equals the number of cycles, the jitter state is determined based on the jitter level.

[0017] Optionally, determining the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2 includes:

[0018] The difference ΔVg2 between the servo position control signals is calculated based on the servo position control signal Vg2.

[0019] When the difference between the servo position control signals ΔVg2 and VG is less than the preset value, the deviation value Ve2 is obtained based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0020] If the deviation value Ve2 is within the preset deviation value range, then there is a fixed deviation, and the corresponding deviation level is calculated.

[0021] The static error state is determined based on the deviation level.

[0022] Optional, also includes:

[0023] The servo position feedback signal Vf3 and the servo position control signal Vg3 are obtained by sampling frequency f3, and the overshoot state is determined based on the servo position feedback signal Vf3 and the servo position control signal Vg3.

[0024] Accordingly, determining the servo state based on the jitter state and the static error state includes:

[0025] The servo state is determined based on the jitter state, the static error state, and the overshoot state.

[0026] Optionally, determining the overshoot state based on the servo position feedback signal Vf3 and the servo position control signal Vg3 includes:

[0027] The deviation value Ve3 is obtained based on the servo position feedback signal Vf3 and the servo position control signal Vg3;

[0028] When the deviation value Ve3 meets the preset condition, the maximum value of the absolute value of the deviation value Ve3, |Ve3max|, is obtained as the overshoot.

[0029] The overshoot state is determined based on the overshoot amount.

[0030] Optionally, the number of preset cycles is 2. N .

[0031] The present invention also provides a servo motor status identification device, comprising:

[0032] The jitter state determination module is used to acquire the servo position feedback signal Vf1 through the sampling frequency f1, and determine the jitter state based on the servo position feedback signal Vf1.

[0033] The static error state determination module is used to acquire the servo position feedback signal Vf2 and the servo position control signal Vg2 through the sampling frequency f2, and determine the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0034] The servo state determination module is used to determine the servo state based on the jitter state and the static error state.

[0035] The present invention also provides a servo motor status identification device, comprising:

[0036] Memory, used to store computer programs;

[0037] A processor is used to implement the steps of the above-described servo status recognition method when executing the computer program.

[0038] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described servo status recognition method.

[0039] As can be seen, this invention acquires the servo position feedback signal Vf1 through sampling frequency f1 and determines the jitter state based on the servo position feedback signal Vf1; it acquires the servo position feedback signal Vf2 and the servo position control signal Vg2 through sampling frequency f2 and determines the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2; and it determines the servo state based on the jitter state and the static error state. This invention identifies and judges both the jitter state and the static error state, which can determine the various states of the servo from multiple aspects, thereby obtaining a more realistic and reliable servo state, so as to better control the servo in the future, and enable the servo to respond to control information quickly and stably.

[0040] In addition, the present invention also provides a servo status identification device, equipment and storage medium, which also have the above-mentioned beneficial effects. Attached Figure Description

[0041] 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 embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on the provided drawings without creative effort.

[0042] Figure 1 A flowchart of a servo motor status recognition method provided in an embodiment of the present invention;

[0043] Figure 2 A flowchart of a conventional jitter state determination method provided in an embodiment of the present invention;

[0044] Figure 3 A flowchart illustrating a method for determining jitter state according to an embodiment of the present invention;

[0045] Figure 4 A flowchart illustrating a method for determining static error state according to an embodiment of the present invention;

[0046] Figure 5 A schematic flowchart illustrating an overshoot state determination method provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of a servo motor status recognition device provided in an embodiment of the present invention;

[0048] Figure 7 This is a schematic diagram of a servo motor status recognition device provided in an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, 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.

[0050] Please refer to Figure 1 , Figure 1 A flowchart illustrating a servo motor status recognition method provided in an embodiment of the present invention. The method may include:

[0051] S101: Obtain the servo position feedback signal Vf1 by sampling frequency f1, and determine the jitter state based on the servo position feedback signal Vf1.

[0052] The execution subject in this embodiment is a terminal. This embodiment does not limit the type of terminal, as long as it can perform the operation of servo status recognition. For example, it can be a dedicated terminal or a general-purpose terminal.

[0053] This embodiment does not limit the method for determining the jitter state. For example, the jitter state can be determined through the servo position feedback signal Vf1. Figure 2 As shown, Figure 2 This is a flowchart illustrating a conventional jitter state determination method provided by an embodiment of the present invention. The frequency of the servo position feedback signal is determined based on the servo position feedback signal. If the frequency is greater than a preset value, jitter exists; if the frequency is less than or equal to the preset value, jitter does not exist. Alternatively, the jitter state can be determined using the servo position feedback signal Vf1 and the servo position control signal Vg1. When only the servo feedback signal Vf1 is considered, while the servo control signal Vg1 is ignored, inaccurate jitter state determination can easily occur, resulting in poor servo tracking performance at high frequencies.

[0054] Furthermore, to avoid misjudgment, after obtaining the servo position feedback signal Vf1 through sampling frequency f1, the following steps may also be included:

[0055] The servo position control signal Vg1 is obtained by sampling frequency f1;

[0056] Accordingly, the jitter state is determined based on the servo position feedback signal Vf1, including:

[0057] The jitter state is determined based on the servo position feedback signal Vf1 and the servo position control signal Vg1.

[0058] This embodiment does not limit the specific method for determining the jitter state. For example, it can be determined directly based on the servo position feedback signal Vf1 and the servo position control signal Vg1 whether jitter exists, i.e., jitter or no jitter; or it can be determined based on the servo position feedback signal Vf1 and the servo position control signal Vg1 to determine the jitter state and determine the jitter level, i.e., the intensity of the jitter, such as no jitter, slight jitter, or severe jitter.

[0059] Furthermore, in order to clearly identify the jitter state of the servo motor, and to determine the jitter state based on the servo motor position feedback signal Vf1 and the servo motor position control signal Vg1, the following steps may be included:

[0060] Step 21: Calculate the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in each cycle based on the servo position feedback signal Vf1 and the servo position control signal Vg1, and store them in an array;

[0061] Step 22: Obtain the number of cycles. If the number of cycles is greater than or equal to the preset number of cycles, determine the jitter level based on the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in the array.

[0062] Step 23: Record the number of judgments. When the number of judgments equals the number of cycles, determine the jitter state based on the jitter level.

[0063] This embodiment does not limit the method for determining the period. For example, a period can be determined by two adjacent peak values ​​of the servo position feedback signal Vf1; or it can be determined by two adjacent valley values ​​of the servo position feedback signal Vf1. After the period is determined in this embodiment, the maximum value Vf1 of the servo position feedback signal difference Vf1 in each period can be obtained. max and minimum value Vf1 min |, calculated to obtain △Vf1=|Vf1 max -Vf1 min Similarly, the difference in the servo position control signal ΔVg1 = |Vg1 max -Vg1 minSimultaneously, the number of cycles is acquired. When the number of cycles is greater than or equal to the preset number of cycles, the jitter level can be determined. The difference between ΔVf1 and ΔVg1 in the array is calculated sequentially and compared with the preset value. The jitter level is increased or decreased accordingly. When all values ​​in the array have completed the jitter determination, the final jitter level is output, and the jitter state is determined based on the jitter level. This embodiment does not limit the number of times the jitter level increases during each determination; for example, the jitter level can be increased by 2; or it can be increased by 1. This embodiment does not limit the number of times the jitter level decreases during each determination; for example, the jitter level can be decreased by 2; or it can be decreased by 1. To ensure the accuracy of subsequent jitter state recognition, the jitter level can be cleared to zero after the jitter state is determined, so that subsequent jitter state determinations can be made.

[0064] This embodiment does not limit the specific value of the preset number of periods. Further, for ease of calculation, the preset number of periods is set to 2. N .

[0065] To better understand the jitter state recognition method in this embodiment, please refer to the following: Figure 3 , Figure 3 This is a flowchart illustrating a method for determining jitter state according to an embodiment of the present invention, which may specifically include:

[0066] Step 201: Obtain the sampling frequency f1 of the set servo position control signal and servo position feedback signal, i.e., the sampling period is T1 = 1 / f1; obtain the servo position control signal Vg1 and the servo feedback signal Vf1 according to the sampling frequency f1.

[0067] Step 202: Determine a complete servo position feedback cycle based on the time difference between two adjacent peak values ​​of the servo position feedback signal Vf1, and find the maximum value Vf of the servo position feedback signal within this cycle. max The minimum value Vf of the servo position feedback signal min This allows us to obtain the difference in servo position feedback signals ΔVf1 within this cycle (ΔVf1 = |Vf1|). max -Vf1 min Similarly, the difference in the servo position control signal ΔVg1 can be obtained (ΔVg1 = |Vg1|). max -Vg1 min |), and then calculates ΔVf1 and ΔVg1 for multiple periods in sequence.

[0068] Step 203: Create an array E to store multiple periods of △Vf1 and △Vg1, represented as n pairs of △Vg1. i (i = 1, ..., n), △Vf1 i (i=1,……,n), when the preset number of cycles is 8, the array stores 8 pairs of Vg1 and △Vf1.

[0069] Step 204: Compare 8 pairs of ΔVf1 and ΔVg1 sequentially. Each jitter level is determined based on the previous jitter level. When the number of judgments reaches 8, that is, all 8 cycles have been judged, the final jitter level is output. The comparison rules are as follows: a) If the difference between ΔVf1 and ΔVg1 is greater than the first threshold ΔV1, the jitter level P is increased by 2, recorded as 1 instance of severe jitter; b) If the difference between ΔVf1 and ΔVg1 is less than the first threshold ΔV1, but greater than the second threshold ΔV2, the jitter level P is increased by 1, recorded as 1 instance of non-severe jitter; c) If the difference between ΔVf1 and ΔVg1 is less than the second threshold ΔV2, the jitter level P is increased by 0, recorded as slight jitter; d) If the difference between ΔVf1 and ΔVg1 is less than or equal to 0, the jitter level is decreased by 2, recorded as no jitter. It can be understood that if the current jitter level is 0 and it is in a no-jitter state, the jitter level remains unchanged.

[0070] Step 205: Obtain the final jitter level and determine the jitter state based on the jitter level: if jitter level P < preset value P2, the jitter state is no jitter; if preset value P1 > jitter level P ≥ preset value P2 (P1>P2), the jitter state is slight jitter; if jitter level P ≥ preset value P1, the jitter state is severe jitter.

[0071] Step 206: Output jitter status, and clear jitter level P to zero.

[0072] Step 207: When the latest servo position feedback signal Vf1 and servo position control signal Vg1 of a new cycle are obtained, they are stored in array E (i=n). The original data in array E is shifted one step to the right, and the data at position i=1 in the array is discarded to form a new array E'. Steps 204 and 205 are run to obtain the jitter state.

[0073] S102: Obtain the servo position feedback signal Vf2 and the servo position control signal Vg2 through the sampling frequency f2, and determine the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0074] This embodiment does not limit whether or not a preset condition for static error detection is set. For example, a preset condition for static error detection may not be set, or a preset condition may be set, wherein the preset condition can be that the servo position control signal Vg2 is in a stable state. In this embodiment, the difference in servo position control signal ΔVg2 (ΔVg2 = Vg2) can be used. n -Vg2 n-1When the value is less than the preset value VG, the servo position control signal Vg2 is determined to be in a stable state. This embodiment does not limit the method for determining the steady-state error. For example, when a fixed deviation exists, the steady-state error can be determined directly; or when a fixed deviation value exists, the deviation level can be calculated, and the deviation state can be determined based on the deviation level.

[0075] Furthermore, to ensure the accuracy of servo motor static error state identification, the above-mentioned determination of static error state based on servo motor position feedback signal Vf2 and servo motor position control signal Vg2 includes:

[0076] Step 31: Calculate the difference ΔVg2 between the servo position control signal and the servo position control signal Vg2.

[0077] Step 32: When the difference between the servo position control signals ΔVg2 and VG is less than the preset value, the deviation value Ve2 is obtained based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0078] Step 33: If the deviation value Ve2 is within the preset deviation value range, then there is a fixed deviation, and the corresponding deviation level is calculated.

[0079] Step 34: Determine the static error state based on the deviation level.

[0080] In this embodiment, the difference in servo position control signal ΔVg2 is calculated based on the servo position control signal Vg2. When the difference in ΔVg2 is less than a preset value VG, i.e., when the servo position control signal Vg2 is in a stable state, the deviation value Ve2 (where Ve2 can be |Vg2-Vf2|) can be obtained through the servo position feedback signal Vf2 and the servo position control signal Vg2. In this embodiment, when the deviation value Ve2 is within the preset deviation value range, it is determined that a fixed deviation exists, and the deviation level J increases. When the deviation level reaches the preset value, the static error state is determined to exist. In this embodiment, the increase is not limited to a certain amount. For example, it can be increased by 1; or it can be increased by 2. When the deviation value Ve2 is within the preset deviation value range, it is determined that a fixed deviation exists, and the deviation level J decreases. In this embodiment, the decrease is not limited to a certain amount. For example, it can be decreased by 1; or it can be decreased by 2.

[0081] To better understand the jitter state recognition method in this embodiment, please refer to the following: Figure 4 , Figure 4 This is a flowchart illustrating a method for determining static error state according to an embodiment of the present invention, which may specifically include:

[0082] Step 301: Obtain the sampling frequency f2 of the set servo position control signal and servo position feedback signal, i.e., the sampling period is T2 = 1 / f2; obtain the servo position control signal Vg2 and the servo feedback signal Vf2 according to the sampling frequency f2.

[0083] Step 302: If T2 n-1 and T2 n The change in the servo position control signal acquired twice, ΔVg2 (ΔVg2 = Vg2). n -Vg2 n-1 If T2 is not less than the preset value VG, it indicates that the servo position control signal is undergoing drastic changes, and no steady-state error judgment is made at this time; if T2 n-1 and T2 n The change in the servo position control signal acquired twice, ΔVg2 (ΔVg2 = Vg2). n -Vg2 n-1 If the value is less than the preset value VG, it indicates that the servo position control signal is relatively stable, and a deviation status judgment is performed.

[0084] Step 303: Calculate the deviation value Ve2 (Ve2 = |Vg2 - Vf2|), where Ve2 is the difference between the servo position control signal and the servo position feedback signal. If VE1 (first preset value) ≥ Ve2 > VE2 (second preset value), it indicates a fixed deviation, and the deviation level J is incremented by 1; if Ve2 ≥ VE1 or Ve2 < VE2, it indicates no fixed deviation, and the deviation level J is decremented by 2 (J is limited to [0, J...). MAX ]);

[0085] Step 304: Continuously determine the deviation level J: If J < preset value JC, it means that the servo does not have a continuous deviation of VE1≥Ve2>VE2 within a certain period of time, and the steady-state error state is no steady-state error; if J ≥ preset value JC, it means that the servo has a continuous deviation of Ve2 or Ve2≥VE1 within a certain period of time, and the steady-state error state is present. The preset value JC can be JMAX-4, where JMAX is the maximum value of the steady-state error level.

[0086] S103: Determine the servo status based on the jitter state and static error state.

[0087] If the jitter state is severe jitter and the static error state is no static error, then the servo state will be severe jitter and no static error. If the jitter state is slight jitter and the static error state is static error, then the servo state will be slight jitter and have static error.

[0088] This embodiment does not limit the process of determining the servo state. For example, it can be determined by the jitter state and the static error state, or it can also determine the overshoot state. The servo state is determined by the overshoot state, the static error state and the jitter state.

[0089] Furthermore, in order to determine the various states of the servo motor from multiple perspectives, it may also include:

[0090] The servo position feedback signal Vf3 and the servo position control signal Vg3 are obtained by sampling frequency f3, and the overshoot state is determined based on the servo position feedback signal Vf3 and the servo position control signal Vg3.

[0091] Accordingly, the servo motor status is determined based on the jitter state and static error state, including:

[0092] The servo status is determined based on the jitter status, static error status, and overshoot status.

[0093] In this embodiment, the sampling frequencies f3, f1, and f2 can be the same, different, or two of them can be the same. This embodiment does not limit the order of jitter state identification, overshoot state identification, and steady-state error identification; they can be executed simultaneously or in a predetermined order. The specific order of execution is not limited.

[0094] This embodiment does not limit whether or not a preset condition for overshoot detection is set. For example, a preset condition for overshoot detection may not be set, or a preset condition for overshoot detection may be set, wherein the preset condition can be that the servo position control signal Vg3 is in a stable state. In this embodiment, the servo position control signal difference ΔVg3 (ΔVg3 = Vg3) n -Vg3 n-1 When the value is 0, the servo position control signal Vg3 is determined to be in a stable state. In this embodiment, the overshoot state can be either present or absent; or it can be either slight overshoot, severe overshoot, or no overshoot.

[0095] Furthermore, in order to clearly identify the servo overshoot state, the above-mentioned determination of the overshoot state based on the servo position feedback signal Vf3 and the servo position control signal Vg3 includes:

[0096] Step 41: Obtain the deviation value Ve3 based on the servo position feedback signal Vf3 and the servo position control signal Vg3;

[0097] Step 42: When the deviation value Ve3 meets the preset condition, the maximum value of the absolute value of the deviation value Ve3, |Ve3max|, is obtained as the overshoot.

[0098] Step 43: Determine the overshoot status based on the overshoot amount.

[0099] In this embodiment, the deviation value Ve3 (Ve3 = Vg3 - Vf3) can be obtained through the servo position feedback signal Vf3 and the servo position control signal Vg3. In this embodiment, when the deviation value Ve3 meets a preset condition, where the preset condition is that Ve3 increases, i.e., when Ve3... i >Ve3 i-1 >0 or Ve3 i <Ve3 i-1 If the value is less than 0, overshoot exists. The maximum absolute value of the deviation value Ve3, Ve3max, is taken as the overshoot amount. When the overshoot amount reaches the preset overshoot amount, the overshoot state is determined. This embodiment does not limit the preset overshoot amount; for example, it can be 10% of Vg3, or it can be 5% of Vg3.

[0100] To better understand the overshoot state identification method in this embodiment, please refer to the following: Figure 5 , Figure 5 This is a flowchart illustrating a method for determining overshoot state according to an embodiment of the present invention, which may specifically include:

[0101] Step 401: Obtain the sampling frequency f3 of the set servo position control signal and servo position feedback signal, i.e., the sampling period is T3 = 1 / f3; obtain the servo position control signal Vg3 and the servo feedback signal Vf3 according to the sampling frequency f3.

[0102] Step 402: Calculate the change value ΔVg3 of the servo position control signal between two consecutive acquisitions (ΔVg3 = Vg3). n -Vg3 n-1 If ΔVg3 is 0, then calculate the deviation value Ve3 (Ve3 = Vg3 - Vf3). Ve3 increases as it increases, i.e., Ve3... i >Ve3 i-1 >0 or Ve3 i <Ve3 i-1 If the value is less than 0, then overshoot exists. The absolute value of the maximum deviation value Ve3, Ve3max, is taken as the overshoot amount d (d = |Ve3max|). The overshoot state is determined based on the overshoot amount d. If Ve3 remains unchanged or decreases, then no overshoot occurs, and the overshoot state is no overshoot.

[0103] Step 403: Obtain the preset value D. The preset value D can be the absolute value of 10% of the servo position control signal, i.e., D = |10% × Vg3|. If the overshoot d > D, the overshoot state indicates a large overshoot, and the output overshoot state is severe overshoot; if d ≤ D, it indicates a slight overshoot, and the output overshoot result is slight overshoot.

[0104] This invention provides a servo motor state recognition method. It acquires a servo motor position feedback signal Vf1 via sampling frequency f1 and determines the jitter state based on Vf1. It also acquires a servo motor position feedback signal Vf2 and a servo motor position control signal Vg2 via sampling frequency f2 and determines the static error state based on Vf2 and Vg2. Finally, it determines the servo motor state based on both the jitter and static error states. This invention identifies both jitter and static error states, allowing for multi-faceted assessment of the servo motor's state and providing a more accurate and reliable result. This enables better subsequent control of the servo motor, allowing for a fast and stable response to control information. Furthermore, determining the jitter state using the servo motor position feedback signal Vf1 and the servo motor position control signal Vg1 avoids misjudgments, resulting in excellent tracking performance at high frequencies. Analyzing the jitter level of the servo motor jitter state provides a clearer and more precise identification of the jitter state. Finally, the preset period number is set to 2. N This facilitates calculations and improves computational efficiency; it also ensures the accuracy of servo steady-state identification by determining the deviation level; furthermore, it allows for the assessment of various servo states from multiple perspectives by judging the overshoot state; and by determining the overshoot state through the overshoot amount, it enables clear and precise identification of servo overshoot states.

[0105] The following describes the servo status identification device provided in the embodiments of the present invention. The servo status identification device described below and the servo status identification method described above can be referred to in correspondence.

[0106] Please refer to the details. Figure 6 , Figure 6 A schematic diagram of a servo status identification device provided in an embodiment of the present invention may include:

[0107] The jitter state determination module 100 is used to acquire the servo position feedback signal Vf1 through the sampling frequency f1, and determine the jitter state based on the servo position feedback signal Vf1.

[0108] The static error state determination module 200 is used to acquire the servo position feedback signal Vf2 and the servo position control signal Vg2 through the sampling frequency f2, and determine the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0109] Servo state determination module 300 is used to determine the servo state based on the jitter state and the static error state.

[0110] Based on the above embodiments, the servo motor status identification device may further include:

[0111] The first acquisition module is used to acquire the servo position control signal Vg1 through the sampling frequency f1;

[0112] Accordingly, the jitter state determination module 100 may include:

[0113] The first determining unit is used to determine the jitter state based on the servo position feedback signal Vf1 and the servo position control signal Vg1.

[0114] Based on any of the above embodiments, the first determining module may include:

[0115] The first calculation unit is used to calculate the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in each cycle based on the servo position feedback signal Vf1 and the servo position control signal Vg1, and store them in an array;

[0116] The first judgment unit is used to obtain the number of cycles. If the number of cycles is greater than or equal to the preset number of cycles, the jitter level is determined based on the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in the array.

[0117] The second determining unit is used to record the number of judgments. When the number of judgments is equal to the number of cycles, the jitter state is determined according to the jitter level.

[0118] Based on any of the above embodiments, the static error state determination module 200 may include:

[0119] The second calculation unit is used to calculate the difference ΔVg2 between the servo position control signal and the servo position control signal Vg2.

[0120] The first deviation value unit is used to obtain the deviation value Ve2 based on the servo position feedback signal Vf2 and the servo position control signal Vg2 when the difference value ΔVg2 of the servo position control signal is less than the preset value VG.

[0121] The third calculation unit is used to determine if there is a fixed deviation if the deviation value Ve2 is within a preset deviation value range, and to calculate the corresponding deviation level.

[0122] The third determining unit is used to determine the static error state based on the deviation level.

[0123] Based on any of the above embodiments, the servo motor status identification device may further include:

[0124] The overshoot state determination module is used to acquire the servo position feedback signal Vf3 and the servo position control signal Vg3 through the sampling frequency f3, and determine the overshoot state based on the servo position feedback signal Vf3 and the servo position control signal Vg3.

[0125] Accordingly, the servo status determination module 300 may include:

[0126] The fourth determining unit is used to determine the servo state based on the jitter state, the static error state, and the overshoot state.

[0127] Based on any of the above embodiments, the overshoot state determination module may include:

[0128] The second deviation value unit is used to obtain the deviation value Ve3 based on the servo position feedback signal Vf3 and the servo position control signal Vg3;

[0129] The overshoot unit is used to obtain the maximum value of the absolute value of the deviation value Ve3, |Ve3max|, as the overshoot when the deviation value Ve3 meets the preset conditions.

[0130] The fifth determining unit is used to determine the overshoot state based on the overshoot amount.

[0131] Based on any of the above embodiments, the preset number of periods in the first determination unit can be 2. N .

[0132] It should be noted that the order of the modules and units in the aforementioned servo status identification device can be changed without affecting the logic.

[0133] The servo state identification device provided in this embodiment of the invention uses a jitter state determination module 100 to acquire the servo position feedback signal Vf1 through a sampling frequency f1 and determine the jitter state based on the servo position feedback signal Vf1; a static error state determination module 200 to acquire the servo position feedback signal Vf2 and the servo position control signal Vg2 through a sampling frequency f2 and determine the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2; and a servo state determination module 300 to determine the servo state based on the jitter state and the static error state. This device identifies both the jitter state and the static error state, allowing for multi-faceted judgment of the servo's various states, thereby obtaining a more accurate and reliable servo state. This enables better subsequent control of the servo, allowing the servo to respond quickly and stably to control information. Furthermore, by determining the jitter state through the servo position feedback signal Vf1 and the servo position control signal Vg1, misjudgments are avoided, enabling the servo to have excellent tracking performance at high frequencies. Moreover, analyzing the servo jitter state through jitter level analysis allows for more precise and clear identification of the servo jitter state. Additionally, the preset cycle count is set to 2. N This facilitates calculations and improves computational efficiency; it also ensures the accuracy of servo steady-state identification by determining the deviation level; furthermore, it allows for the assessment of various servo states from multiple perspectives by judging the overshoot state; and by determining the overshoot state through the overshoot amount, it enables clear and precise identification of servo overshoot states.

[0134] The following describes the servo status identification device provided in the embodiments of the present invention. The servo status identification device described below and the servo status identification method described above can be referred to in correspondence.

[0135] Please refer to Figure 7 , Figure 7 A schematic diagram of a servo motor status identification device provided in an embodiment of the present invention may include:

[0136] Memory 10 is used to store computer programs;

[0137] The processor 20 is used to execute computer programs to implement the aforementioned servo status recognition method.

[0138] The system includes a memory 10, a processor 20, a communication interface 31, and a communication bus 32. The memory 10, processor 20, and communication interface 31 communicate with each other through the communication bus 32.

[0139] In this embodiment of the invention, the memory 10 is used to store one or more programs. The programs may include program code, which includes computer operation instructions. In this embodiment, the memory 10 may store programs for implementing the following functions:

[0140] The servo position feedback signal Vf1 is obtained by sampling frequency f1, and the jitter state is determined based on the servo position feedback signal Vf1.

[0141] The servo position feedback signal Vf2 and the servo position control signal Vg2 are obtained by sampling frequency f2, and the static error state is determined based on the servo position feedback signal Vf2 and the servo position control signal Vg2.

[0142] The servo status is determined based on the jitter and static error states.

[0143] In one possible implementation, the memory 10 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and applications required for at least one function; and the data storage area may store data created during use.

[0144] Furthermore, memory 10 may include read-only memory and random access memory, providing instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores operating systems and operating instructions, executable modules, or data structures, or subsets thereof, or extended sets thereof, wherein the operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic tasks and handling hardware-based tasks.

[0145] Processor 20 can be a central processing unit (CPU), an application-specific integrated circuit, a digital signal processor, a field-programmable gate array, or other programmable logic device. Processor 20 can be a microprocessor or any conventional processor. Processor 20 can call programs stored in memory 10.

[0146] Communication interface 31 can be an interface for the communication module, used to connect with other devices or systems.

[0147] Of course, it should be noted that, Figure 7 The structure shown does not constitute a limitation on the servo status identification device in the embodiments of this application. In practical applications, the servo status identification device may include more than Figure 7 More or fewer components as shown, or combinations of certain components.

[0148] The storage medium provided in the embodiments of the present invention will be described below. The storage medium described below can be referred to in correspondence with the servo status identification method described above.

[0149] The present invention also provides a storage medium storing a computer program, which, when executed by a processor, implements the steps of the above-described servo status recognition method.

[0150] The storage medium can include various media that can store program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0151] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to in the method section.

[0152] Those skilled in the art will further recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this invention.

[0153] Finally, it should be noted that in this document, relationships such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or apparatus.

[0154] The above provides a detailed description of the servo status identification method, apparatus, device, and storage medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A servo motor status recognition method, characterized in that, include: The servo position feedback signal Vf1 and the servo position control signal Vg1 are obtained by sampling frequency f1, and the jitter state is determined based on the servo position feedback signal Vf1 and the servo position control signal Vg1. The servo position feedback signal Vf2 and the servo position control signal Vg2 are obtained by sampling frequency f2. When the servo position control signal is stable, the static error state is determined based on the servo position feedback signal Vf2 and the servo position control signal Vg2. The servo position feedback signal Vf3 and the servo position control signal Vg3 are obtained by sampling frequency f3. When the change value ΔVg3 of the servo position control signal between two consecutive acquisitions is 0, the overshoot state is determined based on the servo position feedback signal Vf3 and the servo position control signal Vg3. The servo state is determined based on the jitter state, the overshoot state, and the static error state; The step of determining the jitter state based on the servo position feedback signal Vf1 and the servo position control signal Vg1 includes: The difference between the servo position feedback signal Vf1 and the difference between the servo position control signal Vg1 in each cycle are calculated based on the servo position feedback signal Vf1 and the servo position control signal Vg1, and stored in an array. Obtain the number of cycles. If the number of cycles is greater than or equal to the preset number of cycles, then take the difference between the servo position feedback signal difference ΔVf1 and the servo position control signal difference ΔVg1 in the array in turn, and compare it with the preset value to determine the jitter level. Record the number of judgments. When the number of judgments equals the number of cycles, determine the jitter state based on the jitter level. The calculation process for the servo position feedback signal difference ΔVf1 includes: A complete servo position feedback cycle is determined based on the time difference between two adjacent peak values ​​of the servo position feedback signal Vf1, and the maximum value Vfmax and the minimum value Vfmin of the servo position feedback signal within the servo position feedback cycle are found, thereby obtaining the servo position feedback signal difference ΔVf1 within the servo position feedback cycle.

2. The servo motor status recognition method according to claim 1, characterized in that, The step of determining the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2 includes: The difference ΔVg2 between the servo position control signals is calculated based on the servo position control signal Vg2; the difference ΔVg2 is the change value of the servo position control signal Vg2 acquired in two separate acquisitions. When the difference between the servo position control signals ΔVg2 and VG is less than the preset value, the deviation value Ve2 is obtained based on the servo position feedback signal Vf2 and the servo position control signal Vg2. If the deviation value Ve2 is within the preset deviation value range, then there is a fixed deviation, and the corresponding deviation level is calculated. The static error state is determined based on the deviation level.

3. The servo motor status identification method according to claim 1, characterized in that, The step of determining the overshoot state based on the servo position feedback signal Vf3 and the servo position control signal Vg3 includes: The deviation value Ve3 is obtained based on the servo position feedback signal Vf3 and the servo position control signal Vg3; When the deviation value Ve3 meets the preset condition, the absolute value of the maximum value of the deviation value Ve3, |Ve3max|, is obtained as the overshoot. The overshoot state is determined based on the overshoot amount.

4. The servo motor status identification method according to claim 1, characterized in that, The preset number of cycles is 2. N .

5. A servo motor status identification device, characterized in that, include: The jitter state determination module is used to acquire the servo position feedback signal Vf1 and the servo position control signal Vg1 through the sampling frequency f1, and determine the jitter state based on the servo position feedback signal Vf1 and the servo position control signal Vg1. The static error state determination module is used to acquire the servo position feedback signal Vf2 and the servo position control signal Vg2 through the sampling frequency f2, and determine the static error state based on the servo position feedback signal Vf2 and the servo position control signal Vg2 when the servo position control signal is stable. The overshoot state determination module is used to acquire the servo position feedback signal Vf3 and the servo position control signal Vg3 through the sampling frequency f3, and when the change value ΔVg3 of the servo position control signal acquired in two consecutive consecutive calculations is 0, the overshoot state is determined according to the servo position feedback signal Vf3 and the servo position control signal Vg3. The servo state determination module is used to determine the servo state based on the jitter state, the overshoot state, and the static error state; The jitter state determination module includes: The first calculation unit is used to calculate the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in each cycle based on the servo position feedback signal Vf1 and the servo position control signal Vg1, and store them in an array; The first judgment unit is used to obtain the number of cycles. If the number of cycles is greater than or equal to the preset number of cycles, the difference between the servo position feedback signal ΔVf1 and the difference between the servo position control signal ΔVg1 in the array is subtracted sequentially and compared with the preset value to determine the jitter level. The second determining unit is used to record the number of judgments. When the number of judgments is equal to the number of cycles, the jitter state is determined according to the jitter level. The calculation process for the servo position feedback signal difference ΔVf1 includes: A complete servo position feedback cycle is determined based on the time difference between two adjacent peak values ​​of the servo position feedback signal Vf1, and the maximum value Vfmax and the minimum value Vfmin of the servo position feedback signal within the servo position feedback cycle are found, thereby obtaining the servo position feedback signal difference ΔVf1 within the servo position feedback cycle.

6. A servo motor status identification device, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the servo status recognition method as described in any one of claims 1 to 4 when executing the computer program.

7. A storage medium, characterized in that, The storage medium stores a computer program, which, when executed by a processor, implements the steps of the servo status recognition method as described in any one of claims 1 to 4.

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