Position servo control system correction method, storage medium, and electronic device

Abstract

This invention discloses a calibration method, storage medium, and electronic device for a position servo control system. Specifically, it includes: determining the open-loop transfer function and open-loop gain of the position servo control system and drawing a first Bode plot accordingly; determining whether the gain margin and phase margin of the first Bode plot meet set requirements; if both the gain margin and phase margin of the first Bode plot meet set requirements, calibration is completed; otherwise, proceed to the next step; drawing the expected second Bode plot based on the set gain margin and phase margin requirements; determining a calibration function and its parameters based on the first and second Bode plots; and completing the calibration. In the solution provided by this invention, based on geometric processing, the difference between the first and second Bode plots is analyzed to determine the calibration scheme, reducing the amount of data processing and enabling calibration to be completed even without a computer.

Description

Technical Field

[0001] This invention relates to the field of servo control technology, and in particular to a calibration method, storage medium, and electronic device for a position servo control system. Background Technology

[0002] In practical applications, the rolling force of a position servo control system fluctuates significantly. The mill bounce caused by this force and various complex operating conditions have a substantial impact on the diameter of the exit rolled piece. Simply adjusting the open-loop amplification factor is insufficient to meet the full performance requirements of such a system; therefore, system adjustment and calibration are necessary.

[0003] Traditional methods for transfer function correction include two approaches: one is to calculate based on control theory, which involves a large amount of computation and cumbersome data processing; the other is to use the Simulink tool in the Matlab software to draw Bode plots, but correction cannot be achieved without a computer. Summary of the Invention

[0004] In view of the above problems, the present invention provides a calibration method, storage medium, and electronic device for a position servo control system that overcomes or at least partially solves the above problems. The technical solution is as follows:

[0005] A calibration method for a position servo control system, comprising:

[0006] S1: Determine the open-loop transfer function and open-loop gain of the position servo control system;

[0007] S2: Draw the corresponding Bode plot as the first Bode plot based on the open-loop transfer function and open-loop gain of the position servo control system, and determine the magnitude margin and phase margin of the first Bode plot.

[0008] S3: Determine whether the gain margin and phase margin of the first Bode plot meet the set gain margin requirements and set phase margin requirements. If the gain margin of the first Bode plot meets the set gain margin requirements and the phase margin of the first Bode plot meets the set phase margin requirements, then go to S6; otherwise, go to S4.

[0009] S4: Draw the expected corrected Bode plot as the second Bode plot according to the set amplitude margin requirement and the set phase margin requirement;

[0010] S5: Determine the correction function, and determine the parameters of the correction function based on the first Bode plot and the second Bode plot;

[0011] S6: Correction complete.

[0012] Optionally, in step S5 of the above method, after determining the correction function and determining the parameters of the correction function based on the first Bode plot and the second Bode plot, the method further includes determining the implementation form of the correction device and the parameters of the correction device corresponding to the correction function.

[0013] Optionally, in the above method, if in step S3 it is determined that the phase margin of the first Bode plot meets the set phase margin requirement, and the magnitude margin of the first Bode plot is lower than the set magnitude margin requirement, then the correction function determined in step S5 is the transfer function of hysteresis correction.

[0014] Optionally, in the above method, if in step S3 it is determined that the magnitude margin of the first Bode plot meets the set magnitude margin requirement, and the phase margin of the first Bode plot is lower than the set phase margin requirement, then the correction function determined in step S5 is the lead correction transfer function.

[0015] Optionally, in the above method, the open-loop transfer function of the position servo control system determined in step S1 is a simplified open-loop transfer function.

[0016] Optionally, in the above method, the open-loop gain is determined in step S1 based on the steady-state error requirements of the position servo control system.

[0017] Optionally, in the above method, the set amplitude margin requirement is not less than 6dB, and the set phase margin requirement is not less than 30°.

[0018] Optionally, in the above method, step S5: determining the correction function, and determining the parameters of the correction function based on the first Bode plot and the second Bode plot, includes:

[0019] S51: Determine the transfer function of the hysteresis compensation As the correction function, β is the hysteresis ratio coefficient, and ω2 is the corner frequency of the hysteresis correction transfer function;

[0020] S52: Determine the value of β and the crossover frequency corresponding to the second Bode plot based on the first Bode plot and the second Bode plot, and determine the value of ω2 based on the crossover frequency corresponding to the second Bode plot;

[0021] S53: Calculate the phase at the cross-frequency corresponding to the second Bode plot based on the value of β and the value of ω2 determined in step S52, and determine whether the phase at the cross-frequency corresponding to the second Bode plot meets the set phase margin requirement. If so, use the value of β and the value of ω2 determined in step S52 as the parameters of the correction function; otherwise, return to step S52 to adjust the value of β.

[0022] A storage medium comprising stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the aforementioned calibration method of the position servo control system.

[0023] An electronic device includes at least one processor, at least one memory and a bus connected to the processor; wherein the processor and the memory communicate with each other via the bus; the processor is used to call program instructions in the memory to execute the above-described correction method of the position servo control system.

[0024] Compared with the prior art, the present invention has the following advantages: In the solution provided by the embodiments of the present invention, based on geometric graphics processing, the first Bode plot is drawn by determining the open-loop transfer function and open-loop gain of the position servo control system, and the expected corrected Bode plot is drawn as the second Bode plot. The difference between the first Bode plot and the second Bode plot is analyzed to determine the correction scheme, which reduces the amount of data processing and can complete the correction even without a computer.

[0025] The above description is merely an overview of the technical solution of the present invention. In order to better understand the technical means of the present invention and to implement it in accordance with the contents of the specification, and in order to make the above and other objects, features and advantages of the present invention more apparent and understandable, specific embodiments of the present invention are described below. Attached Figure Description

[0026] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings:

[0027] Figure 1 A flowchart illustrating a calibration method for a position servo control system provided in an embodiment of the present invention;

[0028] Figure 2 The present invention provides a method for correcting a position servo control system. When correcting an HAGC electro-hydraulic position servo control system, the complete transfer function block diagram of the HAGC electro-hydraulic position servo control system is provided.

[0029] Figure 3 The present invention provides a method for correcting a position servo control system. When correcting an HAGC electro-hydraulic position servo control system, the first simplified block diagram of the transfer function of the HAGC electro-hydraulic position servo control system is shown.

[0030] Figure 4A correction method for a position servo control system provided in this embodiment of the invention is used to correct the HAGC electro-hydraulic position servo control system. The second simplified block diagram of the transfer function of the HAGC electro-hydraulic position servo control system is shown.

[0031] Figure 5 A calibration method for a position servo control system provided in this embodiment of the invention is used to calibrate the Bode plot drawn when calibrating the HAGC electro-hydraulic position servo control system;

[0032] Figure 6 for Figure 5 Enlarged view of part of the image;

[0033] Figure 7 A flowchart illustrating another method for correcting a position servo control system provided in this embodiment of the invention;

[0034] Figure 8 A schematic diagram of an implementation of a calibration device for a position servo control system provided in an embodiment of the present invention, used to calibrate an HAGC electro-hydraulic position servo control system;

[0035] Figure 9 This is a structural diagram of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0036] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.

[0037] refer to Figure 1 The following is a flowchart illustrating a calibration method for a position servo control system provided in an embodiment of the present invention. Figure 1 The illustrated method execution process is a feasible implementation scheme of a position servo control system calibration method provided by an embodiment of the present invention. The calibration method for a position servo control system provided by this embodiment of the present invention can complete the calibration by manually drawing graphics and calculating data, without relying on a computer for graphic drawing and data processing, combined with observation and analysis. However, optionally, this method can also be applied to various system platforms, and its execution entity can be a server set up in the system platform. The calibration method proposed in this invention does not exclude the possibility of completing the graphic drawing and data processing steps using a computer. The calibration method for the position servo control system specifically includes:

[0038] S101: Determine the open-loop transfer function and open-loop gain of the position servo control system;

[0039] In the method provided by this invention, the position servo control system can be selected as an HAGC electro-hydraulic position servo control system. This system compares the field control commands and various detection input signals, and outputs the control signal to the servo valve amplifier via a digital-to-analog converter. The servo valve then controls the servo cylinder to dynamically fine-tune the roll gap, which is a hydraulic position closed-loop control method. The performance of the HAGC electro-hydraulic position servo control system is mainly determined by the power element parameter—the hydraulic natural frequency ω. h And hydraulic damping ratio ξ h The decision was made.

[0040] refer to Figure 2 The diagram illustrates the complete transfer function block diagram of the HAGC electro-hydraulic position servo control system when the calibration method of the position servo control system provided in this embodiment of the invention is applied to the calibration of the HAGC electro-hydraulic position servo control system. The meanings of the symbols are as follows: r - signal input; ΔE - error signal; i - servo amplifier output current; Xv - servo valve input displacement; Xp - servo cylinder output displacement; κ a - Servo amplifier gain or amplification factor; κ sv -Servo valve amplification factor or amplification gain; κ q -Servo valve flow gain or flow coefficient; κ f -Feedback coefficient; ω a - The cutoff frequency of the servo amplifier; ω sv - Servo valve natural frequency; δv - servo valve damping ratio; A - cylinder control chamber area. Typically, the cutoff frequency ω of a servo amplifier... a The response speed is very high; the servo amplifier can be considered as a proportional element. The electro-hydraulic servo valve has a fast response speed. sv The dynamic characteristics of electro-hydraulic servo valves are negligible compared to hydraulic power components, and can be considered as a proportional element. Therefore, they can be... Figure 2 The complete transfer function block diagram shown is simplified; refer to [reference needed]. Figure 3 It was shown that, Figure 2 The complete transfer function block diagram shown is the first simplified block diagram of the transfer function after simplifying the servo amplifier and electro-hydraulic servo valve, where κ v This represents the open-loop gain. Furthermore, the closed-loop response characteristics of the system include both the response to the command signal and the response to external load disturbances. However, in system design, usually only the response characteristics to the command signal are considered, and load disturbances can be ignored. Figure 3 The first simplified block diagram shown is further simplified, see reference. Figure 4 It was shown that, Figure 3The first simplified block diagram shown is further simplified to obtain the second simplified block diagram. Based on the above analysis, the final simplified open-loop transfer function of the HAGC electro-hydraulic position servo control system provided in this embodiment of the invention is:

[0041]

[0042] In the method provided by the embodiments of the present invention, optionally, the open-loop transfer function of the position servo control system before simplification can be used as the open-loop transfer function of the position servo control system determined in step S101 and used to draw the first Bode plot; alternatively, the open-loop transfer function obtained after simplification of the position servo control system can be used as the open-loop transfer function of the position servo control system determined in step S101 and used to draw the first Bode plot.

[0043] In the method provided by this embodiment of the invention, the open-loop gain of the position servo control system can be determined based on the steady-state error requirements of the position servo control system. For example, after the second simplification, the open-loop gain of the system is:

[0044]

[0045] To facilitate calculation, take κ. f =1, according to the requirements, if the steady-state error of the system is required to be <0.2%, and it is designed to be 0.1% here, then κ v =1 / 0.1% = 1000. If the system steady-state error requirements are different, the open-loop gain κ... v Different values ​​can be taken accordingly.

[0046] S102: Draw the corresponding Bode plot as the first Bode plot based on the open-loop transfer function and open-loop gain of the position servo control system, and determine the magnitude margin and phase margin of the first Bode plot.

[0047] In the method provided by this invention, the open-loop transfer function and open-loop gain are determined according to the specific application of the position servo control system. Optionally, the following uses... Figure 4 The following example illustrates the open-loop transfer function of the HAGC electro-hydraulic position servo control system, simplified with an servo amplifier and electro-hydraulic servo valve, and ignoring load disturbances. A Bode plot is then drawn to obtain the desired result. Figure 5 and Figure 6 The curve shown is shown in the image. Figure 5 The diagram shown is a Bode plot generated using a correction method for a position servo control system provided in an embodiment of the present invention. Figure 6 for Figure 5 The image shows a partially enlarged view of the Bode plot. It is worth noting that the correction method of this invention is also applicable to other position servo control systems and other forms of open-loop transfer functions.

[0048] In the method provided by this invention, the open-loop transfer function obtained after simplification of the HAGC electro-hydraulic position servo control system is... Furthermore, the open-loop gain κ can be determined based on the specific system selected. v =1000, hydraulic natural frequency ω h =544rad / s, hydraulic damping ratio ξ h =0.25, then the open-loop transfer function is written as Drawing the first Bird diagram yields... Figure 5 and Figure 6 Curves 2 and 3 are shown in the figure. Curve 3 is the amplitude curve of the first Bode plot, and curve 2 is the phase curve of the first Bode plot.

[0049] For ease of analysis, the open-loop gain κ can be plotted. v Using the Bode plot when = 1 as a reference, κ can also be selected as an option. v For other values, refer to the Bode plot, such as taking κ. v =10, etc. See curve 1 for the open-loop gain κ. v The amplitude curve when κ = 1, and curve 2 is the open-loop gain κ. v The phase curve when = 1. It can be calculated. Then we can find that B1C1 = PB1 - PC1 = 6dB, where point P is the intersection of the turning frequency of the second-order oscillation element and the horizontal axis, point B1 is the intersection of the extension of the asymptote of the integral element of curve 1 and the extension of the asymptote of the second-order oscillation element, and point C1 is the corresponding point of the resonance peak that appears at the intersection of the extensions of curve 1.

[0050] According to control theory, curve 3 is curve 1 shifted upwards along the ordinate by 20lgκ. v =20lg1000=60dB, we get that when curve 1 shifts upward, phase curve 2 remains unchanged. Based on the above, we can obtain: AD=B1B3=PB1+PB3=60dB, B1C1=B3C3=6dB, so PB3=5.3dB. Point A is the intersection of curve 1 and the straight line with a vertical coordinate of 0 in the amplitude coordinate system. Point D is the corresponding point in curve 3 with the same horizontal coordinate as point A. Point B3 is the intersection of the extension of the asymptote of the integral element of curve 3 and the extension of the asymptote of the second-order oscillation element. Point C3 is the corresponding point of the resonance peak that appears at the intersection of the extensions of curve 3. Analysis shows that at this time, the amplitude margin KgdB<0dB, the phase margin γ<0°, and the system is unstable.

[0051] S103: Determine whether the gain margin and phase margin of the first Bode plot meet the set gain margin requirements and set phase margin requirements. If the gain margin of the first Bode plot meets the set gain margin requirements and the phase margin of the first Bode plot meets the set phase margin requirements, then proceed to S106; otherwise, proceed to S104.

[0052] In the method provided by this embodiment of the invention, if the magnitude margin of the first Bode plot meets the set magnitude margin requirement but the phase margin of the first Bode plot does not meet the set phase margin requirement, or the magnitude margin of the first Bode plot does not meet the set magnitude margin requirement but the phase margin of the first Bode plot meets the set phase margin requirement, or the magnitude margin of the first Bode plot does not meet the set magnitude margin requirement and the phase margin of the first Bode plot also does not meet the set phase margin requirement, correction is required, and the process proceeds to step S104; only when the magnitude margin of the first Bode plot meets the set magnitude margin requirement and the phase margin of the first Bode plot also meets the set phase margin requirement, both the magnitude margin and the phase margin are sufficient, and correction is not required, and the process proceeds to step S106 to end the correction.

[0053] S104: Draw the expected corrected Bode plot as the second Bode plot according to the set amplitude margin requirement and the set phase margin requirement;

[0054] S105: Determine the correction function, and determine the parameters of the correction function based on the first Bode plot and the second Bode plot;

[0055] After drawing the first Bode plot, it is determined whether the magnitude margin and phase margin of the first Bode plot meet the requirements. If at least one does not meet the set requirements, correction is performed. In the method provided by this embodiment of the invention, correction is performed based on a geometric processing method. First, a first Bode plot of the system before correction is drawn. If it is determined that the system needs correction based on the first Bode plot, a second Bode plot that is expected to meet the set magnitude margin and phase margin requirements is drawn. The difference between the first Bode plot and the second Bode plot is observed, and a correction scheme is determined based on the difference. If the magnitude is insufficient, the magnitude is supplemented; if the phase is insufficient, the phase is supplemented. Optionally, if it is determined that the phase margin of the first Bode plot meets the set phase margin requirement, but the magnitude margin of the first Bode plot is lower than the set magnitude margin requirement, a lag correction method can be used; if it is determined that the magnitude margin of the first Bode plot meets the set magnitude margin requirement, but the phase margin of the first Bode plot is lower than the set phase margin requirement, a lead correction method can be used.

[0056] Furthermore, to ensure stable and reliable system operation and achieve ideal performance indicators, the system is required to have appropriate stability margins (amplitude margin and phase margin). Typically, the phase margin γ is not less than 0°, preferably in the range of approximately 30° to 60°; the amplitude margin KgdB ≥ 6dB. Optionally, the set amplitude margin requirement is not less than 6dB, and the set phase margin requirement is not less than 30°.

[0057] In this embodiment of the invention, observing curves 2 and 3 reveals that the HAGC electro-hydraulic position servo control system of this embodiment has insufficient amplitude margin but sufficient phase margin; the open-loop transfer function of the HAGC electro-hydraulic position servo control system of this embodiment consists of an integral and an oscillating element, resulting in a relatively small damping ratio (ξ). h =0.25), resulting in insufficient amplitude margin but sufficient phase margin. From curve 3, maintaining the original error, i.e., the open-loop gain κ... v To maintain the system's stability and ensure good relative stability, hysteresis network correction can be used. The high-frequency attenuation characteristics of hysteresis correction increase the amplitude margin. Although hysteresis correction lowers the crossover frequency, it increases the phase margin, resulting in better relative stability. Furthermore, by adjusting the hysteresis ratio β, the crossover frequency is not significantly reduced. Therefore, considering all factors, hysteresis correction is more suitable in this embodiment. The transfer function of hysteresis correction is determined as follows: Where ω2 is the corner frequency of the hysteresis compensation transfer function.

[0058] In this embodiment of the invention, the HAGC electro-hydraulic position servo control system has insufficient amplitude margin but sufficient phase margin. Optionally, to compensate for the insufficient amplitude, the amplitude margin Kg = 6dB can be ensured first, and the crossover frequency ω can be determined by setting the hysteresis ratio coefficient β. c And then through ω c The phase margin γ is checked for suitability. If not, β is readjusted; if suitable, the correction function parameter β is determined. Furthermore, hysteresis compensation is used, and the corrected KgdB = 6dB. Based on this, the expected corrected second Bode plot is initially drawn. Curve 5 is the amplitude curve of the second Bode plot, and curve 4 is the phase curve of the second Bode plot. (Refer to...) Figure 5 and Figure 6 After lag correction, KgdB = PC2 = 6dB. From the previous analysis and graph, we know that B2C2 = B1C1 = B3C3 = 6dB, PB3 = 5.3dB. Point B2 is the intersection of the extended asymptotes of the integral element and the second-order oscillation element of curve 5. Point C2 is the corresponding point of the resonance peak that curve 5 appears at the intersection of the extended lines. We obtain C3C2 = B3B2 = B3C3 + PB3 + PC2 = 17.3dB, indicating that the curve after lag correction is "pulled down" in the high-frequency stage by C3C2 = B3B2 = 17.3dB.

[0059] The hysteresis compensation transfer function is determined as follows: Based on the high-frequency amplitude attenuation characteristic of hysteresis correction, 20lgβ = 17.3dB, we can obtain β = 7.33. To avoid excessive reduction in the crossover frequency, we choose β = 7.5. Then, according to the appendix... Figure 6 PB² = PC² + B²C² = 12dB, and the frequency at point P is the corner frequency ω of the oscillating element. h =544rad / s, and based on the slope of -20dB / doc before and after the hysteresis correction cross-frequency, we can obtain: Calculate the crossover frequency at point J, ω c = 136 rad / s.

[0060] The corner frequency ω2 of the hysteresis compensation transfer function is chosen to reduce the impact of the hysteresis network on the crossover frequency ω. c The phase lag effect causes ω2 to be lower than (1 / 4 to 1 / 5) of the corrected crossover frequency; here, we take... Rounding down, we get: ω2 = 30 rad / s. Then, draw the Bode plot of the hysteresis correction transfer function, see [link / reference]. Figure 5 Curve 6 is the magnitude curve of the Bode plot of the hysteresis-corrected transfer function, and curve 7 is the phase curve of the Bode plot of the hysteresis-corrected transfer function. Therefore, the new transfer function after correction is:

[0061]

[0062] According to the new transfer function, the phase at the crossover frequency is:

[0063]

[0064] It is evident that the phase margin, as analyzed by the second Bode plot, is sufficient. No adjustment of β is necessary. Therefore, in this embodiment of the invention, hysteresis compensation is used to correct the amplitude, and the transfer function of the hysteresis compensation is... The parameters of the hysteresis compensation transfer function are determined to be β = 7.5 and ω2 = 30 rad / s.

[0065] S106: Calibration complete.

[0066] Optionally, in the method provided by the embodiments of the present invention, after determining the correction function and determining the parameters of the correction function based on the first Bode plot and the second Bode plot, the method further includes determining the implementation form of the correction device and the parameters of the correction device corresponding to the correction function.

[0067] See Figure 7 The diagram shows another method flowchart of a calibration method for a position servo control system provided in an embodiment of the present invention. Figure 1In contrast, step S205 in this process includes: determining a correction function, determining the parameters of the correction function based on the first Bode plot and the second Bode plot, and determining the implementation form and parameters of the correction device corresponding to the correction function. Taking the correction of the HAGC electro-hydraulic position servo control system of the above embodiment as an example, the correction function is determined as follows: The parameters of the correction function are β = 7.5 and ω2 = 30 rad / s. The corresponding correction device can be implemented electrically, mechanically, etc. In this embodiment, the correction device is determined as follows: Figure 8 As shown, determine the parameters of the calibration device: Choose capacitor C2 = 1uF, resistor R1 = R2(β-1) = 214.5 kΩ. The system's open-loop crossover frequency Wc = 136 rad / s, therefore the corresponding frequency... The requirements are met, where T is the time constant. According to control theory, the bandwidth ω of the closed-loop system is... b >21.7HZ>16.7HZ.

[0068] The HAGC electro-hydraulic position servo control system of the above embodiment, after adding hysteresis compensation, has an open-loop amplitude margin of KgdB = 6dB, a crossover frequency of Wc = 136rad / s, a phase margin of γ = 71.7°, and Kv = 1000. The open-loop Bode plot of the new system, i.e., the second Bode plot, shows, based on the amplitude curve (curve 5) and the phase curve (curve 4) of the second Bode plot, that the new system has good relative stability, meets the required fast response, and has high accuracy, meeting the stability error requirements. Therefore, the corrected system has good static and dynamic performance indicators, meeting the requirements for successful correction.

[0069] This invention provides a storage medium storing a program that, when executed by a processor, implements the correction method of the position servo control system.

[0070] This invention provides a processor for running a program, wherein the program executes a correction method for the position servo control system during runtime.

[0071] like Figure 9As shown, this embodiment of the invention provides an electronic device 90, which includes at least one processor 901, at least one memory 902 connected to the processor 901, and a bus 903; wherein the processor 901 and the memory 902 communicate with each other through the bus 903; the processor 901 is used to call program instructions in the memory 902 to execute the above-described correction method of the position servo control system. The device described herein can be a server, PC, PAD, mobile phone, etc.

[0072] This application also provides a computer program product, which, when executed on a data processing device, is suitable for executing a program that initializes the following method steps, including:

[0073] Determine the open-loop transfer function and open-loop gain of the position servo control system;

[0074] Based on the open-loop transfer function and open-loop gain of the position servo control system, the corresponding Bode plot is drawn as the first Bode plot, and the magnitude margin and phase margin of the first Bode plot are determined.

[0075] Determine whether the gain margin and phase margin of the first Bode plot meet the set gain margin requirements and set phase margin requirements. If the gain margin and phase margin of the first Bode plot meet the set gain margin requirements, the correction is completed; otherwise, proceed to the next step.

[0076] Based on the set amplitude margin requirement and the set phase margin requirement, draw the expected corrected Bode plot as the second Bode plot;

[0077] Determine the correction function, and determine the parameters of the correction function based on the first Bode plot and the second Bode plot;

[0078] Correction complete.

[0079] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart... Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0080] In a typical configuration, the device includes one or more processors (CPUs), memory, and a bus. The device may also include input / output interfaces, network interfaces, etc.

[0081] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, like read-only memory (ROM) or flash RAM, and memory includes at least one memory chip. Memory is an example of computer-readable media.

[0082] Computer-readable media includes both permanent and non-permanent, removable and non-removable media that can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient computer-readable media, such as modulated data signals and carrier waves.

[0083] It should also be noted that the terms "comprising," "including," or any other variations thereof 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. Unless otherwise specified, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0084] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0085] The above are merely embodiments of this application and are not intended to limit the scope of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A calibration method for a position servo control system, characterized in that, include: S1: Determine the open-loop transfer function and open-loop gain of the position servo control system; S2: Draw the corresponding Bode plot as the first Bode plot based on the open-loop transfer function and open-loop gain of the position servo control system, and determine the magnitude margin and phase margin of the first Bode plot. S3: Determine whether the gain margin and phase margin of the first Bode plot meet the set gain margin requirements and set phase margin requirements. If the gain margin of the first Bode plot meets the set gain margin requirements and the phase margin of the first Bode plot meets the set phase margin requirements, then go to S6; otherwise, go to S4. S4: Draw the expected corrected Bode plot as the second Bode plot according to the set amplitude margin requirement and the set phase margin requirement; S5: Determine the correction function, and determine the parameters of the correction function based on the first Bode plot and the second Bode plot; S6: Correction complete.

2. The calibration method for the position servo control system according to claim 1, characterized in that, In step S5, after determining the correction function and determining the parameters of the correction function based on the first Bode plot and the second Bode plot, the method further includes determining the implementation form of the correction device and the parameters of the correction device corresponding to the correction function.

3. The calibration method for the position servo control system according to claim 1, characterized in that, If, in step S3, it is determined that the phase margin of the first Bode plot meets the set phase margin requirement, and the magnitude margin of the first Bode plot is lower than the set magnitude margin requirement, then the correction function determined in step S5 is the transfer function of hysteresis correction.

4. The calibration method for the position servo control system according to claim 1, characterized in that, If, in step S3, it is determined that the magnitude margin of the first Bode plot meets the set magnitude margin requirement, and the phase margin of the first Bode plot is lower than the set phase margin requirement, then the correction function determined in step S5 is the lead correction transfer function.

5. The calibration method for the position servo control system according to claim 1, characterized in that, The open-loop transfer function of the position servo control system determined in step S1 is a simplified open-loop transfer function.

6. The calibration method for the position servo control system according to claim 1, characterized in that, In step S1, the open-loop gain is determined based on the steady-state error requirements of the position servo control system.

7. The calibration method for the position servo control system according to claim 1, characterized in that, The set amplitude margin requirement is not less than 6dB, and the set phase margin requirement is not less than 30°.

8. The calibration method for the position servo control system according to claim 3, characterized in that, Step S5: Determine the correction function, and determine the parameters of the correction function based on the first Bode plot and the second Bode plot, including: S51: Determine the transfer function of the hysteresis compensation As the correction function, β is the hysteresis ratio coefficient, and ω2 is the corner frequency of the hysteresis correction transfer function; S52: Determine the value of β and the crossover frequency corresponding to the second Bode plot based on the first Bode plot and the second Bode plot, and determine the value of ω2 based on the crossover frequency corresponding to the second Bode plot; S53: Calculate the phase at the cross-frequency corresponding to the second Bode plot based on the value of β and the value of ω2 determined in step S52, and determine whether the phase at the cross-frequency corresponding to the second Bode plot meets the set phase margin requirement. If so, use the value of β and the value of ω2 determined in step S52 as the parameters of the correction function; otherwise, return to step S52 to adjust the value of β.

9. A storage medium, characterized in that, The storage medium includes stored instructions, wherein, when the instructions are executed, the device containing the storage medium is controlled to perform the calibration method of the position servo control system as described in any one of claims 1-8.

10. An electronic device, characterized in that, It includes at least one processor, and at least one memory and bus connected to the processor; wherein the processor and memory communicate with each other through the bus; the processor is used to call program instructions in the memory to execute the calibration method of the position servo control system as described in any one of claims 1-8.

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