Control method and device of servo system, servo system and readable storage medium

Abstract

The application provides a control method and device of a servo system, the servo system and a readable storage medium. The servo system comprises a motor and a brake unit. The method comprises the following steps: obtaining multiple set working parameters; controlling the motor and the brake unit to work according to the multiple set working parameters, and obtaining multiple voltage values of the motor; and determining a target working parameter according to the multiple voltage values of the motor, wherein the target working parameter is one of the multiple set working parameters. The technical scheme provided by the application can change the initial speed to simulate the actual servo energy feedback process from different kinetic energy starting points by changing the initial speed from the energy angle, and can effectively avoid direct overpressure by introducing the judgment on the speed planning and planning the brake strategy in advance.

Description

Technical Field

[0001] This invention relates to the field of servo motor technology, and more specifically, to a control method for a servo system, a control device for a servo system, a servo system, and a readable storage medium. Background Technology

[0002] In related technologies, regenerative resistors or some braking strategies are usually used to avoid losses caused by regenerative characteristics. However, there are no clear test methods or means to evaluate and verify the regenerative characteristics of servo systems and the rationality of servo system regenerative resistors and braking schemes. An unsuitable regenerative resistor or an unreasonable braking scheme may cause the system to overload and shut down, or the resistor to be damaged. Once the protection of the resistor is lost, the bus capacitor and power module may also burn out. Summary of the Invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art or related art.

[0004] Therefore, a first aspect of the present invention provides a control method for a servo system.

[0005] A second aspect of the present invention also provides a control device for a servo system.

[0006] A third aspect of the present invention also provides a servo system.

[0007] A fourth aspect of the present invention also provides a readable storage medium.

[0008] In view of this, a first aspect of the present invention provides a control method for a servo system, the servo system including a motor and a braking unit, the method comprising: acquiring a plurality of set operating parameters; controlling the motor and the braking unit to operate according to the plurality of set operating parameters, and acquiring a plurality of voltage values ​​of the motor; determining a target operating parameter according to the plurality of voltage values ​​of the motor, wherein the target operating parameter is one of the plurality of set operating parameters.

[0009] The servo system control method provided by this invention acquires multiple set operating parameters of the servo system, controls the motor and braking unit to run for a period of time according to the set operating parameters to simulate the actual energy feedback process, records multiple voltage values ​​of the motor during braking, and determines the voltage and braking current curves based on the multiple voltage values. Then, based on the acquired multiple voltage values, the most suitable operating parameter, i.e., the target operating parameter, is determined from the multiple set operating parameters.

[0010] This invention provides a servo system control method that, from an energy perspective, simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points. This allows for the incorporation of speed planning judgments into the braking control strategy. By pre-planning the braking control strategy, the optimal control strategy can be achieved to control the bus voltage and braking current, ensuring the safe and stable operation of the system. Existing servo systems with feedback characteristics often experience a rise in bus voltage during braking and deceleration. An unsuitable regenerative resistor or an unreasonable braking scheme can lead to system overload shutdown and resistor damage. Once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although the feedback energy and resulting bus voltage changes under different inertia and deceleration conditions can theoretically be calculated, this does not match reality, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application, through an energy-perspective testing scheme, simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points. Compared to existing braking strategies, which typically only activate the braking resistor when the bus voltage exceeds a set threshold, this approach provides a more comprehensive solution. This application introduces a speed planning judgment to plan braking strategies in advance, effectively avoiding direct overpressure reports.

[0011] The control method for the servo system provided by the present invention may further include the following additional technical features:

[0012] In the above technical solution, further, the operation of the motor and the braking unit is controlled according to multiple set operating parameters, including: controlling the operation of the motor and the braking unit according to the set initial speed and the set braking start time of the set operating parameters.

[0013] In this technical solution, multiple set operating parameters include multiple set initial speeds and a set braking start time corresponding to each initial speed. The control motor and braking unit operate according to each set initial speed and its corresponding set braking start time to simulate the actual servo energy feedback process, thereby measuring more critical values ​​of the system.

[0014] By conducting repeated regeneration characteristic tests using the above method, more critical values ​​of the system are measured, thereby determining the deceleration limit value of the servo system and modifying the braking strategy to ensure the rationality of braking resistor parameters and dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0015] In any of the above technical solutions, the target operating parameters further include the target initial speed and the target braking start time. The target operating parameters are determined based on multiple voltage values ​​of the motor, including: comparing the voltage value with a voltage threshold to determine a target voltage value that is less than or equal to the voltage threshold; using the set initial speed corresponding to the target voltage value as the target initial speed; and using the set braking start time corresponding to the target voltage value as the target braking start time.

[0016] In this technical solution, the motor and braking unit are controlled to run for a period of time according to the set initial speed. Multiple voltage values ​​and braking current of the motor are recorded during the braking process. The voltage values ​​of the motor are compared with the limited voltage threshold. The voltage values ​​less than or equal to the voltage threshold are determined to be the target voltage values. Then, the target initial speed and target braking start time corresponding to the target voltage values ​​are determined as the deceleration limit values ​​of the servo system.

[0017] By setting different speed planning curves, deceleration at different operating speeds, and different load conditions, the bus voltage of the servo system is tested. The system is then analyzed and improvement strategies are developed. Braking control strategies are planned in advance to achieve optimal control of the bus voltage and braking current, ensuring the safe and stable operation of the system.

[0018] In any of the above technical solutions, the control method further includes: when there are multiple target voltage values, taking the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​as the target initial speed, and taking the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​as the target braking start time.

[0019] In this technical solution, after the motor and braking unit are controlled to run for a period of time according to multiple initial speed settings of the servo system, the bus voltage and braking circuit current curves during braking are recorded. Based on the voltage bus threshold, a regenerative characteristic test is performed to obtain multiple critical values, i.e. multiple target voltage values. The largest voltage value among the multiple target voltage values ​​is determined. The target initial speed and target braking start time corresponding to this voltage value are the deceleration limit values ​​under the limited voltage threshold.

[0020] By using the above method, the deceleration limit value under the limited voltage threshold can be determined from multiple critical values ​​to ensure the optimality of the braking strategy and to ensure faster braking.

[0021] In any of the above technical solutions, the control method further includes: controlling the operation of the motor and the braking unit according to the target initial speed and the target braking start time.

[0022] In this technical solution, the servo system is set to an initial speed to brake the motor. The motor and braking unit are controlled to run at the initial speed for a period of time. The acceleration time and initial speed are changed, and the above actions are repeated multiple times. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the power of the braking resistor is calculated through the regenerative circuit current to determine whether the selection of the regenerative resistor in the system is reasonable and whether there are any situations such as resistor burnout or capacitor damage.

[0023] By conducting repeated tests using the above method, the deceleration limit of the servo system is determined, and the braking strategy is then modified to ensure that the braking resistor can be activated in advance before deceleration, thereby ensuring faster braking and avoiding excessive rise in bus voltage.

[0024] In any of the above technical solutions, the voltage value is further defined as the bus voltage value.

[0025] In this technical solution, the initial speed and braking start time of the servo system are set, and the motor and braking unit are controlled to run for a period of time according to the initial speed. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the power of the braking resistor is calculated by the regenerative circuit current to determine whether the selection of the regenerative resistor in the system is reasonable and whether there are any situations such as resistor burnout or capacitor damage.

[0026] By using the above method, the test results of the servo system's regenerative characteristics are determined based on the voltage bus threshold, providing more critical values ​​for system analysis and improvement strategies, and thus providing data support for the effectiveness of braking resistor parameters and braking strategies.

[0027] According to a second aspect of the present invention, a control device for a servo system is provided. The servo system includes a motor and a braking unit. The control device includes: an acquisition module for acquiring multiple set operating parameters; a control module for controlling the operation of the motor and the braking unit according to the multiple set operating parameters and acquiring multiple voltage values ​​of the motor; and a determination module for determining a target operating parameter according to the multiple voltage values ​​of the motor, wherein the target operating parameter is one of the multiple set operating parameters.

[0028] The control device for the servo system provided by this invention acquires multiple preset operating parameters of the servo system, controls the motor and braking unit to run for a period of time according to the preset operating parameters to simulate the actual energy feedback process, records multiple voltage values ​​of the motor during braking, and determines the voltage and braking current curves based on the multiple voltage values. Then, based on the acquired multiple voltage values, the most suitable operating parameter, i.e., the target operating parameter, is determined from the multiple preset operating parameters.

[0029] The servo system control device provided by this invention simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points, from an energy perspective. This allows for the incorporation of speed planning judgments into the braking control strategy. By pre-planning the braking control strategy, the optimal control strategy can be achieved to control the bus voltage and braking current, ensuring the safe and stable operation of the system. Existing servo systems with feedback characteristics often cause an increase in bus voltage during braking and deceleration. An unsuitable regenerative resistor or an unreasonable braking scheme can lead to system overload shutdown and resistor damage. Once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although the feedback energy and resulting bus voltage changes under different inertia and deceleration conditions can be theoretically calculated, this does not match reality, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points through an energy-perspective testing scheme. Compared to existing braking strategies, which typically only activate the braking resistor when the bus voltage exceeds a set threshold, this approach provides a more comprehensive solution. This application introduces a speed planning judgment to plan braking strategies in advance, effectively avoiding direct overpressure reports.

[0030] In any of the above technical solutions, the control module is further configured to control the operation of the motor and the braking unit according to the set initial speed and set braking start time of the set working parameters.

[0031] In this technical solution, multiple set operating parameters include multiple set initial speeds and a set braking start time corresponding to each initial speed. The control motor and braking unit operate according to each set initial speed and its corresponding set braking start time to simulate the actual servo energy feedback process, thereby measuring more critical values ​​of the system.

[0032] By conducting repeated regeneration characteristic tests using the above method, more critical values ​​of the system are measured, thereby determining the deceleration limit value of the servo system and modifying the braking strategy to ensure the rationality of braking resistor parameters and dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0033] In any of the above technical solutions, the target operating parameters further include the target initial speed and the target braking start time. The control device further includes: a comparison module, used to compare the voltage value with a voltage threshold and determine a target voltage value that is less than or equal to the voltage threshold; and a determination module, specifically used to take the set initial speed corresponding to the target voltage value as the target initial speed and the set braking start time corresponding to the target voltage value as the target braking start time.

[0034] In this technical solution, the motor and braking unit are controlled to run for a period of time according to the set initial speed. Multiple voltage values ​​and braking current of the motor are recorded during the braking process. The voltage values ​​of the motor are compared with the limited voltage threshold. The voltage values ​​less than or equal to the voltage threshold are determined to be the target voltage values. Then, the target initial speed and target braking start time corresponding to the target voltage values ​​are determined as the deceleration limit values ​​of the servo system.

[0035] By setting different speed planning curves, deceleration at different operating speeds, and different load conditions, the bus voltage of the servo system is tested. The system is then analyzed and improvement strategies are developed. Braking control strategies are planned in advance to achieve optimal control of the bus voltage and braking current, ensuring the safe and stable operation of the system.

[0036] In any of the above technical solutions, the determining module is further configured to: when there are multiple target voltage values, take the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​as the target initial speed, and take the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​as the target braking start time.

[0037] In this technical solution, after the motor and braking unit are controlled to run for a period of time according to multiple initial speed settings of the servo system, the bus voltage and braking circuit current curves during braking are recorded. Based on the voltage bus threshold, a regenerative characteristic test is performed to obtain multiple critical values, i.e. multiple target voltage values. The largest voltage value among the multiple target voltage values ​​is determined. The target initial speed and target braking start time corresponding to this voltage value are the deceleration limit values ​​under the limited voltage threshold.

[0038] By using the above method, the deceleration limit value under the limited voltage threshold can be determined from multiple critical values ​​to ensure the optimality of the braking strategy and to ensure faster braking.

[0039] In any of the above technical solutions, the control module is further configured to control the operation of the motor and the braking unit based on the target initial speed and the target braking start time.

[0040] In this technical solution, the servo system is set to an initial speed to brake the motor. The motor and braking unit are controlled to run at the initial speed for a period of time. The acceleration time and initial speed are changed, and the above actions are repeated multiple times. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the power of the braking resistor is calculated through the regenerative circuit current to determine whether the selection of the regenerative resistor in the system is reasonable and whether there are any situations such as resistor burnout or capacitor damage.

[0041] By conducting repeated tests using the above method, the deceleration limit of the servo system is determined, and the braking strategy is then modified to ensure that the braking resistor can be activated in advance before deceleration, thereby ensuring faster braking and avoiding excessive rise in bus voltage.

[0042] In any of the above technical solutions, the voltage value is further defined as the bus voltage value.

[0043] In this technical solution, the initial speed and braking start time of the servo system are set, and the motor and braking unit are controlled to run for a period of time according to the initial speed. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the power of the braking resistor is calculated by the regenerative circuit current to determine whether the selection of the regenerative resistor in the system is reasonable and whether there are any situations such as resistor burnout or capacitor damage.

[0044] By using the above method, the test results of the servo system's regenerative characteristics are determined based on the voltage bus threshold, providing more critical values ​​for system analysis and improvement strategies, and thus providing data support for the effectiveness of braking resistor parameters and braking strategies.

[0045] According to a third aspect of the present invention, a servo system is provided, comprising: a motor connected to a load, the motor being used to drive the load to move; a braking unit for braking the motor; a memory storing a program or instructions; and a controller that, when executing the program or instructions, implements the control method of the servo system proposed in the first aspect.

[0046] In this technical solution, multiple preset operating parameters of the servo system are acquired. Following these parameters, the motor and braking unit are controlled to operate for a period of time to simulate the actual energy feedback process. Multiple voltage values ​​of the motor are recorded during braking, and voltage and braking current curves are determined based on these values. Then, based on the acquired voltage values, the most suitable operating parameter, i.e., the target operating parameter, is determined from among the multiple preset operating parameters.

[0047] By employing the above method, from an energy perspective, the actual servo energy feedback process is simulated by changing the initial speed to achieve deceleration from different kinetic energy starting points. This allows the judgment of speed planning to be incorporated into the braking control strategy. Pre-planning the braking control strategy enables the optimal control strategy to manage the bus voltage and braking current, ensuring the safe and stable operation of the system. Existing servo systems with feedback characteristics cause the bus voltage to rise during braking and deceleration. An unsuitable regenerative resistor or an unreasonable braking scheme may lead to system overload shutdown, resistor damage, and, once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although the feedback energy and resulting bus voltage changes under different inertia and deceleration conditions can be theoretically calculated, this does not match the actual situation, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application uses an energy-based testing scheme to simulate the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points. Compared to existing braking strategies, which generally only activate the braking resistor when the bus voltage exceeds a set threshold. This application introduces a speed planning judgment to plan braking strategies in advance, effectively avoiding direct overpressure reports.

[0048] In any of the above technical solutions, the servo system further includes: a driver connected to the motor, the driver being used to drive the motor to rotate.

[0049] In this technical solution, the servo system includes a driver connected to a motor to drive the motor to rotate. When the servo stops rapidly due to faults, emergency stops, power outages, or other reasons, the motor's kinetic energy and coil magnetic energy are fed back to the DC bus through the inverter circuit. By setting different speed planning curves, deceleration at different operating speeds, and under different load conditions, the bus voltage of the servo system is tested, verifying the braking resistor parameters and the rationality of dynamic braking, thus providing accurate parameter data for the design and application of the servo system.

[0050] According to a fourth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, perform the control method of the servo system proposed in the first aspect. Therefore, this readable storage medium possesses all the beneficial effects of the control method of the servo system proposed in the first aspect, and to avoid repetition, further details are omitted.

[0051] Additional aspects and advantages of the invention will become apparent in the following description or may be learned by practice of the invention. Attached Figure Description

[0052] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the description of the embodiments taken in conjunction with the following drawings, in which:

[0053] Figure 1 This invention illustrates one of the schematic flowcharts of a control method for a servo system according to an embodiment of the present invention;

[0054] Figure 2 A second schematic diagram of the control method of a servo system according to an embodiment of the present invention is shown;

[0055] Figure 3 The third schematic diagram of the control method of the servo system according to an embodiment of the present invention is shown;

[0056] Figure 4 The fourth schematic diagram shows a control method flow chart of a servo system according to an embodiment of the present invention;

[0057] Figure 5 A schematic flowchart of a control method for a servo system according to an embodiment of the present invention is shown;

[0058] Figure 6 A control diagram of a servo system according to an embodiment of the present invention is shown;

[0059] Figure 7 A schematic block diagram of a servo system according to an embodiment of the present invention is shown;

[0060] Figure 8 A schematic block diagram of the control device of a servo system according to an embodiment of the present invention is shown.

[0061] in, Figure 8 The correspondence between the reference numerals and component names in the attached drawings is as follows:

[0062] The 800 servo system control device consists of an 802 acquisition module, an 804 control module, and an 806 determination module. Detailed Implementation

[0063] 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 a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0064] It should be noted that in this invention, descriptions involving "first," "second," etc., are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0065] Furthermore, the technical solutions of the various embodiments of the present invention can be combined with each other, but only if they are feasible for those skilled in the art. If the combination of technical solutions is contradictory or cannot be implemented, it should be considered that such combination of technical solutions does not exist and is not within the scope of protection claimed by the present invention.

[0066] The following reference Figures 1 to 8 This invention describes a control method for a servo system, a control device for a servo system, a servo system, and a readable storage medium according to some embodiments of the present invention.

[0067] Example 1:

[0068] like Figure 1 As shown, according to an embodiment of the present invention, a control method for a servo system is proposed, the method comprising:

[0069] Step 102: Obtain multiple set working parameters;

[0070] Step 104: Control the motor and braking unit to work according to multiple set working parameters, and obtain multiple voltage values ​​of the motor;

[0071] Step 106: Determine the target operating parameter based on multiple voltage values ​​of the motor, wherein the target operating parameter is one of multiple set operating parameters.

[0072] The servo system control method provided in this embodiment acquires multiple set operating parameters of the servo system, controls the motor and braking unit to run for a period of time according to the set operating parameters to simulate the actual energy feedback process, records multiple voltage values ​​of the motor during braking, and determines the voltage and braking current curves based on the multiple voltage values. Then, based on the acquired multiple voltage values, the most suitable operating parameter, i.e., the target operating parameter, is determined from the multiple set operating parameters.

[0073] The servo system control method provided in this embodiment simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points, from an energy perspective. This allows the judgment of speed planning to be introduced into the braking control strategy. By planning the braking control strategy in advance, the optimal control strategy can be achieved to control the bus voltage and braking current, ensuring the safe and stable operation of the system. In existing servo systems with feedback characteristics, the bus voltage will rise during braking and deceleration. An unsuitable regenerative resistor or an unreasonable braking scheme may lead to system overload shutdown and resistor damage. Once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although it is theoretically possible to calculate the feedback energy and the resulting bus voltage changes under different inertia and deceleration conditions, this does not match the actual situation, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points through an energy-perspective test scheme. Compared to existing braking strategies, which generally only activate the braking resistor when the bus voltage exceeds a set threshold. This application introduces a speed planning judgment to plan braking strategies in advance, effectively avoiding direct overpressure reports.

[0074] Furthermore, the voltage value is the bus voltage value. The servo system is set with a set initial speed and a set braking start time. The motor and braking unit are controlled to run for a period of time according to the set initial speed and set braking start time. The bus voltage and braking circuit current curves during braking are recorded. Then, the braking resistor power is calculated through the regenerative circuit current. Based on the servo system's voltage bus threshold, it is determined whether the braking resistor and its selection scheme meet the application requirements.

[0075] By using the above method, the test results of the servo system's regenerative characteristics are determined based on the voltage bus threshold, providing more critical values ​​for system analysis and improvement strategies, and thus providing data support for the effectiveness of braking resistor parameters and braking strategies.

[0076] Example 2:

[0077] like Figure 2 As shown, according to an embodiment of the present invention, a control method for a servo system is proposed, the method comprising:

[0078] Step 202: Obtain multiple set working parameters;

[0079] Step 204: Based on the set initial speed and set braking start time of the set working parameters, control the motor and braking unit to work, and obtain multiple voltage values ​​of the motor;

[0080] Step 206: Determine the target operating parameter based on the multiple voltage values ​​of the motor, wherein the target operating parameter is one of the multiple set operating parameters.

[0081] In this embodiment, the multiple set operating parameters include multiple set initial speeds and a set braking start time corresponding to each initial speed. The control motor and braking unit operate according to each set initial speed and its corresponding set braking start time to simulate the actual servo energy feedback process, thereby measuring more critical values ​​of the system.

[0082] By using the above methods and conducting regenerative characteristic tests, more critical values ​​of the system can be measured, thereby determining the deceleration limit of the servo system and modifying the braking strategy to ensure the rationality of braking resistor parameters and dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0083] Example 3:

[0084] like Figure 3 As shown, according to an embodiment of the present invention, a control method for a servo system is proposed, the method comprising:

[0085] Step 302: Obtain multiple set working parameters;

[0086] Step 304: Based on the set initial speed and set braking start time of the set working parameters, control the motor and braking unit to work, and obtain multiple voltage values ​​of the motor;

[0087] Step 306: Compare the voltage value with the voltage threshold to determine the target voltage value that is less than or equal to the voltage threshold;

[0088] Step 308: Take the set initial speed corresponding to the target voltage value as the target initial speed, and take the set braking start time corresponding to the target voltage value as the target braking start time.

[0089] In this embodiment, the multiple set operating parameters include multiple set initial speeds and a set braking start time corresponding to each initial speed. The control motor and braking unit operate according to each set initial speed and its corresponding set braking start time to simulate the actual servo energy feedback process, thereby measuring more critical values ​​of the system.

[0090] By using the above methods and conducting regenerative characteristic tests, more critical values ​​of the system can be measured, thereby determining the deceleration limit of the servo system and modifying the braking strategy to ensure the rationality of braking resistor parameters and dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0091] Furthermore, when there are multiple target voltage values, the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​is taken as the target initial speed, and the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​is taken as the target braking start time.

[0092] In this embodiment, after controlling the motor and braking unit to run for a period of time according to multiple set initial speeds and different set braking start times of the servo system, the bus voltage and braking circuit current curves during braking are recorded, and regenerative characteristic tests are performed according to the voltage bus threshold to obtain multiple critical values, i.e. multiple target voltage values. The largest voltage value among the multiple target voltage values ​​is determined. The target initial speed and target braking start time corresponding to this voltage value are the deceleration limit value under the limited voltage threshold.

[0093] By using the above method, the deceleration limit value under the limited voltage threshold can be determined from multiple critical values ​​to ensure the optimality of the braking strategy and to ensure faster braking.

[0094] Example 4:

[0095] like Figure 4 As shown, according to an embodiment of the present invention, a control method for a servo system is proposed, the method comprising:

[0096] Step 402: Obtain multiple set working parameters;

[0097] Step 404: Based on the set initial speed and set braking start time of the set working parameters, control the motor and braking unit to work, and obtain multiple voltage values ​​of the motor;

[0098] Step 406: Compare the voltage value with the voltage threshold to determine the target voltage value that is less than or equal to the voltage threshold;

[0099] Step 408: Take the set initial speed corresponding to the target voltage value as the target initial speed, and take the set braking start time corresponding to the target voltage value as the target braking start time;

[0100] Step 410: Control the motor and braking unit to work according to the target initial speed and the target braking start time.

[0101] In this embodiment, the servo system is set with a set initial speed and a set braking start time. The motor and braking unit are controlled to run for a period of time according to the set initial speed and the set braking start time. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the braking resistor power is calculated through the regenerative circuit current. After determining the target initial speed and target braking start time as the deceleration limit value according to the voltage bus threshold of the servo system, the target initial speed and target braking time are used as the braking strategy to control the motor and braking unit to work.

[0102] The above method is used to determine the deceleration limit of the servo system, and then change the braking strategy to ensure that the braking resistor can be activated in advance before deceleration, so as to ensure faster braking and avoid excessive rise in bus voltage.

[0103] Example 5:

[0104] like Figure 5 As shown, according to a specific embodiment of the present invention, a control method for a servo system is proposed, the method comprising:

[0105] Step 502, set the initial speed;

[0106] Step 504: Set the braking start time;

[0107] Step 506: Control the motor and braking unit to operate and perform braking;

[0108] Step 508: Record the voltage and braking current values;

[0109] Step 510: Determine whether the set braking start time and voltage value meet expectations. If yes, proceed to step 512; otherwise, proceed to step 502.

[0110] Step 512: Set the start-up time and a reasonable braking strategy.

[0111] In this embodiment, from an energy perspective, the initial speed is changed to achieve deceleration from different kinetic energy starting points to simulate the actual servo energy feedback process. This allows the judgment of speed planning to be incorporated into the braking control strategy. Under the premise of set load, set speed, and deceleration time, the braking control strategy is planned in advance to achieve the optimal control strategy to control the bus voltage and braking current, ensuring the safe and stable operation of the system.

[0112] Specifically, such as Figure 6As shown, the main control circuit of the servo driver includes four parts: rectifier circuit, regenerative braking, inverter circuit, and dynamic braking. When the servo stops rapidly due to faults, emergency stops, power outages, etc., the motor kinetic energy and coil magnetic energy will be fed back to the DC bus through the inverter circuit. The servo system will generally turn on or off the braking resistor and dynamic braking resistor according to the rise in bus voltage.

[0113] Furthermore, such as Figure 7 As shown, the servo system consists of a controller, driver, motor, host computer, and load. By setting different speed planning curves, deceleration at different operating speeds, and under different load conditions using the motion controller, the bus voltage of the servo system is tested. This provides a method for testing the regenerative characteristics of the servo system. Using this method, the regenerative characteristics of the servo system can be accurately tested, the braking resistor parameters and the rationality of dynamic braking can be verified, and accurate parameter data can be provided for the design and application of the servo system.

[0114] Specifically, the entire energy feedback process assumes that the servo system current is at its maximum during braking, neglecting frictional load and motor shaft friction (i.e., motor resistance). The dynamic equation of the servo system during braking is simplified to:

[0115]

[0116] Among them, the above J m The moment of inertia of the motor is J1, and the moment of inertia of the reducer is G. r For the gear ratio, the above V m The above V represents the maximum speed before deceleration. t The speed of the servo system after elevation, C is the capacitance of the servo system, and U is the speed of the servo system after elevation. t The voltage is the bus voltage after the servo system is boosted, while U is the voltage of the servo system in its initial state.

[0117] Converting this to the motor shaft, the dynamic equation for the motor speed and bus voltage during braking is as follows:

[0118]

[0119] Where J is the moment of inertia of the motor, ω is the angular velocity of the motor, and ωo is the rotational velocity of the motor. t Let be the angular velocity of the motor at time t, and let C be the capacitance of the servo system, and U be the angular velocity of the motor at time t. t The voltage is the bus voltage after the servo system is boosted, while U is the voltage of the servo system in its initial state.

[0120] This application sets the initial speed of the servo system and runs it for a period of time, setting different deceleration times, and recording the bus voltage and braking circuit current curves during braking. The braking resistor power is calculated using the regenerative circuit current, and based on the bus voltage threshold, the suitability of the braking resistor and its selection is determined. The system is analyzed and improvement strategies are developed based on the regenerative characteristic test results. The regenerative characteristic test measures more critical values ​​of the system. For example, when the braking circuit threshold is set to 385V, the deceleration limit of the servo system is determined, and the braking strategy is modified. A speed planning judgment is added to the servo system. When the deceleration planned by the system is greater than or equal to the deceleration limit under its defined threshold voltage, the braking resistor is activated in advance to ensure faster braking while preventing excessive rise in bus voltage.

[0121] Example 6:

[0122] like Figure 8 As shown, according to an embodiment of the second aspect of the present invention, a control device 800 for a servo system is provided. The servo system includes a motor and a braking unit. The control device includes: an acquisition module 802 for acquiring multiple set operating parameters; a control module 804 for controlling the operation of the motor and the braking unit according to the multiple set operating parameters and acquiring multiple voltage values ​​of the motor; and a determination module 806 for determining a target operating parameter according to the multiple voltage values ​​of the motor, wherein the target operating parameter is one of the multiple set operating parameters.

[0123] The control device 800 of the servo system provided in this embodiment acquires multiple set operating parameters of the servo system. According to the set operating parameters, it controls the motor and braking unit to run for a period of time to simulate the actual energy feedback process, records multiple voltage values ​​of the motor during braking, and determines the voltage and braking current curves based on these multiple voltage values. Then, based on the acquired multiple voltage values, it determines the most suitable operating parameter, i.e., the target operating parameter, from among the multiple set operating parameters.

[0124] The control device 800 of the servo system provided in this embodiment simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points from an energy perspective. This allows the judgment of speed planning to be introduced into the braking control strategy. By planning the braking control strategy in advance, the optimal control strategy can be achieved to control the bus voltage and braking current, ensuring the safe and stable operation of the system. In the prior art, servo systems with feedback characteristics will cause the bus voltage to rise during the braking and deceleration processes. An unsuitable regenerative resistor or an unreasonable braking scheme may lead to system overload shutdown and resistor damage. Once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although it is theoretically possible to calculate the feedback energy and the resulting bus voltage changes under different inertia and deceleration conditions, this does not conform to the actual situation, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application simulates the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points through an energy-perspective test scheme. Compared with existing braking strategies, which generally only activate the braking resistor when the bus voltage exceeds a set threshold. This application introduces a speed planning judgment to pre-plan the braking strategy and effectively avoid direct overvoltage reporting. Furthermore, the control module 804 is specifically used to control the operation of the motor and braking unit based on the set initial speed and set braking start time of the set operating parameters.

[0125] In this embodiment, the multiple set operating parameters include multiple set initial speeds and a set braking start time corresponding to each initial speed. The control motor and braking unit operate according to each set initial speed and its corresponding set braking start time to simulate the actual servo energy feedback process, thereby measuring more critical values ​​of the system.

[0126] By using the above methods and conducting regenerative characteristic tests, more critical values ​​of the system can be measured, thereby determining the deceleration limit of the servo system and modifying the braking strategy to ensure the rationality of braking resistor parameters and dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0127] Furthermore, the target operating parameters include the target initial speed and the target braking start time. The control device also includes: a comparison module, used to compare the voltage value with a voltage threshold and determine a target voltage value that is less than or equal to the voltage threshold; and a determination module 806, specifically used to take the set initial speed corresponding to the target voltage value as the target initial speed and the set braking start time corresponding to the target voltage value as the target braking start time.

[0128] In this embodiment, the motor and braking unit are controlled to run for a period of time according to the set operating parameters. Multiple voltage values ​​and braking current of the motor are recorded during the braking process. The voltage values ​​of the motor are compared with the limited voltage threshold. The voltage values ​​less than or equal to the voltage threshold are determined to be the target voltage values. Then, the target initial speed and target braking start time corresponding to the target voltage values ​​are determined as the deceleration limit values ​​of the servo system.

[0129] By setting different speed planning curves, deceleration at different operating speeds, and different load conditions, the bus voltage of the servo system is tested. The system is then analyzed and improvement strategies are developed. Braking control strategies are planned in advance to achieve optimal control of the bus voltage and braking current, ensuring the safe and stable operation of the system.

[0130] Furthermore, the determining module 806 is specifically used to determine, when there are multiple target voltage values, the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​as the target initial speed, and the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​as the target braking start time.

[0131] In this embodiment, after controlling the motor and braking unit to run for a period of time according to multiple set initial speeds and different set braking start times of the servo system, the bus voltage and braking circuit current curves during braking are recorded, and regenerative characteristic tests are performed according to the voltage bus threshold to obtain multiple critical values, i.e. multiple target voltage values. The largest voltage value among the multiple target voltage values ​​is determined. The target initial speed and target braking start time corresponding to this voltage value are the deceleration limit value under the limited voltage threshold.

[0132] By using the above method, the deceleration limit value under the limited voltage threshold can be determined from multiple critical values ​​to ensure the optimality of the braking strategy and to ensure faster braking.

[0133] Furthermore, the control module 804 is also used to control the operation of the motor and braking unit based on the target initial speed and the target braking start time.

[0134] In this embodiment, the servo system is set with a set initial speed and a set braking start time. The motor and braking unit are controlled to run for a period of time according to the set initial speed and the set braking start time. The bus voltage and braking circuit current curves are recorded during the braking process. Then, the braking resistor power is calculated through the regenerative circuit current. After determining the target initial speed and target braking start time as the deceleration limit value according to the voltage bus threshold of the servo system, the target initial speed and target braking time are used as the braking strategy to control the motor and braking unit to work.

[0135] By using the above method, the deceleration limit of the servo system is determined, and the braking strategy is then modified to ensure that the braking resistor can be activated in advance before deceleration, thereby ensuring faster braking and avoiding excessive rise in bus voltage.

[0136] Furthermore, the voltage value is the bus voltage value.

[0137] In this embodiment, the initial speed and braking start time of the servo system are set, and the motor and braking unit are controlled to run for a period of time according to the initial speed and braking start time. The bus voltage and braking circuit current curves during braking are recorded. Then, the braking resistor power is calculated through the regenerative circuit current, and the braking resistor and the selection scheme are determined to meet the application requirements based on the voltage bus threshold of the servo system.

[0138] By using the above method, the test results of the servo system's regenerative characteristics are determined based on the voltage bus threshold, providing more critical values ​​for system analysis and improvement strategies, and thus providing data support for the effectiveness of braking resistor parameters and braking strategies.

[0139] Example 7:

[0140] According to an embodiment of a third aspect of the present invention, a servo system is provided, comprising: a motor connected to a load, the motor being used to drive the load to move; a braking unit for braking the motor; a memory storing a program or instructions; and a controller that, when executing the program or instructions, implements the control method of the servo system proposed in the first aspect.

[0141] In this embodiment, multiple preset operating parameters of the servo system are acquired. Following these parameters, the motor and braking unit are controlled to operate for a period of time to simulate the actual energy feedback process. Multiple voltage values ​​of the motor are recorded during braking, and voltage and braking current curves are determined based on these voltage values. Then, based on the acquired voltage values, the most suitable operating parameter, i.e., the target operating parameter, is determined from among the multiple preset operating parameters.

[0142] By employing the above method, from an energy perspective, the actual servo energy feedback process is simulated by changing the initial speed to achieve deceleration from different kinetic energy starting points. This allows the judgment of speed planning to be incorporated into the braking control strategy. Pre-planning the braking control strategy enables the optimal control strategy to manage the bus voltage and braking current, ensuring the safe and stable operation of the system. Existing servo systems with feedback characteristics cause the bus voltage to rise during braking and deceleration. An unsuitable regenerative resistor or an unreasonable braking scheme may lead to system overload shutdown, resistor damage, and, once the resistor protection is lost, the bus capacitor and power module are also likely to burn out. Although the feedback energy and resulting bus voltage changes under different inertia and deceleration conditions can be theoretically calculated, this does not match the actual situation, and it is difficult to establish an accurate mathematical model for actual rotor friction and load consumption. This application uses an energy-based testing scheme to simulate the actual servo energy feedback process by changing the initial speed to achieve deceleration from different kinetic energy starting points. Compared to existing braking strategies, which generally only activate the braking resistor when the bus voltage exceeds a set threshold. This application introduces a speed planning judgment to plan braking strategies in advance, effectively avoiding direct overpressure reports.

[0143] Furthermore, the servo system also includes a driver, which is connected to the motor and is used to drive the motor to rotate.

[0144] In this embodiment, the servo system includes a driver connected to a motor to drive the motor to rotate. When the servo stops rapidly due to faults, emergency stops, power outages, or other reasons, the motor's kinetic energy and coil magnetic energy are fed back to the DC bus through the inverter circuit. By setting different speed planning curves, deceleration at different operating speeds, and under different load conditions, the bus voltage of the servo system is tested, verifying the braking resistor parameters and the rationality of dynamic braking, providing accurate parameter basis for the design and application of the servo system.

[0145] Example 8:

[0146] According to a fourth aspect of the present invention, a readable storage medium is provided on which a program or instructions are stored, which, when executed by a processor, perform the control method of the servo system proposed in the first aspect. Therefore, this readable storage medium possesses all the beneficial effects of the control method of the servo system proposed in the first aspect, and to avoid repetition, further details are omitted.

[0147] In the claims, description, and accompanying drawings of this invention, the terms "one embodiment," "some embodiments," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the invention. In the claims, description, and accompanying drawings of this invention, illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0148] The above are merely preferred embodiments of the present invention and are not intended to limit the present invention. Various modifications and variations can be made to the present invention by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A control method for a servo system, characterized in that, The servo system includes a motor and a braking unit, and the method includes: Get multiple set working parameters; Based on multiple set operating parameters, the motor and the braking unit are controlled to operate, and multiple voltage values ​​of the motor are obtained; Based on the multiple voltage values ​​of the motor, a target operating parameter is determined, wherein the target operating parameter is one of the multiple set operating parameters; The step of controlling the operation of the motor and the braking unit according to multiple set operating parameters includes: The motor and the braking unit are controlled to work according to the set initial speed and set braking start time of the set working parameters; The target operating parameters include the target initial speed and the target braking start time. Determining the target operating parameters based on multiple voltage values ​​of the motor includes: The voltage value is compared with a voltage threshold to determine a target voltage value that is less than or equal to the voltage threshold. The set initial speed corresponding to the target voltage value is taken as the target initial speed, and the set braking start time corresponding to the target voltage value is taken as the target braking start time; The method further includes: When there are multiple target voltage values, the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​is taken as the target initial speed, and the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​is taken as the target braking start time.

2. The control method according to claim 1, characterized in that, Also includes: The motor and the braking unit are controlled to operate based on the target initial speed and the target braking start time.

3. The control method according to claim 1 or 2, characterized in that, The voltage value is the bus voltage value.

4. A control device for a servo system, characterized in that, The servo system includes a motor and a braking unit, and the control device includes: The acquisition module is used to acquire multiple set working parameters; The control module is used to control the operation of the motor and the braking unit according to multiple set operating parameters, and to acquire multiple voltage values ​​of the motor; The determining module is configured to determine a target operating parameter based on a plurality of voltage values ​​of the motor, wherein the target operating parameter is one of a plurality of set operating parameters; The control module is specifically used to control the motor and the braking unit to work according to the set initial speed and set braking start time of the set working parameters; The target operating parameters include the target initial speed and the target braking initiation time, and the control device further includes: The comparison module is used to compare the voltage value with a voltage threshold and determine a target voltage value that is less than or equal to the voltage threshold. The determining module is specifically used to take the set initial speed corresponding to the target voltage value as the target initial speed, and to take the set braking start time corresponding to the target voltage value as the target braking start time; The determining module is specifically used to, when there are multiple target voltage values, take the set initial speed corresponding to the largest voltage value among the multiple target voltage values ​​as the target initial speed, and take the set braking start time corresponding to the largest voltage value among the multiple target voltage values ​​as the target braking start time.

5. The control device according to claim 4, characterized in that, The control module is also used to control the motor and the braking unit to work according to the target initial speed and the target braking start time.

6. The control device according to claim 4 or 5, characterized in that, The voltage value is the bus voltage value.

7. A servo system, characterized in that, include: An electric motor, connected to a load, is used to drive the load to move. A braking unit is used to brake the motor. Memory, which stores programs or instructions; A controller that, when executing the program or instructions, implements the control method of the servo system as described in any one of claims 1 to 3.

8. The servo system according to claim 7, characterized in that, Also includes: A driver, connected to the motor, is used to drive the motor to rotate.

9. A readable storage medium having a program or instructions stored thereon, characterized in that, When the program or instructions are executed by the processor, they implement the steps of the control method for the servo system as described in any one of claims 1 to 3.

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