Electric rudder control amount increment processing and reversal prevention short circuit control method and device

Abstract

The application relates to a kind of electric rudder control quantity increment processing and commutation short-circuit prevention control method and device, method includes: control quantity increment processing step: the output control quantity of previous control cycle is divided into three kinds of conditions greater than 0, less than 0 or equal to 0, the size and symbol of current control quantity are combined, the amplitude of current control quantity is adjusted dynamically to output control quantity increment processing current output control quantity respectively;Commutation short-circuit prevention control step: according to the sign change of the input commutation short-circuit prevention control input quantity and the output control quantity of previous control cycle, the control direction and control quantity size of electric rudder driver control are processed, the commutation short-circuit prevention output logic is executed, and the current output control quantity of commutation short-circuit prevention control is output.The application adopts nonlinear method, solves the problem of electric rudder heating and driver commutation short circuit when electric rudder instruction changes rapidly.

Description

Technical Field

[0001] This invention belongs to the field of electric servo motor control technology, specifically relating to an incremental processing method and device for electric servo motor control quantity and commutation short-circuit protection control. Background Technology

[0002] Electric servos are used to drive the deflection of attitude control devices such as aerodynamic rudders and nozzles, thereby achieving aircraft attitude control. Electric servos have advantages such as small size, high efficiency, long lifespan, and long maintenance-free cycles, and are widely used. To ensure the time-domain and frequency-domain tracking performance, reliability, and thermal performance of electric servos, advanced control algorithms are crucial. Commonly used control methods include feedback control and feedback-feedforward composite control, such as state-space control, PID control, PID + command velocity feedforward control, and PID + command velocity feedforward + command acceleration feedforward control. These control algorithms calculate the control quantity and output it to the driver, driving the motor to rotate and changing the output shaft position. When the electric servo follows a rapid change in command, the control quantity also changes rapidly. Directly outputting the control quantity places high demands on the dynamic response capability of the driver, which can easily cause short-circuit faults and overheating faults in the driver.

[0003] To improve the reliability and thermal performance of electric servo motors and reduce the dynamic characteristics requirements of the driver, existing technical solutions include controller filter algorithms, command recognition algorithms, and PWM turn-on delay algorithms. Among them, the controller filter algorithm, by adding low-pass and band-pass filtering algorithms, filters out the high-frequency components of the control quantity and smooths out the rapidly changing control quantity. Although it can improve the thermal characteristics of the high-frequency response of the electric servo, the phase lag caused by the filter seriously affects the time-domain and frequency-domain tracking performance of the electric servo, and cannot improve the short-circuit protection capability of the driver commutation. The command recognition algorithm extracts the characteristics of the command signal and modifies the control parameters in a targeted manner for different command signals. It performs well when testing specific typical commands under laboratory conditions, but there is a risk of command misidentification, and it is not suitable for flight commands calculated in real time based on the aircraft attitude in practical applications. The PWM turn-on delay algorithm increases the turn-on delay time to ensure that the switch of the same bridge arm of the driver is turned off before being turned on, effectively preventing short circuits in the driver commutation. However, for the widely used three-phase full-bridge driver, the resource overhead of adding turn-on delay for six PWM channels is large, the dynamic characteristics requirements of the driver remain unchanged, and it cannot improve the thermal performance of the electric servo when the control quantity changes rapidly. Summary of the Invention

[0004] Based on the above analysis, the present invention aims to disclose an incremental processing method and device for electric servo motor control quantity and commutation short-circuit protection control, which can effectively improve the reliability and thermal performance of electric servo motors and reduce the dynamic characteristic requirements of the driver.

[0005] This invention discloses a method for incremental processing of control quantities and commutation short-circuit protection control of an electric servo motor, comprising:

[0006] Control increment processing steps: Divide the output control quantity of the previous control cycle into three cases: greater than 0, less than 0, or equal to 0. Combine the magnitude and sign of the current control quantity, dynamically adjust the amplitude of the current control quantity and output the first control quantity; the first control quantity is used as the current output control quantity for control increment processing.

[0007] The commutation short-circuit protection control steps are as follows: Based on the sign change between the input commutation short-circuit protection control input and the output control input of the previous control cycle, the control direction and magnitude of the electric servo motor driver are processed, the commutation short-circuit protection output logic is executed, and a second control quantity is output; the second control quantity is used as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is the current control quantity or the first control quantity in the control quantity increment processing step.

[0008] Furthermore, in the control increment processing step, when the output control quantity of the previous control cycle is greater than 0, it is determined whether the difference between the current control quantity and the output control quantity of the previous control cycle is greater than the control increment; if yes, the output control quantity of the previous control cycle is increased by the control increment and then assigned to the first control quantity; if no, it is determined whether the current control quantity is less than the negative zero control quantity; if yes, the first control quantity is set to zero; if no, the current control quantity value is assigned to the first control quantity.

[0009] Furthermore, in the control increment processing step, when the output control quantity of the previous control cycle is less than 0, it is determined whether the difference between the output control quantity of the previous control cycle and the current control quantity is greater than the control increment; if yes, the value of the output control quantity of the previous control cycle is reduced by the control increment and then assigned to the first control quantity; if no, it is determined whether the current control quantity is greater than the zero control quantity; if yes, the first control quantity is set to zero; if no, the value of the current control quantity is assigned to the first control quantity.

[0010] Furthermore, in the control increment processing step, when the output control quantity of the previous control cycle is equal to 0,

[0011] When the current control quantity is greater than the positive control quantity increment, the current control quantity is increased by the positive control quantity increment and then assigned to the first control quantity.

[0012] When the current control quantity is less than the negative control quantity increment, the value of the current control quantity is reduced by the negative control quantity increment and then assigned to the first control quantity.

[0013] If the current control quantity is determined to be between the positive and negative control quantity increments, then the current control quantity value is assigned to the first control quantity.

[0014] Furthermore, the control increment and the zero-position control quantity are greater than zero and less than the maximum control quantity allowed by the control system.

[0015] Further, when the commutation short-circuit protection control input is the first control quantity in the control quantity increment processing step, the commutation short-circuit protection control step includes:

[0016] Assign a value to the second control variable; assign the value of the first control variable to the second control variable;

[0017] The control direction variable and the current control direction variable are assigned values ​​based on the magnitude and sign of the second control variable.

[0018] Determine whether the current control direction variable is equal to the value of the control direction variable in the previous control cycle; if yes, output the current control direction variable and the value of the second control variable as the control direction and control quantity of the current output control quantity for commutation short-circuit protection control; if no, perform short-circuit protection control by delaying and adjusting the value of the second control quantity.

[0019] Assign the current control direction variable value to the control direction variable value from the previous moment.

[0020] Furthermore, the step of assigning values ​​to the control direction variable and the current control direction variable based on the magnitude and sign of the second control variable includes:

[0021] When the second control value is greater than zero;

[0022] The control direction variable is assigned a value of 1; the current control variable direction variable is assigned a value of 1.

[0023] When the second control value is less than zero;

[0024] The control direction variable is set to 0; the current control quantity direction variable is set to 0; the sign of the second control quantity value is inverted to become positive data;

[0025] When the second control quantity is equal to zero;

[0026] The control direction variable remains the same as in the previous control cycle, and the value of the control direction variable from the previous control cycle is assigned to the current control direction variable.

[0027] Furthermore, the short-circuit prevention control by delaying and adjusting the value of the second control quantity includes:

[0028] 1) Output zero control quantity; the value of the zero control quantity is zero;

[0029] 2) Apply a first short-circuit protection delay to the second control quantity;

[0030] 3) Output the current control direction variable;

[0031] 4) Apply a second short-circuit protection delay to the current control quantity;

[0032] 5) Adjust the value of the second control quantity and then output it.

[0033] Furthermore, the adjusted value of the second control quantity is motor_percent×k, where k is the attenuation coefficient; the attenuation coefficient is greater than zero and less than or equal to 1; and motor_percent is the value of the second control quantity before adjustment.

[0034] The present invention also discloses an electric servo motor control quantity increment processing and commutation short-circuit protection control device, comprising: a control quantity increment processing module: dividing the output control quantity of the previous control cycle into three cases: greater than 0, less than 0, or equal to 0; combining the magnitude and sign of the current control quantity, dynamically adjusting the amplitude of the current control quantity and outputting a first control quantity; the first control quantity is used as the current output control quantity for control quantity increment processing;

[0035] The commutation short-circuit protection control module: Based on the sign change between the input commutation short-circuit protection control input and the output control input of the previous control cycle, it processes the control direction and magnitude of the electric servo drive, executes the commutation short-circuit protection output logic, and outputs a second control quantity; the second control quantity serves as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is either the same current control quantity as in the control quantity increment processing or the first control quantity output by the control quantity increment processing.

[0036] This invention can achieve at least one of the following beneficial effects:

[0037] The electric servo control increment processing and commutation short-circuit prevention control method and device disclosed in this invention adopt a nonlinear method to solve the problems of electric servo overheating and driver commutation short circuit when the electric servo command changes rapidly, such as large-range wide-sweep frequency commands and large-angle rapid maneuver commands. These can be implemented through control program software without adding hardware circuits and related costs, without occupying extra space, and can effectively improve the reliability and thermal performance of the electric servo, and reduce the requirements for the dynamic characteristics of the driver. Attached Figure Description

[0038] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0039] Figure 1 This is a flowchart of the electric servo motor control quantity increment processing and commutation short-circuit prevention control method in an embodiment of the present invention;

[0040] Figure 2 This is a flowchart of the control quantity increment processing method in an embodiment of the present invention;

[0041] Figure 3 This is a flowchart of the commutation short-circuit protection control method in an embodiment of the present invention;

[0042] Figure 4 This is a schematic diagram of the electric servo motor control quantity increment processing and commutation short-circuit protection control device in an embodiment of the present invention. Detailed Implementation

[0043] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and, together with the embodiments of the present invention, serve to illustrate the principles of the present invention.

[0044] One embodiment of the present invention discloses a method for incremental processing of electric servo motor control quantities and commutation short-circuit protection control, such as... Figure 1 As shown, it includes the following steps:

[0045] Step S1: Control quantity increment processing step; Based on the sign and magnitude relationship between the current control quantity Percent and the output control quantity Percent_pre of the previous cycle, perform logic control to adjust the current output control quantity Percent_out;

[0046] In the incremental control processing, the output control quantity Percent_pre of the previous control cycle is divided into three cases: greater than 0, less than 0, or equal to 0. Combining the magnitude and sign of the current control quantity Percent, the amplitude of the current control quantity Percent is dynamically adjusted and the first control quantity Percent_out is output. The first control quantity is used as the current output control quantity in the incremental control processing.

[0047] By controlling the electric servo motor with the current output control quantity through incremental control processing, the effects of smooth control quantity changes, faster driver response speed, zero-position stability of the electric servo motor, and improved steady-state performance can be achieved.

[0048] Step S2, commutation short-circuit protection control step: Based on the sign change between the input commutation short-circuit protection control input and the output control quantity of the previous control cycle, process the control direction and control quantity of the electric servo drive, execute the commutation short-circuit protection output logic, and output the second control quantity; the second control quantity serves as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is the current control quantity Percent or the first control quantity Percent_out in the control quantity increment processing step.

[0049] The electric servo drive's control direction determines the servo's output motion direction; the magnitude of the control quantity determines the servo's output force and speed; and the commutation short-circuit protection control can prevent commutation short-circuit faults.

[0050] In this embodiment, step S2 can be combined with the control increment processing step of step S1 to achieve the commutation short-circuit protection control function, or it can be implemented independently of step S1 to perform commutation short-circuit protection control on the input control quantity. The combination or independent implementation can be chosen according to requirements. In the scheme using the combination of steps S1 and S2, both smooth control and prevention of commutation short circuits can be achieved, resulting in better performance.

[0051] Specifically, the logic in the incremental control processing steps is as follows:

[0052] 1) If the current control quantity Percent has the same sign as the output control quantity Percent_pre of the previous control cycle or the output control quantity Percent_pre of the previous control cycle is equal to zero, and the absolute value of the difference between the current control quantity Percent and the output control quantity Percent_pre of the previous control cycle is within the control quantity increment setting range (|Percent-Percent_pre|≤Max_delta_Percent); the current output control quantity Percent_out is equal to the current control quantity Percent (Percent_out=Percent).

[0053] 2) If the current control quantity Percent has the same sign as the output control quantity Percent_pre of the previous control cycle, or the output control quantity Percent_pre of the previous control cycle is equal to zero, and the absolute value of the difference between the current control quantity and the output control quantity Percent_pre of the previous control cycle is outside the control quantity increment setting range (|Percent-Percent_pre|>Max_delta_Percent), the output control quantity is equal to the output control quantity of the previous moment plus or minus the control quantity increment setting value Max_delta_Percent.

[0054] The addition and subtraction depend on the sign of the current control quantity Percent: if the current control quantity Percent is greater than zero, the current output control quantity Percent_out is equal to the output control quantity Percent_pre of the previous control cycle plus the control quantity increment (Percent_out = Percent_pre + Max_delta_Percent); if the current control quantity Percent is less than zero, the current output control quantity Percent_out is equal to the output control quantity Percent_pre of the previous control cycle minus the control quantity increment (Percent_out = Percent_pre - Max_delta_Percent).

[0055] 3) If the current control quantity Percent has a different sign than the output control quantity Percent_pre of the previous control cycle, and the absolute value of the current control quantity Percent is within the zero-state control quantity setting range (|Percent|≤Zero_state_Percent), the output control quantity is equal to the current control quantity (Percent_out=Percent).

[0056] 4) If the current control quantity Percent has a different sign than the output control quantity Percent_pre of the previous control cycle, and the absolute value of the current control quantity Percent is outside the zero-state control quantity setting range (|Percent|>Zero_state_Percent), the output control quantity is set to zero.

[0057] 5) If the above logical judgment is not covered, the output control quantity is equal to the current control quantity;

[0058] Among them, the control increment Max_delta_Percent and the zero-state control quantity Zero_state_Percent are both greater than zero and less than the maximum control quantity allowed by the control system.

[0059] Based on the specific logic in the above-described control increment processing steps, the control increment processing steps in this embodiment specifically include the following: Figure 2 The following sub-steps are shown:

[0060] Step S201: Assign the value of the current control variable to the first control variable (current output control variable) Percent_out = Percent;

[0061] Step S202: Determine whether the output control quantity Percent_pre of the previous control cycle is greater than 0, less than 0, or equal to 0;

[0062] Step S203: When the output control quantity Percent_pre of the previous control cycle is greater than 0, determine whether the difference between the current control quantity and the output control quantity of the previous control cycle is greater than the control quantity increment Percent - Percent_pre > Max_delta_Percent; if yes, then the output control quantity of the previous control cycle is increased by the control quantity increment and assigned to the first control quantity Percent_out = Percent_pre + Max_delta_Percent; if no, determine whether the current control quantity is less than the negative zero-state control quantity Percent < -Zero_state_Percent; if yes, then the first control quantity is set to zero Percent_out = 0; if no, then the current control quantity value is assigned to the first control quantity Percent_out = Percent.

[0063] Step S204: When the output control quantity Percent_pre of the previous control cycle is less than 0, determine whether the difference between the output control quantity of the previous control cycle and the current control quantity is greater than the control quantity increment Percent_pre - Percent > Max_delta_Percent; if yes, then assign the value of the output control quantity of the previous control cycle reduced by the control quantity increment to the first control quantity Percent_out = Percent_pre - Max_delta_Percent; if no, determine whether the current control quantity is greater than the zero-state control quantity Percent > Zero_state_Percent; if yes, then set the first control quantity to zero Percent_out = 0; if no, then assign the current control quantity value to the first control quantity Percent_out = Percent.

[0064] Step S205: In the control increment processing step, when the output control quantity of the previous control cycle is equal to 0,

[0065] When the current control quantity Percent is greater than the positive control quantity increment Max_delta_Percent, the current control quantity is increased by the positive control quantity increment and then assigned to the first control quantity Percent_out = Percent_pre + Max_delta_Percent.

[0066] When the current control quantity Percent is less than the negative control quantity increment - Max_delta_Percent, the value of the current control quantity after the negative control quantity increment is reduced is assigned to the first control quantity Percent_out = Percent_pre - Max_delta_Percent.

[0067] If the current control quantity is determined to be between the positive and negative control quantity increments, then the current control quantity value is assigned to the first control quantity Percent_out = Percent.

[0068] Step S206: Assign the first control quantity value to the output control quantity Percent_pre = Percent_out of the previous control cycle; wait for the control quantity input of the next cycle to perform the next control quantity increment processing.

[0069] As described in the control logic, the settings for the control increment Max_delta_Percent and the zero-state control quantity Zero_state_Percent are both greater than zero and less than the maximum control quantity allowed by the control system.

[0070] Specifically, the logic of the commutation short-circuit protection control steps is as follows:

[0071] 1) If the current output control quantity is equal to zero, the control direction of the driver output is not changed, and only the current output control quantity is output.

[0072] 2) If the current output control quantity is greater than zero, and the output control quantity at the previous moment was also greater than zero, the control direction of the driver will not be changed, and only the current output control quantity will be output.

[0073] 3) If the current output control quantity is greater than zero and the output control quantity at the previous moment was less than zero, execute the logic to increase the commutation dead time, and execute the following in sequence: output zero control quantity, delay short-circuit protection dead time 1 (Dead_delay_Time1), output current control direction, delay short-circuit protection dead time 2 (Dead_delay_Time2), output current output control quantity or current output control quantity after attenuation by a certain factor.

[0074] 4) If the current output control quantity is less than zero and the output control quantity was greater than zero at the previous moment, execute the logic to increase the commutation dead time, and execute the following in sequence: output zero control quantity, delay short-circuit protection dead time 1 (Dead_delay_Time1), output current control direction, delay short-circuit protection dead time 2 (Dead_delay_Time2), and output current output control quantity.

[0075] 5) If the current output control quantity is less than zero, and the output control quantity at the previous moment was less than zero, the control direction of the driver is not changed, and only the current output control quantity is output.

[0076] 6) If the current output control quantity is not equal to zero, and the output control quantity at the previous moment was equal to zero, continue to compare it with the output control quantity at an earlier moment. If the same sign is used, only the current output control quantity is output. If the different signs are used, the logic of adding a commutation dead zone is executed.

[0077] Both the dead time delay for short circuit protection 1 (Dead_delay_Time1) and the dead time delay for short circuit protection 2 (Dead_delay_Time2) are greater than zero, and are set according to the reliable shutdown time of the driver.

[0078] Based on the specific logic in the above-described commutation short-circuit protection control steps, the commutation short-circuit protection control steps in this embodiment specifically include the following: Figure 3 The following sub-steps are shown:

[0079] Step S301: Assign a value to the second control variable;

[0080] Assign the value of the first control quantity Percent_out output in step S2 to the second control quantity motor_percent of the commutation short-circuit protection control; motor_percent = Percent_out;

[0081] Step S302: Assign values ​​to the control direction variable and the current control direction variable according to the magnitude and sign of the second control variable;

[0082] Based on the magnitude and sign of the second control variable motor_percent, assign values ​​to the control direction variable Ctrl_Dir and the current control direction variable MotorDIR, and control the sign of the current control variable motor_percent.

[0083] Specifically, when the second control variable motor_percent is greater than zero;

[0084] Set the control direction variable Ctrl_Dir to 1; set the current control direction variable MotorDIR to 1;

[0085] In this embodiment, Ctrl_Dir and MotorDIR are assigned a value of "1" to indicate a certain direction, such as forward rotation or extension; and a value of "0" to indicate another direction, such as reverse rotation or retraction.

[0086] During the control process, the initial values ​​of Ctrl_Dir and MotorDIR can be arbitrarily assigned to "1" or "0".

[0087] When the second control variable motor_percent is less than zero;

[0088] The control direction variable Ctrl_Dir is assigned a value of 0; the current control direction variable MotorDIR is assigned a value of 0; and the sign of the second control variable motor_percent is inverted to become positive.

[0089] When the second control quantity is equal to zero;

[0090] The control direction variable Ctrl_Dir remains the same as in the previous control cycle, and the value of the control direction variable Ctrl_Dir from the previous control cycle is assigned to the current control direction variable MotorDIR.

[0091] Step S303: Determine whether the current control direction variable Ctrl_Dir is equal to the value of the control direction variable Ctrl_Dir_pre from the previous control cycle. If yes, output the current control direction variable Ctrl_Dir and the value of the second control variable motor_percent as the control direction and control quantity of the current output control quantity for commutation short-circuit protection control. If no, perform short-circuit protection control by delaying and adjusting the value of the second control variable motor_percent.

[0092] Specifically, the short-circuit prevention control by adjusting the time delay and value of the second control quantity motor_percent includes:

[0093] include:

[0094] 1) Output zero control quantity; the value of the zero control quantity is zero;

[0095] 2) Apply a first short-circuit protection delay to the second control quantity;

[0096] The delay time for the first short-circuit protection delay is the short-circuit protection dead time 1 (Dead_delay_Time1);

[0097] 3) Output the current control direction variable MotorDIR;

[0098] 4) Apply a second short-circuit protection delay to the current control quantity;

[0099] The second short-circuit protection delay time is the short-circuit protection dead time 2 (Dead_delay_Time2).

[0100] 5) Adjust the value of the second control quantity and then output it.

[0101] The adjusted value of the second control quantity is motor_percent×k, where k is the attenuation coefficient; the attenuation coefficient is greater than zero and less than or equal to 1; and motor_percent is the value of the second control quantity before adjustment.

[0102] Step S304: Assign the current control direction variable value to the control direction variable Ctrl_Dir_pre from the previous moment; this will be used for the next commutation short-circuit protection control.

[0103] In summary, the electric servo control quantity incremental processing and commutation short-circuit prevention control method disclosed in this embodiment of the invention uses a nonlinear method to solve the problems of electric servo overheating and driver commutation short circuit when the electric servo command changes rapidly, such as large-range wide-sweep frequency commands and large-angle rapid maneuver commands. These can be implemented through control program software without adding hardware circuits and related costs, without occupying extra space, and can effectively improve the reliability and thermal performance of the electric servo, while reducing the dynamic characteristic requirements of the driver.

[0104] Another embodiment of the present invention discloses an incremental processing device for electric servo motor control quantities and a commutation short-circuit protection control device, such as... Figure 4 As shown, it includes:

[0105] Control increment processing module: Divides the output control quantity of the previous control cycle into three cases: greater than 0, less than 0, or equal to 0. Combining the magnitude and sign of the current control quantity, it dynamically adjusts the amplitude of the current control quantity and outputs the first control quantity; the first control quantity serves as the current output control quantity for control increment processing.

[0106] By controlling the electric servo motor with the current output control quantity through incremental control processing, the effects of smooth control quantity changes, faster driver response speed, zero-position stability of the electric servo motor, and improved steady-state performance can be achieved.

[0107] The commutation short-circuit protection control module: Based on the sign change between the input commutation short-circuit protection control input and the output control input of the previous control cycle, it processes the control direction and magnitude of the electric servo drive, executes the commutation short-circuit protection output logic, and outputs a second control quantity; the second control quantity serves as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is either the same current control quantity as in the control quantity increment processing or the first control quantity output by the control quantity increment processing.

[0108] The electric servo drive's control direction determines the servo's output motion direction; the magnitude of the control quantity determines the servo's output force and speed; and the commutation short-circuit protection control can prevent commutation short-circuit faults.

[0109] The specific technical details and beneficial effects of the solution in this embodiment are the same as those in the previous embodiment. Please refer to the previous embodiment for details, which will not be repeated here.

[0110] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for incremental processing of control quantities and commutation short-circuit protection control of an electric servo motor, characterized in that, include: Control increment processing steps: Divide the output control quantity of the previous control cycle into three cases: greater than 0, less than 0, or equal to 0. Combine the magnitude and sign of the current control quantity, dynamically adjust the amplitude of the current control quantity and output the first control quantity; the first control quantity is used as the current output control quantity for control increment processing. The commutation short-circuit protection control steps are as follows: Based on the sign change between the input commutation short-circuit protection control input and the output control input of the previous control cycle, the control direction and magnitude of the electric servo motor driver are processed, the commutation short-circuit protection output logic is executed, and a second control quantity is output; the second control quantity is used as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is the current control quantity or the first control quantity in the control quantity increment processing step.

2. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 1, characterized in that, In the control increment processing step, when the output control quantity of the previous control cycle is greater than 0, it is determined whether the difference between the current control quantity and the output control quantity of the previous control cycle is greater than the control increment. If so, the output control quantity of the previous control cycle is increased by the control quantity increment and then assigned to the first control quantity. No, then determine whether the current control quantity is less than the negative zero control quantity; If yes, then set the first control variable to zero; If not, then assign the current control value to the first control value.

3. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 1, characterized in that, In the control increment processing step, when the output control quantity of the previous control cycle is less than 0, it is determined whether the difference between the output control quantity of the previous control cycle and the current control quantity is greater than the control increment. If yes, then the value of the output control quantity of the previous control cycle is reduced by the control quantity increment and assigned to the first control quantity; otherwise, it is determined whether the current control quantity is greater than the zero control quantity. If yes, then the first control variable is set to zero; otherwise, the current control variable value is assigned to the first control variable.

4. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 1, characterized in that, In the control increment processing step, when the output control quantity of the previous control cycle is equal to 0... When the current control quantity is greater than the positive control quantity increment, the current control quantity is increased by the positive control quantity increment and then assigned to the first control quantity. When the current control quantity is less than the negative control quantity increment, the value of the current control quantity is reduced by the negative control quantity increment and then assigned to the first control quantity. If the current control quantity is determined to be between the positive and negative control quantity increments, then the current control quantity value is assigned to the first control quantity.

5. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 1, characterized in that, The control increment and zero-position control quantity are greater than zero and less than the maximum control quantity allowed by the control system.

6. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 1, characterized in that, When the commutation short-circuit protection control input is the first control quantity in the control quantity increment processing step. The commutation short-circuit protection control steps include: Assign a value to the second control variable; assign the value of the first control variable to the second control variable; The control direction variable and the current control direction variable are assigned values ​​based on the magnitude and sign of the second control variable. Determine whether the current control direction variable is equal to the value of the control direction variable in the previous control cycle; if yes, output the current control direction variable and the value of the second control variable as the control direction and control quantity of the current output control quantity for commutation short-circuit protection control; if no, perform short-circuit protection control by delaying and adjusting the value of the second control quantity. Assign the current control direction variable value to the control direction variable value from the previous moment.

7. The method for incremental processing of electric servo control quantities and commutation short-circuit prevention control according to claim 6, characterized in that, The step of assigning values ​​to the control direction variable and the current control direction variable based on the magnitude and sign of the second control variable includes: When the second control value is greater than zero; The control direction variable is assigned a value of 1; the current control variable direction variable is assigned a value of 1. When the second control value is less than zero; The control direction variable is set to 0; the current control quantity direction variable is set to 0; the sign of the second control quantity value is inverted to become positive data; When the second control quantity is equal to zero; The control direction variable remains the same as in the previous control cycle, and the value of the control direction variable from the previous control cycle is assigned to the current control direction variable.

8. The method for incremental processing of electric servo motor control quantities and commutation short-circuit prevention control according to claim 7, characterized in that, The short-circuit prevention control by delaying and adjusting the value of the second control quantity includes: 1) Output zero control quantity; the value of the zero control quantity is zero; 2) Apply a first short-circuit protection delay to the second control quantity; 3) Output the current control direction variable; 4) Apply a second short-circuit protection delay to the current control quantity; 5) Adjust the value of the second control quantity and then output it.

9. The method for incremental processing of electric servo motor control quantities and commutation short-circuit protection control according to claim 8, characterized in that, The adjusted value of the second control quantity is motor_percent×k, where k is the attenuation coefficient; the attenuation coefficient is greater than zero and less than or equal to 1; and motor_percent is the value of the second control quantity before adjustment.

10. A device for incremental processing of control inputs and commutation short-circuit protection of an electric servo motor, characterized in that, include: Control increment processing module: Divides the output control quantity of the previous control cycle into three cases: greater than 0, less than 0, or equal to 0. Combining the magnitude and sign of the current control quantity, it dynamically adjusts the amplitude of the current control quantity and outputs the first control quantity; the first control quantity serves as the current output control quantity for control increment processing. The commutation short-circuit protection control module: Based on the sign change between the input commutation short-circuit protection control input and the output control input of the previous control cycle, it processes the control direction and magnitude of the electric servo drive, executes the commutation short-circuit protection output logic, and outputs a second control quantity; the second control quantity serves as the current output control quantity of the commutation short-circuit protection control; the commutation short-circuit protection control input is either the same current control quantity as in the control quantity increment processing or the first control quantity output by the control quantity increment processing.

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