A parameter adjustment method, system and device of a motor control model and a medium

Abstract

The application discloses a parameter adjustment method, system and device of a motor control model and a medium, and relates to the field of motor control. In the scheme, an original transfer function of the motor control model is determined, the original transfer function is deformed to obtain a target transfer function including intermediate parameters; a first corresponding relationship between the intermediate parameters and control parameters of the motor control model is determined according to the original transfer function and the target transfer function, the control parameters including a plurality of proportional parameters and / or integral parameters and / or differential parameters; when the motor is controlled, a target intermediate parameter is determined according to a target requirement, and each control parameter is synchronously adjusted according to the target intermediate parameter and the first corresponding relationship. It can be seen that the application simplifies the parameter adjustment process by establishing the corresponding relationship between the intermediate parameters and the control parameters, a plurality of control parameters can be adjusted at one time according to the determined target intermediate parameter, the number of tests and adjustments is reduced, and the debugging efficiency is improved.

Description

Technical Field

[0001] This application relates to the field of motor control, and in particular to a method, system, device and medium for adjusting parameters of a motor control model. Background Technology

[0002] In the loop control model of a motor, multiple loops are often designed to ensure stable motor regulation, with a PI or PID controller in each loop. These controllers can achieve precise motor control by adjusting various control parameters, such as proportional gain or integral gain. However, existing technologies face some challenges in adjusting the various control parameters within the model.

[0003] First, adjusting each control parameter usually needs to be done one by one, because adjusting each parameter can affect the motor's performance. If a model has multiple control parameters, such as proportional gain and integral gain, then they need to be adjusted separately, gradually changing the value of each parameter and observing the motor's response. This step-by-step debugging process usually requires multiple trials and adjustments to achieve the desired stable adjustment effect.

[0004] Secondly, the interaction between these control parameters complicates the debugging process. Regulators in automatic control systems are often interconnected; a change in one parameter can affect the effects of others. Therefore, during debugging, it is necessary not only to consider the impact of individual parameter changes on the motor but also to comprehensively consider the interactions between multiple parameters in order to find the optimal parameter combination.

[0005] Due to the aforementioned challenges, the process of debugging the motor loop control model is inefficient and requires multiple trials and adjustments. Summary of the Invention

[0006] The purpose of this application is to provide a method, system, device, and medium for adjusting parameters of a motor control model. By establishing a correspondence between intermediate parameters and control parameters, the parameter adjustment process is simplified. Based on the determined target intermediate parameters, multiple control parameters can be adjusted at once, reducing the number of tests and adjustments and improving debugging efficiency.

[0007] To address the aforementioned technical problems, this application provides a method for adjusting the parameters of a motor control model, comprising:

[0008] The original transfer function of the motor control model is determined, and the original transfer function is transformed to obtain the target transfer function including intermediate parameters;

[0009] The first correspondence between the intermediate parameters and the control parameters of the motor control model is determined based on the original transfer function and the target transfer function. The control parameters include several proportional parameters and / or integral parameters and / or derivative parameters.

[0010] When controlling the motor, target intermediate parameters are determined according to the target requirements, and each control parameter is adjusted synchronously according to the target intermediate parameters and the first correspondence.

[0011] In one embodiment, the intermediate parameters include a damping coefficient and a bandwidth. Determining a first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function includes:

[0012] Set the damping coefficient to a preset damping coefficient;

[0013] The second correspondence between the bandwidth and the control parameters is determined based on the original transfer function, the target transfer function, and the preset damping coefficient.

[0014] In one embodiment, after determining the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes:

[0015] Determine the third correspondence between the intermediate parameters and the preset control parameters;

[0016] A fourth correspondence between each of the control parameters and the preset control parameters is determined based on the first correspondence and the third correspondence.

[0017] When controlling the motor, target intermediate parameters are determined according to target requirements, and each control parameter is synchronously adjusted according to the target intermediate parameters and the first correspondence, including:

[0018] When controlling the motor, target preset control parameters are determined according to the target requirements, and other control parameters are adjusted synchronously according to the target preset control parameters and the fourth correspondence.

[0019] In one embodiment, after determining the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes:

[0020] Set the control parameters and their corresponding fine-tuning coefficients;

[0021] A precise correspondence is obtained based on the first correspondence and the fine-tuning coefficient;

[0022] When controlling the motor, target intermediate parameters are determined according to target requirements, and each control parameter is synchronously adjusted according to the target intermediate parameters and the first correspondence, including:

[0023] When controlling the motor, the fine-tuning coefficients for each target are determined according to the application scenario of the motor;

[0024] Determine the target intermediate parameters based on the target requirements, and adjust each of the control parameters synchronously based on the target fine-tuning coefficient, the target intermediate parameters, and the precise correspondence.

[0025] In one embodiment, when the motor control model includes a filter model, when controlling the motor, after determining target intermediate parameters according to target requirements and synchronously adjusting each control parameter according to the target intermediate parameters and the first correspondence, the method further includes:

[0026] The time constant in the filter model is determined based on the determined target intermediate parameters.

[0027] In one embodiment, the motor control model is a dual-loop nonlinear position control model, wherein the inner loop of the dual-loop nonlinear position control model is a current loop, and the outer loop is a parallel loop of speed loop and position loop.

[0028] In one embodiment, the expression for the original transfer function of the motor control model is:

[0029]

[0030] The expression for the target transfer function is:

[0031]

[0032] The first correspondence is:

[0033]

[0034] Where G1(s) is the original transfer function, G2(s) is the target transfer function, s is the complex frequency domain symbol, and K V K is the proportional gain of the velocity loop. VI K is the integral gain of the velocity loop. P K is the proportional gain of the position loop. PI Let ζ be the integral gain of the position loop, and w be the damping coefficient. n This is the bandwidth parameter.

[0035] To address the aforementioned technical problems, this application also provides a parameter adjustment system for a motor control model, comprising:

[0036] The transfer function transformation unit is used to determine the original transfer function of the motor control model, transform the original transfer function, and obtain the target transfer function including intermediate parameters.

[0037] The relationship determination unit is used to determine the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, wherein the control parameters include several proportional parameters and / or integral parameters and / or derivative parameters;

[0038] The parameter adjustment unit is used to determine the target intermediate parameters according to the target requirements when controlling the motor, and to synchronously adjust each of the control parameters according to the target intermediate parameters and the first correspondence.

[0039] To address the aforementioned technical problems, this application also provides a parameter adjustment device for a motor control model, comprising:

[0040] Memory, used to store computer programs;

[0041] A processor is used to implement the steps of the parameter adjustment method for the motor control model as described above when storing a computer program.

[0042] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the parameter adjustment method for the motor control model as described above.

[0043] This application provides a method, system, device, and medium for adjusting parameters of a motor control model, relating to the field of motor control. In this scheme, the original transfer function of the motor control model is determined, and the original transfer function is transformed to obtain a target transfer function including intermediate parameters. Based on the original transfer function and the target transfer function, a first correspondence is determined between the intermediate parameters and the control parameters of the motor control model. The control parameters include several proportional parameters and / or integral parameters and / or derivative parameters. When controlling the motor, target intermediate parameters are determined according to target requirements, and each control parameter is adjusted synchronously according to the target intermediate parameters and the first correspondence. Therefore, this application simplifies the parameter adjustment process by establishing a correspondence between intermediate parameters and control parameters. Based on the determined target intermediate parameters, multiple control parameters can be adjusted at once, reducing the number of tests and adjustments and improving debugging efficiency. Attached Figure Description

[0044] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0045] Figure 1 A flowchart illustrating a parameter adjustment method for a motor control model provided in this application;

[0046] Figure 2 A structural block diagram of a motor control model provided in this application;

[0047] Figure 3 A structural block diagram of another motor control model provided in this application;

[0048] Figure 4 A schematic diagram of a parameter adjustment system for a motor control model provided in this application;

[0049] Figure 5 A schematic diagram of a parameter adjustment device for a motor control model provided in this application. Detailed Implementation

[0050] The core of this application is to provide a method, system, device, and medium for adjusting parameters of a motor control model. By establishing the correspondence between intermediate parameters and control parameters, the parameter adjustment process is simplified. Based on the determined target intermediate parameters, multiple control parameters can be adjusted at once, reducing the number of tests and adjustments and improving debugging efficiency.

[0051] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0052] This application provides a method for adjusting the parameters of a motor control model, such as... Figure 1 As shown, the method includes:

[0053] S11: Determine the original transfer function of the motor control model, transform the original transfer function to obtain the target transfer function including intermediate parameters;

[0054] In this step, the original transfer function of the motor control model needs to be determined and transformed to obtain the target transfer function, which includes intermediate parameters. The transfer function is a mathematical model used to describe the dynamic performance of the motor. It is expressed through the relationship between inputs and outputs, typically using a Laplace transform. The original transfer function can be determined by the physical characteristics of the motor and the system structure; it represents the initial control capability of the motor. Then, the original transfer function is transformed to obtain a new target transfer function. This target transfer function will contain some intermediate parameters, which can be used to adjust and change the motor's control capability to achieve a more precise control effect.

[0055] In this step, the target transfer function is obtained by transforming the original transfer function, and intermediate parameters are introduced to provide a foundation for subsequent steps, allowing for the adjustment of motor control parameters according to actual needs. This method can improve the efficiency and accuracy of motor control model parameter adjustment.

[0056] S12: Determine the first correspondence between intermediate parameters and control parameters of the motor control model based on the original transfer function and the target transfer function. The control parameters include several proportional parameters and / or integral parameters and / or derivative parameters.

[0057] In this step, the control parameters refer to the proportional and / or integral and / or derivative parameters of the PI or PID controller in the motor control model. These parameters are used to adjust the motor's response speed, stability, and accuracy. By changing the values ​​of these parameters, the motor's response to the input signal can be adjusted.

[0058] In this embodiment, based on the relationship between the original transfer function and the target transfer function, the correspondence between intermediate parameters and control parameters can be derived. This correspondence can be a mathematical function or a mapping table, so that the intermediate parameters determined according to the target requirements can be directly mapped to the corresponding control parameters.

[0059] The correspondence determined in this embodiment simplifies the adjustment process of motor control model parameters. In practical applications, it is only necessary to determine the target intermediate parameters and then synchronously adjust each control parameter according to the correspondence to achieve precise control of the motor. This improves debugging efficiency, reduces the number of tests and adjustments, and thus achieves the desired stable adjustment effect more quickly.

[0060] S13: When controlling the motor, determine the target intermediate parameters according to the target requirements, and adjust each control parameter synchronously according to the target intermediate parameters and the first correspondence.

[0061] In this embodiment, the correspondence between the intermediate parameters and control parameters obtained above is used to convert the target intermediate parameters into specific values ​​for each control parameter. Based on the target intermediate parameters and the first correspondence, each control parameter is synchronously adjusted during motor control. This means adjusting the value of each control parameter so that the actual operating state of the motor gradually approaches the state represented by the target intermediate parameters. The target requirement can be a target position.

[0062] This method enables rapid parameter adjustment of the motor control model. Compared to traditional step-by-step debugging methods, it can more efficiently determine the values ​​of control parameters, reduce the number of trials and adjustments, and improve the precision control capability of the motor. This is crucial for motor performance optimization and stable regulation.

[0063] In one embodiment, the intermediate parameters include damping coefficient and bandwidth. Determining a first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function includes:

[0064] Set the damping coefficient to the preset damping coefficient;

[0065] The second correspondence between bandwidth and control parameters is determined based on the original transfer function, the target transfer function, and the preset damping coefficient.

[0066] In this embodiment, the intermediate parameters include the damping coefficient and the bandwidth. Based on the original transfer function and the target transfer function, a first correspondence is determined between the intermediate parameters and the control parameters of the motor control model, wherein the control parameters include one or more combinations of proportional parameters, integral parameters, and derivative parameters.

[0067] Specifically, in this embodiment, the damping coefficient is set to a preset damping coefficient, such as a default damping coefficient of 1.0. The second correspondence between bandwidth and control parameters is determined using the original transfer function, the target transfer function, and the preset damping coefficient. When controlling the motor, the target bandwidth is determined based on the target requirements, and then the target bandwidth and the second correspondence are used to synchronously adjust each control parameter. In this way, the parameters of the motor control model can be adjusted to better meet the target requirements.

[0068] In one embodiment, after determining the first correspondence between intermediate parameters and control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes:

[0069] Determine the third correspondence between intermediate parameters and preset control parameters;

[0070] The fourth correspondence between each control parameter and the preset control parameter is determined based on the first and third correspondences.

[0071] When controlling the motor, target intermediate parameters are determined based on the target requirements, and various control parameters are adjusted synchronously according to the target intermediate parameters and the first correspondence relationship, including:

[0072] When controlling the motor, the target preset control parameters are determined according to the target requirements, and other control parameters are adjusted synchronously according to the target preset control parameters and the fourth correspondence.

[0073] This embodiment further describes the steps following the determination of the first correspondence between intermediate parameters and control parameters of the motor control model based on the original transfer function and the target transfer function. Specifically, this embodiment also includes the following:

[0074] First, a third correspondence is established between intermediate parameters and preset control parameters, where the preset control parameter refers to one of all control parameters. This means mapping intermediate parameters to a preset control parameter. Then, a fourth correspondence is determined between each control parameter and the preset control parameter based on the first and third correspondences. In other words, the correspondence between each control parameter and the preset control parameter can be derived from the established first and third correspondences. When controlling the motor, the target preset control parameter is directly determined, and other control parameters are synchronously adjusted based on the target preset control parameter and the fourth correspondence. This ensures coordinated adjustment between other control parameters and the preset control parameter without requiring the calculation of intermediate parameters, simplifying the calculation process.

[0075] In one embodiment, after determining the first correspondence between intermediate parameters and control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes:

[0076] Set the fine-tuning coefficients for each control parameter and its corresponding function;

[0077] The precise correspondence is obtained based on the first correspondence and the fine-tuning coefficients;

[0078] When controlling the motor, target intermediate parameters are determined based on the target requirements, and various control parameters are adjusted synchronously according to the target intermediate parameters and the first correspondence relationship, including:

[0079] When controlling the motor, the fine-tuning coefficients for each target are determined according to the application scenario of the motor;

[0080] Determine the target intermediate parameters based on the target requirements, and adjust each control parameter synchronously based on the target fine-tuning coefficient, the target intermediate parameters, and the precise correspondence.

[0081] Furthermore, in this embodiment, to further improve the accuracy and precision of control, the method also introduces fine-tuning coefficients. For each control parameter, a corresponding fine-tuning coefficient is set. These fine-tuning coefficients can be determined according to actual needs and adjusted according to the application scenario of the motor.

[0082] Then, using the first correspondence and the fine-tuning coefficient, the precise correspondence was obtained. Through this precise correspondence, the target intermediate parameter and the actual control parameter can be adjusted synchronously, thereby achieving precise control. This process considers not only the target intermediate parameter but also the influence of the fine-tuning coefficient. Furthermore, adjustments can be made according to specific application scenarios to more accurately meet actual needs.

[0083] In summary, this embodiment, by introducing a fine-tuning coefficient and combining it with target requirements, target intermediate parameters, and precise correspondences, can achieve more accurate and flexible motor control. This method can be adjusted according to different application scenarios and requirements, thereby improving the performance and effectiveness of motor control.

[0084] In one embodiment, when the motor control model includes a filter model, during motor control, after determining target intermediate parameters based on target requirements and synchronously adjusting each control parameter according to the target intermediate parameters and a first correspondence, the method further includes:

[0085] The time constant in the filter model is determined based on the identified target intermediate parameters.

[0086] This embodiment describes a parameter adjustment method for a motor control model, specifically including the case of a filter model. During motor control, after determining the target intermediate parameters based on the target requirements, each control parameter is adjusted synchronously according to a first correspondence. Furthermore, after adjusting each control parameter, the time constant in the filter model needs to be determined based on the determined target intermediate parameters. In other words, this embodiment provides a method for further optimizing a motor control system. The filter model is a commonly used model in motor control systems for smoothing control signals. By adjusting the time constant in the filter model, the response speed and stability of the motor control system can be adjusted. Therefore, determining the time constant in the filter model based on the determined target intermediate parameters helps to further optimize the performance of the motor control system.

[0087] In summary, this embodiment optimizes the performance of the motor control system by simultaneously adjusting various control parameters after determining the target intermediate parameters and determining the time constant in the filter model based on the target intermediate parameters.

[0088] In one embodiment, the motor control model is a dual-loop nonlinear position control model, such as... Figure 2As shown, the inner loop of the dual-loop nonlinear position control model is a current loop, and the outer loop is a parallel loop of velocity and position loops.

[0089] Figure 2 In this control model, PI control is equivalent to a PI regulator. The input position command is used in the position loop, which performs PI regulation based on the difference between the position command and the position feedback. The position command is differentiated to obtain the speed command, which is then performed PI regulation based on the difference between the speed command and the speed feedback. The outputs of the position loop and the speed loop are input to the current loop.

[0090] In this embodiment, the motor control model is defined as a dual-loop nonlinear position control model. This control model consists of an inner loop and an outer loop. The inner loop is a current loop, used to control the motor current. The current loop is mainly responsible for controlling the motor's output current within a predetermined range to ensure stable motor operation. The outer loop consists of a speed loop and a position loop in parallel. The speed loop controls the motor's rotational speed by feeding back the error between the motor's speed signal and the target speed, and adjusts the motor's output based on this error. The goal of the speed loop is to enable the motor to quickly reach the target speed and maintain stability. The position loop controls the motor's position. It feeds back the error between the motor's position signal and the target position, and adjusts the motor's output based on this error. The goal of the position loop is to enable the motor to accurately reach the target position and maintain stability.

[0091] In one embodiment, the expression for the original transfer function of the motor control model is:

[0092]

[0093] The expression for the target transfer function is:

[0094]

[0095] The first correspondence is:

[0096]

[0097] Where G1(s) is the original transfer function, G2(s) is the target transfer function, s is the complex frequency domain symbol, and K V K is the proportional gain of the velocity loop. VI K is the integral gain of the velocity loop. P K is the proportional gain of the position loop. PI Let ζ be the integral gain of the position loop, and w be the damping coefficient. n This is the bandwidth parameter.

[0098] The key aspects of this application include how to transform the original transfer function to obtain the target transfer function, and how to derive the first correspondence between the original and target transfer functions. Specifically, the third-order system is equivalent to the product of a second-order system and a first-order system. By equivalently relating the four control parameters to the bandwidth and damping coefficient, the original transfer function is transformed to obtain the new target transfer function. Then, by approximating the original transfer function to the target transfer function, the aforementioned first correspondence can be obtained.

[0099] In one specific embodiment, considering the balance between position overshoot and position response, the damping coefficient ζ is defaulted to 1.0. With the default damping coefficient value, the four control parameters of the nonlinear position control model only relate to the bandwidth w. n An intermediate parameter is relevant, therefore, by adjusting the bandwidth w n An intermediate parameter is all that is needed to adjust the intermediate parameters in the nonlinear position control model.

[0100] In one specific embodiment, the speed gain K can also be used. v Calculate K to set the preset control parameters. P K PI K VI The adjustment formula, specifically, K v =2*ζ*w n And ζ=1.0, so w n =

[0101] K v / 2,K P =K v 2 / 2,K VI =K v 2 / 4,K PI =K v 3 / 8. The proportional gain K of the speed loop. v As a preset control parameter, K v After the change, the other three control parameters K in the nonlinear position control model are automatically adjusted. P K PI K VI .

[0102] Furthermore, in one specific embodiment, in order to finely adjust the position control performance, reduce position overshoot, or accelerate position command response, the position control parameters are fine-tuned by adding three fine-tuning coefficients K. P0 K PI0 K VI0 K P0 K PI0 K VI0The default setting is 1.0. For example, if you need to reduce position overshoot during shutdown, you can adjust K... PI0 Adjust from 1.0 downwards. Under normal circumstances, if high position control performance is not required, the default value can be used. After fine-tuning the parameters, the expression for the fourth correspondence is:

[0103] K V =2*ζ*Wn;

[0104] K VI =K V 2 / 4*K VI0 Default K VI0 =1.0;

[0105] K P =K V 2 / 2*K P0 Default K P0 =1.0;

[0106] K PI =K V 3 / 8*K PI0 Default K PI0 =1.0.

[0107] In one specific embodiment, if the control model includes a filter model, such as Figure 3 As shown, if the filter is set at the input of the current loop, then modifying Kv will automatically calculate and set the time constant Tr of the first-order torque command filter. Since w n (rad / s)=K V / 2 and the bandwidth of the first-order torque command filter is greater than or equal to 4 times the bandwidth of the nonlinear position control. Here, we take it to be equal to 4 times the bandwidth. Therefore, we calculate Tr = 1 / (2*K) V ).

[0108] The use of a dual-loop nonlinear position control model can provide more precise and stable motor control. By using the inner and outer loops in parallel, the motor's current, speed, and position can be effectively controlled to meet various application requirements. This control model is suitable for many applications requiring precise position control, such as robotics and automated production lines.

[0109] To address the aforementioned technical problems, this application also provides a parameter adjustment system for a motor control model, such as... Figure 4 As shown, the system includes:

[0110] The transfer function transformation unit 41 is used to determine the original transfer function of the motor control model, transform the original transfer function, and obtain the target transfer function including intermediate parameters.

[0111] The relationship determination unit 42 is used to determine the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function. The control parameters include several proportional parameters and / or integral parameters and / or derivative parameters.

[0112] The parameter adjustment unit 43 is used to determine the target intermediate parameters according to the target requirements when controlling the motor, and to synchronously adjust each control parameter according to the target intermediate parameters and the first correspondence.

[0113] For a description of the parameter adjustment system for the motor control model, please refer to the above embodiments; this application will not repeat it here.

[0114] To address the aforementioned technical problems, this application also provides a parameter adjustment device for a motor control model, such as... Figure 5 As shown, the device includes:

[0115] Memory 51 is used to store computer programs;

[0116] The processor 52 is used to implement the steps of the parameter adjustment method of the motor control model as described above when storing the computer program.

[0117] For a description of the parameter adjustment device for the motor control model, please refer to the above embodiments; this application will not repeat it here.

[0118] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the parameter adjustment method for the motor control model described above.

[0119] For a description of the computer-readable storage medium, please refer to the above embodiments; this application will not repeat it here.

[0120] It should also be noted that, in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0121] The above description of the disclosed embodiments enables those skilled in the art to make or use this application. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of this application. Therefore, this application is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A method of adjusting parameters of a motor control model, characterized by, include: The original transfer function of the motor control model is determined, and the original transfer function is transformed to obtain the target transfer function including intermediate parameters; The first correspondence between the intermediate parameters and the control parameters of the motor control model is determined based on the original transfer function and the target transfer function. The control parameters include several proportional parameters and / or integral parameters and / or derivative parameters. When controlling the motor, target intermediate parameters are determined according to the target requirements, and each control parameter is adjusted synchronously according to the target intermediate parameters and the first correspondence.

2. The method of claim 1, wherein, The intermediate parameters include damping coefficient and bandwidth. Determining the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function includes: Set the damping coefficient to a preset damping coefficient; The second correspondence between the bandwidth and the control parameters is determined based on the original transfer function, the target transfer function, and the preset damping coefficient.

3. The method of claim 1, wherein the step of adjusting the parameters of the motor control model comprises the step of: After determining the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes: ​ Determine the third correspondence between the intermediate parameters and the preset control parameters; A fourth correspondence between each of the control parameters and the preset control parameters is determined based on the first correspondence and the third correspondence. When controlling the motor, target intermediate parameters are determined according to target requirements, and each control parameter is synchronously adjusted according to the target intermediate parameters and the first correspondence, including: When controlling the motor, target preset control parameters are determined according to the target requirements, and other control parameters are adjusted synchronously according to the target preset control parameters and the fourth correspondence.

4. The method of claim 1, wherein the motor control model is a permanent magnet synchronous motor model. After determining the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, the method further includes: Set the control parameters and their corresponding fine-tuning coefficients; A precise correspondence is obtained based on the first correspondence and the fine-tuning coefficient; When controlling the motor, target intermediate parameters are determined according to target requirements, and each control parameter is synchronously adjusted according to the target intermediate parameters and the first correspondence, including: When controlling the motor, the fine-tuning coefficients for each target are determined according to the application scenario of the motor; Determine the target intermediate parameters based on the target requirements, and adjust each of the control parameters synchronously based on the target fine-tuning coefficient, the target intermediate parameters, and the precise correspondence.

5. The method of claim 1, wherein When the motor control model includes a filter model, during motor control, after determining target intermediate parameters based on target requirements and synchronously adjusting each control parameter according to the target intermediate parameters and the first correspondence, the model further includes: The time constant in the filter model is determined based on the determined target intermediate parameters.

6. The parameter adjustment method for the motor control model as described in any one of claims 1-5, characterized in that, The motor control model is a dual-loop nonlinear position control model, in which the inner loop is a current loop and the outer loop is a parallel loop of speed and position loops.

7. The method of claim 6, wherein the step of adjusting the parameters of the motor control model comprises the step of: The expression for the original transfer function of the motor control model is: ​ The expression for the target transfer function is: The first correspondence is: Where G1(s) is the original transfer function, G2(s) is the target transfer function, s is the complex frequency domain symbol, and K V K is the proportional gain of the velocity loop. VI K is the integral gain of the velocity loop. P K is the proportional gain of the position loop. PI Let ζ be the integral gain of the position loop, and w be the damping coefficient. n This is the bandwidth parameter.

8. A parameter adjustment system of a motor control model, characterized by, include: The transfer function transformation unit is used to determine the original transfer function of the motor control model, transform the original transfer function, and obtain the target transfer function including intermediate parameters. The relationship determination unit is used to determine the first correspondence between the intermediate parameters and the control parameters of the motor control model based on the original transfer function and the target transfer function, wherein the control parameters include several proportional parameters and / or integral parameters and / or derivative parameters; The parameter adjustment unit is used to determine the target intermediate parameters according to the target requirements when controlling the motor, and to synchronously adjust each of the control parameters according to the target intermediate parameters and the first correspondence.

9. A parameter adjustment device for a motor control model, characterized in that, include: Memory, used to store computer programs; A processor, configured to, while storing a computer program, implement the steps of the parameter adjustment method for the motor control model as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the parameter adjustment method for the motor control model as described in any one of claims 1-7.

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