A dual redundant control method for servo motor

Abstract

The invention discloses a dual redundant control method for a servo motor, and relates to the technical field of motor control. Dual redundant control is performed on the dual servo motors by configuring dual servo motors and dual drivers. In the control process, the motor operation data of the servo motor and the motor drive data of the driver are first used to determine whether the servo motor needs to be switched. On the basis of the need for switching control, the drive control instructions of the servo motor to be switched are generated using the starting torque of the servo motor to be operated and the operation data of the servo motor to be switched; and the drive control instructions of the servo motor to be switched are generated using the drive control instructions of the servo motor to be switched. This method can ensure the operating stability and safety of the motor on the basis of dual redundant control.

Description

Technical Field

[0001] The invention relates to the technical field of motor control, and in particular to a dual-redundancy control method for a servo motor. Background Art

[0002] A servo motor is a device that controls the operation of mechanical components in a servo system and is widely used in the field of radar antennas. The servo motor can control speed and position accuracy very accurately, and can convert voltage signals into torque and speed to drive the controlled object. The rotor speed of the servo motor is controlled by the input signal and can respond quickly. In the automatic control system, it is used as an actuator and has the characteristics of small electromechanical time constant and high linearity. It can convert the received electrical signal into angular displacement or angular velocity output on the motor shaft. Servo motors can be divided into two categories: DC and AC servo motors. Their main characteristics are that there is no self-rotation when the signal voltage is zero, and the speed decreases uniformly with the increase of torque.

[0003] Currently, the control of servo motors mostly focuses on closed-loop control of the servo motors to ensure the control accuracy of the servo motors. Summary of the invention

[0004] The object of the present invention is to provide a dual redundant control method for a servo motor, which is used to realize redundant control of the servo motor and improve the operation stability and safety of the servo motor.

[0005] To achieve the above-mentioned objectives, in a first aspect, an embodiment of the present invention provides a dual redundant control method for a servo motor, comprising: acquiring motor operating data of a first servo motor and motor driving data of a first driver; determining switching control of the first servo motor according to the motor operating data of the first servo motor and the motor driving data of the first driver; generating a first drive control instruction of the first driver according to the starting torque corresponding to the second servo motor and the motor operating data of the first servo motor, and sending the first drive control instruction to the first driver so that the first driver drives and controls the first servo motor according to the first drive control instruction; generating a second drive control instruction of the second driver according to the first drive control instruction, and sending the second drive control instruction to the second driver so that the second driver drives and controls the second servo motor according to the second drive control instruction.

[0006] In a possible implementation manner, the motor operation data of the first servo motor includes: speed data, jitter data, temperature data and noise data; the motor drive data of the first driver includes: control signal data, response speed data and working duration data; the determining of switching control of the first servo motor based on the motor operation data of the first servo motor and the motor drive data of the first driver includes: determining whether the first servo motor operates abnormally based on the speed data, the jitter data, the temperature data and the noise data; determining whether the first driver operates abnormally based on the control signal data, the response speed data and the working duration data; if the first servo motor operates abnormally and / or the first driver operates abnormally, determining to switch control of the first servo motor.

[0007] In a possible implementation, the dual redundant control method of the servo motor further includes: if the first servo motor operates normally and the first driver operates normally, obtaining sensor operation data of the first servo motor, the sensor operation data including a sensor data acquisition frequency and a sensor data acquisition amount; determining whether the sensor of the first servo motor operates abnormally based on the sensor operation data; if the sensor of the first servo motor operates abnormally, determining to perform switch control on the first servo motor; if the sensor of the first servo motor operates normally and a user's switch request for the first servo motor is detected within a preset time period, determining to perform switch control on the first servo motor.

[0008] In a possible implementation, the dual redundant control method of the servo motor further includes: obtaining a preset starting torque corresponding to the second servo motor, the preset starting torque being used to characterize the maximum starting torque that the second servo motor can achieve; obtaining a historical starting torque corresponding to the second servo motor, the historical starting torque including the starting torques corresponding to the second servo motor in multiple switching controls; and determining the starting torque corresponding to the second servo motor based on the preset starting torque and the historical starting torque.

[0009] In a possible implementation, determining the starting torque corresponding to the second servo motor based on the preset starting torque and the historical starting torque includes: sorting the preset starting torque and the historical starting torque to obtain a plurality of sorted starting torques, wherein the preset starting torque is arranged first in the sorted plurality of starting torques, and the arrangement order of the historical starting torque in the sorted plurality of starting torques corresponds to the time order of switching control; if the size variation rule of the sorted plurality of starting torques satisfies the preset variation rule, determining the starting torque corresponding to the second servo motor based on the last starting torque in the sorted plurality of starting torques; if the size variation rule of the sorted plurality of starting torques does not satisfy the preset variation rule, determining the starting torque corresponding to the second servo motor based on the starting torque with the highest frequency in the sorted plurality of starting torques.

[0010] In a possible implementation, the motor operation data of the first servo motor includes torque data, and generating a first drive control instruction for the first driver based on the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor includes: determining the maximum operating torque corresponding to the first servo motor based on the torque data; determining the switching control torque corresponding to the first servo motor based on the starting torque corresponding to the second servo motor and the maximum operating torque corresponding to the first servo motor; and generating the first drive control instruction for the first driver based on the switching control torque corresponding to the first servo motor and a preset switching control duration.

[0011] In a possible implementation, the first drive control instruction includes: a switching control torque corresponding to the first servo motor, a first drive control duration, and a second drive control duration, wherein the first drive control duration is used to characterize the duration of controlling the first servo motor from a current torque to a switching control torque corresponding to the first servo motor, and the second drive control duration is used to characterize the duration of controlling the first servo motor from a switching control torque corresponding to the first servo motor to a zero torque, and the first drive control duration and the second drive control duration are determined according to the preset switching control duration.

[0012] In a possible implementation, generating a second drive control instruction for the second driver according to the first drive control instruction includes: determining a first drive control time corresponding to the second servo motor according to an end time point of the first drive control duration and a start time point of the second drive control duration, the first drive control time representing the time when the second servo motor starts to run; determining a second drive control time corresponding to the second servo motor according to an end time point of the second drive control duration, the second drive control time representing the start time and end time of the second drive controller outputting a drive control signal to the second servo motor; generating a second drive control instruction for the second driver according to the first drive control time and the second drive control time.

[0013] In a possible embodiment, the dual redundant control method of the servo motor also includes: in response to detecting that the operating time of the second servo motor reaches a preset operating time, determining to switch the second servo motor; generating a third drive control instruction for the second driver according to the starting torque corresponding to the first servo motor and the motor operating data of the second servo motor, and sending the third drive control instruction to the second driver, so that the second driver drives and controls the second servo motor according to the third drive control instruction; generating a fourth drive control instruction for the first driver according to the third drive control instruction, and sending the fourth drive control instruction to the first driver, so that the first driver drives and controls the first servo motor according to the fourth drive control instruction.

[0014] In a possible implementation manner, the first servo motor is a master servo motor, and the second servo motor is a slave servo motor, and the dual-redundancy control method for the servo motors further includes: acquiring a first historical total drive control time of the first driver and a second historical total drive control time of the second driver; and determining, according to the first historical total drive control time and the second historical total drive control time, to replace the master-slave relationship of the first servo motor and the second servo motor;

[0015] The first servo motor is changed into a slave servo motor, and the second servo motor is changed into a master servo motor.

[0016] Compared with the prior art, the technical solution provided by the present invention has the following technical effects:

[0017] By configuring dual servo motors and dual drivers, dual redundant control is performed on the dual servo motors. During the control process, the motor operation data of the servo motor and the motor drive data of the driver are first used to determine the need for switching control of the servo motor. On the basis of the need for switching control, the drive control instructions of the servo motor to be switched are generated using the starting torque of the servo motor to be operated and the operation data of the servo motor to be switched; and the drive control instructions of the servo motor to be switched are generated using the drive control instructions of the servo motor to be switched. Since the starting torque of the servo motor is large, if the servo motor is switched directly, it may cause the motor to run unstably and unsafely. Therefore, for the servo motor to be operated and the servo motor to be switched, the corresponding drive control instructions are generated using the relevant data, which can ensure the stability and safety of the motor operation on the basis of dual redundant control. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 is a schematic structural diagram of a dual redundant control system of a servo motor according to an embodiment of the present invention;

[0019] Figure 2 is a structural schematic diagram of a dual redundant control system of a servo motor according to an embodiment of the present invention;

[0020] Figure 3 is a flow chart of a dual redundant control method for a servo motor according to an embodiment of the present invention;

[0021] Figure 4 is a torque variation schematic diagram according to an embodiment of the present invention;

[0022] Figure 5 is a schematic structural diagram of a dual-redundancy control device for a servo motor according to an embodiment of the present invention;

[0023] Figure 6 is a schematic structural diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0024] The specific implementation modes of the present invention are described in detail below in conjunction with the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific implementation modes.

[0025] Unless explicitly stated otherwise, throughout the specification and claims, the term “comprise” or variations such as “include” or “comprising”, etc., will be understood to include the stated elements or components but not to exclude other elements or components.

[0026] The technical solution provided by the embodiment of the present invention can be applied to various application scenarios involving servo motors, in which the servo motors are used as the main power source, such as automated production equipment, which relies on servo motors as the power source, and robots, which rely on servo motors as the power source.

[0027] This technical solution can be applied to scenarios where the power source requirements are: durability, stability and safety.

[0028] In the related art, the control of the servo motor mostly focuses on the closed-loop control of the servo motor to ensure the control accuracy of the servo motor.

[0029] However, on the basis of high control accuracy, the operating stability and safety of the servo motor must also be guaranteed.

[0030] Based on this, an embodiment of the present invention provides a technical solution, in which relevant data are used to generate corresponding drive control instructions for the servo motor that is about to run and the servo motor to be switched, which can ensure the operating stability and safety of the motor on the basis of dual redundant control.

[0031] Please refer to Figure 1 , is a schematic diagram of the structure of a dual redundant control system of a servo motor according to an embodiment of the present invention, such as Figure 1 As shown, the control system includes: a control device, a first driver, a second driver, a first servo motor and a second servo motor.

[0032] The first driver is connected to the first servo motor, and the second driver is connected to the second servo motor. The first driver and the second driver are respectively connected to the control device.

[0033] The first driver and the second driver may be drivers suitable for a servo motor, and may output a driving control signal (such as a voltage signal) to the servo motor to drive the servo motor.

[0034] The dual redundant control of the servo motor is implemented by a control device, which sends corresponding control instructions to two drivers, and the drivers output drive control signals based on the control instructions.

[0035] The first servo motor and the second servo motor may be DC servo motors or AC servo motors. Different types of servo motors may have different driving control signals. For example, the control signal of a DC motor is generally trapezoidal, while the control signal of an AC motor is generally sinusoidal.

[0036] It should be noted that when the servo motor is operating normally, that is, when redundant switching control is not required, its drive control signal can be a normal drive control signal. However, when redundant switching control is involved, its drive control signal is different from the normal drive control signal. The embodiment of the present invention is mainly aimed at the drive control during redundant switching control.

[0037] Please refer to Figure 2 , is a schematic diagram of the structure of a dual redundant control system of a servo motor according to an embodiment of the present invention, such as Figure 2 As shown, the control system also includes: a first sensor module and a second sensor module. The first sensor module may include multiple sensors, which are respectively arranged on the first servo motor or connected to the first servo motor, for detecting the operation data of the first servo motor. The second sensor module may also include multiple sensors, which are respectively arranged on the second servo motor or connected to the second servo motor, for detecting the operation data of the second servo motor.

[0038] Various sensors, such as temperature sensors, speed sensors, vibration sensors, noise sensors, etc.

[0039] In some embodiments, the control device may be an electronic device such as a computer, which has data processing functions, human-computer interaction functions, and communication functions.

[0040] Please refer to Figure 3 , is a flow chart of a dual redundant control method for a servo motor according to an embodiment of the present invention, such as Figure 3 As shown, the method includes:

[0041] Step 301, obtaining motor operation data of a first servo motor and motor driving data of a first driver.

[0042] Step 302 : Determine to perform switching control on the first servo motor according to the motor operation data of the first servo motor and the motor driving data of the first driver.

[0043] Step 303, generating a first drive control instruction for the first driver according to the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor, and sending the first drive control instruction to the first driver, so that the first driver drives and controls the first servo motor according to the first drive control instruction.

[0044] Step 304 , generating a second drive control instruction for the second driver according to the first drive control instruction, and sending the second drive control instruction to the second driver, so that the second driver drives and controls the second servo motor according to the second drive control instruction.

[0045] In step 301, the motor operation data of the first servo motor may include: speed data, jitter data, temperature data and noise data. It can be understood that the operation data is Figure 2 The data detected by the relevant sensors shown. Among them, the jitter data can be data detected by the vibration sensor.

[0046] In some embodiments, the motor operation data may be operation data within a period of time, for example, operation data within 10 minutes, and the period of time may be determined according to the power demand in the scenario in which the servo motor is used. For example, if the power demand is high, the period of time may be shorter. If the power demand is low, the period of time may be longer.

[0047] In some embodiments, the motor drive data of the first driver may include: control signal data, response speed data and working time data. Among them, the control signal data may be the drive control signal output by the first driver within the aforementioned period of time, which may characterize information such as: maximum output voltage, minimum output voltage and control cycle. The response speed data may be the speed at which the first driver processes data within the aforementioned period of time, which may characterize the data processing efficiency of the first driver, and may be information recorded by the first driver itself. The working time data may characterize the working time of the first driver, which may be understood as the duration of continuous output of the drive control signal.

[0048] Further, step 302 may include: determining whether the first servo motor operates abnormally based on the speed data, jitter data, temperature data and noise data; determining whether the first driver operates abnormally based on the control signal data, response speed data and working time data; if the first servo motor operates abnormally and / or the first driver operates abnormally, determining to switch control of the first servo motor.

[0049] In this embodiment, the following ranges of rotation speed, jitter, temperature and noise that indicate that the first servo motor is operating normally may be preset. Then, the current rotation speed data, jitter data, temperature data and noise data are compared with the corresponding preset ranges. If at least two of the data are not within the corresponding ranges, it can be determined that the first servo motor is operating abnormally.

[0050] The data range that characterizes normal operation can be preset through experimental data, multiple observations, and empirical judgment.

[0051] Furthermore, the control signal data range, response speed data range and working time data range that indicate that the first driver is operating normally can be preset. Then, the current control signal data, response speed data and working time data are compared with the preset ranges. If at least one data is not within the corresponding range, it can be determined that the first driver is operating abnormally.

[0052] The data range that characterizes normal operation can be preset through experimental data, multiple observations, and empirical judgment.

[0053] In addition, for the driver, for the control signal data range, the maximum output voltage range, the minimum output voltage range and the cycle range can be preset. Correspondingly, if it is determined according to the control signal data that the corresponding data meets the corresponding data range, the control signal data is deemed to meet the control signal data range.

[0054] It can be understood that satisfying the corresponding data range may mean that the corresponding data is within the corresponding data range.

[0055] Further, if at least one of the first driver and the first servo motor has an operational abnormality, it is determined to perform switch control on the first servo motor.

[0056] In other embodiments, if the first servo motor and the first driver are operating normally, it is also possible to determine whether the sensor that detects the operating data is abnormal. It is understandable that when the first driver outputs the drive control signal, a closed-loop control method can be used, and the control signal is usually adjusted based on the detection data of the sensor. Therefore, if the sensor operates abnormally, it will affect the accuracy of the drive control, so the abnormal operation of the sensor can also be regarded as a scenario that needs to be switched.

[0057] Therefore, as an optional implementation, the method also includes: if the first servo motor operates normally and the first driver operates normally, obtaining sensor operation data of the first servo motor, the sensor operation data including the sensor data acquisition frequency and the sensor data acquisition amount; determining whether the sensor of the first servo motor operates abnormally based on the sensor operation data; if the sensor of the first servo motor operates abnormally, determining to switch control the first servo motor; if the sensor of the first servo motor operates normally and a user's switching request for the first servo motor is detected within a preset time period, determining to switch control the first servo motor.

[0058] In this implementation, the sensor data collection frequency and the sensor data collection amount can be obtained from the first driver. The first driver can determine the data collection frequency and the data collection amount according to the data transmission between the sensor and the first driver.

[0059] In some embodiments, determining whether the sensor of the first servo motor is operating abnormally according to the sensor operation data may include: comparing the sensor data acquisition frequency and the sensor data acquisition amount with a preset corresponding data range, and if they are within the corresponding data range, then it is normal. Otherwise, the operation is abnormal. For the method of presetting the data range, reference may be made to the above embodiments.

[0060] In this embodiment, when the sensor of the first servo motor operates normally, it can also be determined whether a user's switching request for the first servo motor is detected within a preset time period. Therefore, in this technical solution, the user can actively initiate a switching request.

[0061] The preset duration may be a shorter duration, such as within one minute or within five minutes, and may be set according to different application scenarios.

[0062] Furthermore, if the above-mentioned relevant judgment conditions are not met, it is determined that the first servo motor is not switched.

[0063] In an embodiment of the present invention, determining whether to switch the first servo motor may be periodic, for example, performing a judgment once every certain period of time, and selecting whether to switch according to the judgment result. The period of time may be set in combination with different application scenarios, for example, in combination with the performance of the motor and the demand for the power source, etc., to configure the period of time.

[0064] Further, if it is determined that the first servo motor is not to be switched, then when the next cycle is reached, it is continued to be determined whether to switch the motor.

[0065] In step 303, the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor need to be combined to generate a first drive control instruction. The first drive control instruction is used to ensure that the switching of the first servo motor and the second servo motor does not affect the operation of the entire system, avoiding instability and unsafe problems.

[0066] The starting torque corresponding to the second servo motor can be obtained by using different implementation methods.

[0067] In some embodiments, the starting torque corresponding to the second servo motor may be a preset starting torque corresponding to the second servo motor, and the preset starting torque is a starting torque configured by default according to the performance of the second servo motor. It can be determined by performing a starting test on the second servo motor, and during the test, the performance of the second servo motor meets the optimal state, for example, when the second servo motor is used for the first time, the starting torque is measured. Therefore, the preset starting torque can represent the highest starting torque that the second servo motor can achieve.

[0068] In other embodiments, the starting torque corresponding to the second servo motor can be determined in the following manner: obtain the preset starting torque corresponding to the second servo motor; obtain the historical starting torque corresponding to the second servo motor, the historical starting torque including the starting torques corresponding to the second servo motor in multiple switching controls; determine the starting torque corresponding to the second servo motor based on the preset starting torque and the historical starting torque.

[0069] In this embodiment, the preset starting torque is the same as the preset starting torque in the aforementioned embodiment. The historical starting torque includes the starting torques corresponding to the second servo motor in multiple switching controls. That is, the historical starting torque is the recorded real starting torque of the second servo motor. In multiple switching controls, it can be understood that in each process of switching from the first servo motor to the second servo motor, after starting the second servo motor, the starting torque reached by the second servo motor.

[0070] It is understandable that the starting torque that can be achieved each time may also change with the application of the motor. For example, if the motor is frequently used, the starting torque that can be achieved may decrease as the number of applications increases. Of course, the starting torque that can be achieved each time may not change, so the starting torque corresponding to the second servo motor can be determined by combining the historical starting torque and the preset starting torque.

[0071] As an optional implementation, the starting torque corresponding to the second servo motor is determined according to the preset starting torque and the historical starting torque, including: sorting the preset starting torque and the historical starting torque to obtain multiple sorted starting torques, the preset starting torque is arranged first in the sorted multiple starting torques, and the arrangement order of the historical starting torque in the sorted multiple starting torques corresponds to the time order of the switching control; if the size change law of the sorted multiple starting torques meets the preset change law, the starting torque corresponding to the second servo motor is determined according to the last starting torque in the sorted multiple starting torques; if the size change law of the sorted multiple starting torques does not meet the preset change law, the starting torque corresponding to the second servo motor is determined according to the starting torque with the highest frequency in the sorted multiple starting torques.

[0072] In this embodiment, the preset starting torque and the historical starting torque are sorted. Moreover, the preset starting torque is ranked first, and the historical starting torques are arranged in chronological order. The time here can be determined by the time of switching control. That is, each historical starting torque corresponds to a switching control time, and multiple historical starting torques can be sorted according to the time.

[0073] Furthermore, if the magnitude variation rule of the multiple starting torques in the order meets the preset variation rule, the starting torque corresponding to the second servo motor can be determined according to the last starting torque of the multiple starting torques in the order. The preset variation rule can be from large to small and the magnitude is basically unchanged.

[0074] Furthermore, if the magnitude variation rule of the multiple starting torques in order is from large to small, the difference between the starting torques is determined, and the difference is subtracted from the last starting torque to obtain the starting torque corresponding to the second servo motor. The difference between the starting torques may be the average value of the difference between two adjacent starting torques, or the difference between the last starting torque and the starting torque before the last starting torque.

[0075] If the magnitude variation rule of the sorted multiple starting torques is that the magnitudes remain substantially unchanged, the average value of the multiple starting torques may be determined as the starting torque corresponding to the second servo motor.

[0076] Furthermore, if the magnitude variation rule of the multiple sorted starting torques does not satisfy the preset variation rule, the starting torque with the highest frequency among the multiple sorted starting torques may be determined as the starting torque corresponding to the second servo motor.

[0077] It can be understood that in addition to the above-mentioned determination method, other implementation methods can also be adopted according to different application scenarios.

[0078] The motor operation data of the first servo motor may also include torque data. Then, step 303 may include: determining the maximum operation torque corresponding to the first servo motor according to the torque data; determining the switching control torque corresponding to the first servo motor according to the starting torque corresponding to the second servo motor and the maximum operation torque corresponding to the first servo motor; and generating the first drive control instruction of the first driver according to the switching control torque corresponding to the first servo motor and the preset switching control duration.

[0079] In this embodiment, the maximum operating torque corresponding to the first servo motor is first determined based on the torque data. It can be understood that the torque data may include multiple torques, the maximum torque of which is the maximum operating torque corresponding to the first servo motor.

[0080] Determining the switching control torque corresponding to the first servo motor based on the starting torque corresponding to the second servo motor and the maximum operating torque corresponding to the first servo motor may include: if the starting torque corresponding to the second servo motor is greater than the maximum operating torque corresponding to the first servo motor, the switching control torque corresponding to the first servo motor is the maximum operating torque corresponding to the first servo motor. If the starting torque corresponding to the second servo motor is less than the maximum operating torque corresponding to the first servo motor, the switching control torque corresponding to the first servo motor is the starting torque corresponding to the second servo motor. If they are equal, the starting torque corresponding to the second servo motor or the maximum operating torque corresponding to the first servo motor may be determined as the switching control torque corresponding to the first servo motor.

[0081] In this embodiment, by determining the switching control torque corresponding to the first servo motor, the first servo motor can be controlled to first reach the switching control torque and then slowly stop running, thereby avoiding excessive motor torque differences caused by direct switching control.

[0082] The preset switching control duration can be understood as a pre-configured switching control duration, which constrains the duration of the switching control. For example, the switching control duration can be 1 minute.

[0083] Furthermore, the first drive control instruction may include: a switching control torque corresponding to the first servo motor, a first drive control duration, and a second drive control duration. The first drive control duration is used to characterize the time it takes to control the first servo motor from a current torque to a switching control torque corresponding to the first servo motor. The second drive control duration is used to characterize the time it takes to control the first servo motor from a switching control torque corresponding to the first servo motor to 0 torque. The first drive control duration and the second drive control duration are determined based on a preset switching control duration.

[0084] In this embodiment, the first drive control instruction indicates that within the first drive control duration, the first servo motor is controlled from the current torque to the switching control torque corresponding to the first servo motor. And, it also indicates that within the second drive control duration, the first servo motor is controlled from the switching control torque corresponding to the first servo motor to 0 torque. That is, within the first drive control duration, the torque of the first servo motor may need to be increased or decreased, and within the second drive control duration, the torque of the first servo motor needs to be decreased to stop the operation of the first servo motor.

[0085] For example, the first driving control duration may occupy one third of the preset switching control duration, and the second driving control duration may occupy two thirds of the preset switching control duration. That is, the first driving control duration is shorter than the second driving control duration.

[0086] Furthermore, for the first driver, after receiving the first drive control instruction, a corresponding drive control signal will be generated, in which the output voltage signal may increase or decrease during the first drive control duration. During the second drive control duration, the output voltage signal gradually decreases until it is 0.

[0087] Furthermore, in step 304, a second drive control instruction of the second driver is generated according to the first drive control instruction. In this embodiment, the second drive control instruction of the second driver needs to be generated in combination with the first drive control instruction.

[0088] As an optional implementation, step 304 includes: determining a first drive control time corresponding to the second servo motor according to an end time point of the first drive control time and a start time point of the second drive control time, the first drive control time representing the time when the second servo motor starts to run; determining a second drive control time corresponding to the second servo motor according to an end time point of the second drive control time, the second drive control time representing the start time and end time of the second drive controller outputting a drive control signal to the second servo motor; generating a second drive control instruction for the second driver according to the first drive control time and the second drive control time.

[0089] In this embodiment, the first drive control time corresponding to the second servo motor is the time when the second servo motor starts to run, that is, the time point when the second driver starts to provide a drive control signal to the second servo motor. The first drive control time corresponding to the second servo motor can be between the end time point of the first drive control duration and the start time point of the second drive control duration.

[0090] In some embodiments, the end time point of the first drive control duration and the start time point of the second drive control duration may be equal, then the first drive control time corresponding to the second servo motor may be the end time point of the first drive control duration or the start time point of the second drive control duration.

[0091] In some embodiments, the second drive control time corresponding to the second servo motor includes a start time and an end time, wherein the start time may be earlier than the end time point of the second drive control duration, and the end time may be determined according to the control cycle of the second servo motor, that is, the time between the start time and the end time is a control cycle.

[0092] It can be understood that the first drive control time is the time when the second driver outputs a control signal to the second servo motor, that is, the switching control time point. The second drive control time is the time when the second driver performs normal drive control on the second servo motor, that is, the time after completing the switching control.

[0093] Furthermore, according to the first drive control time and the second drive control time, a second drive control instruction for the second driver can be generated. The second drive control instruction may include the first drive control time and the second drive control time, so that the second driver outputs a corresponding control signal to the second servo motor according to the first drive control time and the second drive control time.

[0094] Figure 4 is a torque variation schematic diagram according to an embodiment of the present invention, such as Figure 4 As shown, the torque change of the first servo motor and the torque change of the second servo motor are shown. At time point t1, the torque of the first servo motor begins to increase to reach a torque level similar to the starting torque of the second servo motor. At time point t2, the torque of the first servo motor begins to decrease. At time point t3, the torque of the first servo motor continues to decrease, and the second servo motor starts, reaching a higher starting torque in a very short time. Furthermore, at time point t4, the torque of the first servo motor is 0, and it completely stops running, and the switching control has been completed. In addition, before time point t4, the second servo motor has begun normal drive control, and its torque may be lower than the starting torque. Of course, it may also be increased, and what is shown here is a decrease.

[0095] In the embodiment of the present invention, after the first servo motor stops running, abnormal information can be fed back to the user, so that the user can handle the abnormality. Of course, the user may not handle the abnormality. Regardless of whether the user handles the abnormality, the first servo motor can be switched later.

[0096] Therefore, the method may also include: in response to detecting that the operating time of the second servo motor reaches a preset operating time, determining to switch the second servo motor; generating a third drive control instruction for the second driver according to the starting torque corresponding to the first servo motor and the motor operating data of the second servo motor, and sending the third drive control instruction to the second driver, so that the second driver drives and controls the second servo motor according to the third drive control instruction; generating a fourth drive control instruction for the first driver according to the third drive control instruction, and sending the fourth drive control instruction to the first driver, so that the first driver drives and controls the first servo motor according to the fourth drive control instruction.

[0097] The preset running time may be an estimated exception handling time for a user, for example, one hour.

[0098] Furthermore, the generation method of the third drive control instruction can refer to the generation method of the first drive control instruction, and the generation method of the fourth drive control instruction can refer to the generation method of the second drive control instruction, which will not be repeated here.

[0099] It can be understood that in the embodiment of the present invention, the drive control instruction transmitted by the control device to the driver can be regarded as a drive control strategy, and the driver can generate a corresponding drive control signal according to the drive control strategy. Regarding how the driver generates the corresponding drive control signal, reference can be made to the mature technology in the field. For example, if the torque needs to be reduced, the output voltage can be reduced. If the torque needs to be increased, the output voltage can be increased. In addition, the drive control strategy is a control strategy for switching control. After completing the switching control, the driver can continue to drive the motor according to the existing drive control strategy. For example, for an AC servo motor, continue to use a sinusoidal wave signal for drive control, etc.

[0100] In an embodiment of the present invention, the first servo motor is the main servo motor, and the second servo motor is the slave servo motor. In the absence of special circumstances, the main servo motor is usually the main one. Therefore, after detecting that the second servo motor has run for a preset running time, it needs to be switched to the first servo motor.

[0101] In some embodiments, the master-slave relationship of the first servo motor and the second servo motor can be changed. Therefore, as an optional implementation, the method further includes: obtaining a first historical total drive control time of the first driver and a second historical total drive control time of the second driver; determining to replace the master-slave relationship of the first servo motor and the second servo motor according to the first historical total drive control time and the second historical total drive control time; changing the first servo motor to a slave servo motor, and changing the second servo motor to a master servo motor.

[0102] The first historical total driving control duration and the second historical total driving control duration can be recorded by the first driver and the second driver respectively, and the duration is the effective control duration, that is, the duration of outputting the driving control signal.

[0103] In some embodiments, if the first historical total driving control time of the first driver is greater than the second historical total driving control time of the second driver, it means that the first servo motor is operating normally and can realize the function of the main servo motor. At this time, it can be determined that the master-slave relationship between the first servo motor and the second servo motor does not need to be changed.

[0104] If the first historical total driving control time of the first driver is less than or equal to the second historical total driving control time of the second driver, it means that the operation of the first servo motor is not normal and cannot realize the function of the main servo motor. At this time, it can be determined to replace the master-slave relationship between the first servo motor and the second servo motor.

[0105] Furthermore, when changing the master-slave relationship, the first servo motor is changed to the slave servo motor, and the second servo motor is changed to the master servo motor, and the corresponding driver may not be changed. Then, when switching control is performed later, the second servo motor is preferentially used as the master operating motor.

[0106] It can be seen from the introduction of the embodiments of the present invention that, since the starting torque of the servo motor is relatively large, if the servo motor is switched directly, the motor operation may be unstable and unsafe. Therefore, for the servo motor to be operated and the servo motor to be switched, the corresponding drive control instructions are generated using relevant data, which can ensure the operation stability and safety of the motor on the basis of dual redundant control.

[0107] Please refer to Figure 5 , is a schematic diagram of the structure of a dual redundant control device for a servo motor according to an embodiment of the present invention, the device comprising:

[0108] The acquisition module 501 is used to acquire the motor operation data of the first servo motor and the motor driving data of the first driver.

[0109] The control module 502 is used to determine the switching control of the first servo motor according to the motor operation data of the first servo motor and the motor drive data of the first driver; generate a first drive control instruction of the first driver according to the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor, and send the first drive control instruction to the first driver so that the first driver drives and controls the first servo motor according to the first drive control instruction; generate a second drive control instruction of the second driver according to the first drive control instruction, and send the second drive control instruction to the second driver so that the second driver drives and controls the second servo motor according to the second drive control instruction.

[0110] The device corresponds to the aforementioned method, and therefore, the specific implementation of the device will not be introduced in detail here.

[0111] Please refer to Figure 6 An embodiment of the present invention further provides an electronic device, which can be used as an execution subject of the aforementioned dual redundant control method of the servo motor, that is, used to implement the dual redundant control method of the servo motor.

[0112] The electronic device includes a processor 601 and a memory 602, and the processor 601 and the memory 602 are communicatively connected.

[0113] The processor 601 and the memory 602 are directly or indirectly electrically connected to each other to realize data transmission or interaction. For example, these elements can be electrically connected through one or more communication buses or signal buses. The method steps executed by the aforementioned modules or interactive terminals respectively include at least one software function module that can be stored in the memory 602 in the form of software or firmware.

[0114] The processor 601 may be an integrated circuit chip with signal processing capability. The processor 601 may be a general-purpose processor, including a CPU (Central Processing Unit), an NP (Network Processor), etc.; it may also be a digital signal processor, an application-specific integrated circuit, a readily available programmable gate array or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. It may implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0115] The memory 602 can store various software programs and modules. The processor 601 executes various functional applications and data processing by running the software programs and modules stored in the memory 602, that is, implements various steps in the embodiment of the present invention.

[0116] The memory 602 may include, but is not limited to, RAM (Random Access Memory), ROM (Read Only Memory), PROM (Programmable Read-Only Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electric Erasable Programmable Read-Only Memory), etc.

[0117] Understandably, Figure 6 The structure shown is for illustration only. The electronic device may also include Figure 6 More or fewer components as shown, or with Figure 6 Different configurations are shown.

[0118] It will be appreciated by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] The present invention is described with reference to flowcharts and / or block diagrams of methods, devices (systems), and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0120] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0121] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0122] The foregoing description of specific exemplary embodiments of the present invention is for the purpose of illustration and demonstration. These descriptions are not intended to limit the present invention to the precise form disclosed, and it is clear that many changes and variations can be made based on the above teachings. The purpose of selecting and describing the exemplary embodiments is to explain the specific principles of the present invention and its practical application, so that those skilled in the art can realize and utilize various different exemplary embodiments of the present invention and various different selections and changes. The scope of the present invention is intended to be limited by the claims and their equivalents.

Claims

1. A dual redundant control method for a servo motor, characterized in that: include: Acquire motor operation data of the first servo motor and motor driving data of the first driver; Determining to perform switching control on the first servo motor according to the motor operation data of the first servo motor and the motor driving data of the first driver; Generate a first drive control instruction for the first driver according to the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor, and send the first drive control instruction to the first driver, so that the first driver drives and controls the first servo motor according to the first drive control instruction; generating a second drive control instruction for a second driver according to the first drive control instruction, and sending the second drive control instruction to the second driver, so that the second driver drives and controls the second servo motor according to the second drive control instruction; The dual-redundancy control method of the servo motor further includes: Acquire a preset starting torque corresponding to the second servo motor, where the preset starting torque is used to characterize a maximum starting torque that can be achieved by the second servo motor; Acquire a historical starting torque corresponding to the second servo motor, wherein the historical starting torque includes starting torques respectively corresponding to the second servo motor in multiple switching controls; Sorting the preset starting torque and the historical starting torque to obtain a plurality of sorted starting torques, wherein the preset starting torque is arranged first in the sorted plurality of starting torques, and the arrangement order of the historical starting torque in the sorted plurality of starting torques corresponds to the time order of the switching control; If the magnitude variation rule of the plurality of starting torques in the sequence meets the preset variation rule, determining the starting torque corresponding to the second servo motor according to the last starting torque of the plurality of starting torques in the sequence; If the magnitude variation rule of the plurality of starting torques in the sequence does not satisfy the preset variation rule, determining the starting torque corresponding to the second servo motor according to the starting torque with the highest frequency among the plurality of starting torques in the sequence; The motor operation data of the first servo motor includes torque data, and generating a first drive control instruction of the first driver according to the starting torque corresponding to the second servo motor and the motor operation data of the first servo motor includes: Determining a maximum operating torque corresponding to the first servo motor according to the torque data; determining a switching control torque corresponding to the first servo motor according to a starting torque corresponding to the second servo motor and a maximum operating torque corresponding to the first servo motor; generating a first drive control instruction for the first driver according to the switching control torque corresponding to the first servo motor and a preset switching control duration; The first drive control instruction includes: a switching control torque corresponding to the first servo motor, a first drive control duration, and a second drive control duration. The first drive control duration is used to characterize the duration of controlling the first servo motor from a current torque to a switching control torque corresponding to the first servo motor. The second drive control duration is used to characterize the duration of controlling the first servo motor from a switching control torque corresponding to the first servo motor to a zero torque. The first drive control duration and the second drive control duration are determined according to the preset switching control duration.

2. A dual redundant control method for a servo motor according to claim 1, characterized in that: The motor operation data of the first servo motor includes: speed data, jitter data, temperature data and noise data; the motor driving data of the first driver includes: control signal data, response speed data and working time data; the determining of switching control of the first servo motor according to the motor operation data of the first servo motor and the motor driving data of the first driver includes: Determining whether the first servo motor operates abnormally according to the rotation speed data, the jitter data, the temperature data and the noise data; Determining whether the first driver operates abnormally according to the control signal data, the response speed data and the working duration data; If the first servo motor operates abnormally and / or the first driver operates abnormally, it is determined to switch and control the first servo motor.

3. A dual redundant control method for a servo motor according to claim 2, characterized in that: The dual redundant control method of the servo motor also includes: If the first servo motor operates normally and the first driver operates normally, obtaining sensor operation data of the first servo motor, wherein the sensor operation data includes a sensor data acquisition frequency and a sensor data acquisition amount; Determining whether the sensor of the first servo motor operates abnormally according to the sensor operation data; If the sensor of the first servo motor operates abnormally, determining to switch control of the first servo motor; If the sensor of the first servo motor operates normally and a user's switching request for the first servo motor is detected within a preset time period, it is determined to perform switching control on the first servo motor.

4. The dual redundant control method of a servo motor according to claim 1, characterized in that: The step of generating a second drive control instruction for a second driver according to the first drive control instruction comprises: Determine a first drive control time corresponding to the second servo motor according to an end time point of the first drive control time and a start time point of the second drive control time, wherein the first drive control time represents a time when the second servo motor starts to run; Determine, according to the end time point of the second drive control duration, a second drive control time corresponding to the second servo motor, wherein the second drive control time represents a start time and an end time when the second driver outputs a drive control signal to the second servo motor; A second drive control instruction for the second driver is generated according to the first drive control time and the second drive control time.

5. The dual redundant control method of a servo motor according to claim 1, characterized in that: The dual redundant control method of the servo motor also includes: In response to detecting that the running time of the second servo motor reaches a preset running time, determining to perform switching control on the second servo motor; Generate a third drive control instruction of the second driver according to the starting torque corresponding to the first servo motor and the motor operation data of the second servo motor, and send the third drive control instruction to the second driver, so that the second driver drives and controls the second servo motor according to the third drive control instruction; A fourth drive control instruction of the first driver is generated according to the third drive control instruction, and the fourth drive control instruction is sent to the first driver, so that the first driver drives and controls the first servo motor according to the fourth drive control instruction.

6. A dual redundant control method for a servo motor according to claim 1, characterized in that: The first servo motor is a master servo motor, the second servo motor is a slave servo motor, and the dual-redundancy control method of the servo motors further includes: Acquire a first historical total driving control duration of the first driver and a second historical total driving control duration of the second driver; Determine, according to the first historical total drive control duration and the second historical total drive control duration, to replace the master-slave relationship between the first servo motor and the second servo motor; The first servo motor is changed into a slave servo motor, and the second servo motor is changed into a master servo motor.

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