Servo motor control method and system

Abstract

A servo motor control method and system provided by the present invention relates to the field of motor control technology, and includes the following steps: obtaining the state information of the servo motor; analyzing the state information of the servo motor to obtain a state comprehensive difference value; obtaining the operation information of the permanent magnet in the servo motor; analyzing the operation information of the permanent magnet to obtain a thermal magnetic comprehensive shadow value; setting a feedback adjustment coefficient, combining the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient; adjusting the control parameters of the servo motor in real time according to the motor actual control adjustment coefficient. The present invention can more accurately grasp the actual operation of the motor by comprehensively obtaining the motor state information and the permanent magnet operation information, and conducting in-depth analysis, comprehensively considering the state comprehensive difference value and the thermal magnetic comprehensive shadow value, and adjusting the control parameters in combination with the feedback adjustment coefficient, thereby achieving more accurate control and improving the working accuracy and stability of the servo motor.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a servo motor control method and system. Background Art

[0002] With the rapid development of industrial automation and intelligent manufacturing, the requirements for precision and efficiency in the production process are constantly increasing. As the core component in the field of industrial automation and precision control, servo motors are widely used in robots, CNC machine tools, aerospace and other fields. Their control accuracy and stability directly affect the operating efficiency and product quality of the entire system. However, the traditional servo motor control method can no longer meet the needs of servo motors, especially in multi-variable and dynamically changing industrial environments.

[0003] Traditional control methods often focus on a single parameter or local state of the motor, lack a comprehensive and real-time reflection of the actual operation of the motor, and are difficult to make intelligent adjustments based on environmental changes and real-time feedback of the motor state, resulting in delays in real-time monitoring and adjustment of the motor state, affecting the stability and reliability of the system. Therefore, it is necessary to provide a servo motor control method and system to solve the above technical problems. Summary of the invention

[0004] The present invention provides a servo motor control method and system, which solve the problems mentioned in the above background technology.

[0005] In order to solve the above technical problems, the present invention provides a servo motor control method and system, 1. comprising the following steps:

[0006] Step 1, obtaining the status information of the servo motor;

[0007] Step 2: Analyze the state information of the servo motor to obtain the state difference value;

[0008] Step 3, obtaining the operation information of the permanent magnet in the servo motor;

[0009] Step 4, analyzing the operation information of the permanent magnet to obtain the thermal magnetic comprehensive image value;

[0010] Step 5, setting the feedback adjustment coefficient, combining the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient;

[0011] Step six, adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

[0012] Preferably, based on step one, the status information of the servo motor includes the current, voltage, temperature of the servo motor and the position, operating speed and torque of its rotating shaft.

[0013] Preferably, based on step 2, the state information of the servo motor is analyzed, and the specific analysis method is as follows:

[0014] S21: Acquire the status information of the servo motor in the startup state; set the standard parameter value of any parameter in the status information of the servo motor in the startup state, calculate the difference between the parameter value in the startup state and the standard parameter value corresponding to the parameter, and obtain the standard deviation value corresponding to the parameter; set the allowable floating range of the standard deviation value of the parameter, and if the standard deviation value is not within the corresponding allowable floating range, mark the standard deviation value as deviating from the standard deviation value;

[0015] S22: Mark the time zone between the start time of the servo motor and the current time as the operation time zone, and calculate the difference between the maximum and minimum deviation standard deviation values ​​in the operation time zone to obtain the deviation extreme value;

[0016] S23: Calculate the mean of all standard deviation values ​​in the operation time zone to obtain the standard deviation mean;

[0017] S24: performing standard deviation calculation on the standard deviation value in the operation time zone to obtain a standard deviation wave value;

[0018] S25: Record any generation time that deviates from the standard deviation value in the operation time zone, calculate the time difference between the adjacent generation time and obtain the adjacent time difference value; calculate the standard deviation of the adjacent time difference value in the operation time zone to obtain the deviation time fluctuation value;

[0019] S26: Perform weighted calculation on the deviation standard deviation value, deviation extreme value, standard deviation mean, standard deviation wave value, and deviation time fluctuation value to obtain the abnormal impact value corresponding to the parameter;

[0020] S27: Process the abnormal impact values ​​of all parameters in the state information with the preset environmental impact coefficient to obtain the state comprehensive abnormal value.

[0021] Preferably, based on step 4, the operation information of the permanent magnet is analyzed, and the specific analysis steps are as follows:

[0022] S41: using an infrared sensor to obtain a thermal image of the permanent magnet, identifying a color value of any pixel in the thermal image and marking it as a thermal color value;

[0023] S42: setting a thermal sensitivity range group, including several thermal sensitivity ranges, and adding a thermal influence weight to each thermal sensitivity range; matching the thermal sensitivity color value with the thermal sensitivity color value group to determine the thermal sensitivity range of any pixel in the thermal imaging image; connecting adjacent pixels in the same thermal sensitivity range to obtain a thermal sensitivity area in the same range, and calculating the area of ​​the thermal sensitivity area in the same range to obtain the face value of the same area;

[0024] S43: setting a screening area threshold, if the same area face value is less than the screening area threshold, merging the same range thermal sensing area into the adjacent and largest same range thermal sensing area; after merging, updating the same area face value of the same range thermal sensing area;

[0025] S44: performing weighted processing on the same-area face values ​​of all the thermal sensitive areas in the same range in the thermal imaging image to obtain the thermal impact value corresponding to the permanent magnet;

[0026] S45: Obtaining the magnetic field strength value of the permanent magnet, setting the standard magnetic field strength value, performing difference calculation between the magnetic field strength value and the standard magnetic field strength value, and obtaining the magnetic field strength difference value;

[0027] S46: performing weighted calculation on the thermal impact value and the magnetic intensity difference value to obtain a thermal magnetic shadow value;

[0028] S47: Mark the time zone between the start time of the servo motor and the current time as the thermomagnetic change time zone; calculate the standard deviation of the thermomagnetic shadow value in the thermomagnetic change time zone to obtain the thermomagnetic fluctuation value; obtain the thermomagnetic fluctuation values ​​of all the thermomagnetic change time zones in the history of the servo motor, and calculate the mean and standard deviation to obtain the historical thermomagnetic fluctuation mean and historical thermomagnetic fluctuation value;

[0029] S49: weighting the thermomagnetic shadow value, the thermomagnetic fluctuation value, the historical thermomagnetic fluctuation average value, and the historical thermomagnetic fluctuation value to obtain the thermomagnetic comprehensive shadow value corresponding to the permanent magnet.

[0030] As a preferred embodiment, the preset logic for obtaining the environmental impact coefficient is:

[0031] Obtain the environmental information of the servo motor, including ambient temperature, humidity, dust concentration, decibel, amplitude, and electromagnetic interference intensity;

[0032] Set the environmental standard value of any parameter in the environmental information, calculate the difference between the numerical value of the parameter in the environmental information and the environmental standard value corresponding to the parameter, and obtain the environmental difference corresponding to the parameter;

[0033] Set the environmental fluctuation time zone, calculate the mean and standard deviation of the environmental difference in the environmental fluctuation time zone to obtain the environmental difference mean and ring difference fluctuation value;

[0034] The environmental difference, the mean environmental difference, and the ring difference fluctuation value are weighted to obtain the ring shadow value;

[0035] The environmental differences of all parameters in the environmental information are weighted and calculated to obtain the environmental impact coefficient.

[0036] As a preferred embodiment, the logic for obtaining the feedback adjustment coefficient is:

[0037] The state information after the motor actual control adjustment coefficient adjusts the control parameters of the servo motor in real time is obtained, which is referred to as the post-control information; the expected value of any parameter in the post-control information is set, and the expected difference between any parameter in the post-control information and the expected value corresponding to the parameter is calculated to obtain the expected difference;

[0038] The start time of the real-time adjustment of the servo motor is marked as the initial time, and the end time of the real-time adjustment of the servo motor is marked as the second time; if there is no end time of the real-time adjustment of the servo motor, the current time is marked as the second time; the time zone between the initial time and the second time is marked as the control time zone;

[0039] The expected difference value within the control time zone is calculated by taking the mean and standard deviation to obtain the expected difference mean and the expected difference fluctuation value; the expected difference value, the expected difference mean and the expected difference fluctuation value are weighted to obtain the feedback adjustment coefficient.

[0040] The present invention provides a servo motor control system, which includes a data acquisition module, a data analysis module, and an execution module;

[0041] The data acquisition module includes a motor state acquisition unit and a permanent magnet information acquisition unit; the motor state acquisition unit is used to acquire the state information of the servo motor; the permanent magnet information acquisition unit is used to acquire the operation information of the permanent magnet in the servo motor;

[0042] The data analysis module includes a state analysis unit, a permanent magnet analysis unit, a feedback analysis unit and a comprehensive analysis unit; the state analysis unit is used to analyze the state information of the servo motor to obtain a state comprehensive difference value; the permanent magnet analysis unit is used to analyze the operation information of the permanent magnet to obtain a thermal magnetic comprehensive shadow value; the feedback analysis unit is used to analyze the state information after the motor actual control adjustment coefficient adjusts the control parameters of the servo motor in real time to obtain the feedback adjustment coefficient; the comprehensive analysis unit is used to combine the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient;

[0043] The execution module is used to adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

[0044] Compared with the related art, the servo motor control method and system provided by the present invention have the following beneficial effects:

[0045] The present invention obtains motor state information and permanent magnet operation information comprehensively, conducts in-depth analysis, comprehensively considers state comprehensive difference value and thermal magnetic comprehensive shadow value, and adjusts control parameters in combination with feedback adjustment coefficient, so as to more accurately grasp the actual operation of the motor, thereby achieving more precise control and improving the working accuracy and stability of the servo motor.

[0046] The present invention can perform self-optimization and adjustment according to the real-time status information of the servo motor by introducing the feedback adjustment coefficient, thereby reducing the dependence on manual intervention and debugging, enhancing the adaptability and flexibility of the system, and making the servo motor control system more intelligent and efficient. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] Figure 1 A flow chart of a servo motor control method provided by the present invention.

[0048] Figure 2 A principle block diagram of a servo motor control system provided by the present invention. DETAILED DESCRIPTION

[0049] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0050] The terms used in this disclosure are for the purpose of describing specific embodiments only and are not intended to limit the disclosure. The singular forms of "including", "group" and "the" used in this disclosure and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise. It should also be understood that the term "and / or" used herein refers to and includes any or all possible combinations of one or more associated listed items.

[0051] It should be understood that although the terms first, second, third, etc. may be used in the present disclosure to describe various information, such information should not be limited to these terms. These terms are only used to distinguish the same type of information from each other. For example, without departing from the scope of the present disclosure, the first information may also be referred to as the second information, and similarly, the second information may also be referred to as the first information. Depending on the context, the word "if" as used herein may be interpreted as "at the time of" or "when" or "in response to determining".

[0052] Please refer to Figure 1-2 A servo motor control method and system, comprising the following steps:

[0053] Step 1, obtaining the status information of the servo motor;

[0054] Step 2: Analyze the status information of the servo motor. The specific analysis method is as follows:

[0055] S21: Acquire the status information of the servo motor in the startup state; set the standard parameter value of any parameter in the status information of the servo motor in the startup state, calculate the difference between the parameter value in the startup state and the standard parameter value corresponding to the parameter, and obtain the standard deviation value corresponding to the parameter; set the allowable floating range of the standard deviation value of the parameter, if the standard deviation value is not within the corresponding allowable floating range, mark the standard deviation value as deviating from the standard deviation value E1;

[0056] S22: Mark the time zone between the start time of the servo motor and the current time as the operation time zone, and calculate the difference between the maximum and minimum deviation standard deviation values ​​in the operation time zone to obtain the deviation extreme value E2;

[0057] S23: Calculate the mean of all standard deviation values ​​in the operation time zone to obtain the standard deviation mean E3;

[0058] S24: Calculate the standard deviation of the standard deviation value in the operation time zone to obtain the standard deviation wave value E4;

[0059] S25: Record any generation time that deviates from the standard deviation value in the operation time zone, calculate the time difference between the adjacent generation time and obtain the adjacent time difference value; calculate the standard deviation of the adjacent time difference value in the operation time zone to obtain the deviation time fluctuation value E5;

[0060] S26: Weighted calculation is performed on the deviation standard deviation value E1, deviation range value E2, standard deviation mean E3, standard deviation wave value E4, and deviation time fluctuation value E5. The formula is expressed as follows: , get the abnormal impact value E0 corresponding to the parameter; among them, e1, e2, e3, e4, and e5 represent the weights corresponding to the deviation standard deviation value, deviation range value, standard deviation mean, standard deviation wave value, and deviation time fluctuation value respectively;

[0061] S27: Process the abnormal impact values ​​of all parameters in the status information with the preset environmental impact coefficients, and use the formula , and obtain the state comprehensive abnormal value E; wherein i represents the number of the parameter in the state information, iE0, iδ represent the abnormal impact value corresponding to the parameter i in the state information and its corresponding weight, and B is the preset environmental impact coefficient;

[0062] It should be noted that the servo motor status information analysis method proposed in this application aims to establish a mechanism for comprehensively evaluating the motor's operating status to ensure that the motor can maintain optimal performance and stability under various working conditions, and to achieve in-depth analysis through multi-dimensional and multi-parameter analysis. It not only improves the accuracy and reliability of servo motor control, but also enhances the system's adaptability and intelligence level, meeting the needs of modern industrial automation for efficient, stable and intelligent control.

[0063] Step 3, obtaining the operation information of the permanent magnet in the servo motor;

[0064] Step 4: Analyze the operation information of the permanent magnet. The specific analysis steps are as follows:

[0065] S41: using an infrared sensor to obtain a thermal image of the permanent magnet, identifying a color value of any pixel in the thermal image and marking it as a thermal color value;

[0066] S42: Setting a thermal sensitivity range group, including several thermal sensitivity ranges, and adding a thermal influence weight φ to each thermal sensitivity range; matching the thermal sensitivity color value with the thermal sensitivity color value group to determine the thermal sensitivity range of any pixel in the thermal imaging image; connecting adjacent pixels in the same thermal sensitivity range to obtain a thermal sensitivity area in the same range, and calculating the area of ​​the thermal sensitivity area in the same range to obtain a face value M1 of the same area;

[0067] S43: setting a screening area threshold, if the same area face value is less than the screening area threshold, merging the same range thermal sensing area into the adjacent and largest same range thermal sensing area; after merging, updating the same area face value of the same range thermal sensing area;

[0068] S44: Weight the same area face value of all thermal sensitive areas in the same range in the thermal imaging image, using the formula , the thermal impact value M corresponding to the permanent magnet is obtained; where u represents the number of the thermal range in the thermal range group, uM1 and uφ represent the same-area face value of the thermal range number u and its corresponding weight respectively;

[0069] S45: Obtain the magnetic field strength value of the permanent magnet, set the standard magnetic field strength value, and perform difference calculation between the magnetic field strength value and the standard magnetic field strength value to obtain a magnetic strength difference value V;

[0070] S46: Perform weighted calculation on the thermal impact value and the magnetic intensity difference value, and obtain the thermal magnetic shadow value C1 using the formula C1=M×c1+V×c2; wherein c1 and c2 represent the weights corresponding to the thermal impact value and the magnetic intensity difference value, respectively;

[0071] S47: Mark the time zone between the start time of the servo motor and the current time as the thermomagnetic change time zone; calculate the standard deviation of the thermomagnetic shadow value in the thermomagnetic change time zone to obtain the thermomagnetic fluctuation value C2; ​​obtain the thermomagnetic fluctuation values ​​of all the thermomagnetic change time zones in the history of the servo motor, and calculate the mean and standard deviation to obtain the historical thermomagnetic fluctuation mean C3 and the historical thermomagnetic fluctuation value C4;

[0072] S49: Weighted processing is performed on the thermomagnetic shadow value, thermomagnetic fluctuation value, historical thermomagnetic fluctuation mean value, and historical thermomagnetic fluctuation value, and the formula is used. , and obtain the thermal magnetic comprehensive shadow value C corresponding to the permanent magnet; where s1, s2, s3, and s4 represent the weights corresponding to the thermal magnetic shadow value, the thermal magnetic fluctuation value, the historical thermal magnetic fluctuation mean, and the historical thermal magnetic fluctuation value, respectively;

[0073] It should be noted that the method for analyzing permanent magnet operating information proposed in this application aims to deeply understand the thermal state and magnetic field characteristics of the permanent magnet during the operation of the servo motor, which is crucial for maintaining motor performance and predicting potential failures. It provides a scientific basis for the maintenance and control of the servo motor, and helps to improve the reliability of the motor and extend its service life.

[0074] Step 5: Set the feedback adjustment coefficient G, combine the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient, and use the formula Z=E×z1+C×z2+G to obtain the motor actual control adjustment coefficient Z; where z1 and z2 represent the weights corresponding to the state comprehensive difference value and the thermal magnetic comprehensive shadow value respectively;

[0075] Step six, adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

[0076] In the present application, based on step one, the status information of the servo motor includes the current, voltage, temperature of the servo motor and the position, operating speed, and torque of its rotating shaft.

[0077] It should be noted that obtaining the status information of the servo motor provides necessary data support for subsequent analysis and control; the current of the servo motor reflects the power consumption of the motor under a specific load.

[0078] In this application, the default logic for obtaining the environmental impact coefficient is:

[0079] Obtain the environmental information of the servo motor, including ambient temperature, humidity, dust concentration, decibel, amplitude, and electromagnetic interference intensity;

[0080] Set the environmental standard value of any parameter in the environmental information, calculate the difference between the numerical value of the parameter in the environmental information and the environmental standard value corresponding to the parameter, and obtain the environmental difference value HX1 corresponding to the parameter;

[0081] Set the environmental fluctuation time zone, calculate the mean and standard deviation of the environmental difference in the environmental fluctuation time zone to obtain the environmental difference mean HX2 and the ring difference fluctuation value HX3;

[0082] The environmental difference, the mean environmental difference, and the ring difference fluctuation value are weighted and calculated, and the ring shadow value HX is obtained using the formula HX=HX1×h1+HX2×h2+HX3×h3; where h1, h2, and h3 represent the weights corresponding to the environmental difference, the mean environmental difference, and the ring difference fluctuation value, respectively;

[0083] The environmental differences of all parameters in the environmental information are weighted and calculated using the formula , and obtain the environmental impact coefficient HJ; where j represents the number of the parameter in the environmental information, jHX, They respectively represent the environmental difference of parameter j in the environmental information and its corresponding weight.

[0084] It should be noted that the environmental impact coefficient acquisition logic preset in this application is to quantify and evaluate the potential impact of environmental factors on the performance of the servo motor, improve the adaptability of the servo motor control system to environmental changes, and enhance the system's predictive and preventive maintenance capabilities, thereby ensuring that the servo motor can perform at its best under various environmental conditions.

[0085] In this application, the logic for obtaining the feedback adjustment coefficient is:

[0086] Obtain the state information after the motor actual control adjustment coefficient adjusts the control parameters of the servo motor in real time, referred to as the post-control information; set the expected value of any parameter in the post-control information, and calculate the difference between any parameter in the post-control information and the expected value corresponding to its parameter to obtain the expected difference value YQ1;

[0087] The start time of the real-time adjustment of the servo motor is marked as the initial time, and the end time of the real-time adjustment of the servo motor is marked as the second time; if there is no end time of the real-time adjustment of the servo motor, the current time is marked as the second time; the time zone between the initial time and the second time is marked as the control time zone;

[0088] The mean and standard deviation of the expected difference within the control time zone are calculated to obtain the expected difference mean YQ2 and the expected difference fluctuation value YQ3; the expected difference, the expected difference mean and the expected difference fluctuation value are weighted, and the feedback adjustment coefficient G is obtained using the formula G=YQ1×g1+YQ2×g2+YQ3×g3; among them, g1, g2 and g3 represent the weights corresponding to the expected difference, the expected difference mean and the expected difference fluctuation value, respectively.

[0089] It should be noted that the feedback adjustment coefficient acquisition logic proposed in this application is to achieve closed-loop optimization and dynamic adjustment of the servo motor control parameters. By setting the expected numerical value and comparing it with the actual parameters in the post-control information, the calculated expected difference YQ1 can reflect the deviation between the motor performance and the ideal state; the time period between the start time and the end time (or the current time) of the real-time adjustment of the servo motor is defined as the control time zone, which helps to concentrate on analyzing the changes in motor performance during the adjustment process; within the control time zone, the mean (YQ2) and standard deviation (YQ3) of the expected difference are calculated to obtain the central trend of the expected difference. and fluctuation range, which provides a basis for evaluating the stability of motor performance; obtaining the feedback adjustment coefficient G is a key step in achieving closed-loop control, allowing the system to dynamically adjust the control parameters according to real-time feedback to compensate for deviations and optimize motor performance; by continuously iteratively calculating the feedback adjustment coefficient, the system can continuously learn and optimize the control strategy to improve the response speed and control accuracy of the servo motor; through this comprehensive feedback adjustment mechanism, the method of the present application not only improves the accuracy and responsiveness of servo motor control, but also enhances the system's adaptability and intelligence level, meeting the needs of modern industrial automation for efficient, stable, and intelligent control.

[0090] The present invention provides a servo motor control system, which includes a data acquisition module, a data analysis module, and an execution module;

[0091] The data acquisition module includes a motor state acquisition unit and a permanent magnet information acquisition unit; the motor state acquisition unit is used to acquire the state information of the servo motor; the permanent magnet information acquisition unit is used to acquire the operation information of the permanent magnet in the servo motor;

[0092] The data analysis module includes a state analysis unit, a permanent magnet analysis unit, a feedback analysis unit and a comprehensive analysis unit; the state analysis unit is used to analyze the state information of the servo motor to obtain a state comprehensive difference value; the permanent magnet analysis unit is used to analyze the operation information of the permanent magnet to obtain a thermal magnetic comprehensive shadow value; the feedback analysis unit is used to analyze the state information after the motor actual control adjustment coefficient adjusts the control parameters of the servo motor in real time to obtain the feedback adjustment coefficient; the comprehensive analysis unit is used to combine the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient;

[0093] The execution module is used to adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

[0094] Those skilled in the art will readily appreciate other embodiments of the present invention after considering the specification and practicing the invention disclosed herein. This application is intended to cover any variations, uses or adaptations of the present invention that follow the general principles of the present invention and include common knowledge or customary techniques in the art that are not disclosed in this disclosure. The specification and examples are to be considered exemplary only, and the true scope and spirit of the present invention are indicated by the following claims.

[0095] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A servo motor control method, characterized in that: The following steps are involved: Step 1, obtaining the status information of the servo motor; Step 2: Analyze the status information of the servo motor. The specific analysis method is as follows: S21: Acquire the status information of the servo motor in the startup state; set the standard parameter value of any parameter in the status information of the servo motor in the startup state, calculate the difference between the parameter value in the startup state and the standard parameter value corresponding to the parameter, and obtain the standard deviation value corresponding to the parameter; Set the allowable floating range of the standard deviation value of the parameter. If the standard deviation value is not within its corresponding allowable floating range, the standard deviation value will be marked as deviating from the standard deviation value; S22: Mark the time zone between the start time of the servo motor and the current time as the operation time zone, and calculate the difference between the maximum and minimum deviation standard deviation values ​​in the operation time zone to obtain the deviation extreme value; S23: Calculate the mean of all standard deviation values ​​in the operation time zone to obtain the standard deviation mean; S24: performing standard deviation calculation on the standard deviation value in the operation time zone to obtain a standard deviation wave value; S25: Record any generation time that deviates from the standard deviation value in the operation time zone, calculate the time difference between the adjacent generation time and obtain the adjacent time difference value; calculate the standard deviation of the adjacent time difference value in the operation time zone to obtain the deviation time fluctuation value; S26: Perform weighted calculation on the deviation standard deviation value, deviation extreme value, standard deviation mean, standard deviation wave value, and deviation time fluctuation value to obtain the abnormal impact value corresponding to the parameter; S27: Processing the abnormal impact values ​​of all parameters in the state information with the preset environmental impact coefficient to obtain a state comprehensive abnormal value; Step 3, obtaining the operation information of the permanent magnet in the servo motor; Step 4: Analyze the operation information of the permanent magnet. The specific analysis steps are as follows: S41: using an infrared sensor to obtain a thermal image of the permanent magnet, identifying a color value of any pixel in the thermal image and marking it as a thermal color value; S42: setting a thermal sensitivity range group, including several thermal sensitivity ranges, and adding a thermal influence weight to each thermal sensitivity range; matching the thermal sensitivity color value with the thermal sensitivity color value group to determine the thermal sensitivity range of any pixel in the thermal imaging image; connecting adjacent pixels in the same thermal sensitivity range to obtain a thermal sensitivity area in the same range, and calculating the area of ​​the thermal sensitivity area in the same range to obtain the face value of the same area; S43: setting a screening area threshold, if the same area face value is less than the screening area threshold, merging the same range thermal sensing area into the adjacent and largest same range thermal sensing area; after merging, updating the same area face value of the same range thermal sensing area; S44: performing weighted processing on the same-area face values ​​of all the thermal sensitive areas in the same range in the thermal imaging image to obtain the thermal impact value corresponding to the permanent magnet; S45: Obtaining the magnetic field strength value of the permanent magnet, setting the standard magnetic field strength value, performing difference calculation between the magnetic field strength value and the standard magnetic field strength value, and obtaining the magnetic field strength difference value; S46: performing weighted calculation on the thermal impact value and the magnetic intensity difference value to obtain a thermal magnetic shadow value; S47: Mark the time zone between the start time of the servo motor and the current time as the thermomagnetic change time zone; calculate the standard deviation of the thermomagnetic shadow value in the thermomagnetic change time zone to obtain the thermomagnetic fluctuation value; obtain the thermomagnetic fluctuation values ​​of all the thermomagnetic change time zones in the history of the servo motor, and calculate the mean and standard deviation to obtain the historical thermomagnetic fluctuation mean and historical thermomagnetic fluctuation value; S49: performing weighted processing on the thermal magnetic shadow value, the thermal magnetic fluctuation value, the historical thermal magnetic fluctuation average value, and the historical thermal magnetic fluctuation value to obtain the thermal magnetic comprehensive shadow value corresponding to the permanent magnet; Step 5, setting the feedback adjustment coefficient, combining the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient; Step six, adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

2. A servo motor control method according to claim 1, characterized in that: Based on step one, the status information of the servo motor includes the current, voltage, temperature of the servo motor and the position, operating speed, and torque of its rotating shaft.

3. A servo motor control method according to claim 1, characterized in that: The default logic for obtaining the environmental impact coefficient is: Obtain the environmental information of the servo motor, including ambient temperature, humidity, dust concentration, decibel, amplitude, and electromagnetic interference intensity; Set the environmental standard value of any parameter in the environmental information, calculate the difference between the numerical value of the parameter in the environmental information and the environmental standard value corresponding to the parameter, and obtain the environmental difference corresponding to the parameter; Set the environmental fluctuation time zone, calculate the mean and standard deviation of the environmental difference in the environmental fluctuation time zone to obtain the environmental difference mean and ring difference fluctuation value; The environmental difference, the mean environmental difference, and the ring difference fluctuation value are weighted to obtain the ring shadow value; The environmental differences of all parameters in the environmental information are weighted and calculated to obtain the environmental impact coefficient.

4. A servo motor control method according to claim 1, characterized in that: The logic for obtaining the feedback adjustment coefficient is: The state information after the motor actual control adjustment coefficient adjusts the control parameters of the servo motor in real time is obtained, which is referred to as the post-control information; the expected value of any parameter in the post-control information is set, and the difference between any parameter in the post-control information and the expected value corresponding to the parameter is calculated to obtain the expected difference; The start time of the real-time adjustment of the servo motor is marked as the initial time, and the end time of the real-time adjustment of the servo motor is marked as the second time; if there is no end time of the real-time adjustment of the servo motor, the current time is marked as the second time; the time zone between the initial time and the second time is marked as the control time zone; The expected difference value within the control time zone is calculated by taking the mean and standard deviation to obtain the expected difference mean and the expected difference fluctuation value; the expected difference value, the expected difference mean and the expected difference fluctuation value are weighted to obtain the feedback adjustment coefficient.

5. A servo motor control system, using a servo motor control method according to any one of claims 1 to 4, characterized in that: The control system includes a data acquisition module, a data analysis module, and an execution module; The data acquisition module includes a motor state acquisition unit and a permanent magnet information acquisition unit; the motor state acquisition unit is used to acquire the state information of the servo motor; the permanent magnet information acquisition unit is used to acquire the operation information of the permanent magnet in the servo motor; The data analysis module includes a state analysis unit, a permanent magnet analysis unit, a feedback analysis unit and a comprehensive analysis unit; the state analysis unit is used to analyze the state information of the servo motor to obtain a state comprehensive difference value; The permanent magnet analysis unit is used to analyze the operation information of the permanent magnet and obtain the thermal magnetic comprehensive image value; The feedback analysis unit is used to analyze the state information of the motor actual control adjustment coefficient after adjusting the control parameters of the servo motor in real time to obtain the feedback adjustment coefficient; the comprehensive analysis unit is used to combine the state comprehensive difference value, the thermal magnetic comprehensive shadow value and the feedback adjustment coefficient to obtain the motor actual control adjustment coefficient; The execution module is used to adjust the control parameters of the servo motor in real time according to the actual control adjustment coefficient of the motor.

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