Hysteretic correction controller acquisition method, controller, system and storage medium

Abstract

The invention provides a lag correction controller acquisition method, a controller, a system and a storage medium. The method comprises the following steps: acquiring a target gain of the electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system; determining a corrected initial transfer function of the electromechanical servo system according to the target gain and the current loop transfer function; determining the cut-off frequency of the electromechanical servo system according to the initial transfer function; when it is determined that the cut-off frequency exceeds the system bandwidth required to be designed by the electromechanical servo system, a target pole generated by correcting the electromechanical servo system and a target zero point matched with the target pole are obtained; and determining a target transfer function of the electromechanical servo system according to the target pole, the target zero point and the initial transfer function. According to the embodiment of the invention, the target transfer function increases the offset target pole and target zero point, has good current responsivity, and ensures that the open-loop system has good phase margin.

Description

Technical Field

[0001] The present disclosure relates to the technical field of hysteresis correction controllers, and in particular to a hysteresis correction controller acquisition method, a controller, a system and a storage medium. Background Art

[0002] The electromechanical servo system is a single-input single-output system. The frequency domain method is used in the relevant technology to design the controller, that is, to set the cutoff frequency, amplitude margin and phase margin of the open-loop system. In the low-frequency band, the gain of the open-loop circuit is large enough to ensure good steady-state characteristics; in the medium-frequency band, the slope of its logarithmic amplitude-frequency curve is fixed and maintains a certain width, which can ensure that the open-loop system has a good phase margin and the closed-loop system has good dynamic characteristics; in the high-frequency band, the slope of the logarithmic amplitude-frequency curve is designed to be lower than the above slope to suppress the impact of noise on the system.

[0003] Lag correction can use phase lag to adjust the amplitude attenuation characteristics of the mid- and high-frequency bands, reduce the open-loop gain of the mid- and high-frequency bands, and improve the gain stability margin. In addition, series phase lag correction can keep the open-loop gain of the open-loop system in the low-frequency band unchanged, taking into account both system stability and static performance. Summary of the invention

[0004] The present disclosure provides a hysteresis correction controller acquisition method, a controller, a system and a storage medium.

[0005] According to a first aspect of the present disclosure, a method for acquiring a hysteresis correction controller is provided, the method comprising:

[0006] Obtaining a target gain of an electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system;

[0007] Determining a corrected initial transfer function of the electromechanical servo system according to the target gain and the current loop transfer function;

[0008] determining a cutoff frequency of the electromechanical servo system according to the initial transfer function;

[0009] When it is determined that the cut-off frequency exceeds the system bandwidth required by the electromechanical servo system design, obtaining a target zero point that matches a target pole generated by correcting the electromechanical servo system;

[0010] A target transfer function of the electromechanical servo system is determined according to the target poles, the target zeros and the initial transfer function.

[0011] Optionally, obtaining a target gain of the electromechanical servo system includes:

[0012] Obtaining a maximum command current of the electromechanical servo system and a rated voltage of the motor;

[0013] Obtaining a ratio of the rated voltage to the maximum command current to obtain a minimum system gain;

[0014] The system minimum gain is corrected to obtain the target gain.

[0015] Optionally, determining the cutoff frequency of the electromechanical servo system according to the initial transfer function comprises:

[0016] determining a first Bode plot of the electromechanical servo system based on the initial transfer function;

[0017] determining a maximum gain of the electromechanical servo system according to the first Bode plot;

[0018] A frequency corresponding to a gain obtained after the maximum gain is reduced by a preset multiple is obtained as a cutoff frequency of the electromechanical servo system.

[0019] Optionally, obtaining a target zero point matching a target pole generated by correcting the electromechanical servo system and the target pole comprises:

[0020] Obtaining a target base point [125 Hz, 0 dB] on the amplitude-frequency curve in the second Bode diagram of the electromechanical servo system;

[0021] generating a straight line in the second Bode plot based on the target base point and a preset slope;

[0022] The intersection point of the straight line and the amplitude-frequency curve of the second Bode diagram is obtained as the target pole of the lag correction controller.

[0023] Optionally, determining a target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function comprises:

[0024] Using the denominator of the initial transfer function as the numerator of the target transfer function;

[0025] generating a denominator of the target transfer function according to the target pole;

[0026] The steady-state gain coefficient of the target transfer function is adjusted to obtain the target transfer function.

[0027] According to a second aspect of the present disclosure, a hysteresis correction controller acquisition device is provided, the device comprising:

[0028] A target gain acquisition module, used to acquire a target gain of the electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system;

[0029] A transfer function acquisition module, used to acquire the current loop transfer function of the motor in the electromechanical servo system;

[0030] An initial function acquisition module, used to determine the initial transfer function of the electromechanical servo system after correction according to the target gain and the current loop transfer function;

[0031] a cut-off frequency determination module, configured to determine the cut-off frequency of the electromechanical servo system according to the initial transfer function;

[0032] A zero-pole acquisition module, for acquiring a target zero point that matches a target pole generated by correcting the electromechanical servo system and the target pole when it is determined that the cutoff frequency exceeds a system bandwidth required by the electromechanical servo system design;

[0033] The target function acquisition module is used to determine the target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function.

[0034] Optionally, the target gain acquisition module includes:

[0035] A voltage and current acquisition unit, used to acquire the maximum command current of the electromechanical servo system and the rated voltage of the motor;

[0036] A minimum gain acquisition unit, used to acquire the ratio of the rated voltage to the maximum command current to obtain a minimum gain of the system;

[0037] The target gain acquisition unit is used to perform correction processing on the system minimum gain to obtain the target gain.

[0038] Optionally, determining the cutoff frequency of the electromechanical servo system according to the initial transfer function comprises:

[0039] determining a first Bode plot of the electromechanical servo system based on the initial transfer function;

[0040] determining a maximum gain of the electromechanical servo system according to the first Bode plot;

[0041] A frequency corresponding to a gain obtained after the maximum gain is reduced by a preset multiple is obtained as a cutoff frequency of the electromechanical servo system.

[0042] Optionally, the cutoff frequency determination module includes:

[0043] A target base point acquisition unit, used to acquire a target base point [125 Hz, 0 dB] on the amplitude-frequency curve in the second Bode diagram of the electromechanical servo system;

[0044] A straight line generating unit, configured to generate a straight line in the second Bode diagram based on the target base point and a preset slope;

[0045] A target pole acquisition unit is used to acquire the intersection point of the straight line and the amplitude-frequency curve of the second Bode diagram as the target pole of the lag correction controller.

[0046] Optionally, the objective function acquisition module includes:

[0047] Using the denominator of the initial transfer function as the numerator of the target transfer function;

[0048] generating a denominator of the target transfer function according to the target pole;

[0049] The steady-state gain coefficient of the target transfer function is adjusted to obtain the target transfer function.

[0050] According to a third aspect of the present disclosure, there is provided a hysteresis correction controller, comprising:

[0051] Processor and memory;

[0052] The memory is used to store a computer program executable by the processor;

[0053] The processor is configured to execute the computer program in the memory to implement the method as described in any one of the first aspects.

[0054] According to a fourth aspect of the present disclosure, there is provided an electromechanical servo system, comprising: a motor, a hysteresis correction controller and an actuator; the hysteresis correction controller is electrically connected to the motor, and the motor is connected to the actuator;

[0055] The hysteresis correction controller is used to control the movement of the motor so that the motor provides driving force to the actuator.

[0056] According to a fifth aspect of the present disclosure, a non-transitory computer-readable storage medium is provided, and when an executable computer program in the storage medium is executed by a processor, the method described in any one of the first aspects can be implemented.

[0057] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects:

[0058] The scheme provided in this embodiment can obtain the target gain of the electromechanical servo system and the current loop transfer function of the motor in the electromechanical servo system; then, determine the initial transfer function of the electromechanical servo system after correction according to the target gain and the current loop transfer function; then, determine the cutoff frequency of the electromechanical servo system according to the initial transfer function; when it is determined that the cutoff frequency exceeds the system bandwidth required by the design of the electromechanical servo system, obtain the target pole generated by correcting the electromechanical servo system and the target zero matching the target pole; finally, determine the target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function. In this way, the target transfer function in this embodiment adds target poles and target zeros that can be canceled, has better current responsiveness, and ensures that the open-loop system has better phase margin. In addition, this embodiment can improve the steady-state accuracy of the system inner loop control on the basis of meeting the system bandwidth requirements.

[0059] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0060] Figure 1 The present invention is a flowchart of a method for obtaining a hysteresis correction controller according to an embodiment of the present invention.

[0061] Figure 2 The present invention is a flowchart of obtaining a target gain according to an embodiment of the present invention.

[0062] Figure 3 1 is a system Bode diagram of a proportional controller without considering the influence of back electromotive force according to an embodiment of the present disclosure.

[0063] Figure 4 The block diagram of the simulation of the electromechanical servo system of the proportional controller without considering the influence of the back electromotive force according to an embodiment of the present disclosure is shown.

[0064] Figure 5 FIG. 1 is a Bode diagram of a proportional controller system considering the influence of back-EMF according to an embodiment of the present disclosure.

[0065] Figure 6 A simulation block diagram of an electromechanical servo system of a hysteresis correction controller taking into account the influence of back electromotive force according to an embodiment of the present disclosure.

[0066] Figure 7 The Bode diagram of the system of the hysteresis correction controller considering the influence of back electromotive force according to an embodiment of the present disclosure is shown.

[0067] Figure 8 For an embodiment of the present disclosure Figure 4 and Figure 6 Schematic diagram showing the comparison of closed-loop step responses of two electromechanical servo system simulations.

[0068] Fig. 9 FIG. 4 is a schematic diagram of obtaining a target pole according to an embodiment of the present disclosure.

[0069] Fig.10 FIG. 1 is a Bode diagram of an electromechanical servo system of a zero-pole cancellation lag correction controller according to an embodiment of the present disclosure.

[0070] Fig.11 Schematic diagram of the comparison of closed-loop step responses of three electromechanical servo system simulations according to an embodiment of the present disclosure.

[0071] Fig.12 The present invention is a block diagram of a hysteresis correction controller acquisition device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0072] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices consistent with some aspects of the present disclosure as detailed in the appended claims.

[0073] The present disclosure provides a hysteresis correction controller acquisition method, controller, system and storage medium. The above-mentioned hysteresis correction controller acquisition method can be used to design a controller of an electromechanical servo system. The electromechanical servo system may include a motor, a hysteresis correction controller and an actuator; the above-mentioned hysteresis correction controller is electrically connected to the motor, and the motor is connected to the actuator; the hysteresis correction controller is used to control the movement of the motor so that the motor provides a driving force to the actuator. The hysteresis correction controller acquisition method provided in the embodiment of the present disclosure is how to quickly design the above-mentioned hysteresis correction controller.

[0074] In one embodiment, see Figure 1 , a method for obtaining a lag correction controller, comprising steps 11 to 15.

[0075] In step 11, a target gain of the electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system are obtained.

[0076] In this embodiment, the target gain of the electromechanical servo system can be obtained, see Figure 2 , including steps 21 to 23.

[0077] In step 21, the maximum command current A of the electromechanical servo system can be obtained. max and the rated voltage U of the motor e .

[0078] It is understandable that after determining the motor used by the electromechanical servo system, the motor parameters can be obtained, as shown in Table 1.

[0079] Table 1 Motor parameters

[0080]

[0081]

[0082] That is to obtain the rated voltage U of the motor e ; And, after determining the usage scenario of the electromechanical servo system, the maximum command current A can be determined max , and the maximum command current A max and rated voltage U e Pre-stored to the specified location. In this way, the above maximum command current A can be read from the specified location max and rated voltage U e That's it.

[0083] In step 22, the ratio of the rated voltage to the maximum command current can be obtained to obtain the system minimum gain K imin , that is, K imin =U e / A max It is understandable that, considering that the actual current of the motor is usually less than the above maximum command current A during operation. max , at rated voltage U e If the value remains unchanged, the system gain K will be greater than the minimum system gain mentioned above.

[0084] According to the motor parameters shown in Table 1, the continuous current of the motor is 3.4A and the peak current is 8.7A. Considering the strong short-term overload capacity of the motor, in order to effectively reduce the weight and improve the dynamic characteristics, the maximum current is set to 5A; when the rated voltage U e When the proportional control gain is set to 4.365 and the maximum voltage applied to the motor (5A*4.365=21.825V) does not exceed 22V, the maximum speed of the motor is very low, which seriously affects the motor speed and position response speed.

[0085] Therefore, the back EMF factor needs to be considered in this example. The current loop gain can be determined based on the input current and the rated voltage of the motor. Assuming that the maximum command current is 5A, the minimum system gain K of the electromechanical servo system is imin =270 / 5=54.

[0086] In step 23, the system minimum gain may be corrected to obtain the target gain.

[0087] In one example, the system minimum gain is corrected. Taking rounding up as an example, when the system minimum gain is 54, the target gain K after rounding up is i =60. Taking increasing the proportional coefficient as an example, when the system minimum gain is 54, the proportional coefficient is increased by 1.2, then the target gain K i =54*1.2=64.8. Those skilled in the art may select different correction methods according to specific scenarios, and if the minimum gain of the system can be appropriately increased, the corresponding solution falls within the protection scope of the present disclosure.

[0088] In this embodiment, after the motor is determined, the transfer function from the q-axis voltage to the current, that is, the current loop transfer function G(s), can be determined according to the motor model and the motor parameters, as shown in formula (1).

[0089]

[0090] In formula (1), L represents the inductance of the motor, and R represents the resistance of the motor.

[0091] Combined with the motor parameters shown in Table 1, equation (1) can be converted into equation (2).

[0092]

[0093] In step 12, a corrected initial transfer function of the electromechanical servo system is determined according to the target gain and the current loop transfer function.

[0094] In this embodiment, after obtaining the target gain K i After the current loop transfer function G(s) is calculated, the corrected transfer function of the electromechanical servo system, i.e., the initial transfer function G1(s) = K i ·G(s), as shown in formula (3).

[0095]

[0096] In step 13, a cutoff frequency of the electromechanical servo system is determined according to the initial transfer function.

[0097] In this embodiment, based on formula (3), the current loop proportional controller of the electromechanical servo system can be obtained. If the influence of the back electromotive force is not considered, the target gain K i =4.365, if the influence of back electromotive force is considered, then K i =60.

[0098] When the back EMF effect is not considered, the current loop gain K i =4.365, we can get Figure 3 The Bode diagram shown is the first Bode diagram. The dotted line in the first Bode diagram represents the series proportional gain Ki =4.365, the amplitude-frequency curve of the system shows that the corrected system bandwidth meets the system design requirement of 125Hz.

[0099] When considering the influence of back EMF, the current loop gain is K i = 60, we can get Figure 5 The Bode diagram shown is the second Bode diagram. At this time, the cutoff frequency ω of the electromechanical servo system is c This is much larger than the bandwidth of 125Hz required by the system design. At this time, it is necessary to design another controller to reduce the bandwidth of the electromechanical servo system.

[0100] It is understandable that when the cutoff frequency ω c When the system bandwidth is less than the system design requirement, an advance correction controller can be used. For details, please refer to the solution of the related technology. This disclosure does not discuss the solution of this situation. c When the system bandwidth is greater than the system design requirement, a hysteresis correction controller can be used to implement it.

[0101] In step 14, when it is determined that the cut-off frequency exceeds the system bandwidth required by the electromechanical servo system design, a target pole generated by correcting the electromechanical servo system and a target zero point matching the target pole are obtained.

[0102] In this embodiment, a commonly used lag correction controller is first described, and its transfer function is shown in equation (4).

[0103]

[0104] Combination Figure 5 As shown, in this embodiment, the logarithmic amplitude-frequency curve needs to be reduced by 22.7 dB, and the formula (5) can be obtained according to the hysteresis correction design method.

[0105] 20lgβ i =22.7 dB (5)

[0106] According to formula (5), β i =13.65. And, the high-frequency turning point of the hysteresis correction is 1 / T i Choose in ω ci / 10, where ω ci =125×2π, we can get formula (6).

[0107]

[0108] According to formula (6), T i =0.0127, the transfer function of the current loop lag correction controller can be obtained as shown in formula (7).

[0109]

[0110] Based on the transfer function of the current loop lag correction controller shown in equation (7), the lag correction simulation structure diagram and the third Bode diagram of the electromechanical servo system can be obtained, as shown in Figure 6 and Figure 7 shown.

[0111] according to Figure 4 and Figure 6 The structural block diagram of the current loop controller is given, and the simulation results of the two current loop controller systems are compared. Figure 4 Only proportional controller is used, gain K i =4.365, Figure 6 Current loop proportional gain K i =60, and then connect the hysteresis correction controller in series. The current response of the two systems is as follows Figure 8 As shown. By comparison, it can be seen that the current static error of the proportional controller system designed by only considering the current loop bandwidth and ignoring the influence of the back EMF is large; the hysteresis correction controller system designed by considering the influence of the current loop back EMF has a faster response and a smaller current static error, and the control effect is greatly improved. The simulation results show that the back EMF has a great influence on the performance of the current loop. When designing the inner loop controller, it is necessary to consider the back EMF balance to improve the steady-state accuracy of the inner loop control.

[0112] In this embodiment, the target base point on the amplitude-frequency curve in the second Bode diagram of the electromechanical servo system can be obtained according to the bandwidth required by the system design, such as [125 Hz, 0 dB]. Then, a straight line is generated in the second Bode diagram based on the target base point and the preset slope. Fig. 9 The horizontal coordinate of the intersection of this straight line and the amplitude-frequency curve of the second Bode diagram is ω x , as the target pole of the hysteresis correction controller provided in the present disclosure. In this example, ω x is 4.69Hz.

[0113] Accordingly, in this embodiment, a target zero point may be added at the transfer frequency of the amplitude-frequency curve of the second Bode plot to cancel the target pole.

[0114] In step 15, a target transfer function of the electromechanical servo system is determined according to the target poles, the target zeros and the initial transfer function.

[0115] In this embodiment, the initial transfer function G1(s)=K i The denominator of G(s) is used as the numerator of the target transfer function; then, the denominator of the target transfer function is generated according to the target pole; finally, the steady-state gain coefficient of the target transfer function is adjusted to obtain the target transfer function, as shown in equation (8).

[0116]

[0117] In this embodiment, after determining the target transfer function, the Bode diagram of the zero-pole cancellation lag correction controller can be obtained. Fig.10 The slope of the designed zero-pole cancellation hysteresis correction controller at the target base point [125Hz, 0dB] is -20dB / deg. Fig.11 Compared with the proportional controller, the hysteresis controller and the zero-pole cancellation hysteresis correction controller of this example, the hysteresis correction controller of this example can respond to the current command within about 0.005s, while the hysteresis controller responds to the current command within about 0.06s, so the controller of this example has better dynamic response characteristics. In addition, the controller of this example can achieve the target of about 5A current, and has better static characteristics compared with the proportional controller.

[0118] Based on the above schematic diagram analysis, it can be seen that in this embodiment, the system response effect of proportional control is poor when only considering bandwidth design, and the current static difference is larger than that of the other two controllers; the hysteresis controller is more complicated to design and needs to calculate β i ,T i , and the response speed to the step command is slow; the lag correction controller provided in this example only needs to draw a straight line with a slope of -20dB / dec according to the Bode diagram of the system and the expected bandwidth of the system, determine the poles of zero-pole cancellation, and then add zero points at the turning points to offset the poles of the original system. It is easy to implement; and its response speed is faster than the system response of the lag controller, the static error is smaller, and it has better control performance.

[0119] Based on a method for obtaining a hysteresis correction controller provided in an embodiment of the present disclosure, an embodiment of the present disclosure further provides a device for obtaining a hysteresis correction controller, see Fig.12 ,include:

[0120] A target gain acquisition module 121, used to acquire a target gain of the electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system;

[0121] A transfer function acquisition module 122, used to acquire a current loop transfer function of a motor in the electromechanical servo system;

[0122] An initial function acquisition module 123, used to determine the initial transfer function of the electromechanical servo system after correction according to the target gain and the current loop transfer function;

[0123] A cut-off frequency determination module 124, configured to determine a cut-off frequency of the electromechanical servo system according to the initial transfer function;

[0124] A zero-pole acquisition module 125, for acquiring a target zero point that matches a target pole generated by correcting the electromechanical servo system and the target pole when it is determined that the cutoff frequency exceeds a system bandwidth required by the electromechanical servo system design;

[0125] The target function acquisition module 126 is used to determine the target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function.

[0126] In one embodiment, the target gain acquisition module includes:

[0127] A voltage and current acquisition unit, used to acquire the maximum command current of the electromechanical servo system and the rated voltage of the motor;

[0128] A minimum gain acquisition unit, used to acquire the ratio of the rated voltage to the maximum command current to obtain a minimum gain of the system;

[0129] The target gain acquisition unit is used to perform correction processing on the system minimum gain to obtain the target gain.

[0130] In one embodiment, determining the cutoff frequency of the electromechanical servo system according to the initial transfer function comprises:

[0131] determining a first Bode plot of the electromechanical servo system based on the initial transfer function;

[0132] determining a maximum gain of the electromechanical servo system according to the first Bode plot;

[0133] A frequency corresponding to a gain obtained after the maximum gain is reduced by a preset multiple is obtained as a cutoff frequency of the electromechanical servo system.

[0134] In one embodiment, the cut-off frequency determination module includes:

[0135] A target base point acquisition unit, used to acquire a target base point [125 Hz, 0 dB] on the amplitude-frequency curve in the second Bode diagram of the electromechanical servo system;

[0136] A straight line generating unit, configured to generate a straight line in the second Bode diagram based on the target base point and a preset slope;

[0137] A target pole acquisition unit is used to acquire the intersection point of the straight line and the amplitude-frequency curve of the second Bode diagram as the target pole of the lag correction controller.

[0138] In one embodiment, the zero-pole acquisition module includes:

[0139] A conversion point acquisition unit, used to acquire a conversion point of an amplitude-frequency curve in a first Bode diagram of the electromechanical servo system;

[0140] The target zero point determination unit is used to determine the turning frequency corresponding to the conversion point to generate a target zero point.

[0141] In one embodiment, the objective function acquisition module includes:

[0142] Using the denominator of the initial transfer function as the numerator of the target transfer function;

[0143] generating a denominator of the target transfer function according to the target pole;

[0144] The steady-state gain coefficient of the target transfer function is adjusted to obtain the target transfer function.

[0145] It should be noted that the device embodiment provided in this embodiment corresponds to the above method embodiment. For details, please refer to the contents of the above method embodiments, which will not be repeated here.

[0146] The embodiment of the present disclosure also provides a hysteresis correction controller, including:

[0147] Processor and memory;

[0148] The memory is used to store a computer program executable by the processor;

[0149] The processor is used to execute the computer program in the memory to implement the above method.

[0150] The embodiments of the present disclosure also provide a non-transitory computer-readable storage medium, which can implement the above-mentioned method when an executable computer program in the storage medium is executed by a processor.

[0151] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the disclosure disclosed herein. The present disclosure is intended to cover any variations, uses, or adaptations that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0152] It should be understood that the present disclosure is not limited to the exact structures that have 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 disclosure is limited only by the appended claims.

Claims

1. A method for obtaining a hysteresis correction controller, It is characterized in that The method comprises: Obtaining a target gain of an electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system; Determining a corrected initial transfer function of the electromechanical servo system according to the target gain and the current loop transfer function; determining a cutoff frequency of the electromechanical servo system according to the initial transfer function; When it is determined that the cut-off frequency exceeds the system bandwidth required by the electromechanical servo system design, obtaining a target zero point that matches a target pole generated by correcting the electromechanical servo system; A target transfer function of the electromechanical servo system is determined according to the target poles, the target zeros and the initial transfer function.

2. The method according to claim 1, It is characterized in that Obtain the target gain of the mechatronic servo system, including: Obtaining a maximum command current of the electromechanical servo system and a rated voltage of the motor; Obtaining a ratio of the rated voltage to the maximum command current to obtain a minimum system gain; The system minimum gain is corrected to obtain the target gain.

3. The method according to claim 1, It is characterized in that Determining a cutoff frequency of the electromechanical servo system according to the initial transfer function comprises: determining a first Bode plot of the electromechanical servo system based on the initial transfer function; determining a maximum gain of the electromechanical servo system according to the first Bode plot; A frequency corresponding to a gain obtained after the maximum gain is reduced by a preset multiple is obtained as a cutoff frequency of the electromechanical servo system.

4. The method according to claim 1, It is characterized in that Acquiring a target zero point that matches a target pole generated by correcting the electromechanical servo system; comprising: Obtaining a target base point [125 Hz, 0 dB] on the amplitude-frequency curve in the second Bode diagram of the electromechanical servo system; generating a straight line in the second Bode plot based on the target base point and a preset slope; The intersection point of the straight line and the amplitude-frequency curve of the second Bode diagram is obtained as the target pole of the lag correction controller.

5. The method according to claim 1, It is characterized in that Determining a target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function comprises: Using the denominator of the initial transfer function as the numerator of the target transfer function; generating a denominator of the target transfer function according to the target pole; The steady-state gain coefficient of the target transfer function is adjusted to obtain the target transfer function.

6. A hysteresis correction controller acquisition device, It is characterized in that The device comprises: A target gain acquisition module, used to acquire a target gain of the electromechanical servo system and a current loop transfer function of a motor in the electromechanical servo system; A transfer function acquisition module, used to acquire the current loop transfer function of the motor in the electromechanical servo system; An initial function acquisition module, used to determine the initial transfer function of the electromechanical servo system after correction according to the target gain and the current loop transfer function; a cut-off frequency determination module, configured to determine the cut-off frequency of the electromechanical servo system according to the initial transfer function; A zero-pole acquisition module, used for acquiring a target zero point that matches a target pole generated by correcting the electromechanical servo system and the target pole when it is determined that the cut-off frequency exceeds a system bandwidth required by the electromechanical servo system design; The target function acquisition module is used to determine the target transfer function of the electromechanical servo system according to the target pole, the target zero and the initial transfer function.

7. The device according to claim 6, It is characterized in that The target gain acquisition module comprises: A voltage and current acquisition unit, used to acquire the maximum command current of the electromechanical servo system and the rated voltage of the motor; A minimum gain acquisition unit, used to acquire the ratio of the rated voltage to the maximum command current to obtain a minimum gain of the system; The target gain acquisition unit is used to perform correction processing on the system minimum gain to obtain the target gain.

8. A hysteresis correction controller, It is characterized in that include: Processor and memory; The memory is used to store a computer program executable by the processor; The processor is configured to execute the computer program in the memory to implement the method according to any one of claims 1 to 5.

9. An electromechanical servo system, It is characterized in that include: A motor, a hysteresis correction controller and an actuator; the hysteresis correction controller is electrically connected to the motor, and the motor is connected to the actuator; The hysteresis correction controller is used to control the movement of the motor so that the motor provides driving force to the actuator.

10. A non-transitory computer-readable storage medium, It is characterized in that When the executable computer program in the storage medium is executed by a processor, the method according to any one of claims 1 to 5 can be implemented.

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