Control model calculation method and device of controller and electronic equipment

Abstract

The invention provides a control model calculation method and device of a controller and electronic equipment. The method comprises the following steps: inputting an excitation signal to a driver open-loop system, so that the driver open-loop system outputs a first output signal according to the excitation signal; inputting the excitation signal to a driver target mathematical model, so that the driver target mathematical model outputs a second output signal according to the excitation signal; wherein the driver target mathematical model is an ideal mathematical model established according to performance requirements of the driver; constructing an initial control model of the controller, and identifying the initial control model according to the first output signal and the second output signal to obtain a control model of the controller; therefore, the control model of the controller is calculated through the electronic equipment, automatic debugging of the control parameters output to the driver by the controller is achieved, and the debugging efficiency is improved compared with an existing manual mode.

Description

Technical Field

[0001] The present invention relates to the technical field of system identification, and in particular to a control model calculation method, device and electronic equipment for a controller. Background Art

[0002] In power electronic devices such as motors, solenoid valves, and LEDs (Light Emitting Diodes), current drive circuits are important components that are used to output the current signal required to drive the corresponding devices and achieve normal operation of the working devices. In order to output the required current signal, a suitable controller needs to be designed to control the current output. The controller parameter settings (such as Kp and Ki in the PID controller) directly affect the performance of the output current. Therefore, setting the optimal control parameters of the controller becomes the key to improving the performance of the driver.

[0003] The control parameters of existing controllers are mainly debugged manually. For example, for a motor starter, the debugger preliminarily sets the control parameters corresponding to the motor driver based on empirical values, and then makes fine adjustments based on actual conditions. This method has low debugging efficiency and takes a lot of time to debug for the best performance, which cannot meet actual application needs. Summary of the invention

[0004] In view of this, an object of the present invention is to provide a control model calculation method, device and electronic equipment for a controller, so as to improve the debugging efficiency of the control parameters output by the controller to the driver.

[0005] In the first aspect, an embodiment of the present invention provides a control model calculation method for a controller, wherein the controller is used to control the operation of a working device through a driver; the method comprises: inputting an excitation signal into an open-loop system of the driver so that the open-loop system of the driver outputs a first output signal according to the excitation signal; inputting the excitation signal into a target mathematical model of the driver so that the target mathematical model of the driver outputs a second output signal according to the excitation signal; wherein the target mathematical model of the driver is an ideal mathematical model established according to the performance requirements of the driver; constructing an initial control model of the controller, and using the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, identifying the initial control model according to the first output signal and the second output signal to obtain the control model of the controller.

[0006] Preferably, the method further comprises: based on a reference model, a transfer function of the driver open-loop system can be identified according to the excitation signal and the first output signal; wherein the reference model is a controlled autoregressive sliding average model.

[0007] Preferably, the method further comprises: acquiring ideal parameters of the driver; wherein the ideal parameters include: ideal bandwidth and ideal damping ratio; and constructing a target mathematical model of the driver according to the reference model and the ideal parameters.

[0008] Preferably, the step of constructing the driver target mathematical model according to the reference model and the ideal parameters includes: establishing a continuous transfer function of the driver according to the reference model and the ideal parameters; and transforming the continuous transfer function to obtain the driver target mathematical model.

[0009] Preferably, the ideal bandwidth is 10kHz and the ideal damping ratio is 0.707.

[0010] Preferably, the step of constructing the initial control model of the controller includes: constructing the initial control model of the controller based on a reference model.

[0011] Preferably, the method further includes: inputting a step excitation signal into a driver open-loop system so that the driver open-loop system outputs a preset current value according to the step excitation signal, and uses the step excitation signal as an excitation signal; wherein the preset current value is 1A.

[0012] In a second aspect, an embodiment of the present invention further provides a control model calculation device of a controller, wherein the controller is used to control the operation of a working device through a driver; the device includes: a first input-output module, used to input an excitation signal into an open-loop system of the driver, so that the open-loop system of the driver outputs a first output signal according to the excitation signal; a second input-output module, used to input the excitation signal into a target mathematical model of the driver, so that the target mathematical model of the driver outputs a second output signal according to the excitation signal; wherein the target mathematical model of the driver is an ideal mathematical model established according to the performance requirements of the driver; a model calculation module, used to construct an initial control model of the controller, and use the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, and identify the initial control model according to the first output signal and the second output signal to obtain the control model of the controller.

[0013] In a third aspect, an embodiment of the present invention further provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the method of the first aspect when executing the computer program.

[0014] In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the method of the first aspect are executed.

[0015] The embodiments of the present invention bring the following beneficial effects:

[0016] The embodiments of the present invention provide a control model calculation method, device and electronic device for a controller, which input an excitation signal into a driver open-loop system so that the driver open-loop system outputs a first output signal according to the excitation signal; input the excitation signal into a driver target mathematical model so that the driver target mathematical model outputs a second output signal according to the excitation signal; wherein the driver target mathematical model is an ideal mathematical model established according to the performance requirements of the driver; construct an initial control model of the controller, and use the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, and identify the initial control model according to the first output signal and the second output signal to obtain the control model of the controller; thereby calculating the control model of the controller by the electronic device, and realizing automatic debugging of the control parameters output by the controller to the driver, which improves the debugging efficiency compared with the existing manual method.

[0017] Other features and advantages of the present invention will be described in the following description, and partly become apparent from the description, or understood by practicing the present invention. The purpose and other advantages of the present invention are realized and obtained by the structures particularly pointed out in the description and the drawings.

[0018] In order to make the above-mentioned objects, features and advantages of the present invention more obvious and easy to understand, preferred embodiments are given below and described in detail with reference to the accompanying drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0020] Figure 1 A flow chart of a control model calculation method for a controller provided by an embodiment of the present invention;

[0021] Figure 2 A schematic diagram of a control model calculation method for a controller provided by an embodiment of the present invention;

[0022] Figure 3 A Bode diagram of a transfer function of an open-loop driver system provided by an embodiment of the present invention;

[0023] Figure 4 A Bode diagram of a control model of a PID controller provided by an embodiment of the present invention;

[0024] Figure 5A schematic diagram of a control model calculation device of a controller provided by an embodiment of the present invention;

[0025] Figure 6 A schematic diagram of the structure of an electronic device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to make the purpose, technical solution and advantages of the embodiments of the present invention clearer, the technical solution of the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are 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.

[0027] To facilitate understanding of this embodiment, the control model calculation method of the controller provided by the embodiment of the present invention is first described in detail below. The execution subject is an electronic device, which is a controller or a device including a controller or a device connected to the controller in communication, such as a PID controller, and the electronic device is a device connected to the PID controller in communication, such as a computer, etc., which can be set according to actual conditions.

[0028] The embodiment of the present invention provides a control model calculation method for a controller, wherein the controller is used to control a working device to work through a driver; the working device here includes but is not limited to a motor and a solenoid valve, such as Figure 1 As shown, the method comprises the following steps:

[0029] Step S102, inputting an excitation signal into the driver open-loop system, so that the driver open-loop system outputs a first output signal according to the excitation signal;

[0030] Specifically, the electronic device generates a pre-generated excitation signal x d (n) is input to the driver open-loop system. Here, the driver open-loop system refers to the open-loop system of the actual driver. The driver open-loop system is based on the excitation signal x d (n) Output the first output signal y o (n), where the first output signal y o (n) is also called the driver open-loop system in which the excitation signal x d The actual output signal under the action of (n).

[0031] In addition, the transfer function of the driver open-loop system can be determined according to the actual input signal and the output signal. The method further includes: based on the reference model, the transfer function of the driver open-loop system can be identified according to the excitation signal and the first output signal; that is, according to the excitation signal x d (n) and the first output signal y o(n) Identify and obtain the transfer function H of the drive open-loop system o (z).

[0032] Among them, the benchmark model is the ARMAX (Autoregressive Moving Average with Extra Input, controlled autoregressive moving average model) model. Specifically, the ARMAX model structure is as follows:

[0033]

[0034] According to the actual needs of the drive, in the above formula (1), set n k is 1, is an external interference term, set to 0, then the simplified model can be obtained as follows:

[0035]

[0036] Among them, n b represents the molecular order of the benchmark model, n a represents the denominator order of the benchmark model, and q represents the delay operator. Therefore, the excitation signal x d (n) and the first output signal y o (n) are substituted into the benchmark model structure y(t) and u(t) in the above formula (2), and the ARMAX model algorithm is used to obtain The result is transformed by Z to obtain the transfer function H of the driver open-loop system. o (z), that is, according to the benchmark model, substitute the excitation signal x d (n) and the first output signal y o (n) The transfer function H of the driver open-loop system can be identified o (z).

[0037] Among them, the transfer function of the driver open-loop system is o (z) is shown in the following formula:

[0038]

[0039] Where m represents the transfer function H o (z) is the molecular order, n represents the transfer function H o The order of the denominator of (z).

[0040] Optionally, for the excitation signal x d(n), the method further includes: inputting a step excitation signal into the driver open-loop system, so that the driver open-loop system outputs a preset current value according to the step excitation signal, and using the step excitation signal as the excitation signal; wherein the preset current value is 1A. Specifically, for the driver open-loop system, a step excitation signal is generated in advance to make the driver open-loop system generate an output current of 1A, and the step excitation signal is used as the excitation signal x d (n). It should be noted that, in practical applications, when the difference between the output current generated by the driver open-loop system and 1A satisfies the difference interval, the step excitation signal at this time can also be used as the excitation signal x d (n), for example, the step excitation signal corresponding to the output current of 0.99A can be used as the excitation signal x d (n), where the difference interval can be set according to actual conditions.

[0041] Step S104, inputting the excitation signal into the driver target mathematical model, so that the driver target mathematical model outputs a second output signal according to the excitation signal;

[0042] The target mathematical model of the driver is an ideal mathematical model established according to the performance requirements of the driver. The method further includes: obtaining ideal parameters of the driver; wherein the ideal parameters include: ideal bandwidth and ideal damping ratio; and constructing the target mathematical model of the driver according to the benchmark model and the ideal parameters. Specifically, firstly, the continuous transfer function of the driver is established according to the benchmark model and the ideal parameters; preferably, the ideal bandwidth is 10kHz, the ideal damping ratio is 0.707, and the continuous transfer function of the driver is constructed based on the benchmark model in formula (2), where the continuous transfer function is as follows:

[0043]

[0044] Where j represents the continuous transfer function H of the driver e (s) is the numerator order, k represents the continuous transfer function H of the driver e The specific values ​​of j and k can be determined according to information criteria such as AIC (Akaike Information Criterion).

[0045] Then, the continuous transfer function is transformed to obtain the drive target mathematical model H e (z).

[0046] Among them, H e The form of (z) is as follows:

[0047]

[0048] Where j represents the drive target mathematical model H e (z) is the molecular order, k represents the drive target mathematical model H e The order of the denominator of (z).

[0049] Therefore, the excitation signal x d (n) Input to the drive target mathematical model H e (z), the second output signal y can be obtained e (n); Here the drive target mathematical model H e (z) can also be called the ideal drive mathematical model.

[0050] Step S106, constructing an initial control model of the controller, and using the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, identifying the initial control model according to the first output signal and the second output signal to obtain the control model of the controller.

[0051] The initial control model of the controller is constructed based on the benchmark model, that is, the benchmark model in formula (2) is used as the initial control model of the controller, and then the first output signal y o (n) is used as the input signal of the initial control model, and the second output signal y e (n) as the output signal of the initial control model, and according to the first output signal y o (n) and the second output signal y e (n) Identifying the initial control model to obtain the control model of the controller, thereby obtaining the control parameters of the controller output according to the control model, and sending the control parameters to the driver so that the driver drives the working device to work according to the control parameters.

[0052] Specific control model H c (z) are as follows:

[0053]

[0054] Where u represents the control model H c (z) is the molecular order, w represents the control model H c The denominator order of (z), Y o (z) is the first output signal y o (n) After Z transformation, Y e (z) is the second output signal y e (n) is obtained by Z transformation.

[0055] The control model calculation method of the controller provided in the embodiment of the present invention first inputs an excitation signal into the driver open-loop system so that the driver open-loop system outputs a first output signal according to the excitation signal; then, inputs the excitation signal into the driver target mathematical model so that the driver target mathematical model outputs a second output signal according to the excitation signal; finally, constructs an initial control model of the controller, and uses the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, and identifies the initial control model according to the first output signal and the second output signal to obtain the control model of the controller; thereby, the control model of the controller is calculated by the electronic device, and the automatic debugging of the control parameters output by the controller to the driver is realized, which improves the debugging efficiency compared with the existing manual method.

[0056] In summary, for the problems of low debugging efficiency and poor performance optimization effect when debugging the control parameters output from the controller to the driver, the control model calculation method of the controller provided in the embodiment of the present invention uses ARMAX as the identification model and automatically calculates the control model of the controller through system identification technology, which not only improves the debugging efficiency of the control parameters, but also comprehensively optimizes multiple objectives such as broadband, steady-state time, overshoot and phase lag when establishing the continuous transfer function of the driver based on ideal parameters.

[0057] For ease of understanding, the PID controller applied to the drive is used as an example. Figure 2 As shown, the pre-generated excitation signal x d (n) is input to the driver open-loop system to obtain the first output signal y o (n); Then, an ideal driver mathematical model, namely the driver target mathematical model, is constructed according to the user's performance requirements for the driver, and the excitation signal x d (n) Input to the drive target mathematical model H e (z), output a set of ideal output signals, namely the second output signal y e (n); Finally, the first output signal y o (n) is the input signal of the controller, and the second output signal y e (n) As the output signal of the controller, the control model H of the controller can be identified c (z), thereby obtaining the control parameters Kp, Ki and Kd of the PID controller used to control the drive.

[0058] In addition, the first output signal y o (n) and the excitation signal x d (n) Identify the transfer function H of the drive open-loop system o (z). Figure 3 The transfer function H shown oThe Bode plot of (z) has a numerator order of 4 and a denominator order of 4; where the transfer function H o (z) are as follows:

[0059]

[0060] And, if Figure 4 The control model of the PID controller shown in H c (z) Bode diagram; its numerator order is 3 and denominator order is 1; where the control model H c (z) are as follows:

[0061]

[0062] Therefore, the control model calculation method of the above controller uses ARMAX as the identification model, according to the excitation signal x d (n) and the first output signal y o (n) Identify and obtain the transfer function H of the drive open-loop system o (z), and according to the first output signal y o (n) and the second output signal y e (n) Identify the control model H of the controller c (z); thus, the control parameters of the controller can be determined through automatic adjustment, and the debugging efficiency is high. In addition, comprehensive optimization of multiple objectives such as bandwidth, steady-state time, overshoot, phase lag, etc. can be achieved, which has good practical value.

[0063] Corresponding to the above method embodiment, the embodiment of the present invention further provides a control model calculation device of a controller, the controller is used to control the operation of the working device through the driver; Figure 5 As shown, the device comprises:

[0064] A first input-output module 51, used to input an excitation signal into the driver open-loop system, so that the driver open-loop system outputs a first output signal according to the excitation signal;

[0065] The second input-output module 52 is used to input the excitation signal into the driver target mathematical model so that the driver target mathematical model outputs a second output signal according to the excitation signal; wherein the driver target mathematical model is an ideal mathematical model established according to the performance requirements of the driver;

[0066] The model calculation module 53 is used to construct an initial control model of the controller, and uses the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model. The initial control model is identified according to the first output signal and the second output signal to obtain the control model of the controller.

[0067] The control model calculation device of the controller provided in the embodiment of the present invention first inputs an excitation signal into the driver open-loop system so that the driver open-loop system outputs a first output signal according to the excitation signal; then, inputs the excitation signal into the driver target mathematical model so that the driver target mathematical model outputs a second output signal according to the excitation signal; finally, constructs an initial control model of the controller, and uses the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, identifies the initial control model according to the first output signal and the second output signal, and obtains the control model of the controller; thereby, the control model of the controller is calculated by the electronic device, and the automatic debugging of the control parameters output by the controller to the driver is realized, and the debugging efficiency is improved compared with the existing manual method.

[0068] Preferably, the device further comprises: based on a reference model, a transfer function of the driver open-loop system can be identified according to the excitation signal and the first output signal; wherein the reference model is a controlled autoregressive sliding average model.

[0069] Preferably, the device further comprises: acquiring ideal parameters of the driver; wherein the ideal parameters include: ideal bandwidth and ideal damping ratio; and constructing a target mathematical model of the driver according to the reference model and the ideal parameters.

[0070] Preferably, constructing the driver target mathematical model according to the reference model and the ideal parameters includes: establishing a continuous transfer function of the driver according to the reference model and the ideal parameters; and transforming the continuous transfer function to obtain the driver target mathematical model.

[0071] Preferably, the ideal bandwidth is 10kHz and the ideal damping ratio is 0.707.

[0072] Preferably, constructing the initial control model of the controller includes: constructing the initial control model of the controller based on a reference model.

[0073] Preferably, the device further comprises: inputting the step excitation signal into the driver open-loop system so that the driver open-loop system outputs a preset current value according to the step excitation signal, and uses the step excitation signal as the excitation signal; wherein the preset current value is 1A.

[0074] The control model calculation device of the controller provided in the embodiment of the present invention has the same technical features as the control model calculation method of the controller provided in the above embodiment, so it can also solve the same technical problems and achieve the same technical effects.

[0075] An embodiment of the present invention further provides an electronic device, including a processor and a memory, wherein the memory stores machine executable instructions that can be executed by the processor, and the processor executes the machine executable instructions to implement the control model calculation method of the above controller.

[0076] See also Figure 6 As shown, the electronic device includes a processor 100 and a memory 101, wherein the memory 101 stores machine executable instructions that can be executed by the processor 100, and the processor 100 executes the machine executable instructions to implement the control model calculation method of the above controller.

[0077] Further, Figure 6 The electronic device shown further includes a bus 102 and a communication interface 103 , and the processor 100 , the communication interface 103 and the memory 101 are connected via the bus 102 .

[0078] Among them, the memory 101 may include a high-speed random access memory (RAM), and may also include a non-volatile memory (non-volatile memory), such as at least one disk storage. The communication connection between the system network element and at least one other network element is realized through at least one communication interface 103 (which can be wired or wireless), and the Internet, wide area network, local area network, metropolitan area network, etc. can be used. The bus 102 can be an ISA (Industrial Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Enhanced Industry Standard Architecture) bus, etc. The above-mentioned bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Figure 6 Only one bidirectional arrow is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0079] The processor 100 may be an integrated circuit chip with signal processing capabilities. In the implementation process, each step of the above method can be completed by the hardware integrated logic circuit or software instructions in the processor 100. The above processor 100 can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field-programmable gate array (FPGA) or other programmable logic devices, discrete gates or transistor logic devices, discrete hardware components. The methods, steps and logic block diagrams disclosed in the embodiments of the present invention can be implemented or executed. The general-purpose processor can be a microprocessor or the processor can also be any conventional processor, etc. The steps of the method disclosed in conjunction with the embodiments of the present invention can be directly embodied as a hardware decoding processor for execution, or a combination of hardware and software modules in the decoding processor for execution. The software module may be located in a storage medium mature in the art, such as a random access memory, a flash memory, a read-only memory, a programmable read-only memory, or an electrically erasable programmable memory, a register, etc. The storage medium is located in the memory 101, and the processor 100 reads the information in the memory 101 and completes the steps of the method of the above embodiment in combination with its hardware.

[0080] This embodiment also provides a machine-readable storage medium, which stores machine-executable instructions. When the machine-executable instructions are called and executed by a processor, the machine-executable instructions prompt the processor to implement the control model calculation method of the above-mentioned controller.

[0081] The computer program product of the controller control model calculation method, device and electronic device provided in the embodiments of the present invention includes a computer-readable storage medium storing program code. The instructions included in the program code can be used to execute the methods described in the previous method embodiments. The specific implementation can be found in the method embodiments and will not be repeated here.

[0082] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working process of the system and device described above can refer to the corresponding process in the aforementioned method embodiment, and will not be repeated here.

[0083] In addition, in the description of the embodiments of the present invention, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in the present invention can be understood according to specific circumstances.

[0084] If the functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium that is executable by a processor. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium, including several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods described in each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.

[0085] In the description of the present invention, it should be noted that the terms "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., indicating the orientation or positional relationship, are based on the orientation or positional relationship shown in the drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and "third" are used for descriptive purposes only, and cannot be understood as indicating or implying relative importance.

[0086] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims

1. A control model calculation method for a controller, characterized in that: The controller is used to control the working device to work through the driver; the method includes: Inputting an excitation signal into a driver open-loop system so that the driver open-loop system outputs a first output signal according to the excitation signal; Inputting the excitation signal into the driver target mathematical model so that the driver target mathematical model outputs a second output signal according to the excitation signal; wherein the driver target mathematical model is an ideal mathematical model established according to the performance requirements of the driver; An initial control model of the controller is constructed, and the first output signal is used as the input signal of the initial control model, and the second output signal is used as the output signal of the initial control model. The initial control model is identified according to the first output signal and the second output signal to obtain a control model of the controller.

2. The method according to claim 1, characterized in that The method further comprises: Based on a reference model, the transfer function of the driver open-loop system can be identified according to the excitation signal and the first output signal; wherein the reference model is a controlled autoregressive sliding average model.

3. The method according to claim 2, characterized in that The method further comprises: Acquire ideal parameters of the driver; wherein the ideal parameters include: ideal bandwidth and ideal damping ratio; The drive target mathematical model is constructed according to the reference model and the ideal parameters.

4. The method according to claim 3, characterized in that The step of constructing the driver target mathematical model according to the reference model and the ideal parameters comprises: Establishing a continuous transfer function of the driver based on the reference model and the ideal parameters; The continuous transfer function is transformed to obtain the driver target mathematical model.

5. The method according to claim 3, characterized in that: The ideal bandwidth is 10kHz, and the ideal damping ratio is 0.

707.

6. The method according to claim 2, characterized in that The step of constructing the initial control model of the controller comprises: An initial control model of the controller is constructed based on the reference model.

7. The method according to claim 1, characterized in that The method further comprises: A step excitation signal is input into the driver open-loop system, so that the driver open-loop system outputs a preset current value according to the step excitation signal, and uses the step excitation signal as the excitation signal; wherein the preset current value is 1A.

8. A control model calculation device for a controller, characterized in that: The controller is used to control the working device to work through the driver; the device includes: A first input-output module, used for inputting an excitation signal into a driver open-loop system, so that the driver open-loop system outputs a first output signal according to the excitation signal; A second input-output module, used for inputting the excitation signal into the driver target mathematical model, so that the driver target mathematical model outputs a second output signal according to the excitation signal; wherein the driver target mathematical model is an ideal mathematical model established according to the performance requirements of the driver; A model calculation module is used to construct an initial control model of the controller, and use the first output signal as the input signal of the initial control model, and the second output signal as the output signal of the initial control model, and identify the initial control model according to the first output signal and the second output signal to obtain the control model of the controller.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are executed.

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