Acceleration dynamic control method and system of slotless armature direct current servo motor

Abstract

The invention provides an acceleration dynamic control method and system for a slotless armature direct-current servo motor, and the method comprises the steps: detecting and analyzing the actual motion data of the slotless armature direct-current servo motor in a process of driving a load to move, and determining a speed unstable motion interval of an output shaft of the servo motor; acquiring and analyzing working current data corresponding to the servo motor on the basis of a motion passing time interval corresponding to the motion interval with unstable speed, and determining an ideal motion speed change condition of the output shaft under the action of corresponding working current, so as to generate ideal motion speed change data and provide an adjustment target for follow-up compensation of the motion speed of the servo motor; and the actual speed data and the ideal movement speed change data are compared to determine the speed insufficient interval of the output shaft, so that the working current of the servo motor is adjusted, acceleration compensation is performed on the servo motor, the problem of abnormal operation speed caused by unstable placement of the servo motor is solved, and the operation stability of the servo motor is improved.

Description

Technical Field

[0001] The invention relates to the field of servo motors, and in particular to an acceleration dynamic control method and system for a slotless armature DC servo motor. Background Art

[0002] Slotless armature DC servo motors are widely used in household appliances and other mobile motor equipment. During operation, the output shaft of the servo motor will be connected to the load, thereby driving the load to reciprocate along the corresponding path, and the load moves at the corresponding speed mode during the reciprocating motion. When the servo motor is in an unstable placement state, the servo motor will vibrate due to its own center of gravity tilting. The vibration will also affect the normal reciprocating speed of the output shaft along the corresponding path, causing the output shaft to have speed disturbances in the direction associated with the vibration, and it is impossible to ensure that the output shaft can move at the expected normal speed, reducing the driving stability of the servo motor's output shaft to the load. In order to maximize the operating stability of the servo motor, it is necessary to perform accurate and timely acceleration compensation control during the speed disturbance of the servo motor during operation, so as to overcome the abnormal operating speed problem caused by the servo motor's own unstable placement. Summary of the invention

[0003] The purpose of the present invention is to provide an acceleration dynamic control method and system for a slotless armature DC servo motor, which detects and analyzes actual motion data of the slotless armature DC servo motor in the process of driving the load movement, determines the speed unstable motion interval of the output shaft of the servo motor, and performs time domain identification on the speed disturbance caused by vibration during the operation of the servo motor; based on the motion time interval corresponding to the speed unstable motion interval, obtains and analyzes the corresponding working current data of the servo motor, determines the ideal motion speed change of the output shaft under the action of the corresponding working current, thereby generating ideal motion speed change data, and quantitatively determines the motion speed that the servo motor should reach when not affected by vibration, providing an adjustment target for subsequent compensation of the servo motor motion speed; and also compares the actual speed data with the ideal motion speed change data to determine the speed insufficient interval of the output shaft, thereby adjusting the working current of the servo motor, performing acceleration compensation on the servo motor, overcoming the abnormal operation speed problem caused by the unstable placement of the servo motor, and improving the operation stability of the servo motor.

[0004] The present invention is achieved through the following technical solutions:

[0005] The invention discloses a method for controlling the acceleration dynamics of a slotless armature DC servo motor, comprising:

[0006] Performing motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; analyzing the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move;

[0007] Based on the time interval of the motion corresponding to the motion process of the unstable speed motion interval, the working current data corresponding to the servo motor is obtained; the working current data is analyzed to determine the ideal motion speed change corresponding to the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data;

[0008] The actual speed data is compared with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process; based on the occurrence time information of the insufficient speed interval during the motion process, the working current of the servo motor is adjusted to perform acceleration compensation control on the insufficient speed interval.

[0009] Optionally, performing motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; analyzing the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move, comprises:

[0010] Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load to move;

[0011] The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

[0012] Optionally, the sampling frequency of the speed continuous detection and the vibration continuous detection is dynamically adjusted according to the actual speed data and the actual vibration data, including:

[0013] Retrieve actual speed data in real time;

[0014] The first adjustment coefficient is obtained according to the change rate of the actual speed data; wherein the first adjustment coefficient is obtained by the following formula:

[0015]

[0016] Among them, K 01represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P i V represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula:

[0017]

[0018] Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs;

[0019] Retrieve actual vibration data in real time;

[0020] The second adjustment coefficient is obtained according to the change rate of the actual vibration data, wherein the second adjustment coefficient is obtained by the following formula:

[0021]

[0022] Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula:

[0023]

[0024] in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs;

[0025] The sampling frequencies of the speed continuous detection and the vibration continuous detection are adjusted by using the first adjustment coefficient and the second adjustment coefficient to obtain the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection, wherein the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection are obtained by the following formula:

[0026] F 01t =(1+K 01 )·F 01

[0027] F 02t =(1+K 02 )·F 02

[0028] Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient;

[0029] The data sampling control of the continuous speed detection and the continuous vibration detection is performed according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

[0030] Optionally, based on the unstable speed motion interval in the motion time interval corresponding to the motion process, obtaining the working current data corresponding to the servo motor; analyzing the working current data to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data, including:

[0031] Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval;

[0032] A simulation operation is performed based on the working current data and the operation model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

[0033] Optionally, the actual speed data is compared with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process; based on the occurrence time information of the insufficient speed interval during the motion process, the working current of the servo motor is adjusted, so as to perform acceleration compensation control on the insufficient speed interval, including:

[0034] Comparing the actual speed data with the ideal motion speed change data, if the average speed of a certain time domain interval under the actual speed data is less than the average speed of a corresponding time domain interval under the ideal motion speed change data, then determining the time domain interval under the actual speed data as the speed shortage interval of the output shaft during the motion process;

[0035] Based on the occurrence time information of the insufficient speed interval during the movement process, the working current amplitude of the servo motor is uniformly increased and adjusted, thereby performing acceleration compensation control on the insufficient speed interval; wherein, the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

[0036] The acceleration dynamic control system of the slotless armature DC servo motor includes:

[0037] A motion detection module is used to detect the motion of the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move;

[0038] A speed unstable motion interval identification module, used for analyzing the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move;

[0039] A working current data acquisition module, used for acquiring working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process in the speed unstable motion interval;

[0040] An ideal motion speed change determination module is used to analyze the working current data to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating corresponding ideal motion speed change data;

[0041] A speed insufficient interval determination module, used for comparing the actual speed data with the ideal motion speed change data to determine the speed insufficient interval of the output shaft during the motion process;

[0042] The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval during the movement process, so as to perform acceleration compensation control on the insufficient speed interval.

[0043] Optionally, the motion detection module is used to perform motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move, including:

[0044] Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load to move;

[0045] The speed unstable motion interval identification module is used to analyze the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move, including:

[0046] The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

[0047] Optionally, the acceleration dynamic control system of the slotless armature DC servo motor also includes

[0048] The acquisition frequency dynamic adjustment module is used to dynamically adjust the sampling frequency of continuous speed detection and continuous vibration detection according to the actual speed data and the actual vibration data;

[0049] Wherein, the acquisition frequency dynamic adjustment module includes:

[0050] A first real-time retrieving module, used for retrieving actual speed data in real time;

[0051] The first adjustment coefficient acquisition module is used to acquire the first adjustment coefficient according to the change rate of the actual speed data; wherein the first adjustment coefficient is acquired by the following formula:

[0052]

[0053] Among them, K 01 represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P i V represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula:

[0054]

[0055] Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs;

[0056] The second real-time retrieval module is used to retrieve actual vibration data in real time;

[0057] The second adjustment coefficient acquisition module is used to acquire the second adjustment coefficient according to the change rate of the actual vibration data, wherein the second adjustment coefficient is acquired by the following formula:

[0058]

[0059] Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Zfi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula:

[0060]

[0061] in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs;

[0062] A dynamic adjustment execution module is used to adjust the sampling frequency of the speed continuous detection and the vibration continuous detection by using the first adjustment coefficient and the second adjustment coefficient, and obtain the adjusted sampling frequency of the speed continuous detection and the vibration continuous detection, wherein the adjusted sampling frequency of the speed continuous detection and the vibration continuous detection is obtained by the following formula:

[0063] F 01t =(1+K 01 )·F 01

[0064] F 02t =(1+K 02 )·F 02

[0065] Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient;

[0066] The acquisition frequency adjustment control module is used to perform data sampling control of the continuous speed detection and the continuous vibration detection according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

[0067] Optionally, the working current data acquisition module is used to acquire working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process of the unstable speed motion interval, including:

[0068] Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval;

[0069] The ideal motion speed change determination module is used to analyze the working current data to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating corresponding ideal motion speed change data, including:

[0070] A simulation operation is performed based on the working current data and the operation model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

[0071] Optionally, the insufficient speed interval determination module is used to compare the actual speed data with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process, including:

[0072] Comparing the actual speed data with the ideal motion speed change data, if the average speed of a certain time domain interval under the actual speed data is less than the average speed of a corresponding time domain interval under the ideal motion speed change data, then determining the time domain interval under the actual speed data as the speed shortage interval of the output shaft during the motion process;

[0073] The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval during the motion process, so as to perform acceleration compensation control on the insufficient speed interval, including:

[0074] Based on the occurrence time information of the insufficient speed interval during the movement process, the working current amplitude of the servo motor is uniformly increased and adjusted, thereby performing acceleration compensation control on the insufficient speed interval; wherein, the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

[0075] Compared with the prior art, the present invention has the following beneficial effects:

[0076] The acceleration dynamic control method and system of the slotless armature DC servo motor provided in the present application detect and analyze the actual motion data of the slotless armature DC servo motor in the process of driving the load movement, determine the speed unstable motion interval of the output shaft of the servo motor, and perform time domain identification on the speed disturbance caused by vibration during the operation of the servo motor; based on the motion time interval corresponding to the speed unstable motion interval, obtain and analyze the corresponding working current data of the servo motor, determine the ideal motion speed change of the output shaft under the action of the corresponding working current, thereby generating ideal motion speed change data, and quantitatively determine the motion speed that the servo motor should reach when not affected by vibration, providing an adjustment target for the subsequent compensation of the servo motor motion speed; also compare the actual speed data with the ideal motion speed change data, determine the speed insufficient interval of the output shaft, thereby adjust the working current of the servo motor, perform acceleration compensation on the servo motor, overcome the abnormal operation speed problem caused by the unstable placement of the servo motor, and improve the operation stability of the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0077] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0078] Figure 1 A schematic flow chart of the acceleration dynamic control method of a slotless armature DC servo motor provided by the present invention.

[0079] Figure 2 The present invention is a schematic structural diagram of the acceleration dynamic control system of the slotless armature DC servo motor provided by the present invention. DETAILED DESCRIPTION

[0080] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0081] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0082] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0083] See also Figure 1 As shown, an acceleration dynamic control method of a slotless armature DC servo motor provided by an embodiment of the present application. The acceleration dynamic control method of a slotless armature DC servo motor comprises:

[0084] Performing motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; analyzing the actual speed data to obtain the speed unstable motion range of the output shaft in the process of driving the load to move;

[0085] Based on the motion time interval corresponding to the motion process of the unstable speed motion interval, the working current data corresponding to the servo motor is obtained; the working current data is analyzed to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data;

[0086] The actual speed data is compared with the ideal motion speed change data to determine the speed shortage interval of the output shaft during the motion process; based on the occurrence time information of the speed shortage interval during the motion process, the working current of the servo motor is adjusted to perform acceleration compensation control on the speed shortage interval.

[0087] The beneficial effects of the above embodiments are as follows: the acceleration dynamic control method of the slotless armature DC servo motor detects and analyzes the actual motion data of the slotless armature DC servo motor in the process of driving the load movement, determines the speed unstable motion interval of the output shaft of the servo motor, and performs time domain identification on the speed disturbance caused by vibration during the operation of the servo motor; based on the motion time interval corresponding to the speed unstable motion interval, the corresponding working current data of the servo motor is obtained and analyzed, and the ideal motion speed change of the output shaft under the action of the corresponding working current is determined, thereby generating ideal motion speed change data, and quantitatively determining the motion speed that the servo motor should reach when not affected by vibration, providing an adjustment target for the subsequent compensation of the servo motor motion speed; the actual speed data and the ideal motion speed change data are compared to determine the speed insufficient interval of the output shaft, thereby adjusting the working current of the servo motor, performing acceleration compensation on the servo motor, overcoming the abnormal operation speed problem caused by the unstable placement of the servo motor, and improving the operation stability of the servo motor.

[0088] In another embodiment, motion detection is performed on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; the actual speed data is analyzed to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move, including:

[0089] Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load movement;

[0090] The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

[0091] The beneficial effect of the above embodiment is that the output shaft of the slotless armature DC servo motor is connected to the external load, and is used to drive the external load to move in a corresponding mode. When the servo motor is not placed in a balanced manner, the center of gravity of the servo motor will tilt, so that the output shaft of the servo motor will also have vibration interference while moving along the corresponding path. In this way, the output shaft of the servo motor will not be able to maintain the original movement speed during the movement along the corresponding path under the action of vibration interference, resulting in a decrease in movement speed. In particular, the degree of vibration interference that occurs at different path positions during the movement of the output shaft of the servo motor along the corresponding path is not the same, so that the output shaft does not experience a speed decrease during the entire path movement process, but only in certain path sections. In order to accurately control the acceleration compensation of the servo motor, it is necessary to accurately identify which path sections will experience a speed decrease. For this purpose, the output shaft of the servo motor is subjected to continuous speed detection and continuous vibration detection to obtain the actual speed data and actual vibration data of the output shaft during the driving load movement process, so that the actual movement speed and actual vibration interference of the output shaft can be time-synchronized and associated, which is convenient for subsequent accurate judgment of whether the vibration interference of the output shaft will affect the reduction of its own movement speed. In addition, the actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to obtain the change of the angle between the speed direction and the vibration direction. If the angle between the speed direction and the vibration direction is less than a preset angle threshold, it is determined that the vibration interference of the output shaft affects the movement speed of the output shaft. Based on the interval corresponding to the angle between the speed direction and the vibration direction being less than the preset angle threshold, it is determined that the actual speed data segment corresponding to the actual vibration direction of the output shaft affects the actual speed direction of the output shaft is determined, and this is used as the unstable speed movement interval of the output shaft in the process of driving the load to move. In this way, the situation of obvious speed drop of the output shaft in the entire movement process can be identified and screened for the segment.

[0092] In another embodiment, the sampling frequency of the continuous speed detection and the continuous vibration detection is dynamically adjusted according to the actual speed data and the actual vibration data, including:

[0093] Retrieve actual speed data in real time;

[0094] The first adjustment coefficient is obtained according to the change rate of the actual speed data; wherein the first adjustment coefficient is obtained by the following formula:

[0095]

[0096] Among them, K 01 represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P iV represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula:

[0097]

[0098] Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs;

[0099] Retrieve actual vibration data in real time;

[0100] The second adjustment coefficient is obtained according to the change rate of the actual vibration data, wherein the second adjustment coefficient is obtained by the following formula:

[0101]

[0102] Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula:

[0103]

[0104] in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs;

[0105] The sampling frequencies of the speed continuous detection and the vibration continuous detection are adjusted by using the first adjustment coefficient and the second adjustment coefficient to obtain the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection, wherein the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection are obtained by the following formula:

[0106] F 01t =(1+K 01 )·F 01

[0107] F 02t =(1+K 02 )·F 02

[0108] Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient;

[0109] The data sampling control of the continuous speed detection and the continuous vibration detection is performed according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

[0110] The beneficial effect of the above embodiment is that by retrieving the actual speed data and the actual vibration data in real time and dynamically adjusting the sampling frequency according to the change rate of these data, it can ensure that more data points are collected when the data changes greatly, thereby more accurately reflecting the actual situation. This dynamic adjustment method avoids the problem of data redundancy or data shortage that may occur under the traditional fixed sampling frequency, and improves the efficiency of data sampling.

[0111] In practical applications, by dynamically adjusting the sampling frequency, resources can be reasonably allocated according to the actual situation, avoiding wasting resources under unnecessary high-frequency sampling or missing important data under low-frequency sampling. This way of optimizing resource utilization helps to reduce system costs and improve the overall performance of the system. The data accuracy of continuous speed detection and continuous vibration detection is crucial for subsequent data analysis and decision-making. By dynamically adjusting the sampling frequency, it can be ensured that enough data points are collected to reflect the actual situation when the data changes rapidly or is more complex, thereby improving the accuracy of the data. This is especially important for application scenarios that require high-precision data support.

[0112] This technical solution realizes dynamic adjustment of the sampling frequency by introducing the first adjustment coefficient and the second adjustment coefficient, as well as the corresponding calculation formula. This flexible design enables the system to adapt to the needs of different application scenarios. Whether it is a scenario with large speed changes or a scenario with complex vibration changes, the accuracy and integrity of the data can be ensured by adjusting the sampling frequency. In the context of real-time data collection and analysis, this technical solution provides strong support for intelligent decision-making. By dynamically adjusting the sampling frequency, it can be ensured that the collected data can both reflect the actual situation and meet the needs of subsequent analysis and decision-making. This helps companies quickly respond to market changes, optimize operating strategies, and improve competitiveness and innovation capabilities.

[0113] In summary, this technical solution achieves multiple technical effects such as improving data sampling efficiency, optimizing resource utilization, improving data accuracy, enhancing system flexibility, and promoting intelligent decision-making by dynamically adjusting the sampling frequency of continuous speed detection and continuous vibration detection. These effects work together in actual application scenarios to help improve the overall performance of the system and user satisfaction.

[0114] In another embodiment, based on the speed unstable motion interval in the motion time interval corresponding to the motion process, the working current data corresponding to the servo motor is obtained; the working current data is analyzed to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data, including:

[0115] Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval;

[0116] A simulation operation is performed based on the working current data and the operating model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

[0117] The beneficial effect of the above embodiment is that, based on the detection time information of the speed data of the actual speed data segment corresponding to the speed unstable motion interval, the corresponding movement time interval (i.e., the occupied time interval) of the speed unstable motion interval in the entire movement process of the output shaft is determined, and then the movement time interval is used as a time reference to monitor the working current application end of the servo motor to obtain the working current data generated by the working current application end in the movement time interval. In this way, the working current data corresponding to the servo motor when the output shaft decreases in movement speed can be accurately extracted, which is convenient for the subsequent calculation and determination of the ideal movement speed of the output shaft based on the working current data. In addition, a simulation operation is performed based on the working current data and the operating model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data, and the ideal motion speed change refers to the loss-free motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor (that is, the motion speed change of the output shaft when there is no vibration interference in the servo motor); then the ideal motion speed change is subjected to motion speed extraction to obtain the corresponding ideal motion speed change data, thereby realizing the numerical representation of the ideal motion speed change.

[0118] In another embodiment, the actual speed data is compared with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process; based on the occurrence time information of the insufficient speed interval during the motion process, the working current of the servo motor is adjusted, so as to perform acceleration compensation control on the insufficient speed interval, including:

[0119] The actual speed data is compared with the ideal motion speed change data. If the average speed of a certain time domain interval under the actual speed data is less than the average speed of the corresponding time domain interval under the ideal motion speed change data, the time domain interval under the actual speed data is determined as the speed insufficient interval of the output shaft in the motion process;

[0120] Based on the occurrence time information of the insufficient speed interval in the movement process, the working current amplitude of the servo motor is uniformly increased, thereby performing acceleration compensation control on the insufficient speed interval; wherein the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

[0121] The beneficial effect of the above embodiment is that the actual speed data and the ideal motion speed change data are compared in size. If the average speed of a certain time domain interval under the actual speed data is less than the average speed of the corresponding time domain interval under the ideal motion speed change data, the time domain interval under the actual speed data is determined as the insufficient speed interval of the output shaft during the motion process, so that the motion speed reduction interval formed by the output shaft under the vibration interference can be quickly identified, and a basis is provided for the subsequent adaptive increase of the working current applied to the servo motor. In addition, based on the occurrence time information of the insufficient speed interval during the motion process, the working current amplitude of the servo motor is uniformly increased, so as to perform acceleration compensation control on the insufficient speed interval, and the current amplitude increase speed of the uniformly increased working current amplitude adjustment is negatively correlated with the time length of the insufficient speed interval, so that the motion speed of the output shaft can be steadily increased within the duration of the insufficient speed interval, and the servo motor can be stably accelerated and compensated and the operation stability of the servo motor can be ensured.

[0122] See also Figure 2 As shown, an acceleration dynamic control system of a slotless armature DC servo motor provided by an embodiment of the present application. The acceleration dynamic control system of the slotless armature DC servo motor includes:

[0123] A motion detection module is used to detect the motion of the output shaft of the slotless armature DC servo motor to obtain the actual speed data of the output shaft in the process of driving the load to move;

[0124] The speed unstable motion interval identification module is used to analyze the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move;

[0125] A working current data acquisition module, used for acquiring working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process of the unstable speed motion interval;

[0126] An ideal motion speed change determination module is used to analyze the working current data, determine the ideal motion speed change of the output shaft under the corresponding working current, and generate corresponding ideal motion speed change data;

[0127] A speed insufficient interval determination module is used to compare the actual speed data with the ideal motion speed change data to determine the speed insufficient interval of the output shaft during the motion process;

[0128] The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval in the motion process, so as to perform acceleration compensation control on the insufficient speed interval.

[0129] The beneficial effects of the above embodiments are as follows: the acceleration dynamic control system of the slotless armature DC servo motor detects and analyzes the actual motion data of the slotless armature DC servo motor in the process of driving the load movement, determines the speed unstable motion interval of the output shaft of the servo motor, and performs time domain identification on the speed disturbance caused by vibration during the operation of the servo motor; based on the motion time interval corresponding to the speed unstable motion interval, the corresponding working current data of the servo motor is obtained and analyzed, and the ideal motion speed change of the output shaft under the action of the corresponding working current is determined, thereby generating ideal motion speed change data, and quantitatively determining the motion speed that the servo motor should achieve when not affected by vibration, providing an adjustment target for the subsequent compensation of the servo motor motion speed; the actual speed data and the ideal motion speed change data are compared to determine the speed insufficient interval of the output shaft, thereby adjusting the working current of the servo motor, performing acceleration compensation on the servo motor, overcoming the abnormal operation speed problem caused by the unstable placement of the servo motor, and improving the operation stability of the servo motor.

[0130] In another embodiment, the motion detection module is used to perform motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move, including:

[0131] Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load movement;

[0132] The speed unstable motion interval identification module is used to analyze the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move, including:

[0133] The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

[0134] The beneficial effect of the above embodiment is that the output shaft of the slotless armature DC servo motor is connected to the external load, and is used to drive the external load to move in a corresponding mode. When the servo motor is not placed in a balanced manner, the center of gravity of the servo motor will tilt, so that the output shaft of the servo motor will also have vibration interference while moving along the corresponding path. In this way, the output shaft of the servo motor will not be able to maintain the original movement speed during the movement along the corresponding path under the action of vibration interference, resulting in a decrease in movement speed. In particular, the degree of vibration interference that occurs at different path positions during the movement of the output shaft of the servo motor along the corresponding path is not the same, so that the output shaft does not experience a speed decrease during the entire path movement process, but only in certain path sections. In order to accurately control the acceleration compensation of the servo motor, it is necessary to accurately identify which path sections will experience a speed decrease. For this purpose, the output shaft of the servo motor is subjected to continuous speed detection and continuous vibration detection to obtain the actual speed data and actual vibration data of the output shaft during the driving load movement process, so that the actual movement speed and actual vibration interference of the output shaft can be time-synchronized and associated, which is convenient for subsequent accurate judgment of whether the vibration interference of the output shaft will affect the reduction of its own movement speed. In addition, the actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to obtain the change of the angle between the speed direction and the vibration direction. If the angle between the speed direction and the vibration direction is less than a preset angle threshold, it is determined that the vibration interference of the output shaft affects the movement speed of the output shaft. Based on the interval corresponding to the angle between the speed direction and the vibration direction being less than the preset angle threshold, it is determined that the actual speed data segment corresponding to the actual vibration direction of the output shaft affects the actual speed direction of the output shaft is determined, and this is used as the unstable speed movement interval of the output shaft in the process of driving the load to move. In this way, the situation of obvious speed drop of the output shaft in the entire movement process can be identified and screened for the segment.

[0135] In another embodiment, the acceleration dynamic control system of the slotless armature DC servo motor further includes

[0136] The acquisition frequency dynamic adjustment module is used to dynamically adjust the sampling frequency of continuous speed detection and continuous vibration detection according to the actual speed data and the actual vibration data;

[0137] Wherein, the acquisition frequency dynamic adjustment module includes:

[0138] A first real-time retrieving module, used for retrieving actual speed data in real time;

[0139] The first adjustment coefficient acquisition module is used to acquire the first adjustment coefficient according to the change rate of the actual speed data; wherein the first adjustment coefficient is acquired by the following formula:

[0140]

[0141] Among them, K 01 represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P i V represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula:

[0142]

[0143] Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs;

[0144] The second real-time retrieval module is used to retrieve actual vibration data in real time;

[0145] The second adjustment coefficient acquisition module is used to acquire the second adjustment coefficient according to the change rate of the actual vibration data, wherein the second adjustment coefficient is acquired by the following formula:

[0146]

[0147] Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula:

[0148]

[0149] in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs;

[0150] A dynamic adjustment execution module is used to adjust the sampling frequency of the speed continuous detection and the vibration continuous detection by using the first adjustment coefficient and the second adjustment coefficient, and obtain the adjusted sampling frequency of the speed continuous detection and the vibration continuous detection, wherein the adjusted sampling frequency of the speed continuous detection and the vibration continuous detection is obtained by the following formula:

[0151] F 01t =(1+K 01 )·F 01

[0152] F 02t =(1+K 02 )·F 02

[0153] Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient;

[0154] The acquisition frequency adjustment control module is used to perform data sampling control of the continuous speed detection and the continuous vibration detection according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

[0155] The beneficial effect of the above embodiment is that by retrieving the actual speed data and the actual vibration data in real time and dynamically adjusting the sampling frequency according to the change rate of these data, it can ensure that more data points are collected when the data changes greatly, thereby more accurately reflecting the actual situation. This dynamic adjustment method avoids the problem of data redundancy or data shortage that may occur under the traditional fixed sampling frequency, and improves the efficiency of data sampling.

[0156] In practical applications, by dynamically adjusting the sampling frequency, resources can be reasonably allocated according to the actual situation, avoiding wasting resources under unnecessary high-frequency sampling or missing important data under low-frequency sampling. This way of optimizing resource utilization helps to reduce system costs and improve the overall performance of the system. The data accuracy of continuous speed detection and continuous vibration detection is crucial for subsequent data analysis and decision-making. By dynamically adjusting the sampling frequency, it can be ensured that enough data points are collected to reflect the actual situation when the data changes rapidly or is more complex, thereby improving the accuracy of the data. This is especially important for application scenarios that require high-precision data support.

[0157] This technical solution realizes dynamic adjustment of the sampling frequency by introducing the first adjustment coefficient and the second adjustment coefficient, as well as the corresponding calculation formula. This flexible design enables the system to adapt to the needs of different application scenarios. Whether it is a scenario with large speed changes or a scenario with complex vibration changes, the accuracy and integrity of the data can be ensured by adjusting the sampling frequency. In the context of real-time data collection and analysis, this technical solution provides strong support for intelligent decision-making. By dynamically adjusting the sampling frequency, it can be ensured that the collected data can both reflect the actual situation and meet the needs of subsequent analysis and decision-making. This helps companies quickly respond to market changes, optimize operating strategies, and improve competitiveness and innovation capabilities.

[0158] In summary, this technical solution achieves multiple technical effects such as improving data sampling efficiency, optimizing resource utilization, improving data accuracy, enhancing system flexibility, and promoting intelligent decision-making by dynamically adjusting the sampling frequency of continuous speed detection and continuous vibration detection. These effects work together in actual application scenarios to help improve the overall performance of the system and user satisfaction.

[0159] In another embodiment, the working current data acquisition module is used to acquire working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process of the unstable speed motion interval, including:

[0160] Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval;

[0161] The ideal motion speed change determination module is used to analyze the working current data to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating corresponding ideal motion speed change data, including:

[0162] A simulation operation is performed based on the working current data and the operating model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

[0163] The beneficial effect of the above embodiment is that, based on the detection time information of the speed data of the actual speed data segment corresponding to the speed unstable motion interval, the corresponding movement time interval (i.e., the occupied time interval) of the speed unstable motion interval in the entire movement process of the output shaft is determined, and then the movement time interval is used as a time reference to monitor the working current application end of the servo motor to obtain the working current data generated by the working current application end in the movement time interval. In this way, the working current data corresponding to the servo motor when the output shaft decreases in movement speed can be accurately extracted, which is convenient for the subsequent calculation and determination of the ideal movement speed of the output shaft based on the working current data. In addition, a simulation operation is performed based on the working current data and the operating model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data, and the ideal motion speed change refers to the loss-free motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor (that is, the motion speed change of the output shaft when there is no vibration interference in the servo motor); then the ideal motion speed change is subjected to motion speed extraction to obtain the corresponding ideal motion speed change data, thereby realizing the numerical representation of the ideal motion speed change.

[0164] In another embodiment, the speed insufficient interval determination module is used to compare the actual speed data with the ideal motion speed change data to determine the speed insufficient interval of the output shaft during the motion process, including:

[0165] The actual speed data is compared with the ideal motion speed change data. If the average speed of a certain time domain interval under the actual speed data is less than the average speed of the corresponding time domain interval under the ideal motion speed change data, the time domain interval under the actual speed data is determined as the speed insufficient interval of the output shaft in the motion process;

[0166] The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval in the motion process, so as to perform acceleration compensation control on the insufficient speed interval, including:

[0167] Based on the occurrence time information of the insufficient speed interval in the movement process, the working current amplitude of the servo motor is uniformly increased, thereby performing acceleration compensation control on the insufficient speed interval; wherein the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

[0168] The beneficial effect of the above embodiment is that the actual speed data and the ideal motion speed change data are compared in size. If the average speed of a certain time domain interval under the actual speed data is less than the average speed of the corresponding time domain interval under the ideal motion speed change data, the time domain interval under the actual speed data is determined as the insufficient speed interval of the output shaft during the motion process, so that the motion speed reduction interval formed by the output shaft under the vibration interference can be quickly identified, and a basis is provided for the subsequent adaptive increase of the working current applied to the servo motor. In addition, based on the occurrence time information of the insufficient speed interval during the motion process, the working current amplitude of the servo motor is uniformly increased, so as to perform acceleration compensation control on the insufficient speed interval, and the current amplitude increase speed of the uniformly increased working current amplitude adjustment is negatively correlated with the time length of the insufficient speed interval, so that the motion speed of the output shaft can be steadily increased within the duration of the insufficient speed interval, and the servo motor can be stably accelerated and compensated and the operation stability of the servo motor can be ensured.

[0169] In general, the acceleration dynamic control method and system of the slotless armature DC servo motor detects and analyzes the actual motion data of the slotless armature DC servo motor in the process of driving the load movement, determines the speed unstable motion interval of the servo motor's output shaft, and performs time domain identification on the speed disturbance caused by vibration during the operation of the servo motor; based on the motion time interval corresponding to the speed unstable motion interval, the corresponding working current data of the servo motor is obtained and analyzed, and the ideal motion speed change of the output shaft under the corresponding working current is determined, thereby generating ideal motion speed change data, and quantitatively determining the motion speed that the servo motor should achieve when not affected by vibration, providing an adjustment target for the subsequent compensation of the servo motor motion speed; the actual speed data and the ideal motion speed change data are also compared to determine the speed insufficient interval of the output shaft, thereby adjusting the working current of the servo motor, performing acceleration compensation on the servo motor, overcoming the abnormal operation speed problem caused by the unstable placement of the servo motor, and improving the operation stability of the servo motor.

[0170] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A method for dynamic acceleration control of a slotless armature DC servo motor, characterized in that: include: Performing motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; Analyze the actual speed data to obtain an unstable speed motion interval of the output shaft in the process of driving the load to move; Based on the time interval of the motion corresponding to the motion process of the unstable speed motion interval, the working current data corresponding to the servo motor is obtained; the working current data is analyzed to determine the ideal motion speed change corresponding to the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data; The actual speed data is compared with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process; based on the occurrence time information of the insufficient speed interval during the motion process, the working current of the servo motor is adjusted to perform acceleration compensation control on the insufficient speed interval.

2. The acceleration dynamic control method of a slotless armature DC servo motor according to claim 1, characterized in that: Performing motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; The actual speed data is analyzed to obtain the unstable speed motion interval of the output shaft in the process of driving the load to move, including: Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load to move; The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

3. The acceleration dynamic control method of the slotless armature DC servo motor according to claim 1, characterized in that: The sampling frequency of the speed continuous detection and the vibration continuous detection is dynamically adjusted according to the actual speed data and the actual vibration data, including: Retrieve actual speed data in real time; The first adjustment coefficient is obtained according to the change rate of the actual speed data; wherein the first adjustment coefficient is obtained by the following formula: Among them, K 01 represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P i V represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula: Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs; Retrieve actual vibration data in real time; The second adjustment coefficient is obtained according to the change rate of the actual vibration data, wherein the second adjustment coefficient is obtained by the following formula: Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula: in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs; The sampling frequencies of the speed continuous detection and the vibration continuous detection are adjusted by using the first adjustment coefficient and the second adjustment coefficient to obtain the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection, wherein the adjusted sampling frequencies of the speed continuous detection and the vibration continuous detection are obtained by the following formula: F 01t =(1+K 01 )·F 01 F 02t =(1+K 02 )·F 02 Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient; The data sampling control of the continuous speed detection and the continuous vibration detection is performed according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

4. The acceleration dynamic control method of a slotless armature DC servo motor according to claim 1, characterized in that: Based on the speed unstable motion interval in the motion time interval corresponding to the motion process, the working current data corresponding to the servo motor is obtained; the working current data is analyzed to determine the ideal motion speed change corresponding to the output shaft under the corresponding working current, thereby generating the corresponding ideal motion speed change data, including: Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval; A simulation operation is performed based on the working current data and the operation model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

5. The acceleration dynamic control method of a slotless armature DC servo motor according to claim 1, characterized in that: The actual speed data is compared with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process; based on the occurrence time information of the insufficient speed interval during the motion process, the working current of the servo motor is adjusted, so as to perform acceleration compensation control on the insufficient speed interval, including: Comparing the actual speed data with the ideal motion speed change data, if the average speed of a certain time domain interval under the actual speed data is less than the average speed of a corresponding time domain interval under the ideal motion speed change data, then determining the time domain interval under the actual speed data as the speed shortage interval of the output shaft during the motion process; Based on the occurrence time information of the insufficient speed interval during the movement process, the working current amplitude of the servo motor is uniformly increased and adjusted, thereby performing acceleration compensation control on the insufficient speed interval; wherein, the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

6. An acceleration dynamic control system for a slotless armature DC servo motor, characterized in that: include: A motion detection module is used to detect the motion of the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move; A speed unstable motion interval identification module, used for analyzing the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move; A working current data acquisition module, used for acquiring working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process of the unstable speed motion interval; an ideal motion speed change determination module, used for analyzing the working current data, determining the ideal motion speed change corresponding to the output shaft under the corresponding working current, so as to generate corresponding ideal motion speed change data; A speed insufficient interval determination module, used for comparing the actual speed data with the ideal motion speed change data to determine the speed insufficient interval of the output shaft during the motion process; The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval during the movement process, so as to perform acceleration compensation control on the insufficient speed interval.

7. The acceleration dynamic control system of the slotless armature DC servo motor according to claim 6, characterized in that: The motion detection module is used to perform motion detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data of the output shaft in the process of driving the load to move, including: Performing continuous speed detection and continuous vibration detection on the output shaft of the slotless armature DC servo motor to obtain actual speed data and actual vibration data of the output shaft in the process of driving the load to move; The speed unstable motion interval identification module is used to analyze the actual speed data to obtain the speed unstable motion interval of the output shaft in the process of driving the load to move, including: The actual speed data and the actual vibration data are associated with each other in speed direction and vibration direction to determine the actual speed data segment corresponding to the actual speed direction of the output shaft affected by the actual vibration direction of the output shaft, and use this as the speed unstable motion interval of the output shaft in the process of driving the load to move.

8. The acceleration dynamic control system of the slotless armature DC servo motor according to claim 6, characterized in that: The acceleration dynamic control system of the slotless armature DC servo motor also includes The acquisition frequency dynamic adjustment module is used to dynamically adjust the sampling frequency of continuous speed detection and continuous vibration detection according to the actual speed data and the actual vibration data; Wherein, the acquisition frequency dynamic adjustment module includes: A first real-time retrieving module, used for retrieving actual speed data in real time; The first adjustment coefficient acquisition module is used to acquire the first adjustment coefficient according to the change rate of the actual speed data; wherein the first adjustment coefficient is acquired by the following formula: Among them, K 01 represents the first adjustment coefficient; n represents the number of data observation cycles experienced by the continuous speed detection, and the value range of the data observation cycle is 3min-8min; P i V represents the rate of change of the actual speed data collected in the i-th data observation period; fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fz represents the median value of the speed change amplitude of the actual speed data corresponding to n data observation periods; ξ represents the first control factor, and the first control factor is obtained by the following formula: Wherein, ξ represents the first control factor; n represents the number of data observation cycles experienced by the speed continuous detection, and the value range of the data observation cycle is 3min-8min; V fi V represents the maximum speed variation of the actual speed data collected in the i-th data observation period; fmax Indicates the maximum speed change amplitude of the actual speed data corresponding to n data observation cycles; P i represents the rate of change of the actual speed data collected corresponding to the i-th data observation period; P max Indicates the rate of change of the actual speed data corresponding to the data observation period to which the maximum speed change amplitude belongs; The second real-time retrieval module is used to retrieve actual vibration data in real time; The second adjustment coefficient acquisition module is used to acquire the second adjustment coefficient according to the change rate of the actual vibration data, wherein the second adjustment coefficient is acquired by the following formula: Among them, K 02 represents the second adjustment coefficient; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fz Indicates the median value of the vibration change amplitude of the actual vibration data corresponding to n data observation cycles; represents the second control factor, and the second control factor is obtained by the following formula: in, represents the second control factor; m represents the number of data observation cycles experienced by the continuous vibration detection, and the value range of the data observation cycle is 3min-8min; Z fi represents the maximum vibration variation amplitude of the actual vibration data collected corresponding to the i-th data observation period; Z fmax represents the maximum value of the vibration change amplitude of the actual vibration data corresponding to m data observation cycles; S i represents the rate of change of the actual vibration data collected corresponding to the i-th data observation period; S max Indicates the rate of change of the actual vibration data corresponding to the data observation period to which the maximum value of the vibration change amplitude belongs; A dynamic adjustment execution module is used to adjust the sampling frequency of continuous speed detection and continuous vibration detection by using the first adjustment coefficient and the second adjustment coefficient, and obtain the adjusted sampling frequency of continuous speed detection and continuous vibration detection, wherein the adjusted sampling frequency of continuous speed detection and continuous vibration detection is obtained by the following formula: F 01t =(1+K 01 )·F 01 F 02t =(1+K 02 )·F 02 Among them, F 01t and F 02t They represent the sampling frequencies of the adjusted speed continuous detection and vibration continuous detection respectively; F 01 and F 02 They represent the sampling frequencies of speed continuous detection and vibration continuous detection before adjustment respectively; K 01 Represents the first adjustment coefficient; K 02 represents the second adjustment coefficient; The acquisition frequency adjustment control module is used to perform data sampling control of the continuous speed detection and the continuous vibration detection according to the adjusted sampling frequencies of the continuous speed detection and the continuous vibration detection.

9. The acceleration dynamic control system of the slotless armature DC servo motor according to claim 6, characterized in that: The working current data acquisition module is used to acquire working current data corresponding to the servo motor based on the motion time interval corresponding to the motion process of the unstable speed motion interval, including: Based on the detection time information of the speed data of the actual speed data section corresponding to the speed unstable motion interval, the motion time interval corresponding to the speed unstable motion interval in the motion process is obtained; based on the motion time interval, the working current application end of the servo motor is monitored to obtain the working current data generated by the working current application end in the motion time interval; The ideal motion speed change determination module is used to analyze the working current data to determine the ideal motion speed change of the output shaft under the corresponding working current, thereby generating corresponding ideal motion speed change data, including: A simulation operation is performed based on the working current data and the operation model of the servo motor to obtain the ideal motion speed change of the output shaft under the action of the working current corresponding to the working current data; wherein the ideal motion speed change includes the lossless motion speed change of the output shaft after the working current corresponding to the working current data acts on the servo motor; and then the motion speed is extracted from the ideal motion speed change to obtain the corresponding ideal motion speed change data.

10. The acceleration dynamic control system of the slotless armature DC servo motor according to claim 6, characterized in that: The insufficient speed interval determination module is used to compare the actual speed data with the ideal motion speed change data to determine the insufficient speed interval of the output shaft during the motion process, including: Comparing the actual speed data with the ideal motion speed change data, if the average speed of a certain time domain interval under the actual speed data is less than the average speed of a corresponding time domain interval under the ideal motion speed change data, then determining the time domain interval under the actual speed data as the speed shortage interval of the output shaft during the motion process; The acceleration compensation control module is used to adjust the working current of the servo motor based on the occurrence time information of the insufficient speed interval during the motion process, so as to perform acceleration compensation control on the insufficient speed interval, including: Based on the occurrence time information of the insufficient speed interval during the movement process, the working current amplitude of the servo motor is uniformly increased and adjusted, thereby performing acceleration compensation control on the insufficient speed interval; wherein, the current amplitude increase speed of the uniformly increased working current amplitude is negatively correlated with the time length of the insufficient speed interval.

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