Automatic control method and system of multi-specification adjustable servo driver

Abstract

The invention discloses an automatic control method and system for a multi-specification adjustable servo driver, relates to the technical field of servo control, and aims to solve the problems that the specification of an existing servo driver is adjusted slowly, and the existing servo driver can be adjusted to the required specification through multiple feedback adjustments. The automatic control method of the multi-specification adjustable servo driver comprises the following steps: acquiring load detection data of the servo driver in real time according to a time sequence; extracting load detection data of the servo driver meeting the time sequence, and analyzing and processing the trend of the load detection data; setting a preset condition of specification adjustment, and dividing an adjustment direction and an adjustment rate based on a trend trend analysis processing result; on the basis of a trend trend analysis processing result, obtaining related adjustment parameters; and obtaining the adjustment precision of the servo driver, and adjusting the specification of the servo driver based on the adjustment direction, the adjustment rate, the related adjustment parameters and the adjustment precision of the servo driver.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to an automatic control method and system for a servo driver with adjustable specifications. Background Art

[0002] A servo drive is an electronic device used to control a servo motor. It can receive instructions from the control system and convert the instructions into electrical signals to achieve precise control of the servo motor. A servo drive is usually composed of a control unit and a power amplifier. The control unit is responsible for receiving and processing instructions transmitted by the control system, generating corresponding current or voltage control signals, and converting the control signals into appropriate power outputs through the power amplifier to control and drive the servo motor. Servo drives are widely used in industrial automation, robotics, medical equipment, and aerospace fields due to their high precision, high responsiveness, and high stability, especially in the robot's mechanical arm driving process.

[0003] For example, the patent document "A Multi-Specification Adjustable Servo Driver and Its Control Method" with publication number CN111752222A includes: a main control module and a parameter setting module; the main control module is used to send and receive command signals and process command signal data and send processing results; the parameter setting module is used to send sampling signals to the main control module for processing, and receive parameter adjustment signals fed back by the main control module to optimize output parameter values. Through parameter integration, the driver can automatically adjust important components to the optimal parameter state during operation in a combination of software and hardware; in addition, for different occasions, the parameters of the internal key components can be adjusted autonomously to adjust the specifications of the driver, so that the driver can operate in the optimal state when used in multiple occasions.

[0004] The parameters of the servo drives in the prior art are mostly fixed specifications, which limits the use range of the servo drives and makes them difficult to apply on a large scale. In addition, the existing server component adjustment methods mostly use multiple adjustments through feedback, which has a slow response speed and is difficult to adjust to the required specification parameter values ​​in a timely and effective manner. To this end, the present invention provides an automatic control method and system for a servo drive with multiple adjustable specifications to solve the problem that the existing servo drives have slow adjustment specifications and require multiple feedback adjustments to adjust to the required specifications. Summary of the invention

[0005] The object of the present invention is to provide an automatic control method and system for a servo driver with adjustable specifications, so as to solve the problem that the existing servo driver mentioned in the above background technology has slow adjustment specifications and requires multiple feedback adjustments to adjust to the required specifications.

[0006] To achieve the above object, the present invention provides the following technical solution: an automatic control method of a servo drive with multiple adjustable specifications, comprising the following steps: S1, collecting load detection data of the servo drive in real time according to a time series, wherein the load detection data includes analog quantity type and digital quantity type;

[0007] S2, extracting the load detection data of the servo drive that meets the time series, and analyzing and processing the trend of the load detection data to obtain the trend analysis and processing result;

[0008] S3. Setting preset conditions for specification adjustment to determine whether the trend analysis and processing result meets the preset conditions, so as to divide the adjustment direction and adjustment rate;

[0009] S4. Obtain relevant adjustment parameters based on the trend analysis and processing results;

[0010] S5. Obtain the adjustment accuracy of the servo driver, and adjust the specifications of the servo driver based on the adjustment direction and adjustment rate, relevant adjustment parameters and the adjustment accuracy of the servo driver, so as to timely and accurately adjust the specifications of the servo driver according to the trend of the load detection data.

[0011] Preferably, the automatic control method of a servo drive with adjustable specifications further includes digitally converting the analog quantity type of the load detection data to digitize the load detection data.

[0012] Preferably, the specific process of the trend analysis and processing is as follows:

[0013] S21, dividing the load detection data in chronological order to obtain the load detection data of at least three time periods, marked as fz1, fz2 and fz3;

[0014] S22, respectively obtaining the median values ​​zwf1, zwf2 and zwf3 of the load detection data in the time periods fz1, fz2 and fz3;

[0015] S23, based on the median values ​​zwf1, zwf2 and zwf3 of the load detection data, the average deviation value and deviation ratio of the load detection data in the time periods fz1, fz2 and fz3 are calculated to obtain the deviation ratio Dp of the time period fz1 respectively. a , the deviation ratio Dp of the fz2 time period b 、fz3 time period deviation ratio Dp c .

[0016] Preferably, the preset conditions for specification adjustment include strong positive adjustment conditions, general positive adjustment conditions, strong negative adjustment conditions, general negative adjustment conditions and other conditions; the strong positive adjustment conditions satisfy: zwf1≤zwf2≤zwf3 and Dp a ≤Dp b ≤Dp c ; The general positive adjustment conditions meet: zwf1≤zwf2≤zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≤Dp b ≤Dp c The strong negative adjustment condition meets the following conditions: zwf1≥zwf2≥zwf3 and Dp a ≥Dp b ≥Dp c ; The general negative adjustment conditions meet: zwf1≥zwf2≥zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≥Dp b ≥Dp c The other conditions refer to the situation where zwf1, zwf2 and zwf3 do not satisfy zwf1≤zwf2≤zwf3 and zwf1≥zwf2≥zwf3.

[0017] Preferably, the obtaining of the relevant adjustment parameters includes: obtaining an abnormality judgment parameter, wherein the abnormality judgment parameter is obtained by setting a maximum deviation ratio Dp sta , and obtain it through the abnormal judgment formula:

[0018]

[0019] Wherein YC is an abnormality judgment parameter, based on which it is judged whether the load detection data is abnormal.

[0020] Preferably, the obtaining of the relevant adjustment parameters further comprises: obtaining a fast adjustment parameter, wherein the fast adjustment parameter is obtained by a fast adjustment parameter calculation formula, and the calculation formula of the fast adjustment parameter is:

[0021]

[0022] Where Tz s To quickly adjust the parameters, H1, H2, and H3 are the weights of the three time periods, t1-t2 is the length of the fz1 time period, t3-t4 is the length of the fz2 time period, and t5-t6 is the length of the fz3 time period. The weight calculation formula is:

[0023]

[0024] Where H i are the weights of the three time periods, i = 1, 2, 3, and ti is the duration of each time period;

[0025] The obtaining of the relevant adjustment parameters further includes: obtaining a medium speed adjustment parameter, wherein the medium speed adjustment parameter is obtained by using a medium speed adjustment parameter calculation formula, and the medium speed adjustment parameter calculation formula is:

[0026]

[0027] Where Tz m Adjust parameters for medium speed.

[0028] Preferably, the specific steps of adjusting the servo driver specifications based on the adjustment direction and adjustment rate, relevant adjustment parameters and servo driver adjustment accuracy are:

[0029] S51, judging whether the load detection data is abnormal based on the abnormality judgment parameter, so as to output an abnormality signal or execute the next step;

[0030] S52, adjusting the servo drive specifications based on preset conditions corresponding to the trend analysis and processing results, fast adjustment parameters / medium speed adjustment parameters and servo drive adjustment accuracy;

[0031] S53, executing steps S1-S5 again based on the adjusted servo drive;

[0032] The preset conditions, fast adjustment parameters / medium speed adjustment parameters and servo driver adjustment accuracy corresponding to the trend analysis processing result are specifically as follows: the servo driver adjustment accuracy is defined as Pre, if the trend analysis processing result satisfies the strong positive adjustment condition, the fast adjustment ratio ΔSad is obtained by the fast adjustment formula, and the servo driver specification is positively adjusted based on ΔSad;

[0033] If the trend analysis processing result meets the strong negative adjustment condition, the rapid adjustment ratio ΔSad is obtained by the rapid adjustment formula, and the servo drive specifications are adjusted in the reverse direction based on ΔSad;

[0034] If the trend analysis results meet the general positive adjustment conditions, the medium speed adjustment ratio ΔMad is obtained using the medium speed adjustment formula, and the servo drive specifications are positively adjusted based on ΔMad;

[0035] If the trend analysis result meets the general negative adjustment conditions, the medium speed adjustment ratio ΔMad is obtained using the medium speed adjustment formula, and the servo drive specifications are adjusted in the opposite direction based on ΔMad;

[0036] If the trend analysis results meet other conditions, maintain the original specifications of the servo drive.

[0037] An automatic control system for a servo drive with multiple adjustable specifications, comprising:

[0038] A detection module, the detection module is used to collect load detection data of the servo drive in real time according to a time series, and the detection module is also used to obtain the adjustment accuracy of the servo drive;

[0039] A signal conversion module, the signal conversion module is used to receive the load detection data collected by the detection module and convert the load detection data into numerical values;

[0040] A data processing module, the data processing module is used to receive the load detection data after the digital conversion by the signal conversion module, and analyze and process the load detection data to obtain and output the adjustment direction, adjustment rate and related adjustment parameters;

[0041] The main control module is used to receive the adjustment direction, adjustment rate and related adjustment parameters output by the data processing module. The main control module is also used to adjust the servo drive specifications based on the trend analysis and processing results, related adjustment parameters and servo drive adjustment accuracy.

[0042] Preferably, the data processing module includes a judgment unit and an obtaining unit, the judgment unit is provided with preset conditions for specification adjustment, the judgment unit obtains the deviation ratio through load detection data, and obtains the required adjustment direction and adjustment rate through the deviation ratio and the preset conditions for specification adjustment; the obtaining unit obtains the abnormal judgment parameters, the rapid adjustment parameters and the medium-speed adjustment parameters based on the deviation ratio obtained by the judgment unit.

[0043] Preferably, the main control module includes a receiving unit and an adjustment unit, the receiving unit is used to receive the adjustment direction, adjustment rate and related adjustment parameters output by the data processing module, and receive the servo driver adjustment accuracy obtained by the detection module; the adjustment unit includes adjustment logic, and the adjustment logic includes judging whether the load detection data is abnormal based on the abnormal judgment parameter to output an abnormal signal or based on preset conditions corresponding to the trend analysis and processing results, fast adjustment parameters / medium speed adjustment parameters and servo driver adjustment accuracy to adjust the servo driver specifications.

[0044] Compared with the prior art, the present invention has the following beneficial effects:

[0045] 1. The present invention collects the load detection data of the servo driver in time series, obtains the load trend in time based on the load detection data, and determines the adjustment direction and adjustment rate of the servo driver through preset conditions, so as to timely and effectively adjust the specifications of the servo driver according to the load changes, so as to meet the demand that the servo driver can be adjusted to the required specifications in time when the load changes.

[0046] 2. The present invention proposes an automatic control system for a servo drive with adjustable specifications, and optimizes and improves the structure, operation steps and processes. The system has the advantages of simple process, low investment and operation costs, and low production cost, so that the servo drive can adjust its own specifications in time according to load changes.

[0047] 3. The relevant parameters of the present invention can be set according to actual needs. When the control accuracy is high, the detection time period of the load detection data can be shortened to improve the follow-up adjustment rate of the servo driver. When the control accuracy is general, the detection time period of the load detection data can be increased to improve the anti-disturbance of the servo driver. By adjusting the relevant parameters, the applicability of the present invention can be improved to meet various actual production needs. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 This is a flow chart of an automatic control method of a servo driver with adjustable specifications in Embodiment 1 of the present invention;

[0049] Figure 2 It is a schematic diagram of a trend analysis and processing flow in an automatic control method of a servo drive with adjustable specifications in Embodiment 1 of the present invention;

[0050] Figure 3 It is a schematic diagram of a servo driver specification adjustment process in an automatic control method of a servo driver with multiple adjustable specifications in Embodiment 1 of the present invention;

[0051] Figure 4 This is a schematic diagram of the structure of the automation control system in Example 2 of the present invention;

[0052] Figure 5 This is an electronic device diagram of an automatic control method for a servo driver with adjustable multiple specifications in Example 3 of the present invention. DETAILED DESCRIPTION

[0053] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all the embodiments.

[0054] Example 1

[0055] See also Figure 1-Figure 3, an embodiment provided by the present invention: an automatic control method of a servo drive with adjustable specifications, comprising the following steps:

[0056] S1. Collect load detection data of the servo drive in real time according to the time series. The load detection data includes analog quantity type and digital quantity type. It should be noted that the load detection data includes but is not limited to load current, load speed, etc.;

[0057] It also includes digital conversion of the analog quantity type of the load detection data to digitize the load detection data. The digitization can be achieved by setting a standard numerical value-analog quantity comparison table to realize the digital conversion of the analog quantity, and can also be achieved through a related integrated A / D conversion module.

[0058] S2, extracting the load detection data of the servo drive that meets the time series, and analyzing and processing the trend of the load detection data to obtain the trend analysis and processing result;

[0059] Specifically, the specific process of trend analysis and processing is as follows:

[0060] S21, dividing the load detection data in chronological order to obtain load detection data of at least three time periods, marked as fz1, fz2 and fz3;

[0061] S22, respectively obtain the median values ​​zwf1, zwf2 and zwf3 of the load detection data in the time periods fz1, fz2 and fz3;

[0062] S23, based on the median values ​​zwf1, zwf2 and zwf3 of the load detection data, the average deviation value and deviation ratio of the load detection data in the time periods fz1, fz2 and fz3 are calculated, and the load detection data in the time periods fz1, fz2 and fz3 are divided into low interval data and high interval data according to the median values ​​zwf1, zwf2 and zwf3, and the low interval average values ​​minfz1, minfz2 and minfz3 of the time periods fz1, fz2 and fz3 are obtained respectively by the following formula for calculating the low interval average value:

[0063]

[0064] Where minfzδ is the average value of the low interval in each time period (δ=1,2,3), dδx i is the low interval numerical data of each time period (δ=1,2,3), (i=1,2...mδ), mδ represents the number of low interval numerical data in each time period (δ=1,2,3), for example, the low interval average value minfz1 of the fz1 time period:

[0065]

[0066] Use the following high interval average value formula to obtain the high interval average values ​​maxfz1, maxfz2 and maxfz3 of the time periods fz1, fz2 and fz3 respectively:

[0067]

[0068] Where maxfzδ is the average value of the high interval in each time period (δ=1,2,3), gδx i is the high interval numerical data of each time period (δ=1,2,3), (i=1,2...nδ), nδ represents the number of high interval numerical data in each time period (δ=1,2,3), for example, the high interval average value maxfz1 of time period fz1:

[0069]

[0070] Based on the low interval average value and high interval average value of the time periods fz1, fz2 and fz3, the deviation ratio of each time period is obtained using the following deviation ratio formula:

[0071]

[0072] Where Dp is the deviation ratio. The deviation ratio Dp of the fz1 time period can be obtained by using the deviation ratio formula. a , the deviation ratio Dp of the fz2 time period b 、fz3 time period deviation ratio Dp c .

[0073] S3. Set the preset conditions for specification adjustment to determine whether the trend analysis and processing results meet the preset conditions, so as to divide the adjustment direction and adjustment rate: Strong positive adjustment conditions meet: zwf1≤zwf2≤zwf3 and Dp a ≤Dp b ≤Dp c ;

[0074] Generally, the positive adjustment conditions are as follows: zwf1≤zwf2≤zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≤Dp b ≤Dp c situation;

[0075] Strong negative adjustment conditions are met: zwf1≥zwf2≥zwf3 and Dp a ≥Dp b ≥Dp c ;

[0076] Generally, negative adjustment conditions are met: zwf1≥zwf2≥zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≥Dp b ≥Dp c situation;

[0077] Other conditions refer to the situation where zwf1, zwf2 and zwf3 do not satisfy zwf1≤zwf2≤zwf3 and zwf1≥zwf2≥zwf3, where positive and negative directions represent the adjustment directions of the servo drive specifications, and strong and general represent the adjustment rates of the servo drive.

[0078] S4. Obtain relevant adjustment parameters based on the trend analysis and processing results;

[0079] The relevant adjustment parameters include abnormal judgment parameters, rapid adjustment parameters and general adjustment parameters. sta , maximum deviation ratio Dp sta The value is adjusted according to actual needs. The default maximum deviation ratio is 30%. The abnormal judgment parameter YC is obtained through the abnormal judgment formula:

[0080]

[0081] Wherein, YC is an abnormality judgment parameter. When the value of YC is 0, it is judged that the load detection data has no abnormality. When the value of YC is 1, it is judged that the load detection data is abnormal.

[0082] The fast adjustment parameters are calculated using the following fast adjustment parameter calculation formula:

[0083]

[0084] Where Tz s To quickly adjust the parameters, H1, H2, and H3 are the weights of the three time periods, t1-t2 is the length of the fz1 time period, t3-t4 is the length of the fz2 time period, and t5-t6 is the length of the fz3 time period. The weight calculation formula is:

[0085]

[0086] Where H i are the weights of the three time periods, i = 1, 2, 3, and ti is the duration of each time period.

[0087] The medium speed adjustment parameter is obtained by the following medium speed adjustment parameter calculation formula:

[0088]

[0089] Where Tz m Adjust parameters for medium speed.

[0090] S5. Obtain the adjustment accuracy of the servo driver, and adjust the specifications of the servo driver based on the adjustment direction and adjustment rate, relevant adjustment parameters and the adjustment accuracy of the servo driver, so as to timely and accurately adjust the specifications of the servo driver according to the trend of the load detection data.

[0091] The adjustment accuracy of the servo driver can be obtained by a preset input method according to the type of the actual servo driver, and the adjustment accuracy of the servo driver is recorded as Pre.

[0092] The specific steps for adjusting the servo drive specifications based on the adjustment direction and adjustment rate, related adjustment parameters and servo drive adjustment accuracy are as follows:

[0093] S51. Determine whether the load detection data is abnormal based on the abnormal judgment parameter to output an abnormal signal or execute the next step. If the value of the abnormal judgment parameter YC is 1, output an abnormal signal and provide visual feedback, for example, by outputting it to the human-computer interaction screen, so that the staff can adjust the servo drive and load detection data sampling in time and correct the servo drive in time. If the value of the abnormal judgment parameter YC is 0, continue to execute the following steps.

[0094] S52, based on the preset conditions corresponding to the trend analysis and processing results, the fast adjustment parameters / medium speed adjustment parameters and the servo drive adjustment accuracy to adjust the servo drive specifications, and through the servo drive adjustment accuracy Pre, if the trend analysis and processing results meet the strong positive adjustment conditions, the fast adjustment ratio is obtained by the fast adjustment formula:

[0095]

[0096] Where ΔSad is the rapid adjustment ratio, ωout is the rated output rotation speed of the servo drive, in rad / s, and τout is the rated output torque of the servo drive, in N*m, Tz s In order to quickly adjust the parameters, the dimension is removed. Pre is the adjustment accuracy of the servo drive, in rad*N*m / s, and the servo drive specifications are adjusted positively based on ΔSad.

[0097] If the trend analysis processing result meets the strong negative adjustment condition, the rapid adjustment ratio ΔSad is obtained by the rapid adjustment formula, and the servo drive specifications are adjusted in the reverse direction based on ΔSad;

[0098] If the trend analysis results meet the general positive adjustment conditions, use the medium-speed adjustment formula to obtain the medium-speed adjustment ratio:

[0099]

[0100] Where ΔMad is the medium speed adjustment ratio, Tz m The parameters for medium speed adjustment are dimensionless and the servo drive specifications are adjusted positively based on ΔMad;

[0101] If the trend analysis result meets the general negative adjustment conditions, the medium speed adjustment ratio ΔMad is obtained using the medium speed adjustment formula, and the servo drive specifications are adjusted in the opposite direction based on ΔMad;

[0102] If the trend analysis results meet other conditions, maintain the original specifications of the servo drive.

[0103] S53, executing steps S1-S5 again based on the adjusted servo driver to continuously adjust the specifications of the servo driver according to load changes.

[0104] Example 2

[0105] See also Figure 4 The present invention provides an embodiment, an automatic control system of a servo drive with adjustable specifications, including a detection module, a signal conversion module, a data processing module and a main control module.

[0106] The detection module collects the load detection data of the servo drive in real time according to a time series, obtains the adjustment accuracy Pre of the servo drive through a preset input method, and transmits the load detection data to the signal conversion module.

[0107] After receiving the load detection data, the signal conversion module converts the analog quantity type in the load detection data into digital form, realizes the digitization process by integrating the A / D conversion module in the signal conversion module, and transmits the converted load detection data to the data processing module.

[0108] The data processing module receives the load detection data after being numerically converted by the signal conversion module. The data processing module includes a judgment unit and an obtaining unit. The judgment unit obtains the load detection data of at least three time periods by dividing the load detection data in chronological order, obtains the deviation ratio of each time period based on the median value of the load data in each time period, and judges the adjustment direction and adjustment rate of the servo drive specifications based on the preset conditions for specification adjustment, the median value of the load data in each time period and the deviation ratio of each time period by presetting preset conditions for specification adjustment in the data processing module, and outputs the adjustment direction and adjustment rate.

[0109] The obtaining unit sets the maximum deviation ratio, and based on the deviation ratio of each time period, obtains the abnormal judgment parameter with the abnormal judgment formula, and obtains the weight of each time period according to the length of each time period, obtains the fast adjustment parameter with the deviation ratio and weight of each time period based on the fast adjustment parameter calculation formula, and obtains the medium-speed adjustment parameter with the deviation ratio and weight of each time period based on the medium-speed adjustment parameter calculation formula, and outputs the abnormal judgment parameter, the fast adjustment parameter and the medium-speed adjustment parameter.

[0110] The main control module includes a receiving unit and an adjusting unit. The receiving unit receives the adjustment direction, adjustment rate, abnormal judgment parameter, fast adjustment parameter and medium speed adjustment parameter output by the judging unit and the obtaining unit, and receives the adjustment accuracy Pre of the servo drive obtained by the detecting module.

[0111] The adjustment unit includes an adjustment logic, and the adjustment logic includes: judging whether the load detection data is abnormal through the value of the abnormal judgment parameter; if the load detection data is abnormal, outputting an abnormal signal, and visually feeding back the abnormal signal, and outputting the abnormal signal to the human-machine interaction screen, so as to enable the staff to timely adjust the servo drive and load detection data sampling, and timely correct the servo drive; if the load detection data is normal, determining the corresponding adjustment parameter based on the adjustment rate: if the trend trend analysis and processing result meets the strong positive adjustment condition, obtaining the fast adjustment ratio by the fast adjustment formula, and positively adjusting the servo drive specification based on the fast adjustment ratio; if the trend trend analysis and processing result meets the strong negative adjustment condition, obtaining the fast adjustment ratio by the fast adjustment formula, and reversely adjusting the servo drive specification based on the fast adjustment ratio; if the trend trend analysis and processing result meets the general positive adjustment condition, obtaining the medium speed adjustment ratio by the medium speed adjustment formula, and positively adjusting the servo drive specification based on the medium speed adjustment ratio; if the trend trend analysis and processing result meets the general negative adjustment condition, obtaining the medium speed adjustment ratio by the medium speed adjustment formula, and reversely adjusting the servo drive specification based on the medium speed adjustment ratio; if the trend trend analysis and processing result meets other conditions, maintaining the original specification of the servo drive.

[0112] Example 3

[0113] See also Figure 5 An electronic device includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, an automatic control method of a servo drive with adjustable specifications is implemented.

[0114] A computer-readable storage medium stores computer instructions, which, when executed, execute an automatic control method for a servo drive with adjustable specifications.

[0115] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. The device embodiments described above are merely schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of the devices or units can be electrical, mechanical or other forms.

[0116] Finally, it should be noted that the above-described embodiments are only specific implementations of the present invention, which are used to illustrate the technical solutions of the present invention, rather than to limit them. The protection scope of the present invention is not limited thereto. Although the present invention is described in detail with reference to the above-described embodiments, ordinary technicians in the field should understand that any technician familiar with the technical field can still modify the technical solutions recorded in the above-described embodiments within the technical scope disclosed by the present invention, or can easily think of changes, or make equivalent replacements for some of the technical features therein; and these modifications, changes or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention shall be based on the protection scope of the claims.

Claims

1. An automatic control method for a servo drive with multiple adjustable specifications, characterized in that: The steps include: S1. Collect load detection data of the servo drive in real time according to a time series, wherein the load detection data includes analog quantity type and digital quantity type; S2, extracting the load detection data of the servo drive that meets the time series, and analyzing and processing the trend of the load detection data to obtain the trend analysis and processing result; S3. Setting preset conditions for specification adjustment to determine whether the trend analysis and processing result meets the preset conditions, so as to divide the adjustment direction and adjustment rate; S4. Obtain relevant adjustment parameters based on the trend analysis and processing results; S5. Obtain the adjustment accuracy of the servo driver, and adjust the specifications of the servo driver based on the adjustment direction and adjustment rate, relevant adjustment parameters and the adjustment accuracy of the servo driver, so as to timely and accurately adjust the specifications of the servo driver according to the trend of the load detection data.

2. The automatic control method of a servo driver with multiple adjustable specifications according to claim 1, characterized in that: Also includes: Digital conversion is performed on the analog quantity type of the load detection data to digitize the load detection data.

3. The automatic control method of a servo driver with multiple adjustable specifications according to claim 2, characterized in that: The specific process of the trend analysis and processing is as follows: S21, dividing the load detection data in chronological order to obtain the load detection data of at least three time periods, marked as fz1, fz2 and fz3; S22, respectively obtaining the median values ​​zwf1, zwf2 and zwf3 of the load detection data in the time periods fz1, fz2 and fz3; S23, based on the median values ​​zwf1, zwf2 and zwf3 of the load detection data, the average deviation value and deviation ratio of the load detection data in the time periods fz1, fz2 and fz3 are calculated to obtain the deviation ratio Dp of the time period fz1 respectively. a , the deviation ratio Dp of the fz2 time period b 、fz3 time period deviation ratio Dp c .

4. The automatic control method of a servo driver with multiple adjustable specifications according to claim 3 is characterized in that: The preset conditions for specification adjustment include strong positive adjustment conditions, general positive adjustment conditions, strong negative adjustment conditions, general negative adjustment conditions and other conditions; The strong positive adjustment condition satisfies: zwf1≤zwf2≤zwf3 and Dp a ≤Dp b ≤Dp c ; The general positive adjustment conditions are: zwf1≤zwf2≤zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≤Dp b ≤Dp c situation; The strong negative adjustment condition meets the following conditions: zwf1≥zwf2≥zwf3 and Dp a ≥Dp b ≥Dp c ; The general negative adjustment conditions are: zwf1≥zwf2≥zwf3 and Dp a 、Dp b and Dp c Does not meet Dp a ≥Dp b ≥Dp c situation; The other conditions refer to the situation where zwf1, zwf2 and zwf3 do not satisfy zwf1≤zwf2≤zwf3 and zwf1≥zwf2≥zwf3.

5. The automatic control method of a servo driver with multiple adjustable specifications according to claim 4 is characterized in that: The obtaining of the relevant adjustment parameters includes: obtaining an abnormality judgment parameter, wherein the abnormality judgment parameter is obtained by setting a maximum deviation ratio Dp sta , and obtain it through the abnormal judgment formula: Wherein YC is an abnormality judgment parameter, based on which it is judged whether the load detection data is abnormal.

6. The automatic control method of a servo driver with multiple adjustable specifications according to claim 5, characterized in that: The obtaining of the relevant adjustment parameters further includes: obtaining a fast adjustment parameter, wherein the fast adjustment parameter is obtained by a fast adjustment parameter calculation formula, and the calculation formula of the fast adjustment parameter is: Where Tz s To quickly adjust the parameters, H1, H2, and H3 are the weights of the three time periods, t1-t2 is the length of the fz1 time period, t3-t4 is the length of the fz2 time period, and t5-t6 is the length of the fz3 time period. The weight calculation formula is: Where H i are the weights of the three time periods, i = 1, 2, 3, and ti is the duration of each time period; The obtaining of the relevant adjustment parameters further includes: obtaining a medium speed adjustment parameter, wherein the medium speed adjustment parameter is obtained by using a medium speed adjustment parameter calculation formula, and the medium speed adjustment parameter calculation formula is: Where Tz m Adjust parameters for medium speed.

7. The automatic control method of a servo driver with multiple adjustable specifications according to claim 6 is characterized in that: The specific steps of adjusting the servo drive specifications based on the adjustment direction and adjustment rate, relevant adjustment parameters and servo drive adjustment accuracy are as follows: S51, judging whether the load detection data is abnormal based on the abnormality judgment parameter, so as to output an abnormality signal or execute the next step; S52, adjusting the servo drive specifications based on preset conditions corresponding to the trend analysis and processing results, fast adjustment parameters / medium speed adjustment parameters and servo drive adjustment accuracy; S53, executing steps S1-S5 again based on the adjusted servo drive; The preset conditions, fast adjustment parameters / medium speed adjustment parameters and servo driver adjustment accuracy corresponding to the trend analysis processing result are specifically as follows: the servo driver adjustment accuracy is defined as Pre, if the trend analysis processing result satisfies the strong positive adjustment condition, the fast adjustment ratio ΔSad is obtained by the fast adjustment formula, and the servo driver specification is positively adjusted based on ΔSad; If the trend analysis processing result meets the strong negative adjustment condition, the rapid adjustment ratio ΔSad is obtained by the rapid adjustment formula, and the servo drive specifications are adjusted in the reverse direction based on ΔSad; If the trend analysis results meet the general positive adjustment conditions, the medium speed adjustment ratio ΔMad is obtained using the medium speed adjustment formula, and the servo drive specifications are positively adjusted based on ΔMad; If the trend analysis result meets the general negative adjustment conditions, the medium speed adjustment ratio ΔMad is obtained using the medium speed adjustment formula, and the servo drive specifications are adjusted in the opposite direction based on ΔMad; If the trend analysis results meet other conditions, maintain the original specifications of the servo drive.

8. An automatic control system for a servo drive with multiple adjustable specifications, implemented based on the automatic control method for a servo drive with multiple adjustable specifications as claimed in claim 1, characterized in that: include: A detection module, the detection module is used to collect load detection data of the servo drive in real time according to a time series, and the detection module is also used to obtain the adjustment accuracy of the servo drive; A signal conversion module, the signal conversion module is used to receive the load detection data collected by the detection module and convert the load detection data into numerical values; A data processing module, the data processing module is used to receive the load detection data after the digital conversion by the signal conversion module, and analyze and process the load detection data to obtain and output the adjustment direction, adjustment rate and related adjustment parameters; The main control module is used to receive the adjustment direction, adjustment rate and related adjustment parameters output by the data processing module. The main control module is also used to adjust the servo drive specifications based on the trend analysis and processing results, related adjustment parameters and servo drive adjustment accuracy.

9. The automatic control system of a servo drive with multiple adjustable specifications according to claim 8, characterized in that: The data processing module includes a judgment unit and an acquisition unit, wherein the judgment unit is provided with preset conditions for specification adjustment, and the judgment unit obtains the deviation ratio through load detection data, and obtains the required adjustment direction and adjustment rate through the deviation ratio and the preset conditions for specification adjustment; The obtaining unit obtains an abnormality judgment parameter, a fast adjustment parameter and a medium speed adjustment parameter based on the deviation ratio obtained by the judgment unit.

10. The automatic control system of a servo drive with multiple adjustable specifications according to claim 9, characterized in that: The main control module includes a receiving unit and an adjustment unit, wherein the receiving unit is used to receive the adjustment direction, adjustment rate and related adjustment parameters output by the data processing module, and receive the servo drive adjustment accuracy obtained by the detection module; The adjustment unit includes adjustment logic, which includes judging whether the load detection data is abnormal based on abnormal judgment parameters to output an abnormal signal or adjusting the servo drive specifications based on preset conditions corresponding to trend analysis and processing results, fast adjustment parameters / medium speed adjustment parameters and servo drive adjustment accuracy.

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