Rotor operation control method and device, electronic equipment and storage medium

Abstract

The embodiment of the invention provides a rotor operation control method and device, electronic equipment and a storage medium, and the method comprises the steps: firstly, obtaining a system transfer function in a rotor control system, and determining an attenuation rate and pulse duration based on a pole of the system transfer function; then, obtaining an exponential filtering function according to the attenuation rate and the pulse duration, and performing time domain transformation on the exponential filtering function to obtain a filtering transfer function; and finally, obtaining a smooth transfer function based on cascade connection of the filtering transfer function and the system transfer function, determining a control signal of the rotor based on the smooth transfer function, and performing feed-forward control on the system transfer function by using an exponential filtering function before sending an instruction to control the movement of the rotor. The condition that a pole of a system transfer function is on a right half plane of a complex plane is filtered, so that a smooth transfer function with high control smoothness is generated, and the control smoothness in the rotor operation process is improved.

Description

Technical Field

[0001] The present application relates to the field of control technology, and in particular to a mover operation control method, device, electronic device and storage medium. Background Art

[0002] Magnetic drive conveying technology uses magnetic force to drive the mover carrying the transported items to move on the conveying track. This technology generates a changing magnetic field through an electromagnetic device to achieve contactless drive of the mover, avoiding friction and wear in traditional mechanical conveying systems. The main advantages of magnetic drive conveying systems include high efficiency, low maintenance, and precise motion control. Therefore, magnetic drive conveying systems are widely used in various automated production lines and electronic manufacturing fields.

[0003] In order to control the operation of the mover carrying the transported liquid by using magnetic drive transportation technology, the drive control instructions of the motor are usually generated according to the target transport point and the transport operation data, and the mover is controlled to operate based on the drive control instructions. However, this control method can easily cause the mover to vibrate during operation due to uneven operation control, which is not conducive to the processing and transportation of products. Summary of the invention

[0004] The embodiments of the present application provide a mover operation control method, device, electronic device and storage medium, which can improve the control smoothness during the mover operation process.

[0005] To achieve the above-mentioned purpose, a first aspect of an embodiment of the present application proposes a mover operation control method, the method comprising:

[0006] Acquire a system transfer function in the actuator control system, and determine a decay rate and a pulse duration based on the poles of the system transfer function;

[0007] An exponential filter function is obtained according to the attenuation rate and the pulse duration, and a filter transfer function is obtained by performing a time domain transformation on the exponential filter function;

[0008] Based on the cascade connection of the filter transfer function and the system transfer function, a smooth transfer function is obtained, and the control signal of the mover is determined based on the smooth transfer function.

[0009] In some embodiments, the pole includes a first pole part and a second pole part superimposed on each other, and determining the attenuation rate and the pulse duration based on the pole of the system transfer function includes:

[0010] Obtaining the damping ratio and natural frequency of the mover control system;

[0011] The first pole part is obtained by multiplying the damping ratio and the natural frequency and taking a negative value, and the attenuation rate is determined by the first pole part;

[0012] The second pole portion is obtained based on the imaginary parameter, the damping ratio, and the natural frequency, and the pulse duration is determined based on the second pole portion.

[0013] In some embodiments, obtaining the damping ratio and natural frequency of the actuator control system includes:

[0014] Acquiring a mover mass of a mover, a system stiffness of a control system of the mover, and a damping coefficient of the control system of the mover;

[0015] Based on the product of the mover mass and the system stiffness, a damping denominator value is obtained by performing a square root process, and based on the ratio of the damping coefficient and the damping denominator value, the damping ratio is obtained;

[0016] The natural frequency is obtained based on the ratio of the system stiffness to the mover mass and by performing square root processing.

[0017] In some embodiments, obtaining the second pole part based on the imaginary parameter, the damping ratio and the natural frequency, and determining the pulse duration based on the second pole part comprises:

[0018] Based on one minus the square of the damping ratio, performing a square root process to obtain a damping ratio deviation value, and based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value to obtain the second pole part;

[0019] The pulse duration is obtained based on twice the product of the pi and the imaginary parameter and divided by the second pole portion.

[0020] In some embodiments, obtaining an exponential filtering function according to the decay rate and the pulse duration includes:

[0021] Acquire a complex frequency domain parameter, obtain a first index based on the product of the attenuation rate and the pulse duration, obtain a second index based on the product of the pulse duration and the complex frequency domain parameter, obtain a first index parameter based on the power of the first index of a natural index, and obtain a second index parameter based on the power of the second exponent of the natural exponent;

[0022] Obtain a first reference index parameter based on the first index parameter minus one, obtain a second reference index parameter based on one minus the product of the first index parameter and the second index parameter, and obtain a complex frequency domain attenuation parameter based on a complex frequency domain parameter minus the attenuation rate;

[0023] A first function term is obtained based on the ratio of the attenuation rate and the first reference exponential parameter, a second function term is obtained based on the ratio of the second reference exponential parameter and the complex frequency domain attenuation parameter, and the exponential filtering function is obtained based on the product of the first function term and the second function term.

[0024] In some embodiments, the obtaining of a smoothed transfer function based on the cascade connection of the filter transfer function and the system transfer function comprises:

[0025] Performing a zero-point processing on the second reference exponential parameter to obtain a filtering zero-point function of the exponential filtering function, wherein the filtering zero-point function includes discrete parameters;

[0026] Based on the damping ratio and the natural frequency, a filtering zero point value of the filtering zero point function is calculated when the discrete parameter is one;

[0027] Based on the attenuation rate and the pulse duration, a modified exponential filter coefficient of the filter transfer function is calculated when the complex frequency domain parameter is the filter zero value;

[0028] The modified exponential filter coefficient and the system transfer function are cascaded to obtain the smoothed transfer function.

[0029] In some embodiments, performing a time domain transformation on the exponential filter function to obtain a filter transfer function includes:

[0030] Based on the Laplace transform of the exponential filter function, a time domain filter function is obtained;

[0031] Using the pulse duration as a sampling period to sample the time domain filter function, to obtain the filter transfer function;

[0032] Alternatively, the exponential filter function is discretized to obtain the filter transfer function.

[0033] In some embodiments, the method further comprises:

[0034] Determining the stability of the mover during operation based on the control signal;

[0035] When the stability is lower than a preset stability threshold, reducing the mover mass of the mover, and updating the smoothing transfer function based on the updated mover mass;

[0036] The operation of the mover is controlled based on the updated smooth transfer function.

[0037] To achieve the above-mentioned purpose, a second aspect of an embodiment of the present application provides a mover operation control device, the device comprising:

[0038] An acquisition module, used for acquiring a system transfer function in a mover control system, and determining a decay rate and a pulse duration based on the poles of the system transfer function;

[0039] A time domain transformation module, used to obtain an exponential filter function according to the attenuation rate and the pulse duration, and perform time domain transformation on the exponential filter function to obtain a filter transfer function;

[0040] The control module is used to obtain a smooth transfer function based on the cascade of the filter transfer function and the system transfer function, and determine the control signal of the mover based on the smooth transfer function.

[0041] To achieve the above-mentioned purpose, the third aspect of an embodiment of the present application proposes an electronic device, which includes a memory and a processor, the memory stores a computer program, and the processor implements the mover operation control method described in the first aspect when executing the computer program.

[0042] To achieve the above-mentioned purpose, the fourth aspect of an embodiment of the present application proposes a storage medium, which is a computer-readable storage medium, and the storage medium stores a computer program. When the computer program is executed by a processor, the mover operation control method described in the first aspect is implemented.

[0043] The embodiment of the present application proposes a method, device, electronic device and storage medium for controlling the operation of the mover, and the method includes: first, obtaining the system transfer function in the mover control system, determining the attenuation rate and pulse duration based on the poles of the system transfer function; then, obtaining an exponential filter function according to the attenuation rate and pulse duration, and performing a time domain transformation on the exponential filter function to obtain a filter transfer function; finally, based on the cascade of the filter transfer function and the system transfer function, a smooth transfer function is obtained, and the control signal of the mover is determined based on the smooth transfer function. Before sending an instruction to control the movement of the mover, the embodiment of the present application utilizes the high stability factor of the system when the poles of the system transfer function are in the left half plane of the complex plane, utilizes the attenuation rate and pulse duration obtained from the poles of the system transfer function to generate an exponential filter function, and utilizes the exponential filter function to perform feedforward control on the system transfer function to filter the situation where the poles of the system transfer function are in the right half plane of the complex plane, thereby generating a smooth transfer function with high control smoothness, and utilizing the smooth transfer function to generate a control signal to control the operation of the mover, thereby improving the control smoothness during the operation of the mover.

[0044] Other features and advantages of the present application will be described in the following description, and partly become apparent from the description, or understood by practicing the present application. The purpose and other advantages of the present application can be realized and obtained by the structures specifically pointed out in the description, claims and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 It is a structural schematic diagram of a magnetic drive conveying system provided in one embodiment of the present application.

[0046] Figure 2 This is a flow chart of a mover operation control method provided in yet another embodiment of the present application.

[0047] Figure 3 yes Figure 2 Flow chart of step 201 in FIG.

[0048] Figure 4 yes Figure 3 Flow chart of step 301 in FIG.

[0049] Figure 5 yes Figure 3 Flow chart of step 303 in FIG.

[0050] Figure 6 yes Figure 2 Flow chart of step 202 in FIG.

[0051] Figure 7 yes Figure 2 Another flow chart of step 202 in FIG.

[0052] Figure 8 yes Figure 2 Flow chart of step 203 in FIG.

[0053] Fig. 9 This is a schematic diagram of generating an operation control instruction provided in another embodiment of the present application.

[0054] Fig.10 This is a flowchart for making adjustments in the mover operation control provided in another embodiment of the present application.

[0055] Fig.11 It is a structural schematic diagram of a mover operation control device provided in one embodiment of the present application.

[0056] Fig.12 It is a schematic diagram of the hardware structure of an electronic device provided in one embodiment of the present application. DETAILED DESCRIPTION

[0057] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0058] It should be noted that although the functional modules are divided in the device schematic and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0059] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing the embodiments of this application and are not intended to limit this application.

[0060] Magnetic drive conveying technology uses magnetic force to drive the mover carrying the transported items to move on the conveying track. This technology generates a changing magnetic field through an electromagnetic device to achieve contactless drive of the mover, avoiding friction and wear in traditional mechanical conveying systems. The main advantages of magnetic drive conveying systems include high efficiency, low maintenance, and precise motion control. Therefore, magnetic drive conveying systems are widely used in various automated production lines and electronic manufacturing fields.

[0061] In order to control the operation of the mover carrying the transported liquid by using magnetic drive transportation technology, the drive control instructions of the motor are usually generated according to the target transport point and the transport operation data, and the mover is controlled to operate based on the drive control instructions. However, this control method can easily cause the mover to vibrate during operation due to uneven operation control, which is not conducive to the processing and transportation of products.

[0062] In order to improve the control smoothness during the operation of the mover, before sending an instruction to control the movement of the mover, the embodiment of the present application utilizes the high stability factor of the system when the poles of the system transfer function are in the left half plane of the complex plane, utilizes the attenuation rate and pulse duration obtained from the poles of the system transfer function to generate an exponential filter function, and uses the exponential filter function to perform feedforward control on the system transfer function to filter the situation where the poles of the system transfer function are in the right half plane of the complex plane, thereby generating a smooth transfer function with high control smoothness, and utilizing the smooth transfer function to generate a control signal to control the operation of the mover, thereby improving the control smoothness during the operation of the mover.

[0063] The following will further describe the mover operation control method, device, electronic device and storage medium provided in the embodiments of the present application. The mover operation control method provided in the embodiments of the present application can be applied to intelligent terminals, servers, computers, etc. connected to the magnetic drive conveying system.

[0064] In order to better illustrate the mover operation control method provided in the embodiment of the present application, this embodiment first describes a magnetic drive conveying system using a mover position detection method. Figure 1 As shown in FIG. 1 , it is a schematic diagram of the structure of a magnetic drive conveying system provided in an embodiment of the present application. Figure 1 As shown, the magnetic drive conveying system includes a conveying track and a motor controller, and the mover carrying the transported workpiece runs on the conveying track. In addition, the motor controller is connected to the conveying track for communication and is used to control the operation of the mover. It can be understood that the transported workpiece carried by the mover can be solid or liquid, which does not affect the implementation of the mover operation control method provided in this application.

[0065] The mover operation control method provided in this solution can be applied to a motor controller.

[0066] Based on the above magnetic drive conveying system, the mover operation control method in the embodiment of the present application will be described in detail below. Figure 2 , which is an optional flow chart of the mover operation control method provided in the embodiment of the present application, Figure 2 The method may include but is not limited to steps 201 to 204. It can also be understood that this embodiment Figure 2 The order of step 201 to step 204 is not specifically limited, and the order of steps can be adjusted or some steps can be reduced or added according to actual needs.

[0067] Step 201: Obtain a system transfer function in a mover control system, and determine a decay rate and a pulse duration based on the poles of the system transfer function.

[0068] Step 201 is described in detail below.

[0069] In some embodiments, in a magnetic drive conveying system, the system controls the mover to move from a starting point to a specified point, and the mover's movement path, movement speed, acceleration and other parameters are controlled by a motor controller; when the motor controller responds to the control of the mover's operation instruction, in order to generate a corresponding operation control instruction, it is first necessary to obtain the system transfer function in the mover control system in the motor controller as shown in the following formula (1).

[0070]

[0071] Where, δ is the damping ratio in the actuator control system, ω n is the natural frequency in the dynamic control system. The system transfer function (1) represents the Laplace transform of the ratio of the system output to the input in the dynamic control system.

[0072] After obtaining the system transfer function (1) of the actuator control system, in order to obtain the operation control instruction corresponding to the operation instruction and improve the control smoothness of the generated operation control instruction, it is necessary to perform feedforward processing on the system transfer function. Therefore, after obtaining the system transfer function (1), the attenuation rate and pulse duration are determined based on the poles of the system transfer function, so as to generate the correlation coefficient of the feedforward processing by using the attenuation rate and pulse duration.

[0073] It is understandable that the stability of the actuator control system is directly affected by the position of the poles of the transfer function of this system, and their position on the complex plane determines the dynamic behavior of the system. If a actuator control system is stable, then all the poles of the system transfer function must be located in the left half of the complex plane (for continuous-time systems). Because, when the actuator control system is disturbed, only the actuator control system with poles located in the left half plane can ensure that the response eventually decays to zero, that is, the actuator control system can return to a steady state. That is, the position of the poles of the system transfer function (1) in the left half of the complex plane in the complex frequency domain can effectively overcome the disturbance of the motion control command to the actuator, so as to ensure the stability of the motion of the actuator during the conveying process, and to ensure the smoothness of the actuator control. And because the relevant hardware parameters in the motor controller are usually fixed, it is impossible to guarantee that the poles of the system transfer function are located in the left half of the complex plane in the complex frequency domain under any circumstances. That is, if the system transfer function is directly used to generate motion control instructions for motion control, the control of the mover will be unstable, making the motion control of the mover not smooth, and causing the transport liquid carried by the mover to oscillate greatly. Therefore, when the motor controller controls the mover for motion control, it is necessary to perform corresponding feedforward processing at the system transfer function to adjust the poles of the system transfer function (1) to the left half of the complex plane in the complex frequency domain. The following will further describe how to determine the attenuation rate and pulse duration based on the poles of the system transfer function.

[0074] Reference Figure 3 , determining the attenuation rate and the pulse duration based on the poles of the system transfer function, including the following steps 301 to 303.

[0075] Step 301: Obtain the damping ratio and natural frequency of the actuator control system.

[0076] Step 301 is described in detail below.

[0077] In some embodiments, in order to determine the attenuation rate and pulse duration based on the poles of the system transfer function (1), it is first necessary to obtain the damping ratio and natural frequency of the actuator control system, so as to facilitate the subsequent determination of the poles of the system transfer function (1) using the damping ratio and natural frequency, and then further determine the attenuation rate and pulse duration. The following will further describe how to obtain the damping ratio and natural frequency.

[0078] Reference Figure 4 , obtaining the damping ratio and natural frequency of the actuator control system, including the following steps 401 to 403.

[0079] Step 401: Obtain the mover mass of the mover, the system stiffness of the mover control system, and the damping coefficient of the mover control system.

[0080] Step 402: Based on the product of the mover mass and the system stiffness, a damping denominator value is obtained by performing a square root process, and based on the ratio of the damping coefficient and the damping denominator value, a damping ratio is obtained.

[0081] Step 403: Based on the ratio of the system stiffness and the mover mass, a square root process is performed to obtain the natural frequency.

[0082] Steps 401 to 403 are described in detail below.

[0083] In some embodiments, firstly, the mover mass m of the mover that needs to be motion controlled, the system stiffness k of the mover control system in the motor controller, and the damping coefficient c of the mover control system are obtained. It can be understood that the system stiffness k and the damping coefficient c are fixed parameters in the motor controller and usually do not change.

[0084] Then, based on the product of the mover mass m and the system stiffness k, and taking the square root, the damping denominator value is obtained Based on the ratio of the damping coefficient and twice the value of the damping denominator, the damping ratio δ is obtained as shown in the following formula (2).

[0085]

[0086] It can be understood that the damping ratio δ is a dimensionless parameter that measures the damping characteristics in the mover control system, which describes the speed of energy dissipation in the mover control system. The damping ratio δ determines the speed and amplitude of the oscillation of the mover control system returning to the equilibrium position after being disturbed. A high damping ratio δ means that the mover control system can quickly reduce the oscillation and stabilize, while a low damping ratio δ means that the mover control system will have a large oscillation in the process of returning to the equilibrium position after controlling the mover. The value of the damping ratio δ is usually between 0 and 1. When the damping ratio is 0, the mover control system is underdamped, and there will be continuous oscillation when the mover is in operation control; when the damping ratio is 1, the mover control system is critically damped, there is no oscillation when the mover is in operation control, but the response speed is slow; when the damping ratio is greater than 1, the mover control system is overdamped, there is no oscillation when the mover is in operation control, and the response speed is faster.

[0087] However, the system stiffness k and the damping coefficient c are fixed parameters in the motor controller and usually do not change. Therefore, in actual control, the damping ratio δ only changes with the change of the mover mass m. Therefore, it is impossible to directly adjust the smoothness of the mover control under a certain mover mass m by adjusting the damping ratio δ.

[0088] In addition, based on the ratio of the system stiffness k of the mover control system and the mover mass m, the natural frequency ω is obtained by performing square root processing. n As shown in the following formula (3).

[0089]

[0090] Among them, the natural frequency ω n The oscillation speed of the mover control system in the free oscillation state is defined, that is, the frequency of the natural vibration of the mover control system without external force.

[0091] In some embodiments, the system stiffness k can also be the stiffness in the maglev conveying system. The stiffness is determined by testing and analyzing the materials used in the maglev conveying system and measuring the force-displacement relationship of the maglev conveying system by experimental methods (such as by applying a known force to the maglev conveying system to measure the corresponding displacement). That is, the system stiffness k is determined by the slope of the force-displacement curve, that is, K=F / xx, where F is the applied force and xx is the corresponding displacement.

[0092] Then, the natural frequency ω of the mover control system in the maglev conveying system is obtained by using the experimentally obtained system stiffness k and the known mover mass m on the maglev conveying track. n .

[0093] In some embodiments, after obtaining the natural frequency ω nAfter that, the second-order linear system formula can be used To calculate the damping ratio δ of the maglev transportation system. The natural frequency ω of the maglev transportation system is obtained n and the damping ratio δ, we can calculate the conditional values ​​of the appropriate exponential filter (i.e., pulse duration and decay rate) in real time.

[0094] Step 302: Obtain a first pole portion according to the product of the damping ratio and the natural frequency and take the negative value, and determine the attenuation rate of the first pole portion.

[0095] Step 303: Obtain a second pole part based on the imaginary parameter, the damping ratio and the natural frequency, and determine the pulse duration based on the second pole part.

[0096] Steps 302 to 303 are described in detail below.

[0097] In some embodiments, after obtaining the damping ratio δ and the natural frequency ω n After that, the denominator of the system transfer function (1) is set to zero, that is, By solving the parameters, the poles in the system transfer function (1) can be obtained, which include the first pole part and the second pole part superimposed on each other.

[0098] The first pole part can be obtained by the damping ratio δ and the natural frequency ω n The product of and taking the negative value, we get, that is -δω n Then, the attenuation rate σ is determined based on the first pole part, that is, σ = -δω n .

[0099] In addition, the second pole part can be obtained through the imaginary parameter, the damping ratio and the natural frequency, and then the pulse duration is determined based on the second pole part. The following will further describe in detail how to obtain the second pole part and how to determine the pulse response time based on the second pole part.

[0100] Reference Figure 5 , based on the imaginary parameter, the damping ratio and the natural frequency, a second pole part is obtained, and a pulse duration is determined based on the second pole part, including the following steps 501 to 502.

[0101] Step 501: Based on one minus the square of the damping ratio, a square root process is performed to obtain a damping ratio deviation value, and a second pole part is obtained based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value.

[0102] Step 502: The pulse duration is obtained based on the product of twice the number of pi and the imaginary parameter and divided by the second pole part.

[0103] Steps 501 to 502 are described in detail below.

[0104] In some embodiments, after obtaining the imaginary parameter j, the damping ratio δ and the natural frequency ω n In addition, based on one minus the square of the damping ratio δ 2 , and then perform square root processing to obtain the damping ratio deviation value Based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value, the second pole part is obtained as shown in the following formula (4).

[0105]

[0106] The poles in the system transfer function (1) can be obtained by superimposing the first pole part and the second pole part, as shown in the following formula (5).

[0107]

[0108] After obtaining the second pole part, based on the product of twice the number of pi and the imaginary parameter j and divided by the second pole part, the pulse duration T is obtained as shown in the following formula (6).

[0109]

[0110] Through the above steps 301 to 303, steps 401 to 403, and steps 501 to 502, the damping ratio and natural frequency obtained from the system stiffness, damping coefficient and mover mass of the mover control system are used to accurately determine the poles of the system transfer function of the mover that currently needs to perform motion control, and the poles are further used to determine the attenuation rate and pulse duration for compensating for the poles in the right half of the complex plane in the complex frequency domain in the system transfer function, so that when the attenuation rate and pulse duration are subsequently used to generate an exponential filter function for feedforward processing of the system transfer function, the position portion of the pole in the right half of the complex plane in the complex frequency domain in the system transfer function can be effectively filtered out, thereby effectively generating smooth control operation control instructions for the operation instructions, so as to improve the smoothness and stability of the mover operation control.

[0111] Step 202: obtaining an exponential filter function according to the attenuation rate and the pulse duration, and performing a time domain transformation on the exponential filter function to obtain a filter transfer function.

[0112] Step 202 is described in detail below.

[0113] In some embodiments, after the decay rate σ and the pulse duration T are obtained, an exponential filter function for feedforward processing of the system transfer function is obtained according to the decay rate and the pulse duration. How to obtain the exponential filter function according to the decay rate and the pulse duration will be further described below.

[0114] Reference Figure 6 , an exponential filtering function is obtained according to the attenuation rate and the pulse duration, including the following steps 601 to 603.

[0115] Step 601: Obtain complex frequency domain parameters, obtain a first exponent based on the product of the attenuation rate and the pulse duration, obtain a second exponent based on the product of the pulse duration and the complex frequency domain parameters, obtain a first exponential parameter based on the power of the first exponent of the natural exponent, and obtain a second exponential parameter based on the power of the second exponent of the natural exponent.

[0116] Step 602: Obtain a first reference index parameter based on the first index parameter minus one, obtain a second reference index parameter based on one minus the product of the first index parameter and the second index parameter, and obtain a complex frequency domain attenuation parameter based on the complex frequency domain parameter minus the attenuation rate.

[0117] Step 603: Obtain a first function term based on a ratio of the attenuation rate to a first reference exponential parameter, obtain a second function term based on a ratio of a second reference exponential parameter to a complex frequency domain attenuation parameter, and obtain an exponential filtering function based on the product of the first function term and the second function term.

[0118] Steps 601 to 603 are described in detail below.

[0119] In some embodiments, a complex frequency domain parameter s for generating an exponential filter function is first obtained, and then a first exponent σT is obtained based on the product of the attenuation rate and the pulse duration, and a second exponent Ts is obtained based on the product of the pulse duration and the complex frequency domain parameter, and a first exponential parameter e is obtained based on the power of the first exponent of the natural exponential. σT , and the second exponential parameter e is obtained based on the negative second exponent of the natural exponent -Ts .

[0120] Next, based on the first index parameter minus one, the first reference index parameter e is obtained. σT -1, based on one minus the product of the first index parameter and the second index parameter, to obtain the second reference index parameter 1-e σT e -Ts , and the complex frequency domain attenuation parameter s-σ is obtained by subtracting the attenuation rate from the complex frequency domain parameter.

[0121] Then, the first function term σ / (e σT-1), and the second function term (1-e) is obtained based on the ratio of the second reference index parameter and the complex frequency domain attenuation parameter. σT e -Ts ) / (s-σ), and based on the product of the first function term and the second function term, an exponential filtering function is obtained as shown in the following formula (7).

[0122]

[0123] Through the above steps 601 to 603, by using the attenuation rate and pulse duration to generate an exponential filter function for feed-forward processing of the system transfer function, the position part of the system transfer function whose pole is in the right half of the complex plane in the complex frequency domain can be effectively filtered out, thereby effectively generating a smooth control operation control instruction for the operation instruction, so as to improve the smoothness and stability of the actuator operation control.

[0124] In some embodiments, in a magnetic drive conveying system, the operation plan of the mover is usually controlled and executed by a motor controller, so it is necessary to transform the exponential filter function in the discrete time domain to obtain a filter transfer function that can be used for feedforward processing of the system transfer function. The following further describes how to transform the exponential filter function in the time domain.

[0125] Reference Figure 7 , performing time domain transformation on the exponential filter function to obtain a filter transfer function, including the following steps 701 to 703.

[0126] Step 701: Based on the Laplace transform of the exponential filter function, a time domain filter function is obtained.

[0127] Step 702: Use the pulse duration as a sampling period to sample the time domain filter function to obtain a filter transfer function.

[0128] Step 703: Alternatively, discretize the exponential filter function to obtain a filter transfer function.

[0129] Steps 701 to 703 are described in detail below.

[0130] In some embodiments, the exponential filter function (7) is first subjected to Laplace transform to obtain a time domain filter function as shown in the following formula (8).

[0131]

[0132] Wherein, m(t) is the indicator function as shown in the following formula (9).

[0133]

[0134] Next, the pulse duration T is set as the sampling period, and the time domain filter function f exp (t) is sampled to obtain discrete samples f exp (n) = f exp (nT), and then transform these samples into the corresponding filter transfer function through Z transform to obtain FIR filter. This process converts the time domain filter function into the corresponding digital filter transfer function, thereby realizing the frequency domain processing and analysis of discrete signals. In addition, it can also be directly used for the exponential filter function F exp (s) is discretized to obtain the filter transfer function, that is, the exponential filter function F exp (s) The corresponding IIR filter.

[0135] Through the above steps 701 to 703, the exponential filter function is transformed in the discrete time domain to obtain a filter transfer function that can be used for feed-forward processing of the system transfer function, thereby improving the reliability of the mover operation control method.

[0136] Step 203: Based on the cascade of the filter transfer function and the system transfer function, a smooth transfer function is obtained, and a control signal of the mover is determined based on the smooth transfer function.

[0137] Step 203 is described in detail below.

[0138] In some embodiments, after obtaining the filter transfer function, in order to further solve the situation that the poles in the system transfer function (1) are in the left half plane of the complex plane in the complex frequency domain, it is also necessary to take appropriate values ​​of the filter transfer function to obtain an appropriate cascade coefficient, and cascade the cascade coefficient and the system transfer function to obtain a smooth transfer function, so as to facilitate the subsequent use of the smooth transfer function to process the operation instruction to obtain the control signal of the mover corresponding to the smooth operation control instruction. The following further describes how to obtain the smooth transfer function based on the cascade of the filter transfer function and the system transfer function.

[0139] Reference Figure 8 , based on the cascade of the filter transfer function and the system transfer function, a smooth transfer function is obtained, including the following steps 801 to 804.

[0140] Step 801: Perform zero point processing on the second reference exponential parameter to obtain a filtering zero point function of the exponential filtering function.

[0141] Step 802: Based on the damping ratio and the natural frequency, calculate and obtain the filtering zero point value of the filtering zero point function when the discrete parameter is one.

[0142] Step 803: Based on the attenuation rate and the pulse duration, a modified exponential filter coefficient of the filter transfer function is calculated when the complex frequency domain parameter is a filter zero value.

[0143] Step 804: cascade the modified exponential filter coefficient and the system transfer function to obtain a smooth transfer function.

[0144] Steps 801 to 804 are described in detail below.

[0145] In some embodiments, after obtaining the time domain filter function (8) obtained by the exponential filter function (7), it is necessary to use the zero point of the time domain filter function and the pole of the system transfer function (1) to offset the vibration of the control actuator. Therefore, it is necessary to first find the zero point of the time domain filter function (8), that is, to replace the second reference index parameter 1-e in the time domain filter function (8) with σT e -Ts The zeroing process is performed to obtain the filtering zero point function of the exponential filtering function (8) as shown in the following formula (10).

[0146]

[0147] Where n refers to the discrete parameter of the filter zero function.

[0148] Next, based on the damping ratio δ and natural frequency ω determined above n , the filter zero point value of the filter zero point function is calculated when the discrete parameter is one, that is, Combined with the pole (5) of the above system transfer function (1), it can be determined that when the discrete parameter is one, the filter zero point value of the filter zero point function is exactly the same as the pole (5) of the system transfer function (1), and can cancel each other out.

[0149] Next, based on the attenuation rate σ and the pulse duration T, the modified exponential filter function coefficient of the exponential filter function is calculated when the complex frequency domain parameter in the exponential filter function (7) is the filter zero value, that is, F exp (z1), then, the coefficients of the modified exponential filter function F exp (z1) Perform the relevant time domain transformation steps of step 701 to step 703 to obtain the modified exponential filter coefficient of the filter transfer function. Next, the modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function.

[0150] It is understood that cascading refers to connecting multiple systems or components in a specific order so that the output of the previous system serves as the input of the next system. In the field of control systems and signal processing, cascading can be used to combine the effects of multiple filters or systems to achieve complex processing functions. In this solution, cascading can be achieved by multiplying the modified exponential filter coefficient and the system transfer function.

[0151] Through the above steps 801 to 804, by utilizing the correspondence between the zero point of the time domain filter function and the pole of the system transfer function, the filter zero point value used for offset processing is obtained, and based on the filter zero point value, the modified exponential filter coefficient of the filter transfer function for effectively filtering the poles of the left half plane of the complex plane in the complex frequency domain in the system transfer function is obtained, and the modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function for generating a smooth control operation control instruction according to the operation instruction, so as to effectively improve the smoothness and stability of the mover operation control.

[0152] In some embodiments, after the smooth transfer function is obtained, a control signal of an operation control instruction corresponding to the operation instruction of the mover is determined based on the smooth transfer function, and the mover is controlled to operate based on the control signal.

[0153] It is understandable that in the field of motor control, the control signal of the operation control instruction corresponding to the operation instruction of the mover is determined based on the smooth transfer function, which can be implemented as follows: When determining the operation control instruction of the mover based on the smooth transfer function, it is first necessary to define the target operation state (that is, the operation state corresponding to the operation instruction) and model the state through the smooth transfer function. Then, the smooth transfer function is used to analyze the relationship between the input instruction and the output of the mover, and the corresponding control signal is generated to ensure that the actual operation of the mover matches the target instruction. In this process, a control algorithm (such as PID control) can be applied to adjust the control signal to achieve a more precise control effect, and finally the calculated control signal is sent to the mover to achieve stable and efficient operation.

[0154] Reference Fig. 9 , is a schematic diagram of generating the operation control instruction provided in the embodiment of the present application. Fig. 9 As shown, after the motor controller responds to the running instruction of the mover, it will generate a modified exponential filter coefficient based on the relevant parameters and through the relevant descriptions of the above steps 201 to 203, and cascade feedforward processing is performed on the system transfer function based on the modified exponential filter system to obtain a smooth transfer function, thereby using the smooth transfer function to generate a smooth running control instruction corresponding to the running instruction to control the operation of the mover.

[0155] Reference Fig.10The mover control method proposed in this application also includes the following steps 1001 to 1003.

[0156] Step 1001: Determine the stability of the mover during operation based on a control signal.

[0157] Step 1002: When the stability is lower than a preset stability threshold, the mover mass of the mover is reduced, and based on the updated mover mass, the smoothing transfer function is updated.

[0158] Step 1003: Controlling the operation of the mover based on the updated smooth transfer function.

[0159] Steps 1001 to 1003 are described in detail below.

[0160] In some embodiments, when the operation of the mover is controlled based on a control signal, oscillation will inevitably occur due to the change in the operating state of the mover. Therefore, the oscillation phenomenon in the process of operating the mover can be controlled based on the control signal to quantify the stability corresponding to the control signal.

[0161] Then, combined with the above description of the damping ratio (2), when the stability is lower than the preset stability threshold, it means that the stability is too low and the oscillation phenomenon is too serious. At this time, the mover is prone to transportation errors, which is not conducive to the processing and transportation of the product. At this time, it is necessary to reduce the mover mass m of the mover, and based on the updated mover mass m, update the smooth transfer function, and use the updated smooth transfer function to re-control the mover operation to improve the reliability of the mover operation control.

[0162] The mover operation control method, device, electronic device and storage medium proposed in the embodiment of the present application, the method comprises: first, obtaining the system transfer function in the mover control system, obtaining the mover mass of the mover, the system stiffness of the mover control system, and the damping coefficient of the mover control system, obtaining the damping denominator value based on the product of the mover mass and the system stiffness and performing square root processing, and obtaining the damping ratio based on the ratio of the damping coefficient and the damping denominator value, and obtaining the natural frequency based on the ratio of the system stiffness and the mover mass and performing square root processing, and obtaining the product of the damping ratio and the natural frequency and taking the negative value. The first pole part is used to determine the attenuation rate of the first pole part, based on one minus the square of the damping ratio, and then performing a square root process to obtain the damping ratio deviation value, and the second pole part is obtained based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value, and the pulse duration is obtained based on the product of twice the number of pi and the imaginary parameter and divided by the second pole part; then, the complex frequency domain parameters are obtained, the first index is obtained based on the product of the attenuation rate and the pulse duration, the second index is obtained based on the product of the pulse duration and the complex frequency domain parameters, and the first index parameter is obtained based on the power of the first exponent of the natural exponent, and obtaining a second index parameter based on the power of the second index of the natural index, obtaining a first reference index parameter based on the first index parameter minus one, obtaining a second reference index parameter based on one minus the product of the first index parameter and the second index parameter, and obtaining a complex frequency domain attenuation parameter based on the complex frequency domain parameter minus the attenuation rate, obtaining a first function term based on the ratio of the attenuation rate to the first reference index parameter, obtaining a second function term based on the ratio of the second reference index parameter to the complex frequency domain attenuation parameter, and obtaining an exponential filtering function based on the product of the first function term and the second function term, and performing filtering on the second reference index parameter. The zero-point processing is performed to obtain the filter zero-point function of the exponential filter function. The filter zero-point function includes discrete parameters. Based on the damping ratio and the natural frequency, the filter zero-point value of the filter zero-point function is calculated when the discrete parameter is one. Based on the attenuation rate and the pulse duration, the modified exponential filter coefficient of the filter transfer function is calculated when the complex frequency domain parameter is the filter zero-point value. The modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function. Finally, based on the cascade of the filter transfer function and the system transfer function, a smooth transfer function is obtained, and the control signal of the actuator is determined based on the smooth transfer function.

[0163] Before sending an instruction to control the movement of the mover, the embodiment of the present application uses the damping ratio and natural frequency obtained from the system stiffness, damping coefficient and mover mass of the mover control system to accurately determine the poles of the system transfer function of the mover that currently needs to perform motion control, and further determines the attenuation rate and pulse duration used to compensate for the poles in the right half of the complex plane in the complex frequency domain in the system transfer function by the poles, so that when the attenuation rate and pulse duration are subsequently used to generate an exponential filter function for feed-forward processing of the system transfer function, the position portion of the pole in the right half of the complex plane in the complex frequency domain in the system transfer function can be effectively filtered out, thereby effectively generating a smooth control operation control instruction for the operation instruction, so as to improve the smoothness and stability of the mover operation control; and, By utilizing the correspondence between the zero point of the time domain filter function and the pole of the system transfer function, a filter zero point value for offset processing is obtained, and based on the filter zero point value, a modified exponential filter coefficient of the filter transfer function for effectively filtering the poles of the left half plane of the complex plane in the complex frequency domain in the system transfer function is obtained, and the modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function for generating an operation control instruction for smooth control according to the operation instruction, so as to use the exponential filter function to perform feedforward control on the system transfer function to filter the situation where the pole of the system transfer function is in the right half plane of the complex plane, thereby generating a smooth transfer function with high control smoothness, and using the smooth transfer function to generate a control signal to control the operation of the mover, thereby improving the control smoothness during the operation of the mover.

[0164] The present application also provides a mover operation control device, which can implement the above mover operation control method. Fig.11 , the device 1100 comprises:

[0165] An acquisition module 1110 is used to acquire a system transfer function in the actuator control system, and determine an attenuation rate and a pulse duration based on the poles of the system transfer function;

[0166] A time domain transformation module 1120 is used to obtain an exponential filter function according to the attenuation rate and the pulse duration, and to perform a time domain transformation on the exponential filter function to obtain a filter transfer function;

[0167] The control module 1130 is used to obtain a smooth transfer function based on the cascade of the filter transfer function and the system transfer function, and determine the control signal of the mover based on the smooth transfer function.

[0168] In some embodiments, the acquisition module 1110 is further configured to:

[0169] Obtain the damping ratio and natural frequency of the actuator control system;

[0170] The first pole part is obtained by multiplying the damping ratio and the natural frequency and taking the negative value, and the attenuation rate is determined by the first pole part;

[0171] A second pole portion is obtained based on the imaginary parameter, the damping ratio and the natural frequency, and a pulse duration is determined based on the second pole portion.

[0172] In some embodiments, the acquisition module 1110 is further configured to:

[0173] Obtain the mover mass of the mover, the system stiffness of the mover control system, and the damping coefficient of the mover control system;

[0174] Based on the product of the mover mass and the system stiffness, the damping denominator value is obtained by taking the square root, and based on the ratio of the damping coefficient and the damping denominator value, the damping ratio is obtained;

[0175] Based on the ratio of system stiffness and mover mass, the natural frequency is obtained by taking the square root.

[0176] In some embodiments, the acquisition module 1110 is further configured to:

[0177] Based on one minus the square of the damping ratio, a square root processing is performed to obtain a damping ratio deviation value, and based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value, a second pole part is obtained;

[0178] The pulse duration is obtained based on the product of twice the number of pi and the imaginary parameter and divided by the second pole part.

[0179] In some embodiments, the time domain transform module 1120 is further configured to:

[0180] Acquire a complex frequency domain parameter, obtain a first index based on the product of the attenuation rate and the pulse duration, obtain a second index based on the product of the pulse duration and the complex frequency domain parameter, obtain a first index parameter based on the power of the first exponent of the natural exponent, and obtain a second index parameter based on the power of the second exponent of the natural exponent;

[0181] Subtracting one from the first index parameter to obtain a first reference index parameter, subtracting the product of the first index parameter and the second index parameter from one to obtain a second reference index parameter, and subtracting the attenuation rate from the complex frequency domain parameter to obtain a complex frequency domain attenuation parameter;

[0182] A first function term is obtained based on the ratio of the attenuation rate and the first reference index parameter, a second function term is obtained based on the ratio of the second reference index parameter and the complex frequency domain attenuation parameter, and an exponential filtering function is obtained based on the product of the first function term and the second function term.

[0183] In some embodiments, the control module 1130 is further configured to:

[0184] Performing a zero-point processing on the second reference exponential parameter to obtain a filtering zero-point function of the exponential filtering function, wherein the filtering zero-point function includes discrete parameters;

[0185] Based on the damping ratio and the natural frequency, the filtering zero point value of the filtering zero point function is calculated when the discrete parameter is one;

[0186] Based on the attenuation rate and the pulse duration, the modified exponential filter coefficient of the filter transfer function is calculated when the complex frequency domain parameter is the filter zero value;

[0187] The modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function.

[0188] In some embodiments, the time domain transform module 1120 is further configured to:

[0189] Based on the Laplace transform of the exponential filter function, the time domain filter function is obtained;

[0190] The pulse duration is used as a sampling period to sample the time domain filter function to obtain the filter transfer function;

[0191] Alternatively, the exponential filter function is discretized to obtain the filter transfer function.

[0192] In some embodiments, the mover operation control device 1100 further includes an adjustment module 1140, and the adjustment module 1140 is used to:

[0193] Determine the stability of the mover during operation based on the control signal;

[0194] When the stability is lower than a preset stability threshold, the mover mass of the mover is reduced, and based on the updated mover mass, the smoothing transfer function is updated;

[0195] The operation of the mover is controlled based on the updated smooth transfer function.

[0196] In the above embodiments, the description of each embodiment has its own emphasis. For the part not described in detail in a certain embodiment, the specific implementation of the mover operation control device is basically consistent with the specific implementation of the above mover operation control method, and will not be repeated here.

[0197] In an embodiment of the present application, before sending an instruction to control the movement of the mover, the mover operation control device uses the damping ratio and natural frequency obtained from the system stiffness, damping coefficient and mover mass of the mover control system to accurately determine the poles of the system transfer function of the mover that currently needs to be motion controlled, and further determines the attenuation rate and pulse duration used to compensate for the poles in the right half of the complex plane in the complex frequency domain in the system transfer function from the poles, so that when the attenuation rate and pulse duration are subsequently used to generate an exponential filter function for feedforward processing of the system transfer function, the position portion of the system transfer function where the poles are in the right half of the complex plane in the complex frequency domain can be effectively filtered out, thereby effectively generating smooth control operation control instructions for the operation instructions, so as to improve the smoothness and stability of the mover operation control. property; and, by utilizing the correspondence between the zero point of the time domain filter function and the pole of the system transfer function, a filter zero point value for offset processing is obtained, and based on the filter zero point value, a modified exponential filter coefficient of the filter transfer function for effectively filtering the poles of the left half plane of the complex plane in the complex frequency domain in the system transfer function is obtained, and the modified exponential filter coefficient and the system transfer function are cascaded to obtain a smooth transfer function for generating an operation control instruction for smooth control according to the operation instruction, so as to use the exponential filter function to perform feedforward control on the system transfer function to filter the situation where the pole of the system transfer function is in the right half plane of the complex plane, thereby generating a smooth transfer function with high control smoothness, and using the smooth transfer function to generate a control signal to control the operation of the mover, thereby improving the control smoothness during the operation of the mover.

[0198] The present application also provides an electronic device, including:

[0199] at least one memory;

[0200] at least one processor;

[0201] at least one program;

[0202] The program is stored in the memory, and the processor executes the at least one program to implement the above-mentioned mover operation control method implemented in this application. The electronic device can be any intelligent terminal including a mobile phone, a tablet computer, a personal digital assistant (PDA), a car computer, etc.

[0203] See also Fig.12 , Fig.12 The hardware structure of an electronic device of another embodiment is illustrated, and the electronic device includes:

[0204] The processor 1201 may be implemented by a general-purpose CPU (Central Processing Unit), a microprocessor, an application-specific integrated circuit (Application Specific Integrated Circuit, ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present application;

[0205] The memory 1202 can be implemented in the form of ROM (Read Only Memory), static storage device, dynamic storage device or RAM (Random Access Memory). The memory 1202 can store operating systems and other applications. When the technical solutions provided in the embodiments of this specification are implemented by software or firmware, the relevant program codes are stored in the memory 1202, and the processor 1201 is used to call and execute the mover operation control method of the embodiment of this application;

[0206] Input / output interface 1203, used to implement information input and output;

[0207] The communication interface 1204 is used to realize the communication interaction between the device and other devices. The communication can be realized through a wired manner (such as USB, network cable, etc.) or a wireless manner (such as mobile network, WIFI, Bluetooth, etc.);

[0208] A bus 1205 that transmits information between various components of the device (e.g., the processor 1201, the memory 1202, the input / output interface 1203, and the communication interface 1204);

[0209] The processor 1201 , the memory 1202 , the input / output interface 1203 and the communication interface 1204 are connected to each other in communication within the device via the bus 1205 .

[0210] An embodiment of the present application further provides a storage medium, which is a computer-readable storage medium and stores a computer program. When the computer program is executed by a processor, the above-mentioned mover operation control method is implemented.

[0211] The memory, as a non-transient computer-readable storage medium, can be used to store non-transient software programs and non-transient computer executable programs. In addition, the memory may include a high-speed random access memory, and may also include a non-transient memory, such as at least one disk storage device, a flash memory device, or other non-transient solid-state storage device. In some embodiments, the memory may optionally include a memory remotely disposed relative to the processor, and these remote memories may be connected to the processor via a network. Examples of the above-mentioned network include, but are not limited to, the Internet, an intranet, a local area network, a mobile communication network, and combinations thereof.

[0212] The embodiments described in the embodiments of the present application are intended to more clearly illustrate the technical solutions of the embodiments of the present application and do not constitute a limitation on the technical solutions provided in the embodiments of the present application. Those skilled in the art will appreciate that with the evolution of technology and the emergence of new application scenarios, the technical solutions provided in the embodiments of the present application are also applicable to similar technical problems.

[0213] Those skilled in the art will appreciate that the technical solutions shown in the figures do not constitute a limitation on the embodiments of the present application, and may include more or fewer steps than shown in the figures, or a combination of certain steps, or different steps.

[0214] The device embodiments described above are merely illustrative, and the units described as separate components may or may not be physically separated, that is, they may be located in one place or distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0215] Those skilled in the art will appreciate that all or some of the steps in the methods disclosed above, and the functional modules / units in the systems and devices may be implemented as software, firmware, hardware, or a suitable combination thereof.

[0216] The terms "first", "second", "third", "fourth", etc. (if any) in the specification of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchangeable where appropriate, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any of their variations 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 necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0217] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0218] In the several embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the above units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. The mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0219] The units described above as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0220] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0221] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including multiple instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (Read-Only Memory, referred to as ROM), random access memory (Random Access Memory, referred to as RAM), disk or optical disk and other media that can store programs.

[0222] The preferred embodiments of the present invention are described above with reference to the accompanying drawings, but the scope of the rights of the present invention is not limited thereto. Any modification, equivalent substitution and improvement made by a person skilled in the art without departing from the scope and essence of the present invention should be within the scope of the rights of the present invention.

Claims

1. A method for controlling the operation of a mover, characterized in that: The method comprises: Acquire a system transfer function in the actuator control system, and determine a decay rate and a pulse duration based on the poles of the system transfer function; An exponential filter function is obtained according to the attenuation rate and the pulse duration, and a filter transfer function is obtained by performing a time domain transformation on the exponential filter function; Based on the cascade connection of the filter transfer function and the system transfer function, a smooth transfer function is obtained, and the control signal of the mover is determined based on the smooth transfer function.

2. The mover operation control method according to claim 1, characterized in that: The pole includes a first pole part and a second pole part superimposed on each other, and the attenuation rate and the pulse duration are determined based on the pole of the system transfer function, including: Obtaining the damping ratio and natural frequency of the mover control system; The first pole part is obtained by multiplying the damping ratio and the natural frequency and taking a negative value, and the attenuation rate is determined by the first pole part; The second pole portion is obtained based on the imaginary parameter, the damping ratio, and the natural frequency, and the pulse duration is determined based on the second pole portion.

3. The mover operation control method according to claim 2, characterized in that: The obtaining of the damping ratio and the natural frequency of the mover control system comprises: Acquiring a mover mass of a mover, a system stiffness of a control system of the mover, and a damping coefficient of the control system of the mover; Based on the product of the mover mass and the system stiffness, a damping denominator value is obtained by performing a square root process, and based on the ratio of the damping coefficient and the damping denominator value, the damping ratio is obtained; The natural frequency is obtained based on the ratio of the system stiffness to the mover mass and by performing square root processing.

4. The mover operation control method according to claim 2, characterized in that: The obtaining the second pole part based on the imaginary parameter, the damping ratio and the natural frequency, and determining the pulse duration based on the second pole part, comprises: Based on one minus the square of the damping ratio, performing a square root process to obtain a damping ratio deviation value, and based on the product of the imaginary parameter, the natural frequency and the damping ratio deviation value to obtain the second pole part; The pulse duration is obtained based on the product of twice the number of pi and the imaginary parameter and divided by the second pole portion.

5. The mover operation control method according to claim 2, characterized in that: The step of obtaining an exponential filtering function according to the attenuation rate and the pulse duration includes: Acquire a complex frequency domain parameter, obtain a first index based on the product of the attenuation rate and the pulse duration, obtain a second index based on the product of the pulse duration and the complex frequency domain parameter, obtain a first index parameter based on the power of the first index of a natural index, and obtain a second index parameter based on the power of the second exponent of the natural exponent; Obtain a first reference index parameter based on the first index parameter minus one, obtain a second reference index parameter based on one minus the product of the first index parameter and the second index parameter, and obtain a complex frequency domain attenuation parameter based on a complex frequency domain parameter minus the attenuation rate; A first function term is obtained based on the ratio of the attenuation rate and the first reference exponential parameter, a second function term is obtained based on the ratio of the second reference exponential parameter and the complex frequency domain attenuation parameter, and the exponential filtering function is obtained based on the product of the first function term and the second function term.

6. The mover operation control method according to claim 5, characterized in that: The step of obtaining a smooth transfer function based on the cascade connection of the filter transfer function and the system transfer function comprises: Performing a zero-point processing on the second reference exponential parameter to obtain a filtering zero-point function of the exponential filtering function, wherein the filtering zero-point function includes discrete parameters; Based on the damping ratio and the natural frequency, a filtering zero point value of the filtering zero point function is calculated when the discrete parameter is one; Based on the attenuation rate and the pulse duration, a modified exponential filter coefficient of the filter transfer function is calculated when the complex frequency domain parameter is the filter zero value; The modified exponential filter coefficient and the system transfer function are cascaded to obtain the smoothed transfer function.

7. The mover operation control method according to claim 1, characterized in that: The step of performing a time domain transformation on the exponential filter function to obtain a filter transfer function comprises: Based on the Laplace transform of the exponential filter function, a time domain filter function is obtained; Using the pulse duration as a sampling period to sample the time domain filter function, to obtain the filter transfer function; Alternatively, the exponential filter function is discretized to obtain the filter transfer function.

8. The mover operation control method according to claim 4, characterized in that: The method further comprises: Determining the stability of the mover during operation based on the control signal; When the stability is lower than a preset stability threshold, reducing the mover mass of the mover, and updating the smoothing transfer function based on the updated mover mass; The operation of the mover is controlled based on the updated smooth transfer function.

9. A mover control device, characterized in that: The device comprises: An acquisition module, used for acquiring a system transfer function in a mover control system, and determining a decay rate and a pulse duration based on the poles of the system transfer function; A time domain transformation module, used to obtain an exponential filter function according to the attenuation rate and the pulse duration, and perform time domain transformation on the exponential filter function to obtain a filter transfer function; The control module is used to obtain a smooth transfer function based on the cascade of the filter transfer function and the system transfer function, and determine the control signal of the mover based on the smooth transfer function.

10. An electronic device comprising a memory and a processor, wherein the memory stores a computer program, wherein: When the processor executes the computer program, the mover operation control method according to any one of claims 1 to 8 is implemented.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the mover operation control method according to any one of claims 1 to 8 is implemented.

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