Intelligent adjustment method and system for multi-mode accelerated operation permanent magnet alternating current servo motor

Abstract

The invention provides an intelligent adjustment method and system for a multi-mode accelerated running permanent magnet alternating current servo motor. Monitoring the total output deviation value of a permanent magnet alternating current servo motor cluster in real time, and determining a target servo motor to be adjusted from the permanent magnet alternating current servo motor cluster; and adjusting the torque and the rotating speed of the target servo motor to be adjusted according to the total output deviation value of the permanent magnet alternating current servo motor cluster in combination with the actual operation parameters of the target servo motor to be adjusted, so that the total output deviation value of the permanent magnet alternating current servo motor cluster meets the output quality requirement. The system comprises modules corresponding to the steps of the method.

Description

Technical Field

[0001] The invention provides a method and system for intelligently adjusting a permanent magnet AC servo motor with multi-mode accelerated operation, belonging to the technical field of intelligent adjustment of motors. Background Art

[0002] In today's industrial automation and intelligent manufacturing fields, permanent magnet AC servo motor technology plays an increasingly important role with its efficient, precise and reliable driving mode. This technology not only provides powerful power support for various automation equipment, but also meets the growing demand for industrial automation through continuous innovation and improvement. Permanent magnet AC servo motor technology originated in the 1960s. With the continuous development of electronic technology and control theory, people began to try to apply electronic technology to motor control. Compared with traditional DC servo motors, AC servo motors have many significant advantages. For example, it does not require mechanical commutators and brushes, thereby reducing maintenance costs and improving reliability; at the same time, AC servo motors have a wider speed control range and can achieve precise control over a wide speed range. In addition, AC servo motors also have higher dynamic response performance and greater torque output capacity. These characteristics have gradually replaced DC servo motors in many application fields such as CNC machine tools, packaging machinery, and robotics.

[0003] However, with the continuous improvement of the level of industrial automation, the performance requirements for permanent magnet AC servo motors are also getting higher and higher. Especially in the scenario of multi-modal acceleration operation, how to ensure that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements has become an urgent problem to be solved. During the multi-modal acceleration operation process, the permanent magnet AC servo motor cluster may produce output deviations due to various factors (such as load changes, ambient temperature, etc.). If these deviations are not adjusted in a timely and effective manner, they will directly affect the operating accuracy and stability of the automation equipment. Therefore, an intelligent adjustment method is needed that can monitor the total output deviation of the permanent magnet AC servo motor cluster in real time and accurately determine the target servo motor to be adjusted.

[0004] Based on the above requirements, the present invention proposes a method and system for intelligently adjusting a permanent magnet AC servo motor with multi-modal accelerated operation. The method monitors the total output deviation of the permanent magnet AC servo motor cluster in real time, and intelligently adjusts the torque and speed of the target servo motor in combination with the actual operating parameters (such as torque, speed, etc.) of the target servo motor to be adjusted. In this way, it can be ensured that the total output deviation of the permanent magnet AC servo motor cluster always meets the output quality requirements, thereby improving the operating accuracy and stability of the automation equipment. Summary of the invention

[0005] The present invention provides a method and system for intelligently adjusting a permanent magnet AC servo motor with multi-mode acceleration operation to solve the above-mentioned technical problems existing in the prior art. The technical solutions adopted are as follows:

[0006] An intelligent adjustment method for a permanent magnet AC servo motor with multi-mode accelerated operation, the intelligent adjustment method for a permanent magnet AC servo motor with multi-mode accelerated operation comprising:

[0007] Monitor the total output deviation of the permanent magnet AC servo motor cluster in real time, and determine the target servo motor to be adjusted from the permanent magnet AC servo motor cluster;

[0008] The torque and speed of the target servo motor to be adjusted are adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

[0009] Furthermore, the total output deviation of the permanent magnet AC servo motor cluster is monitored in real time, and a target servo motor to be adjusted is determined from the permanent magnet AC servo motor cluster, including:

[0010] Real-time acquisition of the actual output torque and actual output speed of the permanent magnet AC servo motor cluster;

[0011] Retrieving the target output torque and target output speed of the permanent magnet AC servo motor cluster;

[0012] The actual output torque of the permanent magnet AC servo motor cluster is collected and combined with the target output torque to obtain the total output torque deviation;

[0013] The actual output speed of the permanent magnet AC servo motor cluster is collected and combined with the target output speed to obtain the total output speed deviation;

[0014] Real-time judgment of whether the total deviation of output torque and total deviation of output speed do not meet the output requirements;

[0015] When the total output torque deviation and the total output speed deviation do not meet the output requirements, the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster are obtained;

[0016] The target servo motor to be adjusted is determined according to the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

[0017] Furthermore, whether the total output torque deviation and the total output speed deviation do not meet the output requirements is determined in real time, including:

[0018] Comparing the output torque total deviation with a preset first torque total deviation threshold and a preset second torque total deviation threshold, and comparing the output speed total deviation with a preset first speed total deviation threshold and a preset second speed total deviation threshold;

[0019] When the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation meet the output requirements;

[0020] When the total output torque deviation and the total output speed deviation both exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation do not meet the output requirement;

[0021] When the total output torque deviation exceeds the preset first total torque deviation threshold, but does not exceed the preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds the preset first total speed deviation threshold, but does not exceed the preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold, the total output torque deviation and the total output speed deviation are used to obtain a comprehensive deviation index parameter;

[0022] The comprehensive deviation index parameter is obtained by the following formula:

[0023]

[0024] Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02 and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold;

[0025] Comparing the comprehensive deviation index parameter with a preset comprehensive index parameter threshold;

[0026] When the comprehensive deviation index parameter exceeds the preset comprehensive index parameter threshold, it is judged that the total output torque deviation and the total output speed deviation do not meet the output requirements; otherwise, it is judged that the total output torque deviation and the total output speed deviation meet the output requirements.

[0027] Further, the target servo motor to be adjusted is determined according to the maximum torque and the maximum speed in the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor in combination with the total output torque deviation and the total output speed deviation, including:

[0028] Extracting a continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0029] Obtaining the maximum torque and maximum speed of the continuous working area in the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0030] Compare the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with the corresponding target torque and target speed, and obtain the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor;

[0031] If any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies a deviation ratio constraint condition exceeding a preset deviation ratio, the permanent magnet AC servo motor whose deviation satisfies the deviation ratio constraint condition exceeding the preset deviation ratio is determined to be the target servo motor to be adjusted;

[0032] The deviation ratio constraint condition corresponding to the torque deviation is as follows:

[0033]

[0034] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation;

[0035] In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows:

[0036]

[0037] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation.

[0038] Further, the torque and speed of the target servo motor to be adjusted are adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, including:

[0039] Determine the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster;

[0040] The torque and the speed of the target servo motor to be adjusted are adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

[0041] A multi-mode accelerated operation permanent magnet AC servo motor intelligent adjustment system, the multi-mode accelerated operation permanent magnet AC servo motor intelligent adjustment system comprising:

[0042] A real-time monitoring module, used for real-time monitoring of the total output deviation of the permanent magnet AC servo motor cluster, and determining a target servo motor to be adjusted from the permanent magnet AC servo motor cluster;

[0043] The adjustment module is used to adjust the torque and speed of the target servo motor to be adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

[0044] Furthermore, the real-time monitoring module includes:

[0045] Real-time acquisition module, used to collect the actual output torque and actual output speed of the permanent magnet AC servo motor cluster in real time;

[0046] A parameter retrieving module, used to retrieve the target output torque and target output speed of the permanent magnet AC servo motor cluster;

[0047] An output torque total deviation acquisition module is used to acquire the output torque total deviation by combining the actual output torque of the permanent magnet AC servo motor cluster acquired with the target output torque;

[0048] An output speed total deviation acquisition module is used to acquire the output speed total deviation by combining the actual output speed of the permanent magnet AC servo motor cluster acquired with the target output speed;

[0049] A real-time judgment module, used for judging in real time whether the total deviation of the output torque and the total deviation of the output speed do not meet the output requirements;

[0050] A data acquisition module, used for acquiring the maximum torque and maximum speed of a continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster when the total output torque deviation and the total output speed deviation do not meet the output requirements;

[0051] The target servo motor to be adjusted determination module is used to determine the target servo motor to be adjusted according to the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

[0052] Furthermore, the real-time judgment module includes:

[0053] a comparison module, configured to compare the output torque total deviation with a preset first torque total deviation threshold and a preset second torque total deviation threshold, and to compare the output speed total deviation with a preset first speed total deviation threshold and a preset second speed total deviation threshold;

[0054] A first determination module, configured to determine that the total output torque deviation and the total output speed deviation meet the output requirement when the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto;

[0055] A second determination module is configured to determine that the total output torque deviation and the total output speed deviation do not meet the output requirement when both the total output torque deviation and the total output speed deviation exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto;

[0056] A comprehensive deviation index parameter acquisition module, used for obtaining a comprehensive deviation index parameter using the total output torque deviation and the total output speed deviation when the total output torque deviation exceeds a preset first total torque deviation threshold but does not exceed a preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds a preset first total speed deviation threshold but does not exceed a preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold;

[0057] The comprehensive deviation index parameter is obtained by the following formula:

[0058]

[0059] Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold;

[0060] A parameter comparison module, used to compare the comprehensive deviation index parameter with a preset comprehensive index parameter threshold;

[0061] The third judgment module is used to judge that the total output torque deviation and the total output speed deviation do not meet the output requirements when the comprehensive deviation index parameter exceeds a preset comprehensive index parameter threshold; otherwise, it is used to judge that the total output torque deviation and the total output speed deviation meet the output requirements.

[0062] Furthermore, the target servo motor to be adjusted determining module includes:

[0063] A continuous working area extraction module, used to extract the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0064] A speed and torque information acquisition module, used for acquiring the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0065] A deviation acquisition module is used to compare the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with its corresponding target torque and target speed, and obtain the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor;

[0066] a target servo motor determination execution module, configured to determine that the permanent magnet AC servo motor whose deviation satisfies the preset deviation ratio constraint condition is the target servo motor to be adjusted if any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies the preset deviation ratio constraint condition;

[0067] The deviation ratio constraint condition corresponding to the torque deviation is as follows:

[0068]

[0069] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H zIndicates the total deviation of output torque; H s Indicates the total output speed deviation;

[0070] In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows:

[0071]

[0072] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation.

[0073] Furthermore, the adjustment module includes:

[0074] A maximum adjustment torque and speed acquisition module is used to determine the maximum adjustment torque and maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster;

[0075] The adjustment execution module is used to adjust the torque and the speed of the target servo motor to be adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

[0076] Beneficial effects of the present invention:

[0077] The intelligent adjustment method and system of the multi-modal accelerated operation of the permanent magnet AC servo motor proposed by the present invention can significantly reduce the total output deviation of the permanent magnet AC servo motor cluster through real-time monitoring and intelligent adjustment, thereby improving the output accuracy of the system. This is particularly important for automation equipment that requires high-precision control. Since the method can detect and adjust the deviation in time, the stability of the system can be significantly enhanced. This helps to reduce system failures or downtime caused by excessive deviations. By intelligently adjusting the torque and speed of the motor, the method also helps to optimize the energy efficiency of the system. This can not only reduce energy consumption, but also extend the service life of the motor. Since the method can respond to and adjust the deviation in real time, the production efficiency of the automation equipment can be significantly improved. This helps to reduce production costs, improve product quality and market competitiveness. The method has good flexibility and scalability and can be easily integrated into existing automation systems. At the same time, as the scale of the system expands or the demand changes, the method can also be expanded and optimized accordingly. BRIEF DESCRIPTION OF THE DRAWINGS

[0078] Figure 1 is a flow chart of the method of the present invention;

[0079] Figure 2 The system block diagram of the system of the present invention. DETAILED DESCRIPTION

[0080] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0081] The embodiment of the present invention provides an intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation, such as Figure 1 As shown, the intelligent adjustment method for the permanent magnet AC servo motor with multi-mode acceleration operation includes:

[0082] S1, real-time monitoring of the total output deviation of the permanent magnet AC servo motor cluster, and determining the target servo motor to be adjusted from the permanent magnet AC servo motor cluster;

[0083] S2. Adjust the torque and speed of the target servo motor to be adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

[0084] The working principle of the above technical solution is as follows: the method first monitors the total output deviation of the permanent magnet AC servo motor cluster in real time through a sensor or a control system. This step is to ensure that the system can promptly detect and respond to any deviation that may affect the output quality. After monitoring the deviation, the system will determine the target servo motor to be adjusted from the permanent magnet AC servo motor cluster according to a preset algorithm or logic. This process may involve evaluating the operating status of multiple motors to determine which motor adjustment is most effective for improving the overall output deviation. Once the target servo motor to be adjusted is determined, the system will intelligently adjust it according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the motor (such as torque, speed, etc.). The adjustment process may involve modifying the motor control signal to change its torque and speed, thereby reducing the total output deviation. This adjustment is dynamic and will provide real-time feedback and adjustment based on the deviation monitored in real time.

[0085] The effect of the above technical solution is: through real-time monitoring and intelligent adjustment, the method can significantly reduce the total output deviation of the permanent magnet AC servo motor cluster, thereby improving the output accuracy of the system. This is particularly important for automation equipment that requires high-precision control. Since the method can detect and adjust the deviation in time, the stability of the system can be significantly enhanced. This helps to reduce system failures or downtime caused by excessive deviations. By intelligently adjusting the torque and speed of the motor, the method also helps to optimize the energy efficiency of the system. This not only reduces energy consumption, but also extends the service life of the motor. Since the method can respond to and adjust the deviation in real time, the production efficiency of automation equipment can be significantly improved. This helps to reduce production costs, improve product quality and market competitiveness. The method has good flexibility and scalability and can be easily integrated into existing automation systems. At the same time, as the system scale expands or the demand changes, the method can also be expanded and optimized accordingly.

[0086] In summary, the intelligent adjustment method of the permanent magnet AC servo motor with multi-mode accelerated operation has significant technical effects and application value, and is of great significance for improving the performance, stability and production efficiency of automation equipment.

[0087] In one embodiment of the present invention, the total output deviation of a permanent magnet AC servo motor cluster is monitored in real time, and a target servo motor to be adjusted is determined from the permanent magnet AC servo motor cluster, including:

[0088] S101, real-time acquisition of actual output torque and actual output speed of the permanent magnet AC servo motor cluster;

[0089] S102, retrieving the target output torque and target output speed of the permanent magnet AC servo motor cluster;

[0090] S103, using the actual output torque of the permanent magnet AC servo motor cluster collected and combining it with the target output torque to obtain a total output torque deviation;

[0091] S104, using the actual output speed of the permanent magnet AC servo motor cluster collected and the target output speed to obtain a total output speed deviation;

[0092] S105, determining in real time whether the total deviation of the output torque and the total deviation of the output speed do not meet the output requirements;

[0093] S106, when the total output torque deviation and the total output speed deviation do not meet the output requirement, obtaining the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster;

[0094] S107, determining a target servo motor to be adjusted according to the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

[0095] The working principle of the above technical solution is: collect the actual output torque and actual output speed of each motor in the permanent magnet AC servo motor cluster in real time. Retrieve the target output torque and target output speed of each motor, which are usually preset according to system requirements. Calculate the total output torque deviation using the collected actual output torque and target output torque. This is usually done by comparing the difference between the actual value and the target value. Similarly, calculate the total output speed deviation using the collected actual output speed and target output speed.

[0096] Determine in real time whether the total output torque deviation and the total output speed deviation do not meet the output requirements. This is usually done by comparing the calculated deviation with the preset allowable deviation range. When the total output torque deviation and the total output speed deviation do not meet the output requirements, the system needs to determine which motor or motors need to be adjusted. To this end, the system first obtains the maximum torque and maximum speed of the continuous working area in the torque-speed characteristic curve of each motor in the permanent magnet AC servo motor cluster. This information reflects the performance limit of each motor within the normal working range. Then, based on the maximum torque and maximum speed of each motor, combined with the current total output torque deviation and total output speed deviation, the system determines the target servo motor to be adjusted through a certain algorithm or logic. Multiple factors may be considered in this process, such as the current load of the motor, the adjustment potential, and the improvement effect on the overall deviation.

[0097] The effect of the above technical solution is: by real-time monitoring and calculation of output deviations, and timely adjustment of the target servo motor, the overall output accuracy of the permanent magnet AC servo motor cluster can be significantly improved. This technical solution can detect and correct deviations in a timely manner, thereby enhancing the stability and reliability of the system. By accurately determining the target servo motor to be adjusted, unnecessary adjustment operations can be avoided, thereby optimizing resource utilization and reducing energy consumption. The real-time monitoring and adjustment functions can ensure that the system is always in the best working state, thereby improving production efficiency and product quality. This technical solution has good flexibility and scalability, and can be easily integrated into existing automation systems, and can be expanded and optimized accordingly as the system scale expands or demand changes.

[0098] In summary, this technical solution achieves a significant improvement in system accuracy, stability and production efficiency through real-time monitoring and intelligent adjustment of the output deviation of the permanent magnet AC servo motor cluster.

[0099] In one embodiment of the present invention, real-time determination of whether the total output torque deviation and the total output speed deviation do not meet the output requirements includes:

[0100] S1051, comparing the total output torque deviation with a preset first total torque deviation threshold and a preset second total torque deviation threshold, and comparing the total output speed deviation with a preset first total speed deviation threshold and a preset second total speed deviation threshold;

[0101] S1052: When the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation meet the output requirement;

[0102] S1053, when the total output torque deviation and the total output speed deviation both exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation do not meet the output requirement;

[0103] S1054: when the total output torque deviation exceeds the preset first total torque deviation threshold but does not exceed the preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds the preset first total speed deviation threshold but does not exceed the preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold, the total output torque deviation and the total output speed deviation are used to obtain a comprehensive deviation index parameter;

[0104] The comprehensive deviation index parameter is obtained by the following formula:

[0105]

[0106] Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02 and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold;

[0107] S1055, comparing the comprehensive deviation index parameter with a preset comprehensive index parameter threshold;

[0108] S1056. When the comprehensive deviation index parameter exceeds the preset comprehensive index parameter threshold, it is judged that the total output torque deviation and the total output speed deviation do not meet the output requirements; otherwise, it is judged that the total output torque deviation and the total output speed deviation meet the output requirements.

[0109] The working principle of the above technical solution is: compare the total output torque deviation with the preset first total torque deviation threshold (Hzy01) and the second total torque deviation threshold (Hzy02). At the same time, compare the total output speed deviation with the preset first total speed deviation threshold (Hsy01) and the second total speed deviation threshold (Hsy02). If the total output torque deviation and the total output speed deviation do not exceed the first thresholds (Hzy01 and Hsy01) respectively corresponding to them, it is judged that they meet the output requirements. If the total output torque deviation and the total output speed deviation both exceed the second thresholds (Hzy02 and Hsy02) respectively corresponding to them, it is judged that they do not meet the output requirements. If one of the total output torque deviation or the total output speed deviation exceeds the first threshold but does not exceed the second threshold, and the other does not exceed the second threshold, a comprehensive judgment is required. Using the total output torque deviation and the total output speed deviation, a comprehensive deviation index parameter (G) is calculated by a specific formula. The calculated comprehensive deviation index parameter is compared with the preset comprehensive index parameter threshold. If the comprehensive deviation index parameter exceeds the preset comprehensive index parameter threshold, it is judged that the total output torque deviation and the total output speed deviation do not meet the output requirements; otherwise, it is judged that they meet the output requirements.

[0110] The effect of the above technical solution is: by setting multiple thresholds and making comprehensive judgments, it is possible to more accurately evaluate whether the total output torque deviation and the total output speed deviation meet the output requirements, avoiding the misjudgment that may be caused by a single threshold judgment. The technical solution can flexibly adjust the judgment criteria according to different situations, taking into account both the absolute value of the deviation and the relative size and combination of the deviation, thereby enhancing the adaptability and flexibility of the system. By real-time monitoring and judging the output deviation and taking corresponding adjustment measures in a timely manner, the performance of the permanent magnet AC servo motor cluster can be optimized and the stability and reliability of the system can be improved. Accurate judgment criteria can reduce unnecessary adjustment operations and reduce system downtime, thereby improving production efficiency and product quality. The technical solution has a clear principle, simple operation, and is easy to implement and maintain in the existing system. At the same time, by adjusting the threshold and formula parameters, it can easily adapt to the needs of different application scenarios.

[0111] In summary, this technical solution achieves accurate evaluation of the output deviation of the permanent magnet AC servo motor cluster by setting multiple thresholds and making comprehensive judgments, optimizes system performance, and improves production efficiency and product quality.

[0112] In one embodiment of the present invention, the target servo motor to be adjusted is determined according to the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor in combination with the total output torque deviation and the total output speed deviation, including:

[0113] S1071, extracting the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0114] S1072, obtaining the maximum torque and maximum speed of the continuous working area in the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0115] S1073, comparing the maximum torque and the maximum speed in the continuous working area in the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with the corresponding target torque and target speed, to obtain the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor;

[0116] S1074, if any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies a deviation ratio constraint condition exceeding a preset deviation ratio, then the permanent magnet AC servo motor whose deviation satisfies the deviation ratio constraint condition exceeding the preset deviation ratio is determined to be the target servo motor to be adjusted;

[0117] The deviation ratio constraint condition corresponding to the torque deviation is as follows:

[0118]

[0119] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation;

[0120] In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows:

[0121]

[0122] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; Hs Indicates the total output speed deviation.

[0123] The working principle of the above technical solution is: extract the continuous working area from the torque-speed characteristic curve of each permanent magnet AC servo motor, which is the area where the motor can operate stably for a long time. In the continuous working area, determine the maximum torque and maximum speed corresponding to each permanent magnet AC servo motor, and these parameters reflect the performance limit of the motor in this area. Compare the maximum torque and maximum speed of each permanent magnet AC servo motor with its corresponding target torque and target speed, and calculate the speed deviation and torque deviation corresponding to each motor. These deviations reflect the difference between the current state of the motor and the target state. According to the preset deviation ratio constraint condition, determine whether the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor meet the conditions. These conditions may involve the absolute value, relative value or combination relationship of the deviation with other parameters. If the speed deviation or torque deviation of a motor meets (i.e. exceeds) the preset deviation ratio constraint condition, the motor is determined to be the target servo motor to be adjusted.

[0124] The effect of the above technical solution is: by comprehensively considering the torque-speed characteristic curve and output deviation of each permanent magnet AC servo motor, it is possible to more accurately determine which motors need to be adjusted and avoid unnecessary adjustment operations. By accurately adjusting the target servo motor, the performance of the entire permanent magnet AC servo motor cluster can be optimized and the stability and reliability of the system can be improved. By adjusting the operating state of the motor to make it closer to the target state, energy consumption can be reduced and energy utilization efficiency can be improved. Accurate adjustment operations can reduce system downtime, improve production efficiency and reduce production costs. This technical solution can flexibly adjust the judgment criteria and adjustment strategies according to different situations to meet the needs of different application scenarios.

[0125] In summary, the technical solution achieves accurate determination and adjustment of the target servo motor by comprehensively considering the torque-speed characteristic curve and output deviation of the permanent magnet AC servo motor, optimizes system performance, and improves production efficiency and energy utilization efficiency. However, it should be noted that the formula of the deviation ratio constraint mentioned in the technical solution needs to be appropriately modified and adjusted according to the specific situation to ensure its accuracy and practicality.

[0126] In one embodiment of the present invention, the torque and speed of the target servo motor to be adjusted are adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, including:

[0127] S201, determining the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster;

[0128] S202 : adjusting the torque and the speed of the target servo motor to be adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

[0129] The working principle of the above technical solution is as follows: First, according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster, the maximum adjustment torque (denoted as T_max) and the maximum adjustment speed (denoted as n_max) of the target servo motor to be adjusted have been determined. The goal of the adjustment is to make the total output deviation of the permanent magnet AC servo motor cluster meet the preset output quality requirements. The current torque (denoted as T_current) and the current speed (denoted as n_current) of the target servo motor to be adjusted are obtained in real time through sensors or encoders. According to the positive and negative signs of the total output torque deviation and the total output speed deviation, it is determined whether the torque and speed of the target servo motor to be adjusted need to be increased or decreased.

[0130] Then, for torque: calculate the amount of torque that needs to be adjusted (denoted as ΔT), that is, ΔT = T_max-T_current (if the torque needs to be increased) or ΔT = T_current-T_min (if the torque needs to be reduced, but here we are concerned with the maximum adjustment torque, so usually only the increase is considered).

[0131] For the speed: calculate the amount of speed that needs to be adjusted (denoted as Δn), that is, Δn=n_max-n_current (if the speed needs to be increased) or Δn=n_current-n_min (if the speed needs to be reduced, but again, we are mainly concerned with the maximum adjustment speed).

[0132] By adjusting the current control strategy or parameters of the servo drive, the output torque of the target servo motor to be adjusted gradually approaches or reaches T_max. This usually involves adjusting the set value of the current loop to change the output torque of the motor. And, by adjusting the speed control strategy or parameters of the servo drive, the speed of the target servo motor to be adjusted gradually approaches or reaches n_max. This usually involves adjusting the set value of the speed loop to achieve the desired speed change.

[0133] The effect of the above technical solution is: by adjusting the torque and speed of the target servo motor to be adjusted, the total output deviation of the permanent magnet AC servo motor cluster can be reduced, thereby improving the overall performance of the cluster. The adjusted motor state is closer to the target state, which helps to reduce the fluctuations and instability factors of the system and improve the stability of the system. Through reasonable adjustment, the motor can be prevented from working in extreme conditions for a long time, thereby extending the service life of the motor. The adjusted motor state is closer to the optimal working state, which helps to reduce energy consumption and improve energy utilization efficiency. This technical solution can flexibly adjust the torque and speed of the target servo motor to be adjusted according to the actual situation and output requirements of the permanent magnet AC servo motor cluster to meet the needs of different application scenarios.

[0134] In summary, this technical solution achieves precise control of the motor torque and speed by making adjustments based on the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, optimizes the cluster performance, improves system stability and energy utilization efficiency, and extends the service life of the motor.

[0135] The embodiment of the present invention provides a multi-mode accelerated operation permanent magnet AC servo motor intelligent adjustment system, such as Figure 2 As shown, the multi-mode accelerated operation permanent magnet AC servo motor intelligent adjustment system comprises:

[0136] A real-time monitoring module, used for real-time monitoring of the total output deviation of the permanent magnet AC servo motor cluster, and determining a target servo motor to be adjusted from the permanent magnet AC servo motor cluster;

[0137] The adjustment module is used to adjust the torque and speed of the target servo motor to be adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

[0138] The working principle of the above technical solution is as follows: the method first monitors the total output deviation of the permanent magnet AC servo motor cluster in real time through a sensor or a control system. This step is to ensure that the system can promptly detect and respond to any deviation that may affect the output quality. After monitoring the deviation, the system will determine the target servo motor to be adjusted from the permanent magnet AC servo motor cluster according to a preset algorithm or logic. This process may involve evaluating the operating status of multiple motors to determine which motor adjustment is most effective for improving the overall output deviation. Once the target servo motor to be adjusted is determined, the system will intelligently adjust it according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the motor (such as torque, speed, etc.). The adjustment process may involve modifying the motor control signal to change its torque and speed, thereby reducing the total output deviation. This adjustment is dynamic and will provide real-time feedback and adjustment based on the deviation monitored in real time.

[0139] The effect of the above technical solution is: through real-time monitoring and intelligent adjustment, the method can significantly reduce the total output deviation of the permanent magnet AC servo motor cluster, thereby improving the output accuracy of the system. This is particularly important for automation equipment that requires high-precision control. Since the method can detect and adjust the deviation in time, the stability of the system can be significantly enhanced. This helps to reduce system failures or downtime caused by excessive deviations. By intelligently adjusting the torque and speed of the motor, the method also helps to optimize the energy efficiency of the system. This not only reduces energy consumption, but also extends the service life of the motor. Since the method can respond to and adjust the deviation in real time, the production efficiency of automation equipment can be significantly improved. This helps to reduce production costs, improve product quality and market competitiveness. The method has good flexibility and scalability and can be easily integrated into existing automation systems. At the same time, as the system scale expands or the demand changes, the method can also be expanded and optimized accordingly.

[0140] In summary, the intelligent adjustment method of the permanent magnet AC servo motor with multi-mode accelerated operation has significant technical effects and application value, and is of great significance for improving the performance, stability and production efficiency of automation equipment.

[0141] In one embodiment of the present invention, the real-time monitoring module includes:

[0142] Real-time acquisition module, used to collect the actual output torque and actual output speed of the permanent magnet AC servo motor cluster in real time;

[0143] A parameter retrieving module, used to retrieve the target output torque and target output speed of the permanent magnet AC servo motor cluster;

[0144] An output torque total deviation acquisition module is used to acquire the output torque total deviation by combining the actual output torque of the permanent magnet AC servo motor cluster acquired with the target output torque;

[0145] An output speed total deviation acquisition module is used to acquire the output speed total deviation by combining the actual output speed of the permanent magnet AC servo motor cluster acquired with the target output speed;

[0146] A real-time judgment module, used for judging in real time whether the total deviation of the output torque and the total deviation of the output speed do not meet the output requirements;

[0147] A data acquisition module, used for acquiring the maximum torque and maximum speed of a continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster when the total output torque deviation and the total output speed deviation do not meet the output requirements;

[0148] The target servo motor to be adjusted determination module is used to determine the target servo motor to be adjusted according to the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

[0149] The working principle of the above technical solution is: collect the actual output torque and actual output speed of each motor in the permanent magnet AC servo motor cluster in real time. Retrieve the target output torque and target output speed of each motor, which are usually preset according to system requirements. Calculate the total output torque deviation using the collected actual output torque and target output torque. This is usually done by comparing the difference between the actual value and the target value. Similarly, calculate the total output speed deviation using the collected actual output speed and target output speed.

[0150] Determine in real time whether the total output torque deviation and the total output speed deviation do not meet the output requirements. This is usually done by comparing the calculated deviation with the preset allowable deviation range. When the total output torque deviation and the total output speed deviation do not meet the output requirements, the system needs to determine which motor or motors need to be adjusted. To this end, the system first obtains the maximum torque and maximum speed of the continuous working area in the torque-speed characteristic curve of each motor in the permanent magnet AC servo motor cluster. This information reflects the performance limit of each motor within the normal working range. Then, based on the maximum torque and maximum speed of each motor, combined with the current total output torque deviation and total output speed deviation, the system determines the target servo motor to be adjusted through a certain algorithm or logic. Multiple factors may be considered in this process, such as the current load of the motor, the adjustment potential, and the improvement effect on the overall deviation.

[0151] The effect of the above technical solution is: by real-time monitoring and calculation of output deviations, and timely adjustment of the target servo motor, the overall output accuracy of the permanent magnet AC servo motor cluster can be significantly improved. This technical solution can detect and correct deviations in a timely manner, thereby enhancing the stability and reliability of the system. By accurately determining the target servo motor to be adjusted, unnecessary adjustment operations can be avoided, thereby optimizing resource utilization and reducing energy consumption. The real-time monitoring and adjustment functions can ensure that the system is always in the best working state, thereby improving production efficiency and product quality. This technical solution has good flexibility and scalability, and can be easily integrated into existing automation systems, and can be expanded and optimized accordingly as the system scale expands or demand changes.

[0152] In summary, this technical solution achieves a significant improvement in system accuracy, stability and production efficiency through real-time monitoring and intelligent adjustment of the output deviation of the permanent magnet AC servo motor cluster.

[0153] In one embodiment of the present invention, the real-time determination module includes:

[0154] a comparison module, configured to compare the output torque total deviation with a preset first torque total deviation threshold and a preset second torque total deviation threshold, and to compare the output speed total deviation with a preset first speed total deviation threshold and a preset second speed total deviation threshold;

[0155] A first determination module, configured to determine that the total output torque deviation and the total output speed deviation meet the output requirement when the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto;

[0156] A second determination module is configured to determine that the total output torque deviation and the total output speed deviation do not meet the output requirement when both the total output torque deviation and the total output speed deviation exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto;

[0157] A comprehensive deviation index parameter acquisition module, used for obtaining a comprehensive deviation index parameter using the total output torque deviation and the total output speed deviation when the total output torque deviation exceeds a preset first total torque deviation threshold but does not exceed a preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds a preset first total speed deviation threshold but does not exceed a preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold;

[0158] The comprehensive deviation index parameter is obtained by the following formula:

[0159]

[0160] Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02 and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold;

[0161] A parameter comparison module, used to compare the comprehensive deviation index parameter with a preset comprehensive index parameter threshold;

[0162] The third judgment module is used to judge that the total output torque deviation and the total output speed deviation do not meet the output requirements when the comprehensive deviation index parameter exceeds a preset comprehensive index parameter threshold; otherwise, it is used to judge that the total output torque deviation and the total output speed deviation meet the output requirements.

[0163] The working principle of the above technical solution is: compare the total output torque deviation with the preset first total torque deviation threshold (Hzy01) and the second total torque deviation threshold (Hzy02). At the same time, compare the total output speed deviation with the preset first total speed deviation threshold (Hsy01) and the second total speed deviation threshold (Hsy02). If the total output torque deviation and the total output speed deviation do not exceed the first thresholds (Hzy01 and Hsy01) respectively corresponding to them, it is judged that they meet the output requirements. If the total output torque deviation and the total output speed deviation both exceed the second thresholds (Hzy02 and Hsy02) respectively corresponding to them, it is judged that they do not meet the output requirements. If one of the total output torque deviation or the total output speed deviation exceeds the first threshold but does not exceed the second threshold, and the other does not exceed the second threshold, a comprehensive judgment is required. Using the total output torque deviation and the total output speed deviation, a comprehensive deviation index parameter (G) is calculated by a specific formula. The calculated comprehensive deviation index parameter is compared with the preset comprehensive index parameter threshold. If the comprehensive deviation index parameter exceeds the preset comprehensive index parameter threshold, it is judged that the total output torque deviation and the total output speed deviation do not meet the output requirements; otherwise, it is judged that they meet the output requirements.

[0164] The effect of the above technical solution is: by setting multiple thresholds and making comprehensive judgments, it is possible to more accurately evaluate whether the total output torque deviation and the total output speed deviation meet the output requirements, avoiding the misjudgment that may be caused by a single threshold judgment. The technical solution can flexibly adjust the judgment criteria according to different situations, taking into account both the absolute value of the deviation and the relative size and combination of the deviation, thereby enhancing the adaptability and flexibility of the system. By real-time monitoring and judging the output deviation and taking corresponding adjustment measures in a timely manner, the performance of the permanent magnet AC servo motor cluster can be optimized and the stability and reliability of the system can be improved. Accurate judgment criteria can reduce unnecessary adjustment operations and reduce system downtime, thereby improving production efficiency and product quality. The technical solution has a clear principle, simple operation, and is easy to implement and maintain in the existing system. At the same time, by adjusting the threshold and formula parameters, it can easily adapt to the needs of different application scenarios.

[0165] In summary, this technical solution achieves accurate evaluation of the output deviation of the permanent magnet AC servo motor cluster by setting multiple thresholds and making comprehensive judgments, optimizes system performance, and improves production efficiency and product quality.

[0166] In one embodiment of the present invention, the module for determining the target servo motor to be adjusted includes:

[0167] A continuous working area extraction module, used to extract the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0168] A speed and torque information acquisition module, used for acquiring the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor;

[0169] A deviation acquisition module is used to compare the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with its corresponding target torque and target speed, and obtain the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor;

[0170] a target servo motor determination execution module, configured to determine that the permanent magnet AC servo motor whose deviation satisfies the preset deviation ratio constraint condition is the target servo motor to be adjusted if any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies the preset deviation ratio constraint condition;

[0171] The deviation ratio constraint condition corresponding to the torque deviation is as follows:

[0172]

[0173] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation;

[0174] In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows:

[0175]

[0176] Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation.

[0177] The working principle of the above technical solution is: extract the continuous working area from the torque-speed characteristic curve of each permanent magnet AC servo motor, which is the area where the motor can operate stably for a long time. In the continuous working area, determine the maximum torque and maximum speed corresponding to each permanent magnet AC servo motor, and these parameters reflect the performance limit of the motor in this area. Compare the maximum torque and maximum speed of each permanent magnet AC servo motor with its corresponding target torque and target speed, and calculate the speed deviation and torque deviation corresponding to each motor. These deviations reflect the difference between the current state of the motor and the target state. According to the preset deviation ratio constraint condition, determine whether the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor meet the conditions. These conditions may involve the absolute value, relative value or combination relationship of the deviation with other parameters. If the speed deviation or torque deviation of a motor meets (i.e. exceeds) the preset deviation ratio constraint condition, the motor is determined to be the target servo motor to be adjusted.

[0178] The effect of the above technical solution is: by comprehensively considering the torque-speed characteristic curve and output deviation of each permanent magnet AC servo motor, it is possible to more accurately determine which motors need to be adjusted and avoid unnecessary adjustment operations. By accurately adjusting the target servo motor, the performance of the entire permanent magnet AC servo motor cluster can be optimized and the stability and reliability of the system can be improved. By adjusting the operating state of the motor to make it closer to the target state, energy consumption can be reduced and energy utilization efficiency can be improved. Accurate adjustment operations can reduce system downtime, improve production efficiency and reduce production costs. This technical solution can flexibly adjust the judgment criteria and adjustment strategies according to different situations to meet the needs of different application scenarios.

[0179] In summary, the technical solution achieves accurate determination and adjustment of the target servo motor by comprehensively considering the torque-speed characteristic curve and output deviation of the permanent magnet AC servo motor, optimizes system performance, and improves production efficiency and energy utilization efficiency. However, it should be noted that the formula of the deviation ratio constraint mentioned in the technical solution needs to be appropriately modified and adjusted according to the specific situation to ensure its accuracy and practicality.

[0180] In one embodiment of the present invention, the adjustment module includes:

[0181] A maximum adjustment torque and speed acquisition module is used to determine the maximum adjustment torque and maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster;

[0182] The adjustment execution module is used to adjust the torque and the speed of the target servo motor to be adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

[0183] The working principle of the above technical solution is as follows: First, according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster, the maximum adjustment torque (denoted as T_max) and the maximum adjustment speed (denoted as n_max) of the target servo motor to be adjusted have been determined. The goal of the adjustment is to make the total output deviation of the permanent magnet AC servo motor cluster meet the preset output quality requirements. The current torque (denoted as T_current) and the current speed (denoted as n_current) of the target servo motor to be adjusted are obtained in real time through sensors or encoders. According to the positive and negative signs of the total output torque deviation and the total output speed deviation, it is determined whether the torque and speed of the target servo motor to be adjusted need to be increased or decreased.

[0184] Then, for torque: calculate the amount of torque that needs to be adjusted (denoted as ΔT), that is, ΔT = T_max-T_current (if the torque needs to be increased) or ΔT = T_current-T_min (if the torque needs to be reduced, but here we are concerned with the maximum adjustment torque, so usually only the increase is considered).

[0185] For the speed: calculate the amount of speed that needs to be adjusted (denoted as Δn), that is, Δn=n_max-n_current (if the speed needs to be increased) or Δn=n_current-n_min (if the speed needs to be reduced, but again, we are mainly concerned with the maximum adjustment speed).

[0186] By adjusting the current control strategy or parameters of the servo drive, the output torque of the target servo motor to be adjusted gradually approaches or reaches T_max. This usually involves adjusting the set value of the current loop to change the output torque of the motor. And, by adjusting the speed control strategy or parameters of the servo drive, the speed of the target servo motor to be adjusted gradually approaches or reaches n_max. This usually involves adjusting the set value of the speed loop to achieve the desired speed change.

[0187] The effect of the above technical solution is: by adjusting the torque and speed of the target servo motor to be adjusted, the total output deviation of the permanent magnet AC servo motor cluster can be reduced, thereby improving the overall performance of the cluster. The adjusted motor state is closer to the target state, which helps to reduce the fluctuations and instability factors of the system and improve the stability of the system. Through reasonable adjustment, the motor can be prevented from working in extreme conditions for a long time, thereby extending the service life of the motor. The adjusted motor state is closer to the optimal working state, which helps to reduce energy consumption and improve energy utilization efficiency. This technical solution can flexibly adjust the torque and speed of the target servo motor to be adjusted according to the actual situation and output requirements of the permanent magnet AC servo motor cluster to meet the needs of different application scenarios.

[0188] In summary, this technical solution achieves precise control of the motor torque and speed by making adjustments based on the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, optimizes the cluster performance, improves system stability and energy utilization efficiency, and extends the service life of the motor.

[0189] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. An intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation, characterized in that: The intelligent adjustment method for the permanent magnet AC servo motor with multi-mode accelerated operation includes: Monitor the total output deviation of the permanent magnet AC servo motor cluster in real time, and determine the target servo motor to be adjusted from the permanent magnet AC servo motor cluster; The torque and speed of the target servo motor to be adjusted are adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

2. The intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 1 is characterized in that: Real-time monitoring of the total output deviation of the permanent magnet AC servo motor cluster and determining a target servo motor to be adjusted from the permanent magnet AC servo motor cluster include: Real-time acquisition of the actual output torque and actual output speed of the permanent magnet AC servo motor cluster; Retrieving the target output torque and target output speed of the permanent magnet AC servo motor cluster; The actual output torque of the permanent magnet AC servo motor cluster is collected and combined with the target output torque to obtain the total output torque deviation; The actual output speed of the permanent magnet AC servo motor cluster is collected and combined with the target output speed to obtain the total output speed deviation; Real-time judgment of whether the total deviation of output torque and total deviation of output speed do not meet the output requirements; When the total output torque deviation and the total output speed deviation do not meet the output requirements, the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster are obtained; The target servo motor to be adjusted is determined according to the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

3. The intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 2 is characterized in that: Real-time judgment of whether the total output torque deviation and the total output speed deviation do not meet the output requirements, including: Comparing the total output torque deviation with a preset first total torque deviation threshold and a preset second total torque deviation threshold, and comparing the total output speed deviation with a preset first total speed deviation threshold and a preset second total speed deviation threshold; When the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation meet the output requirements; When the total output torque deviation and the total output speed deviation both exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto, it is determined that the total output torque deviation and the total output speed deviation do not meet the output requirement; When the total output torque deviation exceeds the preset first total torque deviation threshold, but does not exceed the preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds the preset first total speed deviation threshold, but does not exceed the preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold, the total output torque deviation and the total output speed deviation are used to obtain a comprehensive deviation index parameter; The comprehensive deviation index parameter is obtained by the following formula: Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02 and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold; Comparing the comprehensive deviation index parameter with a preset comprehensive index parameter threshold; When the comprehensive deviation index parameter exceeds the preset comprehensive index parameter threshold, it is judged that the total output torque deviation and the total output speed deviation do not meet the output requirements; otherwise, it is judged that the total output torque deviation and the total output speed deviation meet the output requirements.

4. The intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 2 is characterized in that: Determining the target servo motor to be adjusted according to the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation, including: Extracting a continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor; Obtaining the maximum torque and maximum speed of the continuous working area in the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor; Compare the maximum torque and the maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with the corresponding target torque and target speed, and obtain the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor; If any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies a deviation ratio constraint condition exceeding a preset deviation ratio, the permanent magnet AC servo motor whose deviation satisfies the deviation ratio constraint condition exceeding the preset deviation ratio is determined to be the target servo motor to be adjusted; The deviation ratio constraint condition corresponding to the torque deviation is as follows: Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation; In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows: Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation.

5. The intelligent adjustment method for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 1 is characterized in that: The torque and speed of the target servo motor to be adjusted are adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, including: Determine the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster; The torque and the speed of the target servo motor to be adjusted are adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

6. The intelligent adjustment system of permanent magnet AC servo motor with multi-mode acceleration operation is characterized by: The multi-mode accelerated operation permanent magnet AC servo motor intelligent adjustment system comprises: A real-time monitoring module, used for real-time monitoring of the total output deviation of the permanent magnet AC servo motor cluster, and determining a target servo motor to be adjusted from the permanent magnet AC servo motor cluster; The adjustment module is used to adjust the torque and speed of the target servo motor to be adjusted according to the total output deviation of the permanent magnet AC servo motor cluster and the actual operating parameters of the target servo motor to be adjusted, so that the total output deviation of the permanent magnet AC servo motor cluster meets the output quality requirements.

7. The intelligent adjustment system for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 6 is characterized in that: The real-time monitoring module comprises: Real-time acquisition module, used to collect the actual output torque and actual output speed of the permanent magnet AC servo motor cluster in real time; A parameter retrieving module, used to retrieve the target output torque and target output speed of the permanent magnet AC servo motor cluster; An output torque total deviation acquisition module is used to acquire the output torque total deviation by combining the actual output torque of the permanent magnet AC servo motor cluster acquired with the target output torque; An output speed total deviation acquisition module is used to acquire the output speed total deviation by combining the actual output speed of the permanent magnet AC servo motor cluster acquired with the target output speed; A real-time judgment module, used for judging in real time whether the total deviation of the output torque and the total deviation of the output speed do not meet the output requirements; A data acquisition module, used for acquiring the maximum torque and maximum speed of a continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor in the permanent magnet AC servo motor cluster when the total output torque deviation and the total output speed deviation do not meet the output requirements; The target servo motor to be adjusted determining module is used to determine the target servo motor to be adjusted according to the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve of each permanent magnet AC servo motor combined with the total output torque deviation and the total output speed deviation.

8. The intelligent adjustment system for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 7 is characterized in that: The real-time judgment module comprises: a comparison module, configured to compare the output torque total deviation with a preset first torque total deviation threshold and a preset second torque total deviation threshold, and to compare the output speed total deviation with a preset first speed total deviation threshold and a preset second speed total deviation threshold; A first determination module, configured to determine that the total output torque deviation and the total output speed deviation meet the output requirement when the total output torque deviation and the total output speed deviation do not exceed the first total torque deviation threshold and the first total speed deviation threshold respectively corresponding thereto; A second determination module is used to determine that the total output torque deviation and the total output speed deviation do not meet the output requirement when both the total output torque deviation and the total output speed deviation exceed the second total torque deviation threshold and the second total speed deviation threshold respectively corresponding thereto; A comprehensive deviation index parameter acquisition module, used for obtaining a comprehensive deviation index parameter using the total output torque deviation and the total output speed deviation when the total output torque deviation exceeds a preset first total torque deviation threshold but does not exceed a preset second total torque deviation threshold, and the total output speed deviation does not exceed the second total speed deviation threshold, or when the total output speed deviation exceeds a preset first total speed deviation threshold but does not exceed a preset second total speed deviation threshold, and the total output torque deviation does not exceed the second total torque deviation threshold; The comprehensive deviation index parameter is obtained by the following formula: Among them, G represents the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H zy01 and H zy02 and H represent the first torque total deviation threshold and the second torque total deviation threshold respectively; s Indicates the total output speed deviation; H sy01 and H sy02 Respectively represent a first total rotation speed deviation threshold and a second total rotation speed deviation threshold; A parameter comparison module, used to compare the comprehensive deviation index parameter with a preset comprehensive index parameter threshold; The third judgment module is used to judge that the total output torque deviation and the total output speed deviation do not meet the output requirements when the comprehensive deviation index parameter exceeds a preset comprehensive index parameter threshold; otherwise, it is used to judge that the total output torque deviation and the total output speed deviation meet the output requirements.

9. The intelligent adjustment system for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 8 is characterized in that: The target servo motor to be adjusted determining module includes: A continuous working area extraction module, used to extract the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor; A speed and torque information acquisition module, used for acquiring the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor according to the continuous working area in the torque-speed characteristic curve of each permanent magnet AC servo motor; A deviation acquisition module is used to compare the maximum torque and maximum speed in the continuous working area of ​​the torque-speed characteristic curve corresponding to each permanent magnet AC servo motor with its corresponding target torque and target speed, and obtain the speed deviation and torque deviation corresponding to each permanent magnet AC servo motor; a target servo motor determination execution module, configured to determine that the permanent magnet AC servo motor whose deviation satisfies the preset deviation ratio constraint condition is the target servo motor to be adjusted if any one of the speed deviation and the torque deviation corresponding to each permanent magnet AC servo motor satisfies the preset deviation ratio constraint condition; The deviation ratio constraint condition corresponding to the torque deviation is as follows: Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation; In addition, the deviation ratio constraint condition corresponding to the rotation speed deviation is as follows: Among them, F z Indicates the torque deviation corresponding to each permanent magnet AC servo motor; F s Indicates the speed deviation corresponding to each permanent magnet AC servo motor; G indicates the comprehensive deviation index parameter; H z Indicates the total deviation of output torque; H s Indicates the total output speed deviation.

10. The intelligent adjustment system for a permanent magnet AC servo motor with multi-mode acceleration operation according to claim 6, characterized in that: The adjustment module comprises: A maximum adjustment torque and speed acquisition module is used to determine the maximum adjustment torque and maximum adjustment speed of the target servo motor to be adjusted according to the total output torque deviation and the total output speed deviation of the permanent magnet AC servo motor cluster; The adjustment execution module is used to adjust the torque and the speed of the target servo motor to be adjusted according to the maximum adjustment torque and the maximum adjustment speed of the target servo motor to be adjusted.

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