Direct current servo motor position control method and system based on operation analysis

Abstract

The invention relates to the technical field of motor position control, in particular to a direct-current servo motor position control method and system based on operation analysis, and the method comprises the steps: obtaining a target direct-current servo motor, obtaining a target model according to the target direct-current servo motor, obtaining a moving position parameter, and obtaining a plurality of parameter adjustment intervals, obtaining a plurality of parameter combinations based on a plurality of parameter adjustment intervals, obtaining an optimal operation state of a target direct current servo motor, obtaining a moving target site, obtaining a current site of the target direct current servo motor, constructing a moving path based on the current site and the moving target site, obtaining curve characteristics of the moving path, dividing the moving path, and obtaining the target direct current servo motor. The method comprises the steps of obtaining multiple sections of divided paths, simulating the divided paths, confirming energy-optimal parameter combinations, summarizing the energy-optimal parameter combinations, obtaining an energy-optimal parameter combination set, and completing direct current servo motor position control based on operation analysis on the basis of the energy-optimal parameter combination set. According to the invention, efficient energy consumption management and accurate position control can be realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor position control, and in particular to a DC servo motor position control method, system, electronic equipment and computer-readable storage medium based on operation analysis. Background Art

[0002] Operation analysis is a method of obtaining valuable information by analyzing in detail the various states and parameters of a DC servo motor during actual operation. A DC servo motor is a DC motor that achieves precise position and speed control through the interaction of electromagnetic induction and electromagnetic force.

[0003] With the rapid development of industrial automation and intelligent manufacturing, DC servo motors are widely used in the fields of robots, transmitters, and mobile radar vehicles. However, traditional DC servo motor control methods usually rely on fixed parameter settings, lack dynamic analysis of operating status and energy consumption, and are difficult to achieve optimal performance under different working conditions. When there are turning points in the moving path, there is a lack of effective path planning and optimization strategies. Therefore, how to achieve efficient energy consumption management and precise position control is a technical problem that needs to be solved urgently. Summary of the invention

[0004] The present invention provides a DC servo motor position control method based on operation analysis and a computer-readable storage medium, the main purpose of which is to achieve efficient energy consumption management and precise position control, and to improve the intelligence level and energy efficiency performance of the equipment.

[0005] To achieve the above object, the present invention provides a DC servo motor position control method based on operation analysis, comprising: Receiving an operation analysis instruction, obtaining a target DC servo motor according to the operation analysis instruction, and obtaining a target model according to the target DC servo motor; Acquire the moving position parameters according to the target model, and parse the moving position parameters, wherein the moving position parameters include: voltage, load, efficiency and rotation speed; Using the analyzed moving position parameters, a plurality of parameter adjustment intervals are obtained, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval, and an efficiency interval; Acquire multiple parameter combinations based on multiple parameter adjustment intervals; Obtain the optimal operating state of the target DC servo motor according to the moving position parameters; Obtain the moving target position according to the optimal operating state and obtain the current position of the target DC servo motor; Construct a moving path based on the current location and the moving target location; Determine whether there is a turning point in the moving path; If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points, and the moving path is divided according to the curve characteristics to obtain multiple divided paths; Extract a partition path from the multiple partition paths in turn, and perform the following operations on the extracted partition paths: Use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtain multiple energy consumption values, and confirm the optimal parameter combination based on the multiple energy consumption values; Summarizing the energy optimization parameter combinations to obtain an energy optimization parameter combination set; Complete the DC servo motor position control based on operation analysis based on the optimal parameter combination set.

[0006] Optionally, acquiring multiple parameter combinations based on multiple parameter adjustment intervals includes: Extracting a parameter adjustment interval from the multiple parameter adjustment intervals in sequence, and grouping the parameter adjustment intervals according to a preset division step to obtain multiple interval components; Calculating the data average of each interval component in the multiple interval components respectively, and summarizing the data averages to obtain a data average group; The data average value groups are summarized to obtain a data average value group set, wherein the data average value group set includes: a voltage average value group, a speed average value group, a load average value group and an efficiency average value group, and the data average value group set is expressed as: , in, represents the data mean group, Represents the voltage average value group, Indicates the speed average value group, Indicates the load average group, represents the efficiency average group, Indicates the average value of the first voltage data. Indicates The average value of voltage data, Indicates the number of data averages in the group. Indicates the average value of the first speed data. Indicates The average speed data, Indicates the average value of the first load data. Indicates The average value of load data, Indicates the average value of the first efficiency data, Indicates The average value of efficiency data; The data average value group includes the voltage average value group, the speed average value group, the load average value group and the efficiency average value group, and data fusion is performed to obtain multiple parameter combinations.

[0007] Optionally, the multiple parameter combinations are as follows: , in, Indicates multiple parameter combinations. Indicates The average voltage, Indicates The average speed, Indicates The load average value, Indicates The average power value.

[0008] Optionally, obtaining the optimal operating state of the target DC servo motor according to the moving position parameter includes: Obtaining optimal moving position parameters of the DC servo motor, wherein the optimal moving position parameters include: optimal voltage, optimal speed, optimal load, optimal efficiency and optimal power; The pre-built comprehensive deviation value formula is used to calculate the comprehensive deviation value between the optimal mobile position parameter and the mobile position parameter, wherein the comprehensive deviation value formula is as follows: , in, Represents the comprehensive deviation value, Indicates the optimum voltage, Indicates voltage, Indicates the optimum speed, Indicates the speed, represents the optimum load, Indicates load, represents the best efficiency, Indicates efficiency, represents the optimum power, Indicates power; Determine the size of the comprehensive deviation value and the preset comprehensive deviation threshold; If the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold, the operating state of the target DC servo motor is confirmed as the optimal operating state; Otherwise, the moving position parameters of the target DC servo motor are adjusted until the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold value, thereby obtaining the best operating state.

[0009] Optionally, constructing a moving path based on the current location and the moving target location includes: Constructing a two-dimensional reference coordinate system, obtaining current coordinates using the two-dimensional reference coordinate system and the current position, and obtaining moving target coordinates of the moving target position in the two-dimensional reference coordinate system; According to the current coordinate and the preset moving step length, the next coordinate adjacent to the current coordinate is obtained to obtain the adjacent coordinate; If it is confirmed that there is an obstacle at the adjacent coordinates, the obstacle diameter is obtained, a circle is obtained with the adjacent coordinates as the center and the obstacle diameter as the radius, a peripheral coordinate set is obtained based on the circle, and a peripheral coordinate is extracted from the peripheral coordinate set in turn, and the following operations are performed on the extracted peripheral coordinates: Obtaining an initial moving path based on the current coordinates and the peripheral coordinates, and calculating the distance of the initial moving path; Summarize the distances to get a distance set; Extracting the shortest distance from the distance set, and confirming the peripheral coordinates corresponding to the shortest distance as adjacent coordinates, constructing a target moving path based on the current coordinates and the adjacent coordinates, taking the adjacent coordinates as the current coordinates, and returning to the step of obtaining the next coordinate adjacent to the current coordinate according to the current coordinates and the preset moving step length until the current coordinates are equal to the moving target coordinates; Summarize and concatenate the target moving paths to obtain the moving path.

[0010] Optionally, the curve characteristics of the moving path are obtained according to one or more turning points. ， include: Constructing a reference coordinate system, obtaining coordinates of one or more turning points based on the reference coordinate system and the moving path, and obtaining one or more turning point coordinates, wherein the turning point coordinates include: a horizontal coordinate and a vertical coordinate; Get the polynomial order; Designing the abscissas in one or more turning point coordinates using the polynomial order to obtain a set of identified abscissas; Construct a blank matrix and import the identification abscissa set into the blank matrix to obtain the design matrix, where the design matrix is ​​as follows: , in, represents the design matrix, represents the polynomial order, represents the number of turning points, The horizontal coordinate of the first turning point in the table is Indicates The horizontal coordinate of the turning point; Construct an initial matrix and import the ordinates of one or more turning points into the initial matrix to obtain a target vector matrix, where the target vector matrix is ​​as follows: , in, represents the target vector matrix, Indicates the ordinate of the first turning point, Indicates The vertical coordinate of the turning point; Obtain the coefficient vector using the pre-constructed least square method, the design matrix and the target vector matrix, and obtain the fitting curve according to the coefficient vector and the pre-constructed polynomial formula; The curve characteristics are identified based on the fitted curve.

[0011] Optionally, dividing the moving path according to the curve feature to obtain multiple divided paths includes: A target turning point is extracted from one or more turning points in sequence, and the following operations are performed on the extracted target turning points: The pre-built fitting error formula is used to calculate the fitting deviation value between the target turning point and the fitting curve, where the fitting error formula is as follows: , in, represents the fitting deviation value, The ordinate of the target turning point, represents the horizontal coordinate of the target turning point, , , Both represent the coefficient vector of the fitting curve, represents the polynomial degree of the fitting curve, Indicates the index of the target turning point; If the fitting deviation value is less than or equal to a preset fitting deviation threshold, the fitting deviation value is confirmed as a standard fitting deviation value; If the fitting deviation value is greater than the preset fitting deviation threshold, the coefficient vector of the fitting curve is adjusted until the fitting deviation value is less than or equal to the preset fitting deviation threshold; Summarizing the standard fitting deviation values ​​to obtain a standard fitting deviation value set; Calculate the mean square error of the standard fitting deviation value set, and obtain the best fitting curve based on the mean square error; Calculating the first-order derivative of the best fitting curve to obtain the first-order derivative zero point, and taking the derivative of the first-order derivative to obtain the second-order derivative zero point, wherein the first-order derivative zero point includes one or more zero points, and wherein the second-order derivative zero point includes one or more zero points; The moving path is divided based on the first-order derivative zero point and the second-order derivative zero point to obtain multiple segmented distances, wherein the multiple segmented distances include: straight line segments and curve segments.

[0012] Optionally, calculating the mean square error of the standard fitting deviation value set and obtaining the best fitting curve according to the mean square error includes: The mean square error for a set of standard fit deviation values ​​is calculated using the pre-built mean square error formula, which is as follows: , in, represents the mean square error, represents the total number of standard fit deviation values ​​in the standard fit deviation value set, The index representing the standard fit deviation value; If it is confirmed that the mean square error is less than or equal to the preset mean square error, the fitting curve is confirmed as the best fitting curve; If it is confirmed that the mean square error is less than or equal to the preset mean square error, the fitting curve is confirmed as the best fitting curve.

[0013] Optionally, the method utilizes pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtains multiple energy consumption values, and confirms the energy-optimal parameter combination based on the multiple energy consumption values, including: Extract one parameter combination from the multiple parameter combinations in turn, and perform the following operations on each of the extracted parameter combinations: The energy consumption value of the parameter combination corresponding to the target DC servo motor is calculated using the pre-built energy consumption formula, numerical simulation software, curve characteristics and preset time threshold, where the energy consumption formula is as follows: , in, Indicates the energy consumption value, Indicates voltage, represents the proportionality constant, Indicates load, Indicates the speed, Indicates the running time of the target DC servo motor, Indicates efficiency; If the energy consumption value is greater than or equal to 1, the parameter combination corresponding to the energy consumption value is eliminated, the retained parameter combinations are summarized to obtain multiple updated parameter combinations, the multiple updated parameter combinations are used as the multiple parameter combinations, and the step of extracting one parameter combination from the multiple parameter combinations is returned to; If the energy consumption value is less than 1, the energy consumption value is retained to obtain the optimal energy consumption value; Summarize the optimal energy consumption values ​​to obtain an optimal energy consumption value group; The minimum energy consumption is obtained based on the optimal energy consumption value group, and the parameter combination corresponding to the minimum energy consumption is confirmed as the energy-optimal parameter combination.

[0014] To achieve the above object, the present invention also provides a DC servo motor position control system based on operation analysis, comprising: a parameter acquisition module, configured to receive an operation analysis instruction, acquire a target DC servo motor according to the operation analysis instruction, acquire a target model according to the target DC servo motor, acquire a moving position parameter according to the target model, and parse the moving position parameter, wherein the moving position parameter includes: voltage, load, efficiency and speed, and acquire a plurality of parameter adjustment intervals using the parsed moving position parameter, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval and an efficiency interval; A parameter combination acquisition module is used to acquire multiple parameter combinations based on multiple parameter adjustment intervals, acquire the optimal operating state of the target DC servo motor according to the mobile position parameter, acquire the mobile target position according to the optimal operating state, and acquire the current position of the target DC servo motor; A path planning module is used to construct a moving path based on the current position and the moving target position, determine whether there is a turning point in the moving path, and if it is confirmed that there are one or more turning points in the moving path, obtain the curve characteristics of the moving path according to the one or more turning points, and divide the moving path according to the curve characteristics to obtain multiple segmented paths; The energy consumption simulation module is used to extract a division path from multiple division paths in turn, and perform the following operations on the extracted division paths: use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the division paths to obtain multiple energy consumption values, confirm the energy-optimal parameter combination based on the multiple energy consumption values, summarize the energy-optimal parameter combination to obtain an energy-optimal parameter combination set, and complete the DC servo motor position control based on the operation analysis based on the energy-optimal parameter combination set.

[0015] In order to solve the above problem, the present invention further provides an electronic device, the electronic device comprising: A memory storing at least one instruction; The processor executes the instructions stored in the memory to implement the above-mentioned DC servo motor position control method based on operation analysis.

[0016] In order to solve the above problems, the present invention also provides a computer-readable storage medium, in which at least one instruction is stored. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned DC servo motor position control method based on operation analysis.

[0017] The present invention is to solve the problem described in the background technology. The present invention receives an operation analysis instruction, obtains a target DC servo motor according to the operation analysis instruction, and obtains a target model according to the target DC servo motor. The present invention ensures that the control system can accurately identify and locate the target DC servo motor that needs to be operated and analyzed through the operation analysis instruction, so as to perform targeted optimization operations, obtain mobile position parameters according to the target model, and parse the mobile position parameters, wherein the mobile position parameters include: voltage, load, efficiency and speed, and obtain multiple parameter adjustment intervals using the parsed mobile position parameters, wherein the multiple parameter adjustment intervals include: a voltage interval, a speed interval, a load interval and an efficiency interval. The present invention obtains and parses the target The moving position parameters of the standard model are used to obtain accurate voltage, speed, load and efficiency ranges, providing a reliable data basis for subsequent parameter combination and optimization. Multiple parameter combinations are obtained based on multiple parameter adjustment intervals. The present invention matches multiple parameter adjustment intervals to obtain multiple parameter combinations, which provides a rich selection space for numerical simulation and energy consumption optimization, increases the possibility of finding the best operating parameters, and obtains the best operating state of the target DC servo motor according to the moving position parameters. The present invention calculates the comprehensive deviation value between the moving position parameters and the best moving position parameters to achieve precise adjustment of the motor operating state, ensure that it reaches the best operating state, thereby improving the overall performance and efficiency of the motor, and obtains the moving target position according to the best operating state. Taking the current position of the target DC servo motor, determining the target position and the current position is helpful to accurately plan the moving path of the motor from the current position to the target position, and constructing the moving path based on the current position and the moving target position. The present invention realizes the efficient and safe movement of the DC servo motor from the current position to the target position through intelligent obstacle avoidance and path optimization, improves the accuracy and adaptability of the moving path, and determines whether there is a turning point in the moving path. By identifying the turning points in the path, the present invention helps to more accurately divide the path segments, provides a basis for subsequent segment optimization, and ensures that each segment of the path can reach the optimal operating state. If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points. According to The curve feature divides the moving path to obtain multiple segmented paths. The present invention constructs a reference coordinate system, generates a fitting curve using polynomial fitting turning point coordinates, and accurately divides the moving path according to the curve feature. This method can improve the accuracy and adaptability of path planning, so that the DC servo motor can move along the predetermined path more smoothly and efficiently, while reducing errors and energy consumption during the movement process. A segmented path is extracted from the multiple segmented paths in turn, and the following operations are performed on the extracted segmented paths: pre-built numerical simulation software, multiple parameter combinations and curve features are used to simulate the segmented paths to obtain multiple energy consumption values, and an energy-optimized parameter combination is confirmed based on the multiple energy consumption values. The present invention uses numerical simulation and energy consumption optimization.Find the minimum energy consumption parameter combination for each path to ensure that the motor is always in the best energy efficiency state during the movement. At the same time, it is more convenient to summarize the energy optimization parameter combination through numerical simulation to obtain the energy optimization parameter combination set. The present invention summarizes the optimal parameter combination for each path to form a complete energy optimization parameter combination set, providing a unified optimization solution for the overall operation of the motor, and completing the DC servo motor position control based on the operation analysis based on the energy optimization parameter combination set. The present invention realizes precise position control of the DC servo motor by applying the energy optimization parameter combination set, ensuring that the motor always maintains the best operating state during the movement process, and improving energy efficiency and operation stability. Therefore, the present invention can realize efficient energy consumption management and precise position control, and improve the intelligence level and energy efficiency performance of the equipment. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] Figure 1 A schematic flow chart of a DC servo motor position control method based on operation analysis provided in one embodiment of the present invention; Figure 2 A functional module diagram of a DC servo motor position control system based on operation analysis provided by one embodiment of the present invention; Figure 3 A schematic diagram of the structure of an electronic device for implementing the DC servo motor position control method based on operation analysis provided in one embodiment of the present invention.

[0019] Description of reference numerals: 1. Electronic device; 10. Processor; 11. Memory; 12. Bus.

[0020] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0021] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0022] The embodiment of the present application provides a DC servo motor position control method based on operation analysis. The execution subject of the DC servo motor position control method based on operation analysis includes but is not limited to at least one of the electronic devices such as a server and a terminal that can be configured to execute the method provided by the embodiment of the present application. In other words, the DC servo motor position control method based on operation analysis can be executed by software or hardware installed in a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc.

[0023] Reference Figure 1FIG. 1 is a flow chart of a DC servo motor position control method based on operation analysis provided by an embodiment of the present invention. In this embodiment, the DC servo motor position control method based on operation analysis includes: S1. Receive an operation analysis instruction, obtain a target DC servo motor according to the operation analysis instruction, and obtain a target model according to the target DC servo motor.

[0024] It should be explained that the operation analysis instruction is generally initiated by a computer control system. For example, Xiao Zhang is a control engineer of an automated warehousing system. In order to improve the cargo handling efficiency and reduce energy consumption in the warehouse, Xiao Zhang needs to perform operation analysis on the DC servo motor in the warehouse to optimize the cargo handling path and the energy consumption of the motor, so he initiates the operation analysis instruction.

[0025] It should be explained that the step of obtaining the target DC servo motor according to the operation analysis instruction is: parsing the operation analysis instruction, identifying that the target object to be analyzed and optimized is the target DC servo motor. The step of obtaining the target model according to the target DC servo motor is: identifying the device number of the target DC servo motor, and confirming the target model of the target DC servo motor according to the device number.

[0026] For example, Xiao Zhang obtains the device number of the target DC servo machine as S12345 through the computer control system, and searches the database for the target model number of the target DC servo machine as XYZ-789 according to the device number.

[0027] S2. Obtaining a moving position parameter according to the target model, parsing the moving position parameter, and obtaining a plurality of parameter adjustment intervals using the parsed moving position parameter.

[0028] Specifically, the moving position parameters include: voltage, load, efficiency and rotation speed, wherein the multiple parameter adjustment intervals include: a voltage interval, a rotation speed interval, a load interval and an efficiency interval.

[0029] It should be explained that the step of parsing the moving position parameters according to the target model is: parsing the position parameters of the target DC servo motor under the target model during operation and obtaining the moving position parameters. The speed range refers to the allowable speed variation range of the DC servo motor during operation. The load range refers to the range of different load variations borne by the DC servo motor during operation. The efficiency range refers to the range of efficiency variations under different working conditions during the operation of the DC servo motor. The voltage range refers to the allowable input voltage variation range during the operation of the DC servo motor.

[0030] S3. Acquire multiple parameter combinations based on multiple parameter adjustment intervals.

[0031] In detail, the obtaining of multiple parameter combinations based on multiple parameter adjustment intervals includes: Extracting a parameter adjustment interval from the multiple parameter adjustment intervals in sequence, and grouping the parameter adjustment intervals according to a preset division step to obtain multiple interval components; Calculating the data average of each interval component in the multiple interval components respectively, and summarizing the data averages to obtain a data average group; The data average value groups are summarized to obtain a data average value group set, wherein the data average value group set includes: a voltage average value group, a speed average value group, a load average value group and an efficiency average value group, and the data average value group set is expressed as: , in, represents the data mean group, Represents the voltage average value group, Indicates the speed average value group, Indicates the load average group, represents the efficiency average group, Indicates the average value of the first voltage data. Indicates The average value of voltage data, Indicates the number of data averages in the group. Indicates the average value of the first speed data. Indicates The average speed data, Indicates the average value of the first load data. Indicates The average value of load data, Indicates the average value of the first efficiency data, Indicates The average value of efficiency data; The data average value group includes the voltage average value group, the speed average value group, the load average value group and the efficiency average value group, and data fusion is performed to obtain multiple parameter combinations.

[0032] It should be explained that the division step size refers to the unit distance at which the data points are gradually subdivided within the parameter adjustment interval. Multiple interval components refer to dividing the parameter adjustment interval into a series of sub-intervals according to the division step size. The data average value group set refers to the set of all data average value groups. The voltage average value group, the speed average value group, the load average value group and the efficiency average value group refer to the average value sets corresponding to voltage, speed, load and efficiency, respectively. Data fusion refers to the operation of combining the data in the voltage average value group, the speed average value group, the load average value group and the efficiency average value group to form multiple possible parameter combinations. Multiple parameter combinations refer to those obtained by data fusion, and each parameter combination contains a voltage average value, a speed average value, a load average value and an efficiency average value.

[0033] For example, the voltage adjustment interval of the DC servo motor is [12, 20], the speed adjustment interval is [1000, 3000], the load adjustment interval is [10, 50], and the efficiency adjustment interval is [70, 90]. The voltage division step is 2, the speed division step is 500, the load division step is 10, and the efficiency division step is 5. The adjustment intervals are divided according to the corresponding division steps, and multiple interval components are obtained as shown below: Voltage interval components {(12,14),(14,16),(16,18),(18,20)}; Speed ​​range components {(1000,1500),(1500,2000),(2000,2500),(2500,3000)}; Load interval components {(10,20),(20,30),(30,40),(40,50)}; Efficiency interval components {(70,75),(75,80),(80,85),(85,90)}; The average values ​​in each interval component are calculated respectively to obtain the voltage average value group [13, 15, 17, 19], the speed average value group [1250, 1750, 2250, 2750], the load average value group [15, 25, 35, 45], and the efficiency average value group [72.5, 77.5, 82.5, 87.5].

[0034] In detail, the multiple parameter combinations are as follows: , in, Indicates multiple parameter combinations. Indicates The average voltage, Indicates The average speed, Indicates The load average value, Indicates The average power value.

[0035] S4. Obtain the optimal operating state of the target DC servo motor according to the moving position parameter, obtain the moving target position according to the optimal operating state, and obtain the current position of the target DC servo motor.

[0036] In detail, the step of obtaining the optimal operating state of the target DC servo motor according to the moving position parameter includes: Obtaining optimal moving position parameters of the DC servo motor, wherein the optimal moving position parameters include: optimal voltage, optimal speed, optimal load, optimal efficiency and optimal power; The pre-built comprehensive deviation value formula is used to calculate the comprehensive deviation value between the optimal mobile position parameter and the mobile position parameter, wherein the comprehensive deviation value formula is as follows: , in, Represents the comprehensive deviation value, Indicates the optimum voltage, Indicates voltage, Indicates the optimum speed, Indicates the speed, represents the optimum load, Indicates load, represents the best efficiency, Indicates efficiency, represents the optimum power, Indicates power; Determine the size of the comprehensive deviation value and the preset comprehensive deviation threshold; If the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold, the operating state of the target DC servo motor is confirmed as the optimal operating state; Otherwise, the moving position parameters of the target DC servo motor are adjusted until the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold value, thereby obtaining the best operating state.

[0037] It should be explained that the steps of obtaining the optimal moving position parameters of the DC servo motor are as follows: when designing the DC servo motor, there will be a design specification table, wherein the design specification table includes: the rated value and optimal operating conditions of the DC servo motor, and the optimal moving position parameters are obtained according to the design specification table.

[0038] It is understood that the optimal voltage refers to the rated voltage of the DC servo motor. The optimal speed, optimal load, optimal efficiency and optimal power refer to the maximum speed, rated load, efficiency under rated conditions and output power under rated conditions of the DC servo motor respectively. The comprehensive deviation value is a value used to measure the overall deviation between the operating parameters of the DC servo motor and the optimal operating parameters. The comprehensive deviation threshold is a preset value used to determine whether the current operating state of the motor has reached the optimal operating state.

[0039] S5. Construct a moving path based on the current location and the moving target location.

[0040] In detail, the construction of the moving path based on the current position and the moving target position includes: Constructing a two-dimensional reference coordinate system, obtaining current coordinates using the two-dimensional reference coordinate system and the current position, and obtaining moving target coordinates of the moving target position in the two-dimensional reference coordinate system; According to the current coordinate and the preset moving step length, the next coordinate adjacent to the current coordinate is obtained to obtain the adjacent coordinate; If it is confirmed that there is an obstacle at the adjacent coordinates, the obstacle diameter is obtained, a circle is obtained with the adjacent coordinates as the center and the obstacle diameter as the radius, a peripheral coordinate set is obtained based on the circle, and a peripheral coordinate is extracted from the peripheral coordinate set in turn, and the following operations are performed on the extracted peripheral coordinates: Obtaining an initial moving path based on the current coordinates and the peripheral coordinates, and calculating the distance of the initial moving path; Summarize the distances to get a distance set; Extracting the shortest distance from the distance set, and confirming the peripheral coordinates corresponding to the shortest distance as adjacent coordinates, constructing a target moving path based on the current coordinates and the adjacent coordinates, taking the adjacent coordinates as the current coordinates, and returning to the step of obtaining the next coordinate adjacent to the current coordinate according to the current coordinates and the preset moving step length until the current coordinates are equal to the moving target coordinates; Summarize and concatenate the target moving paths to obtain the moving path.

[0041] It should be explained that the two-dimensional reference coordinate system refers to a plane coordinate system, usually represented by the X-axis and the Y-axis, which is used to determine the position of each point. The current coordinates refer to the coordinates of the current position of the target DC servo motor in the two-dimensional reference coordinate system. The moving target coordinates refer to the coordinates of the moving target position of the target DC servo motor in the two-dimensional reference coordinate system. The adjacent coordinates refer to the next possible coordinates obtained based on the current coordinates according to the preset moving step size. The preset moving step size refers to the pre-set distance of each movement in the two-dimensional reference coordinate system. The shortest distance refers to the minimum distance calculated for the first time.

[0042] It is understandable that the step of obtaining the obstacle diameter is: using a laser ranging sensor to emit a laser, reflecting when the laser scans an obstacle, receiving a reflected signal, and obtaining the obstacle diameter based on the reflected signal. The peripheral coordinate set refers to a set of all coordinates on a curve of a circle with an adjacent coordinate as the center and the obstacle diameter as the radius. The initial moving path refers to a straight line moving path from the current coordinate to a certain peripheral coordinate. The step of calculating the distance of the initial moving path is: using the Euclidean distance formula to calculate the distance of the initial moving path. The adjacent coordinates refer to the peripheral coordinates corresponding to the shortest distance extracted from the distance set. Splicing the target moving path refers to the operation of connecting multiple adjacent coordinates in sequence to form a complete path from the current coordinate to the moving target coordinate.

[0043] For example, in a two-dimensional reference coordinate system, the current coordinate is (2,3), the moving target coordinate is (10,10), the preset moving step is (1,1), then the adjacent coordinate is (3,3), there is an obstacle at the adjacent coordinate, the obstacle diameter is 2, with (3,3) as the center and 2 as the radius, obtain the outer coordinate set of the circle {(1,3), (2,4), (4,4), (5,3), (4,2), (2,2)}, use the Euclidean formula to calculate the distance between the current coordinate and the initial moving path of each outer coordinate, and obtain the distance set , extract the maximum distance 1 from the distance set, and the adjacent coordinates corresponding to the shortest distance 1 are (1,3).

[0044] S6. Determine whether there is a turning point in the moving path. If it is confirmed that there are one or more turning points in the moving path, obtain the curve characteristics of the moving path according to the one or more turning points, and divide the moving path according to the curve characteristics to obtain multiple divided paths.

[0045] In detail, the curve characteristics of the moving path are obtained according to one or more turning points. ， include: Constructing a reference coordinate system, obtaining coordinates of one or more turning points based on the reference coordinate system and the moving path, and obtaining one or more turning point coordinates, wherein the turning point coordinates include: a horizontal coordinate and a vertical coordinate; Get the polynomial order; Designing the abscissas in one or more turning point coordinates using the polynomial order to obtain a set of identified abscissas; Construct a blank matrix and import the identification abscissa set into the blank matrix to obtain the design matrix, where the design matrix is ​​as follows: , in, represents the design matrix, represents the polynomial order, represents the number of turning points, The horizontal coordinate of the first turning point in the table is Indicates The horizontal coordinate of the turning point; Construct an initial matrix and import the ordinates of one or more turning points into the initial matrix to obtain a target vector matrix, where the target vector matrix is ​​as follows: , in, represents the target vector matrix, Indicates the ordinate of the first turning point, Indicates The vertical coordinate of the turning point; Obtain the coefficient vector using the pre-constructed least square method, the design matrix and the target vector matrix, and obtain the fitting curve according to the coefficient vector and the pre-constructed polynomial formula; The curve characteristics are identified based on the fitted curve.

[0046] It should be explained that the step of obtaining the order of the polynomial is: starting from the low order 1, gradually increasing the order of the polynomial until the fitting deviation value of the fitting curve is no longer significant. The step of using the polynomial order to design the horizontal coordinates of one or more turning point coordinates is: for the horizontal coordinate of each turning point, the power of the horizontal coordinate is determined by the polynomial order. A blank matrix refers to an empty matrix without any data. A design matrix refers to a matrix composed of the powers of the horizontal coordinates of all turning points. An initial matrix refers to an empty matrix used to fill in data. A target vector matrix refers to a column matrix containing the vertical coordinates of all turning points.

[0047] Importantly, the step of obtaining the coefficient vector using the pre-constructed least squares method, the design matrix and the target vector matrix is ​​as follows: after the design matrix and the target vector matrix are constructed, the least squares method can be used to solve the coefficient vector of the polynomial. The method of obtaining the coefficient vector using the pre-constructed least squares method, the design matrix and the target vector matrix described in the embodiment of the present invention is a prior art and will not be repeated here. The polynomial formula in the step of obtaining the fitting curve according to the coefficient vector and the pre-constructed polynomial formula is as follows: , in, represents a polynomial function, , , , ..., denotes the elements in the coefficient vector, Represents the horizontal axis.

[0048] In detail, the moving path is divided according to the curve characteristics to obtain multiple segmented paths, including: A target turning point is extracted from one or more turning points in sequence, and the following operations are performed on the extracted target turning points: The pre-built fitting error formula is used to calculate the fitting deviation value between the target turning point and the fitting curve, where the fitting error formula is as follows: , in, represents the fitting deviation value, The ordinate of the target turning point, represents the horizontal coordinate of the target turning point, , , Both represent the coefficient vector of the fitting curve, represents the polynomial degree of the fitting curve, Indicates the index of the target turning point; If the fitting deviation value is less than or equal to a preset fitting deviation threshold, the fitting deviation value is confirmed as a standard fitting deviation value; If the fitting deviation value is greater than the preset fitting deviation threshold, the coefficient vector of the fitting curve is adjusted until the fitting deviation value is less than or equal to the preset fitting deviation threshold; Summarizing the standard fitting deviation values ​​to obtain a standard fitting deviation value set; Calculate the mean square error of the standard fitting deviation value set, and obtain the best fitting curve based on the mean square error; Calculating the first-order derivative of the best fitting curve to obtain the first-order derivative zero point, and taking the derivative of the first-order derivative to obtain the second-order derivative zero point, wherein the first-order derivative zero point includes one or more zero points, and wherein the second-order derivative zero point includes one or more zero points; The moving path is divided based on the first-order derivative zero point and the second-order derivative zero point to obtain multiple segmented distances, wherein the multiple segmented distances include: straight line segments and curve segments.

[0049] It should be explained that the target turning point refers to a specific point selected from one or more turning points for calculating the fitting error. The fitting error value refers to the difference between the actual ordinate of the target turning point and the predicted ordinate of the fitting curve at the target turning point. The coefficient vector is a set of coefficients used to define the fitting polynomial. The fitting deviation threshold refers to a pre-set value used to determine whether the fitting deviation is within an acceptable range. The standard fitting deviation value refers to the fitting deviation value that reaches the fitting deviation threshold during the optimization process. The standard fitting deviation value set refers to the set of standard fitting deviation values ​​of all target turning points.

[0050] It is understandable that the first-order derivative refers to the slope of the fitting curve, which represents the instantaneous rate of change of the curve at a certain point. The first-order derivative zero point refers to the point where the slope of the curve is zero at these points. The second-order derivative zero point refers to the point where the curvature change rate of the curve is zero at these points. The step of dividing the moving path based on the first-order derivative zero point and the second-order derivative zero point is: the moving path is divided into multiple segments according to the first-order derivative zero point, and the starting point and the end point of each segment are both the first-order derivative zero point, to obtain a straight line segment, and within the straight line segment, the second-order derivative within the straight line segment is further calculated to obtain the second-order derivative zero point, and the curve segment is divided according to the second-order derivative zero point.

[0051] Furthermore, the calculating the mean square error of the standard fitting deviation value set and obtaining the best fitting curve according to the mean square error includes: The mean square error for a set of standard fit deviation values ​​is calculated using the pre-built mean square error formula, which is as follows: , in, represents the mean square error, represents the total number of standard fit deviation values ​​in the standard fit deviation value set, The index representing the standard fit deviation value; If it is confirmed that the mean square error is less than or equal to the preset mean square error, the fitting curve is confirmed as the best fitting curve.

[0052] It should be explained that the mean square error is an indicator used to measure the difference between the fitting curve and the actual data points. The best fitting curve is the fitting curve whose mean square error is less than or equal to the preset mean square error.

[0053] S7. Extract a partitioning path from the multiple partitioning paths in turn, and perform the following operations on the extracted partitioning paths: use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtain multiple energy consumption values, and confirm the energy-optimal parameter combination based on the multiple energy consumption values.

[0054] In detail, the pre-built numerical simulation software, multiple parameter combinations and curve characteristics are used to simulate the partitioning path, obtain multiple energy consumption values, and determine the energy-optimal parameter combination based on the multiple energy consumption values, including: Extract one parameter combination from the multiple parameter combinations in turn, and perform the following operations on each of the extracted parameter combinations: The energy consumption value of the parameter combination corresponding to the target DC servo motor is calculated using the pre-built energy consumption formula, numerical simulation software, curve characteristics and preset time threshold, where the energy consumption formula is as follows: , in, Indicates the energy consumption value, Indicates voltage, represents the proportionality constant, Indicates load, Indicates the speed, Indicates the running time of the target DC servo motor, Indicates efficiency; If the energy consumption value is greater than or equal to 1, the parameter combination corresponding to the energy consumption value is eliminated, the retained parameter combinations are summarized to obtain multiple updated parameter combinations, the multiple updated parameter combinations are used as the multiple parameter combinations, and the step of extracting one parameter combination from the multiple parameter combinations is returned to; If the energy consumption value is less than 1, the energy consumption value is retained to obtain the optimal energy consumption value; Summarize the optimal energy consumption values ​​to obtain an optimal energy consumption value group; The minimum energy consumption is obtained based on the optimal energy consumption value group, and the parameter combination corresponding to the minimum energy consumption is confirmed as the energy-optimal parameter combination.

[0055] It should be explained that numerical simulation software refers to a software used to simulate and analyze physical processes. In the embodiment of the present invention, the numerical simulation software is a device used to simulate different parameter combinations and calculate the corresponding energy consumption values. The time threshold refers to the preset range of motor operation time. The proportional constant refers to a fixed value in the energy consumption formula, which is a constant used to adjust the proportional relationship of the calculation result. Multiple updated parameter combinations refer to the remaining multiple parameter combinations after eliminating parameter combinations with energy consumption values ​​greater than or equal to 1. The optimal energy consumption value refers to the energy consumption value with an energy consumption value less than 1 among all retained parameter combinations. The optimal energy consumption value group refers to the set of all optimal energy consumption values.

[0056] S8. Summarize the energy optimization parameter combinations to obtain an energy optimization parameter combination set.

[0057] It should be explained that the energy-optimal parameter combination refers to a set of parameter combinations with the lowest energy consumption among all possible parameter combinations. The energy-optimal parameter combination set refers to the set of all energy-optimal parameter combinations.

[0058] S9. Complete the DC servo motor position control based on the operation analysis based on the optimal parameter combination set.

[0059] It should be explained that the steps of completing the DC servo motor position control based on the operation analysis based on the energy optimization parameter combination set are: by controlling the input parameters of the DC servo motor, the DC servo motor reaches and remains in a predetermined position, and the energy optimization parameter combination previously screened by optimization is used in the control process to ensure that the motor operates under the optimal energy consumption state, and real-time operation analysis is performed in combination with the actual operating status and performance data of the DC servo motor to optimize the motor control strategy.

[0060] The present invention is to solve the problem described in the background technology. The present invention receives an operation analysis instruction, obtains a target DC servo motor according to the operation analysis instruction, and obtains a target model according to the target DC servo motor. The present invention ensures that the control system can accurately identify and locate the target DC servo motor that needs to be operated and analyzed through the operation analysis instruction, so as to perform targeted optimization operations, obtain mobile position parameters according to the target model, and parse the mobile position parameters, wherein the mobile position parameters include: voltage, load, efficiency and speed, and obtain multiple parameter adjustment intervals using the parsed mobile position parameters, wherein the multiple parameter adjustment intervals include: a voltage interval, a speed interval, a load interval and an efficiency interval. The present invention obtains and parses the target The moving position parameters of the standard model are used to obtain accurate voltage, speed, load and efficiency ranges, providing a reliable data basis for subsequent parameter combination and optimization. Multiple parameter combinations are obtained based on multiple parameter adjustment intervals. The present invention matches multiple parameter adjustment intervals to obtain multiple parameter combinations, which provides a rich selection space for numerical simulation and energy consumption optimization, increases the possibility of finding the best operating parameters, and obtains the best operating state of the target DC servo motor according to the moving position parameters. The present invention calculates the comprehensive deviation value between the moving position parameters and the best moving position parameters to achieve precise adjustment of the motor operating state, ensure that it reaches the best operating state, thereby improving the overall performance and efficiency of the motor, and obtains the moving target position according to the best operating state. Taking the current position of the target DC servo motor, determining the target position and the current position is helpful to accurately plan the moving path of the motor from the current position to the target position, and constructing the moving path based on the current position and the moving target position. The present invention realizes the efficient and safe movement of the DC servo motor from the current position to the target position through intelligent obstacle avoidance and path optimization, improves the accuracy and adaptability of the moving path, and determines whether there is a turning point in the moving path. By identifying the turning points in the path, the present invention helps to more accurately divide the path segments, provides a basis for subsequent segment optimization, and ensures that each segment of the path can reach the optimal operating state. If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points. According to The curve feature divides the moving path to obtain multiple segmented paths. The present invention constructs a reference coordinate system, generates a fitting curve using polynomial fitting turning point coordinates, and accurately divides the moving path according to the curve feature. This method can improve the accuracy and adaptability of path planning, so that the DC servo motor can move along the predetermined path more smoothly and efficiently, while reducing errors and energy consumption during the movement process. A segmented path is extracted from the multiple segmented paths in turn, and the following operations are performed on the extracted segmented paths: pre-built numerical simulation software, multiple parameter combinations and curve features are used to simulate the segmented paths to obtain multiple energy consumption values, and an energy-optimized parameter combination is confirmed based on the multiple energy consumption values. The present invention uses numerical simulation and energy consumption optimization.Find the minimum energy consumption parameter combination for each path to ensure that the motor is always in the best energy efficiency state during the movement. At the same time, it is more convenient to summarize the energy optimization parameter combination through numerical simulation to obtain the energy optimization parameter combination set. The present invention summarizes the optimal parameter combination for each path to form a complete energy optimization parameter combination set, providing a unified optimization solution for the overall operation of the motor, and completing the DC servo motor position control based on the operation analysis based on the energy optimization parameter combination set. The present invention realizes precise position control of the DC servo motor by applying the energy optimization parameter combination set, ensuring that the motor always maintains the best operating state during the movement process, and improving energy efficiency and operation stability. Therefore, the present invention can realize efficient energy consumption management and precise position control, and improve the intelligence level and energy efficiency performance of the equipment.

[0061] like Figure 2 , which is a functional module diagram of a DC servo motor position control system based on operation analysis provided by an embodiment of the present invention.

[0062] The DC servo motor position control system 100 based on operation analysis of the present invention can be installed in an electronic device. According to the functions to be implemented, the DC servo motor position control system 100 based on operation analysis can include a parameter acquisition module 101, a parameter combination acquisition module 102, a path planning module 103 and an energy consumption simulation module 104. The module of the present invention can also be called a unit, which refers to a series of computer program segments that can be executed by a processor of an electronic device and can complete fixed functions, which are stored in the memory of the electronic device; The parameter acquisition module 101 is used to receive an operation analysis instruction, acquire a target DC servo motor according to the operation analysis instruction, acquire a target model according to the target DC servo motor, acquire a mobile position parameter according to the target model, and parse the mobile position parameter, wherein the mobile position parameter includes: voltage, load, efficiency and speed, and obtain multiple parameter adjustment intervals using the parsed mobile position parameter, wherein the multiple parameter adjustment intervals include: a voltage interval, a speed interval, a load interval and an efficiency interval; The parameter combination acquisition module 102 is used to acquire multiple parameter combinations based on multiple parameter adjustment intervals, acquire the optimal operating state of the target DC servo motor according to the mobile position parameter, acquire the mobile target position according to the optimal operating state, and acquire the current position of the target DC servo motor; The path planning module 103 is used to construct a moving path based on the current position and the moving target position, determine whether there is a turning point in the moving path, and if it is confirmed that there are one or more turning points in the moving path, obtain the curve characteristics of the moving path according to the one or more turning points, and divide the moving path according to the curve characteristics to obtain multiple segmented paths; The energy consumption simulation module 104 is used to extract a division path from multiple division paths in turn, and perform the following operations on the extracted division paths: use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the division paths to obtain multiple energy consumption values, confirm energy-optimal parameter combinations based on the multiple energy consumption values, summarize the energy-optimal parameter combinations to obtain an energy-optimal parameter combination set, and complete the DC servo motor position control based on the operation analysis based on the energy-optimal parameter combination set.

[0063] In detail, each module in the DC servo motor position control system 100 based on operation analysis in the embodiment of the present invention is used in the same manner as described above. Figure 1 The technical means are the same as the DC servo motor position control method based on operation analysis described in, and can produce the same technical effects, so they will not be repeated here.

[0064] like Figure 3 , is a schematic diagram of the structure of an electronic device for implementing a DC servo motor position control method based on operation analysis provided by an embodiment of the present invention.

[0065] The electronic device 1 may include a processor 10, a memory 11 and a bus 12, and may also include a computer program stored in the memory 11 and executable on the processor 10, such as a DC servo motor position control method program based on operation analysis.

[0066] The memory 11 includes at least one type of readable storage medium, and the readable storage medium includes a flash memory, a mobile hard disk, a multimedia card, a card-type memory (e.g., SD or DX memory, etc.), a magnetic memory, a disk, an optical disk, etc. In some embodiments, the memory 11 may be an internal storage unit of the electronic device 1, such as a mobile hard disk of the electronic device 1. In other embodiments, the memory 11 may also be an external storage device of the electronic device 1, such as a plug-in mobile hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (SecureDigital, SD) card, a flash card (Flash Card), etc. equipped on the electronic device 1. Further, the memory 11 also includes an internal storage unit of the electronic device 1 and an external storage device. The memory 11 can not only be used to store application software and various types of data installed in the electronic device 1, such as the code of the DC servo motor position control method program based on operation analysis, but also can be used to temporarily store data that has been output or is to be output.

[0067] The processor 10 may be composed of an integrated circuit in some embodiments, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, and uses various interfaces and lines to connect various components of the entire electronic device, and executes or executes programs or modules (such as a DC servo motor position control method program based on operation analysis, etc.) stored in the memory 11, and calls data stored in the memory 11 to execute various functions of the electronic device 1 and process data.

[0068] The bus 12 may be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus 12 may be divided into an address bus, a data bus, a control bus, etc. The bus 12 is configured to realize connection and communication between the memory 11 and at least one processor 10, etc.

[0069] Figure 3 Only an electronic device with components is shown, and those skilled in the art will understand that Figure 3 The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown in the figure, or combine certain components, or arrange the components differently.

[0070] For example, although not shown, the electronic device 1 may also include a power source (such as a battery) for supplying power to various components. Preferably, the power source may be logically connected to the at least one processor 10 through a power management device, so that the power management device can realize functions such as charging management, discharging management, and power consumption management. The power source may also include one or more DC or AC power sources, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and other arbitrary components. The electronic device 1 may also include a variety of sensors, Bluetooth modules, Wi-Fi modules, etc., which will not be repeated here.

[0071] Furthermore, the electronic device 1 may also include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0072] Optionally, the electronic device 1 may further include a user interface, which may be a display, an input unit (such as a keyboard), or a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, and an OLED (Organic Light-Emitting Diode) touch device. The display may also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device 1 and to display a visual user interface.

[0073] The DC servo motor position control method program based on operation analysis stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can achieve: Receiving an operation analysis instruction, obtaining a target DC servo motor according to the operation analysis instruction, and obtaining a target model according to the target DC servo motor; Acquire the moving position parameters according to the target model, and parse the moving position parameters, wherein the moving position parameters include: voltage, load, efficiency and rotation speed; Using the analyzed moving position parameters, a plurality of parameter adjustment intervals are obtained, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval, and an efficiency interval; Acquire multiple parameter combinations based on multiple parameter adjustment intervals; Obtain the optimal operating state of the target DC servo motor according to the moving position parameters; Obtain the moving target position according to the optimal operating state and obtain the current position of the target DC servo motor; Construct a moving path based on the current location and the moving target location; Determine whether there is a turning point in the moving path; If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points, and the moving path is divided according to the curve characteristics to obtain multiple divided paths; Extract a partition path from the multiple partition paths in turn, and perform the following operations on the extracted partition paths: Use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtain multiple energy consumption values, and confirm the optimal parameter combination based on the multiple energy consumption values; Summarizing the energy optimization parameter combinations to obtain an energy optimization parameter combination set; Complete the DC servo motor position control based on operation analysis based on the optimal parameter combination set.

[0074] Specifically, the specific implementation method of the processor 10 for the above instructions can refer to Figures 1 to 3 The description of the relevant steps in the corresponding embodiments will not be repeated here.

[0075] Furthermore, if the module / unit integrated in the electronic device 1 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. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or device capable of carrying the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disk, a computer memory, and a read-only memory (ROM).

[0076] The present invention further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, the computer program can implement: Receiving an operation analysis instruction, obtaining a target DC servo motor according to the operation analysis instruction, and obtaining a target model according to the target DC servo motor; Acquire the moving position parameters according to the target model, and parse the moving position parameters, wherein the moving position parameters include: voltage, load, efficiency and rotation speed; Using the analyzed moving position parameters, a plurality of parameter adjustment intervals are obtained, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval, and an efficiency interval; Acquire multiple parameter combinations based on multiple parameter adjustment intervals; Obtain the optimal operating state of the target DC servo motor according to the moving position parameters; Obtain the moving target position according to the optimal operating state and obtain the current position of the target DC servo motor; Construct a moving path based on the current location and the moving target location; Determine whether there is a turning point in the moving path; If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points, and the moving path is divided according to the curve characteristics to obtain multiple divided paths; Extract a partition path from the multiple partition paths in turn, and perform the following operations on the extracted partition paths: Use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtain multiple energy consumption values, and confirm the optimal parameter combination based on the multiple energy consumption values; Summarizing the energy optimization parameter combinations to obtain an energy optimization parameter combination set; Complete the DC servo motor position control based on operation analysis based on the optimal parameter combination set.

[0077] In the several embodiments provided by the present invention, it should be understood that the disclosed devices, systems and methods can be implemented in other ways. For example, the system embodiments described above are only illustrative, and actual implementation may have other division methods.

[0078] The modules described as separate components may or may not be physically separated, and the components shown as modules 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 modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0079] In addition, each functional module in each embodiment of the present invention may be integrated into one processing unit, 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 hardware plus software functional modules.

[0080] It is obvious to those skilled in the art that the present invention is not limited to the details of the above exemplary embodiments, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0081] Finally, it should be noted that the above embodiments are only used to illustrate the technical solution of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solution of the present invention can be modified or replaced by equivalents without departing from the spirit and scope of the technical solution of the present invention.

Claims

1. A DC servo motor position control method based on operation analysis, characterized in that: The method comprises: Receiving an operation analysis instruction, obtaining a target DC servo motor according to the operation analysis instruction, and obtaining a target model according to the target DC servo motor; Acquire the moving position parameters according to the target model, and parse the moving position parameters, wherein the moving position parameters include: voltage, load, efficiency and rotation speed; Using the analyzed moving position parameters, a plurality of parameter adjustment intervals are obtained, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval, and an efficiency interval; Acquire multiple parameter combinations based on multiple parameter adjustment intervals; Obtain the optimal operating state of the target DC servo motor according to the moving position parameters; Obtain the moving target position according to the optimal operating state and obtain the current position of the target DC servo motor; Construct a moving path based on the current location and the moving target location; Determine whether there is a turning point in the moving path; If it is confirmed that there are one or more turning points in the moving path, the curve characteristics of the moving path are obtained according to the one or more turning points, and the moving path is divided according to the curve characteristics to obtain multiple divided paths; Extract a partition path from the multiple partition paths in turn, and perform the following operations on the extracted partition paths: Use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtain multiple energy consumption values, and confirm the optimal parameter combination based on the multiple energy consumption values; Summarizing the energy optimization parameter combinations to obtain an energy optimization parameter combination set; Complete the DC servo motor position control based on operation analysis based on the optimal parameter combination set.

2. The DC servo motor position control method based on operation analysis according to claim 1, characterized in that: The obtaining of multiple parameter combinations based on multiple parameter adjustment intervals includes: Extracting a parameter adjustment interval from the multiple parameter adjustment intervals in sequence, and grouping the parameter adjustment intervals according to a preset division step to obtain multiple interval components; Calculating the data average of each interval component in the multiple interval components respectively, and summarizing the data averages to obtain a data average group; The data average value groups are summarized to obtain a data average value group set, wherein the data average value group set includes: a voltage average value group, a speed average value group, a load average value group and an efficiency average value group, and the data average value group set is expressed as: ， in, represents the data mean group, Represents the voltage average value group, Indicates the speed average value group, Indicates the load average group, represents the efficiency average group, Indicates the average value of the first voltage data. Indicates The average value of voltage data, Indicates the number of data averages in the group. Indicates the average value of the first speed data. Indicates The average speed data, Indicates the average value of the first load data. Indicates The average value of load data, Indicates the average value of the first efficiency data, Indicates The average value of efficiency data; The data average value group includes the voltage average value group, the speed average value group, the load average value group and the efficiency average value group, and data fusion is performed to obtain multiple parameter combinations.

3. The DC servo motor position control method based on operation analysis as claimed in claim 2, characterized in that: The multiple parameter combinations are as follows: ， in, Indicates multiple parameter combinations. Indicates The average voltage, Indicates The average speed, Indicates The load average, Indicates The average power value.

4. The DC servo motor position control method based on operation analysis as claimed in claim 3, characterized in that: The step of obtaining the optimal operating state of the target DC servo motor according to the moving position parameter includes: Obtaining optimal moving position parameters of the DC servo motor, wherein the optimal moving position parameters include: optimal voltage, optimal speed, optimal load, optimal efficiency and optimal power; The pre-built comprehensive deviation value formula is used to calculate the comprehensive deviation value between the optimal mobile position parameter and the mobile position parameter, wherein the comprehensive deviation value formula is as follows: ， in, Represents the comprehensive deviation value, Indicates the optimum voltage, Indicates voltage, Indicates the optimum speed, Indicates the speed, represents the optimum load, Indicates load, represents the best efficiency, Indicates efficiency, represents the optimum power, Indicates power; Determine the size of the comprehensive deviation value and the preset comprehensive deviation threshold; If the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold, the operating state of the target DC servo motor is confirmed as the optimal operating state; Otherwise, the moving position parameters of the target DC servo motor are adjusted until the comprehensive deviation value is less than or equal to the preset comprehensive deviation threshold value, thereby obtaining the best operating state.

5. The DC servo motor position control method based on operation analysis as claimed in claim 4, characterized in that: The step of constructing a moving path based on the current location and the moving target location includes: Constructing a two-dimensional reference coordinate system, obtaining current coordinates using the two-dimensional reference coordinate system and the current position, and obtaining moving target coordinates of the moving target position in the two-dimensional reference coordinate system; According to the current coordinate and the preset moving step length, the next coordinate adjacent to the current coordinate is obtained to obtain the adjacent coordinate; If it is confirmed that there is an obstacle at the adjacent coordinates, the obstacle diameter is obtained, a circle is obtained with the adjacent coordinates as the center and the obstacle diameter as the radius, a peripheral coordinate set is obtained based on the circle, and a peripheral coordinate is extracted from the peripheral coordinate set in turn, and the following operations are performed on the extracted peripheral coordinates: Obtaining an initial moving path based on the current coordinates and the peripheral coordinates, and calculating the distance of the initial moving path; Summarize the distances to get a distance set; Extracting the shortest distance from the distance set, and confirming the peripheral coordinates corresponding to the shortest distance as adjacent coordinates, constructing a target moving path based on the current coordinates and the adjacent coordinates, taking the adjacent coordinates as the current coordinates, and returning to the step of obtaining the next coordinate adjacent to the current coordinate according to the current coordinates and the preset moving step length until the current coordinates are equal to the moving target coordinates; Summarize and concatenate the target moving paths to obtain the moving path.

6. The DC servo motor position control method based on operation analysis as claimed in claim 5, characterized in that: The curve characteristics of the moving path are obtained according to one or more turning points. ， include: Constructing a reference coordinate system, obtaining coordinates of one or more turning points based on the reference coordinate system and the moving path, and obtaining one or more turning point coordinates, wherein the turning point coordinates include: a horizontal coordinate and a vertical coordinate; Get the polynomial order; Designing the abscissas in one or more turning point coordinates using the polynomial order to obtain a set of identified abscissas; Construct a blank matrix and import the identification abscissa set into the blank matrix to obtain the design matrix, where the design matrix is ​​as follows: ， in, represents the design matrix, represents the polynomial order, represents the number of turning points, The horizontal coordinate of the first turning point in the table is Indicates The horizontal coordinate of the turning point; Construct an initial matrix and import the ordinates of one or more turning points into the initial matrix to obtain a target vector matrix, where the target vector matrix is ​​as follows: ， in, represents the target vector matrix, Indicates the ordinate of the first turning point, Indicates The vertical coordinate of the turning point; Obtain the coefficient vector using the pre-constructed least square method, the design matrix and the target vector matrix, and obtain the fitting curve according to the coefficient vector and the pre-constructed polynomial formula; The curve characteristics are identified based on the fitted curve.

7. The DC servo motor position control method based on operation analysis as claimed in claim 6, characterized in that: The step of dividing the moving path according to the curve characteristics to obtain multiple divided paths includes: A target turning point is extracted from one or more turning points in sequence, and the following operations are performed on the extracted target turning points: The pre-built fitting error formula is used to calculate the fitting deviation value between the target turning point and the fitting curve, where the fitting error formula is as follows: ， in, represents the fitting deviation value, The ordinate of the target turning point, represents the horizontal coordinate of the target turning point, , , Both represent the coefficient vector of the fitting curve, represents the polynomial degree of the fitting curve, Indicates the index of the target turning point; If the fitting deviation value is less than or equal to a preset fitting deviation threshold, the fitting deviation value is confirmed as a standard fitting deviation value; If the fitting deviation value is greater than the preset fitting deviation threshold, the coefficient vector of the fitting curve is adjusted until the fitting deviation value is less than or equal to the preset fitting deviation threshold; Summarizing the standard fitting deviation values ​​to obtain a standard fitting deviation value set; Calculate the mean square error of the standard fitting deviation value set, and obtain the best fitting curve based on the mean square error; Calculating the first-order derivative of the best fitting curve to obtain the first-order derivative zero point, and taking the derivative of the first-order derivative to obtain the second-order derivative zero point, wherein the first-order derivative zero point includes one or more zero points, and wherein the second-order derivative zero point includes one or more zero points; The moving path is divided based on the first-order derivative zero point and the second-order derivative zero point to obtain multiple segmented distances, wherein the multiple segmented distances include: straight line segments and curve segments.

8. The DC servo motor position control method based on operation analysis as claimed in claim 7, characterized in that: The step of calculating the mean square error of the standard fitting deviation value set and obtaining the best fitting curve according to the mean square error includes: The mean square error for a set of standard fit deviation values ​​is calculated using the pre-built mean square error formula, which is as follows: ， in, represents the mean square error, represents the total number of standard fit deviation values ​​in the standard fit deviation value set, The index representing the standard fit deviation value; If it is confirmed that the mean square error is less than or equal to the preset mean square error, the fitting curve is confirmed as the best fitting curve.

9. The DC servo motor position control method based on operation analysis as claimed in claim 8, characterized in that: The method utilizes pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the partitioning path, obtains multiple energy consumption values, and confirms the energy-optimal parameter combination based on the multiple energy consumption values, including: Extract one parameter combination from the multiple parameter combinations in turn, and perform the following operations on each of the extracted parameter combinations: The energy consumption value of the parameter combination corresponding to the target DC servo motor is calculated using the pre-built energy consumption formula, numerical simulation software, curve characteristics and preset time threshold, where the energy consumption formula is as follows: ， in, Indicates the energy consumption value, Indicates voltage, represents the proportionality constant, Indicates load, Indicates the speed, Indicates the running time of the target DC servo motor, Indicates efficiency; If the energy consumption value is greater than or equal to 1, the parameter combination corresponding to the energy consumption value is eliminated, the retained parameter combinations are summarized to obtain multiple updated parameter combinations, the multiple updated parameter combinations are used as the multiple parameter combinations, and the step of extracting one parameter combination from the multiple parameter combinations is returned to; If the energy consumption value is less than 1, the energy consumption value is retained to obtain the optimal energy consumption value; Summarize the optimal energy consumption values ​​to obtain an optimal energy consumption value group; The minimum energy consumption is obtained based on the optimal energy consumption value group, and the parameter combination corresponding to the minimum energy consumption is confirmed as the energy-optimal parameter combination.

10. A DC servo motor position control system based on operation analysis, characterized in that: The system comprises: a parameter acquisition module, configured to receive an operation analysis instruction, acquire a target DC servo motor according to the operation analysis instruction, acquire a target model according to the target DC servo motor, acquire a moving position parameter according to the target model, and parse the moving position parameter, wherein the moving position parameter includes: voltage, load, efficiency and speed, and acquire a plurality of parameter adjustment intervals using the parsed moving position parameter, wherein the plurality of parameter adjustment intervals include: a voltage interval, a speed interval, a load interval and an efficiency interval; A parameter combination acquisition module is used to acquire multiple parameter combinations based on multiple parameter adjustment intervals, acquire the optimal operating state of the target DC servo motor according to the mobile position parameter, acquire the mobile target position according to the optimal operating state, and acquire the current position of the target DC servo motor; A path planning module is used to construct a moving path based on the current position and the moving target position, determine whether there is a turning point in the moving path, and if it is confirmed that there are one or more turning points in the moving path, obtain the curve characteristics of the moving path according to the one or more turning points, and divide the moving path according to the curve characteristics to obtain multiple segmented paths; The energy consumption simulation module is used to extract a division path from multiple division paths in turn, and perform the following operations on the extracted division paths: use pre-built numerical simulation software, multiple parameter combinations and curve characteristics to simulate the division paths to obtain multiple energy consumption values, confirm the energy-optimal parameter combination based on the multiple energy consumption values, summarize the energy-optimal parameter combination to obtain an energy-optimal parameter combination set, and complete the DC servo motor position control based on the operation analysis based on the energy-optimal parameter combination set.

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