Torque ripple suppression method and system of slotless armature direct current servo motor

Abstract

The invention provides a torque ripple suppression method and system for a slotless armature direct current servo motor, and the method comprises the steps: detecting and analyzing the output torque data of an output end of the slotless armature direct current servo motor, and obtaining the output abnormal change feature information and output abnormal generation attribute information of the output end in a torque output process; and on the basis of the output abnormality occurrence attribute information, abnormal electrical state data are screened from the electrical state data of the driving end, and power conversion between the driving end and the output end is analyzed in combination with the output abnormality change feature information, so that the electrical parameter state corresponding to the abnormal fluctuation of the torque output is determined, and the abnormal fluctuation of the torque output is determined. Electrical factors causing torque fluctuation are accurately identified, and a reliable basis is provided for subsequent targeted electrical parameter adjustment; and on the basis of the torque output fluctuation characteristic quantity of the output end, feedback adjustment of the electrical parameter state is carried out on the driving end, the torque fluctuation is inhibited, the torque output instability of the servo motor is prevented from being continuously increased, and the working reliability of the servo motor is ensured.

Description

Technical Field

[0001] The present invention relates to the field of servo motors, and in particular to a method and system for suppressing torque fluctuations of a slotless armature DC servo motor. Background Art

[0002] Slotless armature DC servo motors have the characteristics of uniform magnetic resistance distribution, small slot leakage resistance and small power conversion loss, and have been widely used in high-power demand occasions. Slotless armature DC servo motors can perform stepless speed regulation and long-term overload operation and other operating modes. By applying the corresponding working current to the servo motor, the servo motor can be guaranteed to work stably for a long time. However, as the continuous working time of the servo motor increases, the electronic devices inside the servo motor will inevitably relax, which will reduce the inductive sensitivity of the motor devices. In this way, the servo motor cannot accurately convert power, causing the torque output of the servo motor to fluctuate in direction and / or size. If this fluctuation is not suppressed in time, it will further increase the instability of the servo motor's torque output, thereby affecting the working reliability of the servo motor and even causing the servo motor to stall. Problems such as failure. Summary of the invention

[0003] The purpose of the present invention is to provide a method and system for suppressing torque fluctuations of a slotless armature DC servo motor, which detects and analyzes the output torque data of the output end of the slotless armature DC servo motor, obtains the output abnormal change characteristic information and the output abnormal occurrence attribute information of the output end during the torque output process, and performs full-process calibration on the torque output abnormal state and occurrence time; based on the output abnormal occurrence attribute information, the abnormal electrical state data is obtained by screening the electrical state data of the driving end, and combined with the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed, the electrical parameter state corresponding to the abnormal torque output fluctuation is determined, the electrical factors causing the torque fluctuation are accurately identified, and a reliable basis is provided for subsequent targeted electrical parameter adjustment; based on the torque output fluctuation characteristic amount of the output end, the electrical parameter state of the driving end is feedback-adjusted, the torque fluctuation is timely suppressed, the torque output instability of the servo motor is avoided from increasing continuously, and the working reliability of the servo motor is ensured.

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

[0005] A method for suppressing torque fluctuation of a slotless armature DC servo motor, comprising:

[0006] Dynamically detect the output end of the slotless armature DC servo motor to obtain output torque data of the output end; analyze the output torque data to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process;

[0007] Based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain the abnormal electrical state data of the driving end; based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation;

[0008] Based on the output abnormal change characteristic information, the torque output fluctuation characteristic quantity of the output end is determined; based on the torque output fluctuation characteristic quantity, feedback adjustment is performed on the driving end regarding the electrical parameter state, thereby suppressing the torque output fluctuation of the output end.

[0009] Optionally, the output end of the slotless armature DC servo motor is dynamically detected to obtain output torque data of the output end; the output torque data is analyzed to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including:

[0010] Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft;

[0011] Performing time-correlated torque direction and torque magnitude identification on the real output torque data to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; performing change trend analysis on the torque direction change data sequence and the torque magnitude change data sequence respectively to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft;

[0012] Based on the torque output direction drift change information and the torque output magnitude drift change information, the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

[0013] Optionally, based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain abnormal electrical state data of the driving end; based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation, including:

[0014] Based on the output torque abnormality occurrence time interval information included in the output abnormality occurrence attribute information, time-correlated screening is performed on the electrical state data of the driving end of the servo motor to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval;

[0015] Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

[0016] Optionally, based on the output abnormal change characteristic information, determining the torque output fluctuation characteristic amount of the output end; based on the torque output fluctuation characteristic amount, performing feedback adjustment on the driving end regarding the electrical parameter state, thereby suppressing the torque output fluctuation of the output end, comprises:

[0017] Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount;

[0018] Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of suppressing the torque output fluctuation of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the driving end is feedback-adjusted in stages for the working current, thereby suppressing the torque output fluctuation of the output end to below a preset fluctuation threshold.

[0019] Optionally, the method for suppressing torque fluctuation of the slotless armature DC servo motor further includes:

[0020] Real-time monitoring of the torque output direction fluctuation rate and the torque output magnitude fluctuation rate to determine the response time;

[0021] Obtaining a first characteristic determination operation evaluation parameter according to the determined response time of the torque output direction fluctuation change rate;

[0022] The first characteristic determines the operation evaluation parameter by the following formula:

[0023]

[0024] Among them, S01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times;

[0025] According to the determined response time of the torque output magnitude fluctuation change rate, obtaining a second characteristic to determine an operation evaluation parameter;

[0026] The second characteristic determines the operation evaluation parameter by the following formula:

[0027]

[0028] Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times;

[0029] Extracting the first feature to determine an operation evaluation parameter and the second feature to determine an operation evaluation parameter;

[0030] Determine the operation evaluation parameter based on the first feature and the second feature to determine the operation evaluation parameter and obtain the feature to determine the comprehensive operation evaluation parameter;

[0031] The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula:

[0032]

[0033] Among them, S represents the comprehensive evaluation parameter of characteristic determination operation; S 0 Indicates the preset evaluation parameter benchmark value; w 01 and w 02Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula:

[0034]

[0035] Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the reference value of the response time corresponding to the preset torque output magnitude fluctuation rate determination operation; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates a preset torque output direction fluctuation change rate determination operation corresponding to a determined response time reference value;

[0036] Comparing the feature-determined operation comprehensive evaluation parameter with a preset evaluation parameter threshold;

[0037] When the characteristic determines that the comprehensive evaluation parameter of the operation is lower than the preset evaluation parameter threshold, it is determined that there is an operation response abnormality in the determination operation process of the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and an abnormal alarm is issued.

[0038] The torque ripple suppression system of a slotless armature DC servo motor comprises:

[0039] A torque output detection module, used for dynamically detecting the output end of the slotless armature DC servo motor to obtain output torque data of the output end;

[0040] A torque output abnormality identification module, used for analyzing the output torque data to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process;

[0041] A driving end abnormal electrical state identification module, used for screening the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end;

[0042] The module for determining electrical parameters associated with abnormal torque fluctuation is used to analyze the power conversion between the driving end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the abnormal torque output fluctuation;

[0043] A torque output fluctuation characteristic determination module, used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information;

[0044] The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter on the driving end based on the torque output fluctuation characteristic quantity, so as to suppress the torque output fluctuation of the output end.

[0045] Optionally, the torque output detection module is used to dynamically detect the output end of the slotless armature DC servo motor to obtain output torque data of the output end, including:

[0046] Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft;

[0047] The torque output abnormality identification module is used to analyze the output torque data to obtain the output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including:

[0048] Performing time-correlated torque direction and torque magnitude identification on the real output torque data to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; performing change trend analysis on the torque direction change data sequence and the torque magnitude change data sequence respectively to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft;

[0049] Based on the torque output direction drift change information and the torque output magnitude drift change information, the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

[0050] Optionally, the abnormal electrical state identification module of the driving end is used to filter the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end, including:

[0051] Based on the output torque abnormality occurrence time interval information included in the output abnormality occurrence attribute information, time-correlated screening is performed on the electrical state data of the driving end of the servo motor to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval;

[0052] The torque abnormal fluctuation associated electrical parameter determination module is used to analyze the power conversion between the driving end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the torque output abnormal fluctuation, including:

[0053] Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

[0054] Optionally, the torque output fluctuation characteristic determination module is used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information, including:

[0055] Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount;

[0056] The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter on the driving end based on the torque output fluctuation characteristic amount, so as to suppress the torque output fluctuation of the output end, and includes:

[0057] Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of suppressing the torque output fluctuation of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the driving end is feedback-adjusted in stages for the working current, thereby suppressing the torque output fluctuation of the output end to below a preset fluctuation threshold.

[0058] Optionally, the torque fluctuation suppression system of the slotless armature DC servo motor further includes:

[0059] A real-time monitoring module, used to monitor the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate in real time to determine the response time;

[0060] A first characteristic determination operation evaluation parameter acquisition module is used to acquire a first characteristic determination operation evaluation parameter according to a determination response time of the torque output direction fluctuation change rate;

[0061] The first characteristic determines the operation evaluation parameter by the following formula:

[0062]

[0063] Among them, S 01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times;

[0064] A second characteristic determination operation evaluation parameter acquisition module is used to acquire a second characteristic determination operation evaluation parameter according to a determination response time of the torque output magnitude fluctuation change rate;

[0065] The second characteristic determines the operation evaluation parameter by the following formula:

[0066]

[0067] Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times;

[0068] Extracting the first feature to determine an operation evaluation parameter and the second feature to determine an operation evaluation parameter;

[0069] Determine the operation evaluation parameter based on the first feature and the second feature to determine the operation evaluation parameter and obtain the feature to determine the comprehensive operation evaluation parameter;

[0070] The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula:

[0071]

[0072] Among them, S represents the comprehensive evaluation parameter of characteristic determination operation; S 0 Indicates the preset evaluation parameter benchmark value; w 01 and w 02 Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula:

[0073]

[0074] Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the reference value of the response time corresponding to the preset torque output magnitude fluctuation rate determination operation; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates a preset torque output direction fluctuation change rate determination operation corresponding to a determined response time reference value;

[0075] A comparison module, used for comparing the feature determination operation comprehensive evaluation parameter with a preset evaluation parameter threshold;

[0076] The operation response abnormality judgment module is used to determine that there is an operation response abnormality in the operation process of determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate when the characteristic determines that the comprehensive operation evaluation parameter is lower than a preset evaluation parameter threshold, and to issue an abnormal alarm.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] The torque fluctuation suppression method and system of the slotless armature DC servo motor provided in the present application detect and analyze the output torque data of the output end of the slotless armature DC servo motor, obtain the output abnormal change characteristic information and the output abnormal occurrence attribute information of the output end during the torque output process, and perform full-process calibration of the torque output abnormal state and occurrence time; based on the output abnormal occurrence attribute information, the abnormal electrical state data is obtained from the electrical state data of the driving end, and combined with the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed, the electrical parameter state corresponding to the abnormal torque output fluctuation is determined, the electrical factors causing the torque fluctuation are accurately identified, and a reliable basis is provided for the subsequent targeted electrical parameter adjustment; based on the torque output fluctuation characteristic amount of the output end, the electrical parameter state of the driving end is feedback-adjusted, the torque fluctuation is timely suppressed, the torque output instability of the servo motor is avoided from increasing continuously, and the working reliability of the servo motor is ensured. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0080] Figure 1 A schematic flow chart of a method for suppressing torque fluctuations in a slotless armature DC servo motor provided by the present invention.

[0081] Figure 2 A schematic structural diagram of a torque fluctuation suppression system for a slotless armature DC servo motor provided by the present invention. DETAILED DESCRIPTION

[0082] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0083] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0084] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0085] See also Figure 1 As shown, a method for suppressing torque fluctuation of a slotless armature DC servo motor provided by an embodiment of the present application. The method for suppressing torque fluctuation of a slotless armature DC servo motor comprises:

[0086] Dynamic detection is performed on the output end of the slotless armature DC servo motor to obtain output torque data of the output end; the output torque data is analyzed to obtain output abnormal change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process; based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain abnormal electrical state data of the driving end; based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation;

[0087] Based on the output abnormal change characteristic information, the torque output fluctuation characteristic quantity of the output end is determined; based on the torque output fluctuation characteristic quantity, feedback adjustment is performed on the driving end regarding the state of the electrical parameter, thereby suppressing the torque output fluctuation of the output end.

[0088] The beneficial effects of the above embodiments are as follows: the torque fluctuation suppression method of the slotless armature DC servo motor detects and analyzes the output torque data of the output end of the slotless armature DC servo motor, obtains the output abnormal change characteristic information and the output abnormal occurrence attribute information of the output end during the torque output process, and performs full-process calibration of the torque output abnormal state and occurrence time; based on the output abnormal occurrence attribute information, the abnormal electrical state data is obtained from the electrical state data of the driving end, and combined with the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed, the electrical parameter state corresponding to the abnormal torque output fluctuation is determined, the electrical factors causing the torque fluctuation are accurately identified, and a reliable basis is provided for the subsequent targeted electrical parameter adjustment; based on the torque output fluctuation characteristic amount of the output end, the electrical parameter state of the driving end is feedback-adjusted, the torque fluctuation is timely suppressed, the torque output instability of the servo motor is avoided from increasing continuously, and the working reliability of the servo motor is ensured.

[0089] In another embodiment, the output end of the slotless armature DC servo motor is dynamically detected to obtain output torque data of the output end; the output torque data is analyzed to obtain output abnormal change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including:

[0090] Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft;

[0091] The real output torque data is subjected to time-correlated torque direction and torque magnitude identification to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; the torque direction change data sequence and the torque magnitude change data sequence are subjected to change trend analysis to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft;

[0092] Based on the torque output direction drift change information and the torque output magnitude drift change information, determine the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

[0093] The beneficial effect of the above embodiment is that the motor shaft of the slotless armature DC servo motor is used as the output end, and it will perform corresponding actions during the working process to output torque to the outside, and the direction and size of the output torque directly determine the action direction and action amplitude of the motor shaft. If the torque output of the servo motor fluctuates, it is also caused by the fluctuation of the action direction and / or action amplitude of the motor shaft. In the actual torque detection operation, the corresponding torque sensor can be used to perform continuous dynamic detection on the motor shaft to obtain the output torque data corresponding to the motor shaft after the servo motor is powered on. Since the servo motor will undergo an acceleration motion process after powering on to reach the corresponding torque stable output state, the duration interval corresponding to this acceleration motion process is the transition time interval for the servo motor to switch from the start to the stable action state, and the output torque data detected by the transition time interval cannot truly reflect the torque output of the servo motor. For this reason, the output torque data is screened based on the transition time interval, and the output torque data detected by the transition time interval is eliminated, so as to obtain the real output torque data of the motor shaft. The real output torque data is then used to identify the time-correlated torque direction and torque magnitude, and the corresponding torque direction change data sequence (i.e., a data set of torque direction change over time) and torque magnitude change data sequence (i.e., a data set of torque magnitude change over time) are obtained. The torque direction change data sequence and the torque magnitude change data sequence are respectively analyzed for change trends, and the torque output direction drift change information and the torque output magnitude drift change information of the motor shaft are obtained. In this way, the floating changes of the torque output direction and output magnitude of the servo motor during the entire working process can be quantified and determined. In addition, in the actual operation of the servo motor, the torque output direction drift and the torque output size drift within a preset smaller range are acceptable. Once the torque output direction drift and the torque output size drift exceed the preset smaller range, it can be considered that the output torque direction and the output torque size of the motor shaft during the torque output process are abnormal. To this end, based on the torque output direction drift change information and the torque output size drift change information, the output torque direction / size abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined. In this way, the maximum output torque direction offset angle and the maximum output torque size offset information of the motor shaft during the torque output process and the distribution of the time periods when the output torque abnormality occurs can be accurately determined, providing a comprehensive and reliable data basis for the subsequent determination of the electrical parameters corresponding to the drive end that causes the output torque abnormality.

[0094] In another embodiment, based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain the abnormal electrical state data of the driving end; based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation, including:

[0095] Based on the output torque abnormality occurrence time interval information contained in the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is subjected to time correlation screening to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval;

[0096] Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

[0097] The beneficial effect of the above embodiment is that the abnormal output torque of the motor shaft of the servo motor is caused by the abnormal working current applied to the driving end (i.e., the slotless armature) of the servo motor. Therefore, the time interval of the output torque abnormality is consistent with the time interval of the application of the abnormal working current at the driving end. For this reason, the electrical state data of the driving end of the servo motor is time-correlatedly screened based on the output torque abnormality time interval information contained in the output abnormality occurrence attribute information, and the abnormal working current data corresponding to the output torque abnormality time interval is extracted. In this way, the abnormal working current component in the working current applied to the driving end can be accurately screened out. In addition, since the driving end of the servo motor causes the motor shaft of the servo motor to move under the action of the working current and output torque outward, based on the abnormal working current data and the output torque direction / magnitude abnormal offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the driving end and the motor shaft of the servo motor is modeled and analyzed, and the electrical parameter state corresponding to the abnormal torque output fluctuation is determined. In this way, a directional analysis of the power conversion process between the driving end and the motor shaft inside the servo motor can be performed, and the electrical parameter state corresponding to the abnormal torque output fluctuation can be accurately determined, that is, it is determined how the fluctuation of the amplitude of the working current applied to the driving end over time causes the fluctuation of the output torque, thereby providing an accurate basis for the subsequent precise adjustment of the working current applied to the driving end to suppress the output torque fluctuation.

[0098] In another embodiment, based on the output abnormal change characteristic information, determining the torque output fluctuation characteristic amount of the output end; based on the torque output fluctuation characteristic amount, performing feedback adjustment on the state of the electrical parameter on the driving end, thereby suppressing the torque output fluctuation of the output end, includes:

[0099] Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determine the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount;

[0100] Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of torque output fluctuation suppression of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the working current of the driving end is feedback-adjusted in stages, so as to suppress the torque output fluctuation of the output end to below a preset fluctuation threshold.

[0101] The beneficial effect of the above embodiment is that the output torque direction / size abnormal offset characteristic information contained in the output abnormal change characteristic information is subjected to time-varying analysis and processing, and the torque output direction fluctuation change rate and the torque output size fluctuation change rate of the motor shaft of the servo motor are determined, so that the torque direction fluctuation and the torque size fluctuation change speed in the output torque process of the motor shaft can be quantitatively calibrated. In the actual torque fluctuation suppression process, the torque fluctuation cannot be reduced to an acceptable fluctuation range in a single adjustment process, and the torque fluctuation can only be gradually reduced by multiple adjustments. For this reason, based on the torque output direction fluctuation change rate and the torque output size fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output size fluctuation suppression target value in the torque output fluctuation suppression process of the motor shaft are determined, so that the torque output direction and the output size fluctuation suppression target value corresponding to each adjustment in the multiple adjustment process of the torque fluctuation can be determined, so that the driving end performs staged feedback adjustment of the working current, thereby suppressing the torque output fluctuation of the output end to below the preset fluctuation threshold, and realizing steady suppression and adjustment of the torque output fluctuation.

[0102] In another embodiment, the method for suppressing torque fluctuation of the slotless armature DC servo motor further includes:

[0103] Real-time monitoring of the torque output direction fluctuation rate and the torque output magnitude fluctuation rate to determine the response time;

[0104] Obtaining a first characteristic determination operation evaluation parameter according to the determined response time of the torque output direction fluctuation change rate;

[0105] The first characteristic determines the operation evaluation parameter by the following formula:

[0106]

[0107] Among them, S 01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times;

[0108] According to the determined response time of the torque output magnitude fluctuation change rate, obtaining a second characteristic to determine an operation evaluation parameter;

[0109] The second characteristic determines the operation evaluation parameter by the following formula:

[0110]

[0111] Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times;

[0112] Extracting the first feature to determine an operation evaluation parameter and the second feature to determine an operation evaluation parameter;

[0113] Determine the operation evaluation parameter based on the first feature and the second feature to determine the operation evaluation parameter and obtain the feature to determine the comprehensive operation evaluation parameter;

[0114] The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula:

[0115]

[0116] Among them, S represents the comprehensive evaluation parameter of characteristic determination operation; S 0 Indicates the preset evaluation parameter benchmark value; w 01 and w 02 Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula:

[0117]

[0118] Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the reference value of the response time corresponding to the preset torque output magnitude fluctuation rate determination operation; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates a preset torque output direction fluctuation change rate determination operation corresponding to a determined response time reference value;

[0119] Comparing the feature-determined operation comprehensive evaluation parameter with a preset evaluation parameter threshold;

[0120] When the characteristic determines that the comprehensive evaluation parameter of the operation is lower than the preset evaluation parameter threshold, it is determined that there is an operation response abnormality in the determination operation process of the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and an abnormal alarm is issued.

[0121] The beneficial effect of the above embodiment is to monitor the determined response time of the torque output direction fluctuation change rate and the torque output size fluctuation change rate in real time. This real-time monitoring can quickly capture the dynamic changes of torque fluctuations and provide timely data support for subsequent analysis and evaluation. According to the determined response time of the torque output direction fluctuation change rate, the first characteristic is obtained to determine the operation evaluation parameter. It is possible to quantitatively evaluate the fluctuation stability of the motor in the torque output direction. Similarly, according to the determined response time of the torque output size fluctuation change rate, the second characteristic is obtained to determine the operation evaluation parameter. It is possible to quantitatively evaluate the fluctuation stability of the motor in the torque output size.

[0122] Extract the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter, and generate the feature-determined operation comprehensive evaluation parameter based on these two parameters. This step combines the fluctuation stability evaluation results of the two aspects to form a comprehensive operation evaluation. Compare the feature-determined operation comprehensive evaluation parameter with the preset evaluation parameter threshold. If the comprehensive evaluation parameter is lower than the threshold, it is determined that there is an operation response abnormality in the determination operation process of the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate. When an abnormality is detected, an abnormal alarm is issued. This can promptly discover potential problems with the motor and avoid possible failures or damage.

[0123] When generating comprehensive evaluation parameters, the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate are considered. 01 and w 02 ) and the adjustment coefficient (x 01 and x 02 ). This allows the evaluation importance of different fluctuation types to be adjusted according to actual needs, and takes into account the difference between the actual response time and the reference value, making the evaluation result more accurate and flexible. Through the above method, the torque fluctuation problem of the motor can be discovered and dealt with in time, thereby improving the running stability and reliability of the motor. This is especially important for servo motors that require high precision and high stability applications.

[0124] In summary, this technical solution effectively improves the operating stability and reliability of the slotless armature DC servo motor through real-time monitoring, quantitative evaluation, comprehensive evaluation and abnormal alarm.

[0125] See also Figure 2 As shown, a torque fluctuation suppression system for a slotless armature DC servo motor provided by an embodiment of the present application. The torque fluctuation suppression system for a slotless armature DC servo motor includes:

[0126] The torque output detection module is used to dynamically detect the output end of the slotless armature DC servo motor to obtain the output torque data of the output end;

[0127] The torque output abnormality identification module is used to analyze the output torque data to obtain the output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process;

[0128] A driving end abnormal electrical state identification module is used to screen the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end;

[0129] The module for determining electrical parameters associated with abnormal torque fluctuation is used to analyze the power conversion between the driving end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the abnormal torque output fluctuation;

[0130] A torque output fluctuation characteristic determination module, used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information;

[0131] The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter of the driving end based on the torque output fluctuation characteristic quantity, so as to suppress the torque output fluctuation of the output end.

[0132] The beneficial effects of the above embodiments are as follows: the torque fluctuation suppression system of the slotless armature DC servo motor detects and analyzes the output torque data of the output end of the slotless armature DC servo motor, obtains the output abnormal change characteristic information and the output abnormal occurrence attribute information of the output end during the torque output process, and performs full-process calibration of the torque output abnormal state and occurrence time; based on the output abnormal occurrence attribute information, the abnormal electrical state data is obtained by screening the electrical state data of the driving end, and combined with the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed, the electrical parameter state corresponding to the abnormal torque output fluctuation is determined, the electrical factors causing the torque fluctuation are accurately identified, and a reliable basis is provided for the subsequent targeted electrical parameter adjustment; based on the torque output fluctuation characteristic amount of the output end, the electrical parameter state of the driving end is feedback-adjusted, the torque fluctuation is timely suppressed, the torque output instability of the servo motor is avoided from increasing continuously, and the working reliability of the servo motor is ensured.

[0133] In another embodiment, the torque output detection module is used to dynamically detect the output end of the slotless armature DC servo motor to obtain output torque data of the output end, including:

[0134] Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft;

[0135] The torque output abnormality identification module is used to analyze the output torque data to obtain the output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including:

[0136] The real output torque data is subjected to time-correlated torque direction and torque magnitude identification to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; the torque direction change data sequence and the torque magnitude change data sequence are subjected to change trend analysis to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft;

[0137] Based on the torque output direction drift change information and the torque output magnitude drift change information, determine the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

[0138] The beneficial effect of the above embodiment is that the motor shaft of the slotless armature DC servo motor is used as the output end, and it will perform corresponding actions during the working process to output torque to the outside, and the direction and size of the output torque directly determine the action direction and action amplitude of the motor shaft. If the torque output of the servo motor fluctuates, it is also caused by the fluctuation of the action direction and / or action amplitude of the motor shaft. In the actual torque detection operation, the corresponding torque sensor can be used to perform continuous dynamic detection on the motor shaft to obtain the output torque data corresponding to the motor shaft after the servo motor is powered on. Since the servo motor will undergo an acceleration motion process after powering on to reach the corresponding torque stable output state, the duration interval corresponding to this acceleration motion process is the transition time interval for the servo motor to switch from the start to the stable action state, and the output torque data detected by the transition time interval cannot truly reflect the torque output of the servo motor. For this reason, the output torque data is screened based on the transition time interval, and the output torque data detected by the transition time interval is eliminated, so as to obtain the real output torque data of the motor shaft. The real output torque data is then used to identify the time-correlated torque direction and torque magnitude, and the corresponding torque direction change data sequence (i.e., a data set of torque direction change over time) and torque magnitude change data sequence (i.e., a data set of torque magnitude change over time) are obtained. The torque direction change data sequence and the torque magnitude change data sequence are respectively analyzed for change trends, and the torque output direction drift change information and the torque output magnitude drift change information of the motor shaft are obtained. In this way, the floating changes of the torque output direction and output magnitude of the servo motor during the entire working process can be quantified and determined. In addition, in the actual operation of the servo motor, the torque output direction drift and the torque output size drift within a preset smaller range are acceptable. Once the torque output direction drift and the torque output size drift exceed the preset smaller range, it can be considered that the output torque direction and the output torque size of the motor shaft during the torque output process are abnormal. To this end, based on the torque output direction drift change information and the torque output size drift change information, the output torque direction / size abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined. In this way, the maximum output torque direction offset angle and the maximum output torque size offset information of the motor shaft during the torque output process and the distribution of the time periods when the output torque abnormality occurs can be accurately determined, providing a comprehensive and reliable data basis for the subsequent determination of the electrical parameters corresponding to the drive end that causes the output torque abnormality.

[0139] In another embodiment, the abnormal electrical state identification module of the driving end is used to filter the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end, including:

[0140] Based on the output torque abnormality occurrence time interval information contained in the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is subjected to time correlation screening to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval;

[0141] The torque abnormal fluctuation associated electrical parameter determination module is used to analyze the power conversion between the drive end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the torque output abnormal fluctuation, including:

[0142] Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

[0143] The beneficial effect of the above embodiment is that the abnormal output torque of the motor shaft of the servo motor is caused by the abnormal working current applied to the driving end (i.e., the slotless armature) of the servo motor. Therefore, the time interval of the output torque abnormality is consistent with the time interval of the application of the abnormal working current at the driving end. For this reason, the electrical state data of the driving end of the servo motor is time-correlatedly screened based on the output torque abnormality time interval information contained in the output abnormality occurrence attribute information, and the abnormal working current data corresponding to the output torque abnormality time interval is extracted. In this way, the abnormal working current component in the working current applied to the driving end can be accurately screened out. In addition, since the driving end of the servo motor causes the motor shaft of the servo motor to move under the action of the working current and output torque outward, based on the abnormal working current data and the output torque direction / magnitude abnormal offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the driving end and the motor shaft of the servo motor is modeled and analyzed, and the electrical parameter state corresponding to the abnormal torque output fluctuation is determined. In this way, a directional analysis of the power conversion process between the driving end and the motor shaft inside the servo motor can be performed, and the electrical parameter state corresponding to the abnormal torque output fluctuation can be accurately determined, that is, it is determined how the fluctuation of the amplitude of the working current applied to the driving end over time causes the fluctuation of the output torque, thereby providing an accurate basis for the subsequent precise adjustment of the working current applied to the driving end to suppress the output torque fluctuation.

[0144] In another embodiment, the torque output fluctuation characteristic determination module is used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information, including:

[0145] Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determine the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount;

[0146] The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter on the driving end based on the torque output fluctuation characteristic quantity, so as to suppress the torque output fluctuation of the output end, including:

[0147] Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of torque output fluctuation suppression of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the working current of the driving end is feedback-adjusted in stages, so as to suppress the torque output fluctuation of the output end to below a preset fluctuation threshold.

[0148] The beneficial effect of the above embodiment is that the output torque direction / size abnormal offset characteristic information contained in the output abnormal change characteristic information is subjected to time-varying analysis and processing, and the torque output direction fluctuation change rate and the torque output size fluctuation change rate of the motor shaft of the servo motor are determined, so that the torque direction fluctuation and the torque size fluctuation change speed in the output torque process of the motor shaft can be quantitatively calibrated. In the actual torque fluctuation suppression process, the torque fluctuation cannot be reduced to an acceptable fluctuation range in a single adjustment process, and the torque fluctuation can only be gradually reduced by multiple adjustments. For this reason, based on the torque output direction fluctuation change rate and the torque output size fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output size fluctuation suppression target value in the torque output fluctuation suppression process of the motor shaft are determined, so that the torque output direction and the output size fluctuation suppression target value corresponding to each adjustment in the multiple adjustment process of the torque fluctuation can be determined, so that the driving end performs staged feedback adjustment of the working current, thereby suppressing the torque output fluctuation of the output end to below the preset fluctuation threshold, and realizing steady suppression and adjustment of the torque output fluctuation.

[0149] In another embodiment, the torque fluctuation suppression system of the slotless armature DC servo motor further includes:

[0150] A real-time monitoring module, used to monitor the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate in real time to determine the response time;

[0151] A first characteristic determination operation evaluation parameter acquisition module is used to acquire a first characteristic determination operation evaluation parameter according to a determination response time of the torque output direction fluctuation change rate;

[0152] The first characteristic determines the operation evaluation parameter by the following formula:

[0153]

[0154] Among them, S 01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times;

[0155] A second characteristic determination operation evaluation parameter acquisition module is used to acquire a second characteristic determination operation evaluation parameter according to a determination response time of the torque output magnitude fluctuation change rate;

[0156] The second characteristic determines the operation evaluation parameter by the following formula:

[0157]

[0158] Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times;

[0159] Extracting the first feature to determine an operation evaluation parameter and the second feature to determine an operation evaluation parameter;

[0160] Determine the operation evaluation parameter based on the first feature and the second feature to determine the operation evaluation parameter and obtain the feature to determine the comprehensive operation evaluation parameter;

[0161] The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula:

[0162]

[0163] Among them, S represents the comprehensive evaluation parameter of characteristic determination operation; S 0 Indicates the preset evaluation parameter benchmark value; w 01 and w 02 Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula:

[0164]

[0165] Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the reference value of the response time corresponding to the preset torque output magnitude fluctuation rate determination operation; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates a preset torque output direction fluctuation change rate determination operation corresponding to a determined response time reference value;

[0166] A comparison module, used for comparing the feature determination operation comprehensive evaluation parameter with a preset evaluation parameter threshold;

[0167] The operation response abnormality judgment module is used to determine that there is an operation response abnormality in the operation process of determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate when the characteristic determines that the comprehensive operation evaluation parameter is lower than a preset evaluation parameter threshold, and to issue an abnormal alarm.

[0168] The beneficial effect of the above embodiment is to monitor the determined response time of the torque output direction fluctuation change rate and the torque output size fluctuation change rate in real time. This real-time monitoring can quickly capture the dynamic changes of torque fluctuations and provide timely data support for subsequent analysis and evaluation. According to the determined response time of the torque output direction fluctuation change rate, the first characteristic is obtained to determine the operation evaluation parameter. It is possible to quantitatively evaluate the fluctuation stability of the motor in the torque output direction. Similarly, according to the determined response time of the torque output size fluctuation change rate, the second characteristic is obtained to determine the operation evaluation parameter. It is possible to quantitatively evaluate the fluctuation stability of the motor in the torque output size.

[0169] Extract the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter, and generate the feature-determined operation comprehensive evaluation parameter based on these two parameters. This step combines the fluctuation stability evaluation results of the two aspects to form a comprehensive operation evaluation. Compare the feature-determined operation comprehensive evaluation parameter with the preset evaluation parameter threshold. If the comprehensive evaluation parameter is lower than the threshold, it is determined that there is an operation response abnormality in the determination operation process of the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate. When an abnormality is detected, an abnormal alarm is issued. This can promptly discover potential problems with the motor and avoid possible failures or damage.

[0170] When generating comprehensive evaluation parameters, the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate are considered. 01 and w 02 ) and the adjustment coefficient (x 01 and x 02 ). This allows the evaluation importance of different fluctuation types to be adjusted according to actual needs, and takes into account the difference between the actual response time and the reference value, making the evaluation result more accurate and flexible. Through the above method, the torque fluctuation problem of the motor can be discovered and dealt with in time, thereby improving the running stability and reliability of the motor. This is especially important for servo motors that require high precision and high stability applications.

[0171] In summary, this technical solution effectively improves the operating stability and reliability of the slotless armature DC servo motor through real-time monitoring, quantitative evaluation, comprehensive evaluation and abnormal alarm.

[0172] In general, the torque fluctuation suppression method and system of the slotless armature DC servo motor detects and analyzes the output torque data of the output end of the slotless armature DC servo motor, obtains the output abnormal change characteristic information and the output abnormal occurrence attribute information of the output end during the torque output process, and performs full-process calibration of the torque output abnormal state and occurrence time; based on the output abnormal occurrence attribute information, the abnormal electrical state data is obtained from the electrical state data of the driving end, and combined with the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed, the electrical parameter state corresponding to the abnormal torque output fluctuation is determined, and the electrical factors causing the torque fluctuation are accurately identified, providing a reliable basis for subsequent targeted electrical parameter adjustment; based on the torque output fluctuation characteristic quantity of the output end, the electrical parameter state of the driving end is feedback-adjusted, the torque fluctuation is timely suppressed, the torque output instability of the servo motor is avoided from increasing continuously, and the working reliability of the servo motor is ensured.

[0173] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A method for suppressing torque fluctuations of a slotless armature DC servo motor, characterized in that: include: Performing dynamic detection on the output end of the slotless armature DC servo motor to obtain output torque data of the output end; Analyze the output torque data to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process; Based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain the abnormal electrical state data of the driving end; Based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; Determining a torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information; Based on the torque output fluctuation characteristic quantity, feedback adjustment is performed on the driving end regarding the state of the electrical parameter, thereby suppressing the torque output fluctuation of the output end.

2. The method for suppressing torque fluctuation of a slotless armature DC servo motor according to claim 1, characterized in that: Performing dynamic detection on the output end of the slotless armature DC servo motor to obtain output torque data of the output end; The output torque data is analyzed to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including: Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft; Performing time-correlated torque direction and torque magnitude identification on the real output torque data to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; performing change trend analysis on the torque direction change data sequence and the torque magnitude change data sequence respectively to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft; Based on the torque output direction drift change information and the torque output magnitude drift change information, the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

3. The method for suppressing torque fluctuation of a slotless armature DC servo motor according to claim 1, characterized in that: Based on the output abnormality occurrence attribute information, the electrical state data of the driving end of the servo motor is screened to obtain the abnormal electrical state data of the driving end; based on the abnormal electrical state data and the output abnormal change characteristic information, the power conversion between the driving end and the output end is analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation, including: Based on the output torque abnormality occurrence time interval information included in the output abnormality occurrence attribute information, time-correlated screening is performed on the electrical state data of the driving end of the servo motor to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval; Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

4. The method for suppressing torque fluctuation of a slotless armature DC servo motor according to claim 1, characterized in that: Determining a torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information; Based on the torque output fluctuation characteristic amount, feedback adjustment is performed on the driving end regarding the electrical parameter state, thereby suppressing the torque output fluctuation of the output end, including: Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount; Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of suppressing the torque output fluctuation of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the driving end is feedback-adjusted in stages for the working current, thereby suppressing the torque output fluctuation of the output end to below a preset fluctuation threshold.

5. The method for suppressing torque fluctuation of a slotless armature DC servo motor according to claim 1, characterized in that: The method for suppressing torque fluctuation of the slotless armature DC servo motor further includes: Real-time monitoring of the torque output direction fluctuation rate and the torque output magnitude fluctuation rate to determine the response time; Obtaining a first characteristic determination operation evaluation parameter according to the determined response time of the torque output direction fluctuation change rate; The first characteristic determines the operation evaluation parameter by the following formula: Among them, S 01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times; According to the determined response time of the torque output magnitude fluctuation change rate, obtaining a second characteristic to determine an operation evaluation parameter; The second characteristic determines the operation evaluation parameter by the following formula: Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times; Extracting the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter; obtaining a feature-determined operation comprehensive evaluation parameter based on the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter; The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula: Where S represents the comprehensive evaluation parameter determined by the feature; S0 represents the preset evaluation parameter reference value; w 01 and w 02 Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula: Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the preset torque output magnitude fluctuation rate determination operation corresponding to the determination response time reference value; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates a preset torque output direction fluctuation change rate determination operation corresponding to a determined response time reference value; Comparing the feature-determined operation comprehensive evaluation parameter with a preset evaluation parameter threshold; When the characteristic determines that the comprehensive evaluation parameter of the operation is lower than the preset evaluation parameter threshold, it is determined that there is an abnormal operation response in the determination operation process of the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and an abnormal alarm is issued.

6. A torque fluctuation suppression system for a slotless armature DC servo motor, characterized in that: include: A torque output detection module, used for dynamically detecting the output end of the slotless armature DC servo motor to obtain output torque data of the output end; A torque output abnormality identification module, used to analyze the output torque data to obtain output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process; A driving end abnormal electrical state identification module, used for screening the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end; The module for determining electrical parameters associated with abnormal torque fluctuation is used to analyze the power conversion between the driving end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the abnormal torque output fluctuation; A torque output fluctuation characteristic determination module, used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information; The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter on the driving end based on the torque output fluctuation characteristic quantity, so as to suppress the torque output fluctuation of the output end.

7. The torque ripple suppression system for a slotless armature DC servo motor according to claim 6, characterized in that: The torque output detection module is used to dynamically detect the output end of the slotless armature DC servo motor to obtain output torque data of the output end, including: Performing continuous dynamic detection of the output torque of the motor shaft of the slotless armature DC servo motor to obtain the output torque data of the motor shaft after the servo motor is started; screening the output torque data based on the transition time interval from the start-up to the stable operation of the servo motor to obtain the real output torque data of the motor shaft; The torque output abnormality identification module is used to analyze the output torque data to obtain the output abnormality change characteristic information and output abnormality occurrence attribute information of the output end during the torque output process, including: Performing time-correlated torque direction and torque magnitude identification on the real output torque data to obtain corresponding torque direction change data sequence and torque magnitude change data sequence; performing change trend analysis on the torque direction change data sequence and the torque magnitude change data sequence respectively to obtain torque output direction drift change information and torque output magnitude drift change information of the motor shaft; Based on the torque output direction drift change information and the torque output magnitude drift change information, the output torque direction / magnitude abnormal offset characteristic information and the output torque abnormality occurrence time interval information of the motor shaft during the torque output process are determined; wherein, the output torque direction / magnitude abnormal offset characteristic information includes the output torque direction maximum offset angle and the output torque magnitude maximum offset information of the motor shaft during the torque output process.

8. The torque ripple suppression system for a slotless armature DC servo motor according to claim 6, wherein: The abnormal electrical state identification module of the driving end is used to screen the electrical state data of the driving end of the servo motor based on the output abnormality occurrence attribute information to obtain the abnormal electrical state data of the driving end, including: Based on the output torque abnormality occurrence time interval information included in the output abnormality occurrence attribute information, time-correlated screening is performed on the electrical state data of the driving end of the servo motor to extract the abnormal working current data corresponding to the output torque abnormality occurrence time interval; The torque abnormal fluctuation associated electrical parameter determination module is used to analyze the power conversion between the driving end and the output end based on the abnormal electrical state data and the output abnormal change characteristic information, and determine the electrical parameter state corresponding to the torque output abnormal fluctuation, including: Based on the abnormal working current data and the abnormal output torque direction / magnitude offset characteristic information contained in the output abnormal change characteristic information, the power conversion process between the drive end and the motor shaft of the servo motor is modeled and analyzed to determine the electrical parameter state corresponding to the abnormal torque output fluctuation; wherein the electrical parameter state includes the fluctuation state of the amplitude of the working current applied to the drive end over time.

9. The torque ripple suppression system for a slotless armature DC servo motor according to claim 6, wherein: The torque output fluctuation characteristic determination module is used to determine the torque output fluctuation characteristic amount of the output end based on the output abnormal change characteristic information, including: Based on the output torque direction / magnitude abnormal offset characteristic information included in the output abnormal change characteristic information, determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft of the servo motor as the torque output fluctuation characteristic amount; The torque output fluctuation suppression adjustment module is used to perform feedback adjustment on the state of the electrical parameter on the driving end based on the torque output fluctuation characteristic amount, so as to suppress the torque output fluctuation of the output end, and includes: Based on the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate of the motor shaft, the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value in the process of suppressing the torque output fluctuation of the motor shaft are determined; then based on the staged torque output direction fluctuation suppression target value and the staged torque output magnitude fluctuation suppression target value, the driving end is feedback-adjusted in stages for the working current, thereby suppressing the torque output fluctuation of the output end to below a preset fluctuation threshold.

10. The torque ripple suppression system for a slotless armature DC servo motor according to claim 6, wherein: The torque fluctuation suppression system of the slotless armature DC servo motor further includes: A real-time monitoring module, used to monitor the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate in real time to determine the response time; A first characteristic determination operation evaluation parameter acquisition module is used to acquire a first characteristic determination operation evaluation parameter according to a determination response time of the torque output direction fluctuation change rate; The first characteristic determines the operation evaluation parameter by the following formula: Among them, S 01 represents the first characteristic determination operation evaluation parameter; n represents the total number of determinations of the torque output direction fluctuation change rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate to determine the corresponding response time reference value; T 01p represents the average value of the response time corresponding to the determination of the torque output direction fluctuation change rate for n times; T 01z Indicates the intermediate value of the response time corresponding to the determination of the torque output direction fluctuation change rate n times; A second characteristic determination operation evaluation parameter acquisition module is used to acquire a second characteristic determination operation evaluation parameter according to a determination response time of the torque output magnitude fluctuation change rate; The second characteristic determines the operation evaluation parameter by the following formula: Among them, S 02 represents the second characteristic determination operation evaluation parameter; m represents the total number of determinations of the torque output fluctuation change rate; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 Indicates the preset torque output fluctuation rate to determine the corresponding response time reference value; T 02p represents the average value of the response time corresponding to the determination of the torque output fluctuation change rate for m times; T 02z It represents the intermediate value of the response time corresponding to the determination of the torque output fluctuation change rate m times; Extracting the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter; obtaining a feature-determined operation comprehensive evaluation parameter based on the first feature-determined operation evaluation parameter and the second feature-determined operation evaluation parameter; The characteristic determination operation comprehensive evaluation parameter is obtained by the following formula: Where S represents the comprehensive evaluation parameter determined by the feature; S0 represents the preset evaluation parameter reference value; w 01 and w 02 Respectively represent the weight values ​​corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate; x 01 and x 02 They respectively represent the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate, and the adjustment coefficients corresponding to the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate are obtained by the following formula: Among them, x 01 and x 02 They represent the adjustment coefficients corresponding to the torque output direction fluctuation rate and the torque output magnitude fluctuation rate respectively; m represents the total number of times the torque output magnitude fluctuation rate is determined; T 02i T represents the corresponding determination response time when the i-th torque output fluctuation rate is determined; c02 represents the reference value of the response time corresponding to the preset torque output magnitude fluctuation rate determination operation; n represents the total number of determinations of the torque output direction fluctuation rate; T 01i T represents the corresponding determination response time when the i-th torque output direction fluctuation change rate is determined; c01 Indicates the preset torque output direction fluctuation change rate determination operation corresponding to the determination response time reference value; A comparison module, used for comparing the feature determination operation comprehensive evaluation parameter with a preset evaluation parameter threshold; The operation response abnormality judgment module is used to determine that there is an operation response abnormality in the operation process of determining the torque output direction fluctuation change rate and the torque output magnitude fluctuation change rate when the characteristic determines that the comprehensive operation evaluation parameter is lower than a preset evaluation parameter threshold, and to issue an abnormal alarm.

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