Method and system for stably adjusting rotating speed of coreless direct-current servo motor

Abstract

The invention provides a method and a system for stably adjusting the rotating speed of a coreless direct-current servo motor, and the method comprises the steps: collecting and analyzing the speed ring working data of the coreless direct-current servo motor in a complete power output period, and determining a rotating speed abnormal section in a speed ring adjustment process; acquiring and analyzing current loop working data of the servo motor during a power output period corresponding to the rotating speed abnormal section, determining rotating speed change attribute information of the current loop to the servo motor, judging whether the rotating speed of the servo motor is allowed to be stably adjusted through the current loop or not, and performing compensatory adjustment on the rotating speed abnormal section through the current loop; when the rotation speed is allowed to be stably adjusted through the current loop, current loop feedback adjustment is carried out for multiple times based on the adjustment allowance information of the current loop and the rotation speed stable adjustment target information, and the rotation speed of the servo motor is adjusted in sections through different control loops; and the stability and reliability of rotation speed adjustment are ensured by using the advantages of rotation speed adjustment of different control rings.

Description

Technical Field

[0001] The invention relates to the field of servo motors, and in particular to a rotation speed stabilization adjustment method and system for a coreless DC servo motor. Background Art

[0002] Coreless DC servo motors have the characteristics of small size, small mass and multi-dimensional motion, and are widely used in precision intelligent machinery fields such as multi-joint robots. The adjustment methods of coreless DC servo motors mainly include speed loop, current loop and position loop, which respectively perform integral and differential PID control on the operation of the servo motor from different parameters such as speed, current and position, so as to stably control the speed of the coreless DC servo motor. The speed loop, current loop and position loop have different response sensitivities and adjustment ranges for the speed adjustment of the servo motor. The existing technology usually uses a large-scale adjustment first and then a small-scale adjustment, as well as a rough adjustment first and then a fine adjustment mode to adjust the speed. Although the above method can achieve the refinement and fixed value adjustment of the speed, it does not take into account the abnormal speed control interval of the speed loop, current loop and position loop in the actual control process. If the abnormal speed control interval is not identified, the inaccurate speed control will continue to accumulate and aggravate. Even if other methods are used for adjustment later, the speed cannot be stably controlled to the corresponding target value. It can be seen that in the process of speed stabilization control of the hollow cup DC servo motor, it is necessary to fully consider the abnormal speed control range of different control loops, so as to make targeted and detailed adjustments to the abnormal speed control range to ensure the stability and reliability of the speed adjustment. Summary of the invention

[0003] The object of the present invention is to provide a method and system for stabilizing the speed of a coreless DC servo motor, collect and analyze the speed loop working data of the coreless DC servo motor in a complete power output cycle, determine the speed abnormal section in the speed loop adjustment process, and calibrate the speed section where the speed loop cannot accurately and stably control the speed, so as to facilitate the subsequent control of the corresponding section through the current loop; collect and analyze the current loop working data during the power output period of the servo motor corresponding to the speed abnormal section, determine the property information of the current loop on the speed change of the servo motor, so as to judge whether it is allowed to stabilize the speed of the servo motor through the current loop, and make compensatory adjustments to the speed abnormal section through the current loop to achieve refined speed control; when it is allowed to stabilize the speed through the current loop, multiple current loop feedback adjustments are made based on the adjustment margin information of the current loop and the speed stabilization adjustment target information to achieve stable speed output of the servo motor, and the servo motor is segmented and adjusted by different control loops, and the speed adjustment advantages of different control loops are used to ensure the stability and reliability of the speed adjustment.

[0004] The present invention is achieved through the following technical solutions: The method for adjusting the speed stability of a coreless DC servo motor includes: Collecting speed loop working data of the coreless DC servo motor in a complete power output cycle; analyzing the speed loop working data to determine the abnormal speed section of the servo motor during the speed loop adjustment process; Collecting the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyzing the current loop working data, and determining the speed change attribute information of the servo motor during the operation of the current loop; based on the speed change attribute information, judging whether to allow the servo motor to be adjusted to a stable speed through the current loop; When the speed stabilization adjustment of the servo motor is allowed through the current loop, multiple feedback adjustments are performed through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition.

[0005] Optionally, collecting speed loop working data of the coreless DC servo motor in a complete power output cycle; analyzing the speed loop working data to determine an abnormal speed section of the servo motor during the speed loop adjustment process, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, collecting the speed loop working data of the servo motor in a complete power output cycle; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

[0006] Optionally, adjusting the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data includes: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in, K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express n The middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

[0007] Optionally, collecting current loop working data of the servo motor during power output corresponding to the abnormal speed section, analyzing the current loop working data, and determining the speed change attribute information of the servo motor during the operation of the current loop; and judging whether to allow the servo motor to be adjusted to a stable speed through the current loop based on the speed change attribute information, including: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes the working data of the current loop for PID adjustment; Analyzing the correlation between current and speed change on the current loop working data, and determining the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process, and using this as the speed change attribute information; The sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

[0008] Optionally, when the speed of the servo motor is allowed to be stabilized by the current loop, multiple feedback adjustments are performed by the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition, including: When the servo motor is allowed to be adjusted in a stable speed through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stabilization adjustment target value within a preset time length.

[0009] The speed stabilization adjustment system of the coreless DC servo motor includes: Speed ​​loop data acquisition module, used to collect speed loop working data of coreless DC servo motor in a complete power output cycle; A speed loop regulation abnormality identification module, used for analyzing the speed loop working data and determining the abnormal speed section of the servo motor during the speed loop regulation process; A current loop data acquisition and analysis module, used to acquire current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process; A current loop adjustment feasibility judgment module, used for judging whether to allow the servo motor to perform speed stabilization adjustment through the current loop based on the speed change attribute information; The current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets the preset stable state condition.

[0010] Optionally, the speed loop data acquisition module is used to collect speed loop working data of the coreless DC servo motor in a complete power output cycle, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, collecting the speed loop working data of the servo motor in a complete power output cycle; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop regulation abnormality identification module is used to analyze the speed loop working data and determine the abnormal speed section of the servo motor during the speed loop regulation process, including: The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

[0011] Optionally, adjusting the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data includes: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in, K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express nThe middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

[0012] Optionally, the current loop data acquisition and analysis module is used to acquire the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process, including: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes the working data of the current loop for PID adjustment; The current loop adjustment feasibility judgment module is used to judge whether to allow the servo motor to perform speed stabilization adjustment through the current loop based on the speed change attribute information, including: Analyzing the correlation between current and speed change on the current loop working data, and determining the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process, and using this as the speed change attribute information; The sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

[0013] Optionally, the current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets a preset stable state condition, including: When the servo motor is allowed to be adjusted in a stable speed through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stabilization adjustment target value within a preset time length.

[0014] Compared with the prior art, the present invention has the following beneficial effects: The speed stabilization adjustment method and system of the hollow cup DC servo motor provided in the present application collect and analyze the speed loop working data of the hollow cup DC servo motor in a complete power output cycle, determine the speed abnormal section in the speed loop adjustment process, and calibrate the speed section where the speed loop cannot accurately and stably control the speed, so as to facilitate the subsequent control of the corresponding section through the current loop; collect and analyze the current loop working data during the power output period of the servo motor corresponding to the speed abnormal section, determine the attribute information of the current loop on the speed change of the servo motor, so as to judge whether it is allowed to stabilize the speed of the servo motor through the current loop, and make compensatory adjustments to the speed abnormal section through the current loop to achieve refined speed control; when it is allowed to stabilize the speed through the current loop, multiple current loop feedback adjustments are made based on the adjustment margin information of the current loop and the speed stabilization adjustment target information to achieve stable speed output of the servo motor, and the servo motor is segmented The speed adjustment is performed on the servo motor through different control loops, and the speed adjustment advantages of different control loops themselves are used to ensure the stability and reliability of the speed adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] 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: Figure 1 A schematic flow chart of a method for stabilizing the rotation speed of a coreless DC servo motor provided by the present invention.

[0016] Figure 2 The present invention provides a schematic structural diagram of a rotation speed stabilization adjustment system for a coreless DC servo motor. DETAILED DESCRIPTION

[0017] 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.

[0018] 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.

[0019] 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.

[0020] See also Figure 1 As shown, a method for stabilizing the speed of a coreless DC servo motor provided in an embodiment of the present application includes: Collect the speed loop working data of the hollow cup DC servo motor in a complete power output cycle; analyze the speed loop working data to determine the abnormal speed section of the servo motor during the speed loop adjustment process; Collecting the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyzing the current loop working data, and determining the speed change attribute information of the servo motor during the operation of the current loop; based on the speed change attribute information, judging whether to allow the servo motor to be adjusted to a stable speed through the current loop; When the servo motor is allowed to perform speed stabilization adjustment through the current loop, multiple feedback adjustments are performed through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition.

[0021] The beneficial effects of the above embodiments are as follows: the speed stabilization adjustment method of the coreless DC servo motor collects and analyzes the speed loop working data of the coreless DC servo motor in a complete power output cycle, determines the speed abnormality section in the speed loop adjustment process, and calibrates the speed section where the speed loop cannot accurately and stably control the speed, so as to facilitate the subsequent control of the corresponding section through the current loop; collects and analyzes the current loop working data during the power output period of the servo motor corresponding to the speed abnormality section, determines the speed change attribute information of the servo motor by the current loop, and judges whether it is allowed to perform speed stabilization adjustment of the servo motor through the current loop, and performs compensatory adjustment on the speed abnormality section through the current loop to achieve refined speed control; when it is allowed to perform speed stabilization adjustment through the current loop, multiple current loop feedback adjustments are performed based on the adjustment margin information of the current loop and the speed stabilization adjustment target information to achieve stable speed output of the servo motor, and the servo motor is segmented and adjusted through different control loops, and the speed adjustment advantages of different control loops are used to ensure the stability and reliability of the speed adjustment.

[0022] In another embodiment, collecting speed loop working data of the coreless DC servo motor in a complete power output cycle; analyzing the speed loop working data to determine the abnormal speed section of the servo motor during the speed loop adjustment process, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, the speed loop working data of the servo motor in a complete power output cycle is collected; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

[0023] The beneficial effect of the above embodiment is that after the hollow cup DC servo motor is started and powered on, the electromagnetic induction inside itself needs a certain amount of time to establish a stable electromagnetic field distribution. During this period, the power output of the servo motor has not reached a stable periodic change state. If the power output cycle time attribute of the servo motor is directly determined at this time, it will inevitably lead to the occurrence of errors. For this reason, the electromagnetic field distribution inside the servo motor itself is first detected to obtain the change data of the electromagnetic field distribution over time, and the intensity analysis of the change data of the electromagnetic field distribution over time is performed. When the intensity of the change of the electromagnetic field distribution shows a stable periodic change law over time, it is judged that the servo motor has reached a stable power output state, otherwise, it is judged that the servo motor has not reached a stable power output state. Then, the time domain analysis is performed on the change data of the electromagnetic field distribution over time corresponding to the servo motor having reached a stable power output state, and the complete power output cycle attribute information of the servo motor is determined, providing a reliable time basis for the subsequent acquisition of the speed loop working data; wherein, the complete power output cycle attribute information includes the time length corresponding to the servo motor completing a complete power output cycle process and the corresponding phase distribution characteristic information inside a complete power output cycle. In addition, based on the complete power output cycle attribute information, the working data of the speed loop of the servo motor for PID regulation in a complete power output cycle is collected, so as to comprehensively detect the PID regulation process data of the speed loop of the servo motor for the speed in a complete power output cycle. And the working data of the speed loop is analyzed to determine the drift change rate of the servo motor for all speed adjustment target values ​​during the speed loop regulation process, wherein the drift change rate refers to the speed control drift rate in each speed adjustment target value control process when the speed loop of the servo motor performs PID regulation for several different speed adjustment target values. If the drift change rate exceeds the preset change rate threshold, it is determined that the corresponding speed adjustment target value belongs to the speed adjustment target value that cannot be achieved in the speed loop regulation process. And the range section between the maximum target value and the minimum target value of all unachievable speed adjustment target values ​​is determined as the speed abnormal section in the speed loop regulation process, that is, the PID regulation function of the speed loop inside the speed abnormal section is invalid, so that the current loop needs to be used to perform speed stability adjustment control inside the speed abnormal section in the subsequent process.

[0024] In another embodiment, adjusting the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data includes: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in,K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express n The middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

[0025] The beneficial effect of the above embodiment is that by extracting the change amplitude corresponding to each two adjacent electromagnetic field distributions and calculating the electromagnetic field distribution change coefficient, the technical solution can dynamically adjust the detection frequency of the electromagnetic field distribution according to the real-time change of the electromagnetic field distribution. This means that when the electromagnetic field distribution changes greatly, the detection frequency will automatically increase, so as to more accurately capture the changes in the electromagnetic field; and when the electromagnetic field distribution is relatively stable, the detection frequency will be reduced accordingly to reduce unnecessary detection times and resource consumption. Dynamic adjustment of the detection frequency not only helps to save resources, but also responds in time when the electromagnetic field distribution changes significantly, thereby improving the accuracy and timeliness of detection. This is particularly important for electrical equipment such as hollow cup DC servo motors that require precise control of electromagnetic field distribution, which can ensure its stable operation and reduce the possibility of failure. By introducing the electromagnetic field distribution change coefficient and the preset change coefficient threshold for comparison, the technical solution can intelligently determine when the detection frequency needs to be adjusted, thereby optimizing the data processing process. This intelligent processing method not only improves the automation level of the system, but also reduces the complexity of human intervention. Parameters such as the adjustment factor and the change coefficient threshold in the technical solution can be adjusted according to actual conditions, so that the system can adapt to the needs of different working environments and electromagnetic field distribution characteristics. This flexibility enhances the adaptability and scalability of the system, enabling it to be more widely used in various electrical equipment. By real-time monitoring and adjusting the electromagnetic field distribution inside the coreless DC servo motor after it is powered on, this technical solution helps improve the performance and reliability of the equipment. This not only prolongs the service life of the equipment, but also reduces maintenance costs and failure rates, bringing a better user experience.

[0026] In summary, this technical solution realizes accurate monitoring and control of the internal electromagnetic field distribution of electrical equipment such as hollow cup DC servo motors by dynamically adjusting the detection frequency of the electromagnetic field distribution, thereby improving the efficiency, accuracy and reliability of the system.

[0027] In another embodiment, current loop working data of the servo motor during power output corresponding to the speed abnormal section is collected, the current loop working data is analyzed, and speed change attribute information of the servo motor during the current loop working process is determined; based on the speed change attribute information, it is determined whether to allow the servo motor to perform speed stabilization adjustment through the current loop, including: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes working data of the current loop for PID adjustment; Analyze the correlation between the current and the speed change of the current loop working data, and determine the sensitivity information of the speed change of the servo motor with the current change during the working process of the current loop, and use this as the speed change attribute information; The sensitivity information of the speed changing with the current is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

[0028] The beneficial effects of the above embodiments are that in order to enable the current loop of the servo motor to accurately adjust the speed stability of the abnormal speed section, first based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected, so that the current loop working data can accurately and comprehensively characterize the current feedback adjustment process data of the current loop in the time interval corresponding to the abnormal speed section. In addition, the current loop working data is analyzed for the correlation between the current and the speed change, and the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process is determined. The sensitivity information refers to the speed change value corresponding to the servo motor when the unit current value of the current loop changes. And the sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is judged that the speed stability adjustment of the servo motor is allowed through the current loop; if the two do not match, it is judged that the speed stability adjustment of the servo motor is not allowed through the current loop, so that the speed adjustment effect of the current loop can be accurately judged whether it matches the current speed stability adjustment demand of the servo motor.

[0029] In another embodiment, when the servo motor is allowed to be adjusted to a stable speed through the current loop, multiple feedback adjustments are performed through the current loop based on the adjustment margin information of the current loop and the stable speed adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition, including: When the speed of the servo motor is allowed to be adjusted stably through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stable adjustment target value within a preset time length.

[0030] The beneficial effect of the above embodiment is that when the current loop is allowed to adjust the speed of the servo motor stably, it indicates that when it is in the abnormal speed section, the current loop of the servo motor needs to be used for speed stability control. At this time, the precision information corresponding to the speed adjustment of the servo motor by the current loop is obtained (that is, the minimum speed adjustment change value that the current loop can achieve in a single speed adjustment process). Based on the speed precision information and the deviation between the speed stability adjustment target value of the servo motor and the actual speed value, several current change intervals corresponding to multiple feedback adjustments of the current loop are determined, which can facilitate the subsequent use of a step-by-step adjustment method to perform multi-section stable adjustment control of the speed. In addition, based on the size relationship between all current change intervals, several current loop feedback adjustments corresponding to each other are sequentially performed on the servo motor, so that the speed output value of the servo motor gradually reaches the speed stability adjustment target value within a preset time length, avoiding the situation in which the actual speed of the servo motor is directly adjusted to the corresponding speed target stability value during a single adjustment process, causing the servo motor to oscillate, and gradually stabilize the speed output in a short time to the maximum extent.

[0031] See also Figure 2 As shown, a rotation speed stabilization adjustment system for a coreless DC servo motor provided in one embodiment of the present application. The rotation speed stabilization adjustment system for a coreless DC servo motor includes: Speed ​​loop data acquisition module, used to collect speed loop working data of coreless DC servo motor in a complete power output cycle; A speed loop regulation abnormality identification module is used to analyze the speed loop working data and determine the abnormal speed section of the servo motor during the speed loop regulation process; The current loop data acquisition and analysis module is used to acquire the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process; A current loop adjustment feasibility judgment module is used to judge whether it is allowed to adjust the speed of the servo motor stably through the current loop based on the speed change attribute information; The current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets the preset stable state condition.

[0032] The beneficial effects of the above embodiments are as follows: the speed stabilization adjustment system of the coreless DC servo motor collects and analyzes the speed loop working data of the coreless DC servo motor in a complete power output cycle, determines the speed abnormality section in the speed loop adjustment process, and calibrates the speed section where the speed loop cannot accurately and stably control the speed, so as to facilitate the subsequent control of the corresponding section through the current loop; collects and analyzes the current loop working data during the power output period of the servo motor corresponding to the speed abnormality section, determines the speed change attribute information of the servo motor by the current loop, and judges whether it is allowed to perform speed stabilization adjustment on the servo motor through the current loop, and performs compensatory adjustment on the speed abnormality section through the current loop to achieve refined speed control; when it is allowed to perform speed stabilization adjustment through the current loop, multiple current loop feedback adjustments are performed based on the adjustment margin information of the current loop and the speed stabilization adjustment target information to achieve stable speed output of the servo motor, and the servo motor is segmented and adjusted through different control loops, and the speed adjustment advantages of different control loops are used to ensure the stability and reliability of the speed adjustment.

[0033] In another embodiment, the speed loop data acquisition module is used to collect the speed loop working data of the coreless DC servo motor in a complete power output cycle, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, the speed loop working data of the servo motor in a complete power output cycle is collected; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop regulation abnormality identification module is used to analyze the speed loop working data and determine the abnormal speed section of the servo motor during the speed loop regulation process, including: The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

[0034] The beneficial effect of the above embodiment is that after the hollow cup DC servo motor is started and powered on, the electromagnetic induction inside itself needs a certain amount of time to establish a stable electromagnetic field distribution. During this period, the power output of the servo motor has not reached a stable periodic change state. If the power output cycle time attribute of the servo motor is directly determined at this time, it will inevitably lead to the occurrence of errors. For this reason, the electromagnetic field distribution inside the servo motor itself is first detected to obtain the change data of the electromagnetic field distribution over time, and the intensity analysis of the change data of the electromagnetic field distribution over time is performed. When the intensity of the change of the electromagnetic field distribution shows a stable periodic change law over time, it is judged that the servo motor has reached a stable power output state, otherwise, it is judged that the servo motor has not reached a stable power output state. Then, the time domain analysis is performed on the change data of the electromagnetic field distribution over time corresponding to the servo motor having reached a stable power output state, and the complete power output cycle attribute information of the servo motor is determined, providing a reliable time basis for the subsequent acquisition of the speed loop working data; wherein, the complete power output cycle attribute information includes the time length corresponding to the servo motor completing a complete power output cycle process and the corresponding phase distribution characteristic information inside a complete power output cycle. In addition, based on the complete power output cycle attribute information, the working data of the speed loop of the servo motor for PID regulation in a complete power output cycle is collected, so as to comprehensively detect the PID regulation process data of the speed loop of the servo motor for the speed in a complete power output cycle. And the working data of the speed loop is analyzed to determine the drift change rate of the servo motor for all speed adjustment target values ​​during the speed loop regulation process, wherein the drift change rate refers to the speed control drift rate in each speed adjustment target value control process when the speed loop of the servo motor performs PID regulation for several different speed adjustment target values. If the drift change rate exceeds the preset change rate threshold, it is determined that the corresponding speed adjustment target value belongs to the speed adjustment target value that cannot be achieved in the speed loop regulation process. And the range section between the maximum target value and the minimum target value of all unachievable speed adjustment target values ​​is determined as the speed abnormal section in the speed loop regulation process, that is, the PID regulation function of the speed loop inside the speed abnormal section is invalid, so that the current loop needs to be used to perform speed stability adjustment control inside the speed abnormal section in the subsequent process.

[0035] In another embodiment, adjusting the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data includes: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in,K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express n The middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

[0036] The beneficial effect of the above embodiment is that by extracting the change amplitude corresponding to each two adjacent electromagnetic field distributions and calculating the electromagnetic field distribution change coefficient, the technical solution can dynamically adjust the detection frequency of the electromagnetic field distribution according to the real-time change of the electromagnetic field distribution. This means that when the electromagnetic field distribution changes greatly, the detection frequency will automatically increase, so as to more accurately capture the changes in the electromagnetic field; and when the electromagnetic field distribution is relatively stable, the detection frequency will be reduced accordingly to reduce unnecessary detection times and resource consumption. Dynamic adjustment of the detection frequency not only helps to save resources, but also responds in time when the electromagnetic field distribution changes significantly, thereby improving the accuracy and timeliness of detection. This is particularly important for electrical equipment such as hollow cup DC servo motors that require precise control of electromagnetic field distribution, which can ensure its stable operation and reduce the possibility of failure. By introducing the electromagnetic field distribution change coefficient and the preset change coefficient threshold for comparison, the technical solution can intelligently determine when the detection frequency needs to be adjusted, thereby optimizing the data processing process. This intelligent processing method not only improves the automation level of the system, but also reduces the complexity of human intervention. Parameters such as the adjustment factor and the change coefficient threshold in the technical solution can be adjusted according to actual conditions, so that the system can adapt to the needs of different working environments and electromagnetic field distribution characteristics. This flexibility enhances the adaptability and scalability of the system, enabling it to be more widely used in various electrical equipment. By real-time monitoring and adjusting the electromagnetic field distribution inside the coreless DC servo motor after it is powered on, this technical solution helps improve the performance and reliability of the equipment. This not only prolongs the service life of the equipment, but also reduces maintenance costs and failure rates, bringing a better user experience.

[0037] In summary, this technical solution realizes accurate monitoring and control of the internal electromagnetic field distribution of electrical equipment such as hollow cup DC servo motors by dynamically adjusting the detection frequency of the electromagnetic field distribution, thereby improving the efficiency, accuracy and reliability of the system.

[0038] In another embodiment, the current loop data acquisition and analysis module is used to collect the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process, including: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes working data of the current loop for PID adjustment; The current loop adjustment feasibility judgment module is used to judge whether to allow the servo motor to perform speed stabilization adjustment through the current loop based on the speed change attribute information, including: Analyze the correlation between the current and the speed change of the current loop working data, and determine the sensitivity information of the speed change of the servo motor with the current change during the working process of the current loop, and use this as the speed change attribute information; The sensitivity information of the speed changing with the current is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

[0039] The beneficial effects of the above embodiments are that in order to enable the current loop of the servo motor to accurately adjust the speed stability of the abnormal speed section, first based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected, so that the current loop working data can accurately and comprehensively characterize the current feedback adjustment process data of the current loop in the time interval corresponding to the abnormal speed section. In addition, the current loop working data is analyzed for the correlation between the current and the speed change, and the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process is determined. The sensitivity information refers to the speed change value corresponding to the servo motor when the unit current value of the current loop changes. And the sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is judged that the speed stability adjustment of the servo motor is allowed through the current loop; if the two do not match, it is judged that the speed stability adjustment of the servo motor is not allowed through the current loop, so that the speed adjustment effect of the current loop can be accurately judged whether it matches the current speed stability adjustment demand of the servo motor.

[0040] In another embodiment, the current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets the preset stable state condition, including: When the speed of the servo motor is allowed to be adjusted stably through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stable adjustment target value within a preset time length.

[0041] The beneficial effect of the above embodiment is that when the current loop is allowed to adjust the speed of the servo motor stably, it indicates that when it is in the abnormal speed section, the current loop of the servo motor needs to be used for speed stability control. At this time, the precision information corresponding to the speed adjustment of the servo motor by the current loop is obtained (that is, the minimum speed adjustment change value that the current loop can achieve in a single speed adjustment process). Based on the speed precision information and the deviation between the speed stability adjustment target value of the servo motor and the actual speed value, several current change intervals corresponding to multiple feedback adjustments of the current loop are determined, which can facilitate the subsequent use of a step-by-step adjustment method to perform multi-section stable adjustment control of the speed. In addition, based on the size relationship between all current change intervals, several current loop feedback adjustments corresponding to each other are sequentially performed on the servo motor, so that the speed output value of the servo motor gradually reaches the speed stability adjustment target value within a preset time length, avoiding the situation in which the actual speed of the servo motor is directly adjusted to the corresponding speed target stability value during a single adjustment process, causing the servo motor to oscillate, and gradually stabilize the speed output in a short time to the maximum extent.

[0042] In general, the speed stabilization adjustment method and system of the hollow cup DC servo motor collects and analyzes the speed loop working data of the hollow cup DC servo motor in a complete power output cycle, determines the speed abnormal section in the speed loop adjustment process, and calibrates the speed section where the speed loop cannot accurately and stably control the speed, so as to facilitate the subsequent control of the corresponding section through the current loop; collects and analyzes the current loop working data during the power output period of the servo motor corresponding to the speed abnormal section, determines the property information of the current loop on the speed change of the servo motor, and judges whether it is allowed to stabilize the speed of the servo motor through the current loop, and makes compensatory adjustments to the speed abnormal section through the current loop to achieve refined speed control; when it is allowed to stabilize the speed through the current loop, multiple current loop feedback adjustments are made based on the adjustment margin information of the current loop and the speed stabilization adjustment target information to achieve stable speed output of the servo motor, and the servo motor is segmented The speed adjustment is performed on the servo motor through different control loops, and the speed adjustment advantages of different control loops themselves are used to ensure the stability and reliability of the speed adjustment.

[0043] 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 stabilizing the speed of a coreless DC servo motor, characterized in that: include: Collecting speed loop working data of the coreless DC servo motor in a complete power output cycle; analyzing the speed loop working data to determine the abnormal speed section of the servo motor during the speed loop adjustment process; Collecting current loop working data of the servo motor during power output corresponding to the abnormal speed section, analyzing the current loop working data, and determining attribute information of speed change of the servo motor during the current loop working process; Based on the speed change attribute information, determining whether to allow the servo motor to perform speed stabilization adjustment through the current loop; When the speed stabilization adjustment of the servo motor is allowed through the current loop, multiple feedback adjustments are performed through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition.

2. The method for stabilizing the speed of a coreless DC servo motor according to claim 1, characterized in that: Collecting speed loop working data of the coreless DC servo motor in a complete power output cycle; analyzing the speed loop working data to determine the abnormal speed section of the servo motor during the speed loop adjustment process, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, collecting the speed loop working data of the servo motor in a complete power output cycle; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

3. The method for stabilizing the speed of a coreless DC servo motor according to claim 1, characterized in that: Adjust the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data, including: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in, K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express n The middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

4. The method for stabilizing the speed of a coreless DC servo motor according to claim 1, characterized in that: Collecting current loop working data of the servo motor during power output corresponding to the abnormal speed section, analyzing the current loop working data, and determining attribute information of speed change of the servo motor during the current loop working process; Based on the speed change attribute information, determining whether to allow the servo motor to perform speed stabilization adjustment through the current loop includes: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes the working data of the current loop for PID adjustment; Analyzing the correlation between current and speed change on the current loop working data, and determining the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process, and using this as the speed change attribute information; The sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

5. The method for stabilizing the speed of a coreless DC servo motor according to claim 1, characterized in that: When the speed of the servo motor is allowed to be adjusted stably through the current loop, multiple feedback adjustments are performed through the current loop based on the adjustment margin information of the current loop and the speed stability adjustment target information of the servo motor, so that the speed output of the servo motor meets the preset stable state condition, including: When the servo motor is allowed to be adjusted in a stable speed through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stabilization adjustment target value within a preset time length.

6. The speed stabilization adjustment system of the coreless DC servo motor is characterized by: include: Speed ​​loop data acquisition module, used to collect speed loop working data of coreless DC servo motor in a complete power output cycle; A speed loop regulation abnormality identification module, used for analyzing the speed loop working data and determining the abnormal speed section of the servo motor during the speed loop regulation process; A current loop data acquisition and analysis module, used to acquire current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process; A current loop adjustment feasibility judgment module, used for judging whether to allow the servo motor to perform speed stabilization adjustment through the current loop based on the speed change attribute information; The current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets the preset stable state condition.

7. The rotation speed stabilization adjustment system of the coreless DC servo motor according to claim 6, characterized in that: The speed loop data acquisition module is used to collect the speed loop working data of the coreless DC servo motor in a complete power output cycle, including: After the coreless DC servo motor is powered on, the electromagnetic field distribution inside the motor is detected to obtain electromagnetic field distribution change data; the electromagnetic field distribution change data is analyzed for strength to determine whether the servo motor has reached a stable power output state; if so, the electromagnetic field distribution change data is analyzed in the time domain to determine the complete power output cycle attribute information of the servo motor; Based on the complete power output cycle attribute information, collecting the speed loop working data of the servo motor in a complete power output cycle; wherein the speed loop working data includes the working data of the speed loop performing PID regulation; The speed loop regulation abnormality identification module is used to analyze the speed loop working data and determine the abnormal speed section of the servo motor during the speed loop regulation process, including: The speed loop working data is analyzed to determine the drift change rates of all speed adjustment target values ​​of the servo motor during the speed loop adjustment process; based on the drift change rates, all speed adjustment target values ​​that cannot be achieved during the speed loop adjustment process are determined, and based on all the speed adjustment target values ​​that cannot be achieved, the speed abnormal section during the speed loop adjustment process is determined.

8. The rotation speed stabilization adjustment system of a coreless DC servo motor according to claim 6, characterized in that: Adjust the detection frequency of the electromagnetic field distribution according to the electromagnetic field distribution change data, including: Extract the change amplitude corresponding to each two adjacent electromagnetic field distributions; Obtaining the electromagnetic field distribution variation coefficient according to the variation amplitude corresponding to each two adjacent electromagnetic field distributions; The electromagnetic field distribution variation coefficient is obtained by the following formula: in, K It represents the coefficient of variation of electromagnetic field distribution; n Indicates the number of groups of every two adjacent electromagnetic field distribution data obtained by collecting electromagnetic field distribution change data; B fi Indicates i The change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B xi and B hi Indicates i The electromagnetic field distribution data collected at an earlier time and the electromagnetic field distribution data collected at a later time in two adjacent electromagnetic field distribution data groups; μ represents an adjustment factor, and the value range of the adjustment factor is 1.38-1.57; Comparing the electromagnetic field distribution variation coefficient with a preset variation coefficient threshold; When the electromagnetic field distribution variation coefficient exceeds a preset variation coefficient threshold, the electromagnetic field distribution variation coefficient is used to adjust the current electromagnetic field distribution detection frequency, and the electromagnetic field distribution inside the coreless cup DC servo motor after it is started and powered on is detected according to the adjusted electromagnetic field distribution detection frequency; The detection frequency of the adjusted electromagnetic field distribution is obtained by the following formula: in, F n represents the detection frequency of the adjusted electromagnetic field distribution; F x Indicates the detection frequency of the electromagnetic field distribution before adjustment; K It represents the coefficient of variation of electromagnetic field distribution; B b Indicates the standard deviation of the electromagnetic field distribution data during the acquisition of the electromagnetic field distribution change data; B fb express n The standard deviation of the change amplitude corresponding to two adjacent electromagnetic field distribution data in a group; B fmax and B fmin express n The maximum value and the minimum value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets; B fz express n The middle value of the change amplitude corresponding to two adjacent electromagnetic field distribution data sets.

9. The rotation speed stabilization adjustment system of a coreless DC servo motor according to claim 6, characterized in that: The current loop data acquisition and analysis module is used to acquire the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section, analyze the current loop working data, and determine the speed change attribute information of the servo motor during the current loop working process, including: Based on the time interval occupied by the abnormal speed section in the complete power output cycle, the current loop working data of the servo motor during the power output period corresponding to the abnormal speed section is collected; wherein the current loop working data includes the working data of the current loop for PID adjustment; The current loop adjustment feasibility judgment module is used to judge whether to allow the servo motor to perform speed stabilization adjustment through the current loop based on the speed change attribute information, including: Analyzing the correlation between current and speed change on the current loop working data, and determining the sensitivity information of the speed of the servo motor changing with the current change during the current loop working process, and using this as the speed change attribute information; The sensitivity information of the speed changing with the current change is compared with the minimum speed adjustment value that cannot be achieved in the speed loop adjustment process. If the two match, it is determined that the speed of the servo motor is allowed to be stably adjusted through the current loop; if the two do not match, it is determined that the speed of the servo motor is not allowed to be stably adjusted through the current loop.

10. The rotation speed stabilization adjustment system of a coreless DC servo motor according to claim 6, characterized in that: The current loop feedback adjustment module is used to perform multiple feedback adjustments through the current loop based on the adjustment margin information of the current loop and the speed stabilization adjustment target information of the servo motor when the speed stabilization adjustment of the servo motor is allowed through the current loop, so that the speed output of the servo motor meets the preset stable state condition, including: When the servo motor is allowed to be adjusted in a stable speed through the current loop, the speed precision information of the servo motor that the current loop can adjust is obtained, and the information is used as the adjustment margin information of the current loop; based on the speed precision information and the deviation between the speed stability adjustment target value and the actual speed value of the servo motor, a number of current change intervals corresponding to multiple feedback adjustments of the current loop are determined; Based on the size relationship between all current change intervals, a number of current loop feedback adjustments are sequentially performed on the servo motor in a one-to-one correspondence, so that the speed output value of the servo motor gradually reaches the speed stabilization adjustment target value within a preset time length.

Images