Torque output stable control method and system of coreless direct-current servo motor

Abstract

The invention provides a torque output stability control method and system for a hollow cup direct current servo motor, and the method comprises the steps: collecting and analyzing torque output dynamic data of the hollow cup direct current servo motor, determining a torque output unstable interval, carrying out the torque parameter change recognition, and determining an operation interval for the torque output adjustment; a target range is adjusted based on the torque parameter of the operation interval, one control loop regulation is carried out, and whether other control loops need to be added and regulated or not is judged based on the corresponding torque parameter change condition; when other control rings need to be additionally regulated and controlled, the operation interval is divided into a plurality of operation sub-intervals based on the torque parameter change condition, so that regulation and control modes of other control rings are determined based on the torque parameter drift characteristic information of each operation sub-interval, and fine sectional regulation and control of torque output are realized; torque output control does not need to be performed in the whole operation process of the servo motor, the workload of torque regulation and control is reduced, and the efficiency of torque output stability adjustment is improved.

Description

Technical Field

[0001] The invention relates to the field of servo motors, and in particular to a torque output stabilization control 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 high energy density, and have been widely used in precision machine fields such as multi-joint robots and humanoid robots. As a functional component for adjusting the degree of freedom of motion of precision machines, coreless DC servo motors obtain corresponding degrees of freedom of motion adjustment effects by outputting torque of specific magnitude and direction. It can be seen that the torque output performance of coreless DC servo motors directly affects the motion performance of precision machines. In actual work, coreless DC servo motors include three different types of control loops: current loop, speed loop and position loop. By regulating any control loop, the output torque of coreless DC servo motors can be precisely regulated. In actual work, coreless DC servo motors will be affected by external interference and cannot output torque stably, reducing the torque control stability of the servo motor. At this time, it is necessary to change the control mode of the servo motor corresponding to different control loops, and perform fine stability regulation on the torque generation and output of the servo motor from multiple aspects to avoid excessive torque offset of the servo motor output and affect the normal operation of the servo motor. Summary of the invention

[0003] The purpose of the present invention is to provide a torque output stability control method and system for a hollow cup DC servo motor, collect and analyze the torque output dynamic data of the hollow cup DC servo motor, determine the unstable interval of the torque output, identify the torque parameter change, determine the operation interval for torque output adjustment, and limit the operation range for torque output stability regulation; based on the torque parameter adjustment target range of the operation interval, a control loop is regulated, and based on the corresponding torque parameter change, it is judged whether it is necessary to increase the regulation of other control loops, and the servo motor is regulated in multiple directions; when it is necessary to increase the regulation of other control loops, based on the torque parameter change, the operation interval is divided into a number of operation sub-intervals, so as to determine the control mode of other control loops based on the torque parameter drift characteristic information of each operation sub-interval, and realize the refined segmented regulation of the torque output, without the need to perform torque output control for the entire operation process of the servo motor, reducing the workload of torque regulation and improving the efficiency of torque output stability adjustment.

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

[0005] The torque output stabilization control method of a coreless DC servo motor includes:

[0006] Collecting dynamic data of torque output of the coreless DC servo motor, analyzing the dynamic data of torque output, and obtaining the unstable interval of torque output of the servo motor; identifying the change of torque parameters in the unstable interval of torque output, and determining the operation interval for adjusting the torque output of the servo motor;

[0007] Based on the torque parameter adjustment target range corresponding to the operation interval, one of the control loops of the servo motor is regulated; based on the change of the torque parameter of the operation interval during the regulation of the one control loop, it is determined whether it is necessary to increase the regulation of other control loops;

[0008] When it is necessary to increase the regulation of other control loops, the operation interval is divided into several operation sub-intervals based on the change of the torque parameter; based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, the regulation mode of the servo motor in the other control loops is determined.

[0009] Optionally, collecting dynamic data of torque output of the coreless DC servo motor, analyzing the dynamic data of torque output, and obtaining an unstable torque output interval of the servo motor; identifying torque parameter changes in the unstable torque output interval, and determining an operation interval for adjusting the torque output of the servo motor, comprises:

[0010] Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data;

[0011] Analyze the torque output dynamic data to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use them as the torque output unstable interval;

[0012] The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain torque magnitude change rate information corresponding to the torque magnitude interval and torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, a sub-interval within the torque magnitude interval in which a uniform change of torque magnitude cannot be achieved and a sub-interval within the torque direction interval in which a uniform change of torque direction cannot be achieved are determined, and this is used as an operation interval for adjusting the torque output of the servo motor.

[0013] Optionally, the recognition operation quality of the torque parameter change recognition is monitored in real time, and an abnormal warning is issued when the recognition operation is abnormal, including:

[0014] Real-time monitoring of the identification processing time of each torque parameter change identification;

[0015] Extracting a preset recognition processing time reference value;

[0016] Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value;

[0017] The identification operation evaluation coefficient is obtained by the following formula:

[0018]

[0019] Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula:

[0020]

[0021] Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula:

[0022]

[0023] Where x represents the adjustment coefficient; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time torque parameter changes;

[0024] Comparing the identification operation evaluation coefficient with a preset coefficient threshold;

[0025] When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

[0026] Optionally, based on the torque parameter adjustment target range corresponding to the operation interval, one of the control loops of the servo motor is regulated; based on the change of the torque parameter of the operation interval during the regulation of the one control loop, it is determined whether it is necessary to increase the regulation of other control loops, including:

[0027] Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, use one of the current loop and the speed loop with a smaller adjustment time as a control loop corresponding to the current regulation of the servo motor;

[0028] The torque magnitude change sensitivity and the torque direction change sensitivity in the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

[0029] Optionally, when it is necessary to increase the control of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the change of the torque parameter; based on the torque parameter drift characteristic information corresponding to each of all the operation sub-intervals, the control mode of the servo motor in the other control loops is determined, including:

[0030] When it is necessary to increase the regulation of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the regulation of the one control loop;

[0031] Based on the torque magnitude drift rate and torque direction drift rate corresponding to each of the operation sub-intervals, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loops.

[0032] The torque output stabilization control system of the coreless DC servo motor includes:

[0033] A torque output instability identification module is used to collect the torque output dynamic data of the hollow cup DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor;

[0034] A torque output adjustment interval determination module, used to identify torque parameter changes in the torque output instability interval and determine an operation interval for adjusting the torque output of the servo motor;

[0035] A control loop regulation selection module, configured to adjust a target range based on a torque parameter corresponding to the operation interval, and to regulate one of the control loops of the servo motor;

[0036] A control loop regulation adding module, used for judging whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation interval during the regulation of the one control loop;

[0037] An operation interval division module, used for dividing the operation interval into a plurality of operation sub-intervals based on the change of the torque parameter when it is necessary to increase the regulation of other control loops;

[0038] The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals.

[0039] Optionally, the torque output instability identification module is used to collect torque output dynamic data of the coreless DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor, including:

[0040] Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data;

[0041] Analyze the torque output dynamic data to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use them as the torque output unstable interval;

[0042] The torque output adjustment interval determination module is used to identify the torque parameter change in the torque output instability interval and determine the operation interval for adjusting the torque output of the servo motor, including:

[0043] The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain torque magnitude change rate information corresponding to the torque magnitude interval and torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, a sub-interval within the torque magnitude interval in which a uniform change of torque magnitude cannot be achieved and a sub-interval within the torque direction interval in which a uniform change of torque direction cannot be achieved are determined, and this is used as an operation interval for adjusting the torque output of the servo motor.

[0044] Optionally, the recognition operation quality of the torque parameter change recognition is monitored in real time, and an abnormal warning is issued when the recognition operation is abnormal, including:

[0045] Real-time monitoring of the identification processing time of each torque parameter change identification;

[0046] Extracting a preset recognition processing time reference value;

[0047] Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value;

[0048] The identification operation evaluation coefficient is obtained by the following formula:

[0049]

[0050] Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula:

[0051]

[0052] Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula:

[0053]

[0054] Where x represents the adjustment coefficient; T prepresents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time moment parameter changes;

[0055] Comparing the identification operation evaluation coefficient with a preset coefficient threshold;

[0056] When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

[0057] Optionally, the control loop regulation selection module is used to adjust the target range of the torque parameter corresponding to the operation interval to regulate one of the control loops of the servo motor, including:

[0058] Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, use one of the current loop and the speed loop with a smaller adjustment time as a control loop corresponding to the current regulation of the servo motor;

[0059] The control loop regulation adding module is used to determine whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation range during the regulation of one control loop, including:

[0060] The torque magnitude change sensitivity and the torque direction change sensitivity in the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

[0061] Optionally, the operation interval division module is used to divide the operation interval into several operation sub-intervals based on the change of the torque parameter when it is necessary to add and regulate other control loops, including:

[0062] When it is necessary to increase the regulation of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the regulation of the one control loop;

[0063] The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, including:

[0064] Based on the torque magnitude drift rate and torque direction drift rate corresponding to each of the operation sub-intervals, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loops.

[0065] Compared with the prior art, the present invention has the following beneficial effects:

[0066] The torque output stability control method and system of the hollow cup DC servo motor provided in the present application collect and analyze the torque output dynamic data of the hollow cup DC servo motor, determine the unstable interval of the torque output, and identify the torque parameter changes thereon, determine the operating interval for torque output adjustment, and limit the operating range for torque output stability regulation; based on the torque parameter adjustment target range of the operating interval, a control loop is regulated, and based on the corresponding torque parameter changes, it is determined whether it is necessary to increase the regulation of other control loops, and the servo motor is regulated in multiple directions by control loops; when it is necessary to increase the regulation of other control loops, based on the torque parameter changes, the operating interval is divided into several operating sub-intervals, so as to determine the control modes of other control loops based on the torque parameter drift characteristic information of each operating sub-interval, and realize refined segmented regulation of the torque output, without the need to perform torque output control for the entire operation process of the servo motor, thereby reducing the workload of torque regulation and improving the efficiency of torque output stability adjustment. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] 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:

[0068] Figure 1 A schematic flow chart of a torque output stabilization control method for a coreless DC servo motor provided by the present invention.

[0069] Figure 2 The present invention provides a schematic structural diagram of a torque output stabilization control system for a coreless DC servo motor. DETAILED DESCRIPTION

[0070] 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.

[0071] 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.

[0072] 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.

[0073] See also Figure 1 As shown, a torque output stabilization control method of a coreless DC servo motor provided in an embodiment of the present application. The torque output stabilization control method of a coreless DC servo motor includes:

[0074] Collecting dynamic data of torque output of the coreless DC servo motor, analyzing the dynamic data of torque output, and obtaining the unstable interval of torque output of the servo motor; identifying the change of torque parameters in the unstable interval of torque output, and determining the operation interval for adjusting the torque output of the servo motor;

[0075] Based on the torque parameter adjustment target range corresponding to the operation interval, one of the control loops of the servo motor is regulated; based on the change of the torque parameter of the operation interval during the regulation of the one control loop, it is determined whether it is necessary to increase the regulation of other control loops;

[0076] When it is necessary to increase the regulation of other control loops, the operation interval is divided into several operation sub-intervals based on the change of the torque parameter; based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, the regulation mode of the servo motor in the other control loop is determined.

[0077] The beneficial effects of the above embodiments are as follows: the torque output stability control method of the coreless DC servo motor collects and analyzes the torque output dynamic data of the coreless DC servo motor, determines the unstable interval of the torque output, identifies the torque parameter changes, determines the operating interval for torque output adjustment, and limits the operating range for torque output stability regulation; based on the torque parameter adjustment target range of the operating interval, a control loop is regulated, and based on the corresponding torque parameter changes, it is determined whether it is necessary to increase the regulation of other control loops, and the servo motor is regulated in multiple directions by control loops; when it is necessary to increase the regulation of other control loops, based on the torque parameter changes, the operating interval is divided into several operating sub-intervals, so as to determine the regulation modes of other control loops based on the torque parameter drift characteristic information of each operating sub-interval, and realize the refined segmented regulation of the torque output, and there is no need to perform torque output control for the entire operation process of the servo motor, thereby reducing the workload of torque regulation and improving the efficiency of torque output stability adjustment.

[0078] In another embodiment, the torque output dynamic data of the hollow cup DC servo motor is collected, and the torque output dynamic data is analyzed to obtain the torque output unstable interval of the servo motor; the torque parameter change of the torque output unstable interval is identified to determine the operation interval for adjusting the torque output of the servo motor, including:

[0079] Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data;

[0080] The torque output dynamic data is analyzed to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use this as the torque output instability interval;

[0081] The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain the torque magnitude change rate information corresponding to the torque magnitude interval and the torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, the sub-interval within the torque magnitude interval where uniform torque magnitude change cannot be achieved and the sub-interval within the torque direction interval where uniform torque direction change cannot be achieved are determined, and this is used as the operation interval for adjusting the torque output of the servo motor.

[0082] The beneficial effect of the above embodiment is that the coreless DC servo motor will go through a startup period after it is powered on. At this time, a stable and regular magnetic field distribution is not established inside the servo motor, and accordingly, the torque output by the servo motor cannot reach a stable state. If the torque output of the servo motor is stabilized during this startup period, the expected stable regulation target cannot be achieved. For this purpose, the magnetic field distribution state data inside the servo motor is collected after it is powered on, and the time domain change analysis of the magnetic field distribution state data is performed to obtain whether the magnetic field inside the servo motor presents the expected change law. If so, it indicates that a stable and regular magnetic field distribution has been established inside the servo motor. At this time, the torque output dynamic data of the servo motor collected can truly reflect the torque output of the servo motor, and the servo motor is subjected to dynamic data detection in terms of output torque size and output torque direction, thereby comprehensively detecting the torque output of the servo motor. The torque output dynamic data is analyzed to obtain status information on the duration of maintenance of the torque magnitude and the torque direction output by the servo motor. For example, it is determined whether the shortest duration for the torque magnitude output by the servo motor to be maintained at the corresponding fixed value and the shortest duration for the torque direction to be maintained at the corresponding fixed value are less than a preset time threshold. If so, it is determined that the torque output of the servo motor is unstable. Subsequently, the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable are determined, and subsequently the torque output stability control is performed to limit the control range. The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain the torque magnitude change rate information corresponding to the torque magnitude interval and the torque direction change rate information corresponding to the torque direction interval, and uniform change identification is performed on the torque magnitude change rate information and the torque direction change rate information to determine the sub-interval within the torque magnitude interval where uniform change of torque magnitude cannot be achieved (i.e., the torque magnitude value sub-interval where uniform change of torque magnitude cannot be achieved) and the sub-interval within the torque direction interval where uniform change of torque direction cannot be achieved (i.e., the torque direction angle sub-interval where uniform change of torque direction cannot be achieved), and this is used as the operation interval for adjusting the torque output of the servo motor, providing a segment range for subsequent segmented control of the servo motor.

[0083] In another embodiment, real-time monitoring of the recognition operation quality of the torque parameter change recognition and abnormal warning when the recognition operation is abnormal include:

[0084] Real-time monitoring of the identification processing time of each torque parameter change identification;

[0085] Extracting a preset recognition processing time reference value;

[0086] Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value;

[0087] The identification operation evaluation coefficient is obtained by the following formula:

[0088]

[0089] Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula:

[0090]

[0091] Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula:

[0092]

[0093] Where x represents the adjustment coefficient; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time moment parameter changes;

[0094] Comparing the identification operation evaluation coefficient with a preset coefficient threshold;

[0095] When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

[0096] The beneficial effect of the above embodiment is that by real-time monitoring of the processing time of each torque parameter change identification, potential problems in the identification process can be discovered in time. When the identification operation evaluation coefficient exceeds the preset coefficient threshold, the system can automatically determine that there is an abnormality in the operation and issue an alarm, thereby improving the response speed and reliability of the system. The technical solution not only takes into account the processing time of a single identification, but also comprehensively evaluates the identification operation quality from multiple dimensions by calculating the average value, median value and standard deviation of the identification processing time. The calculation of the evaluation coefficient is further refined by using mathematical tools such as logarithmic functions and adjustment coefficients, making the evaluation results more accurate and comprehensive. By dynamically determining the base (a) and adjustment coefficient (x) of the logarithmic function, the technical solution can adaptively adjust the calculation method of the evaluation coefficient according to the actual distribution of the identification processing time. This adaptive adjustment capability enables the system to better adapt to the identification requirements in different scenarios and improves the flexibility and adaptability of the system. Real-time monitoring and abnormal warning mechanisms help to timely discover and handle abnormal situations in the identification process, thereby avoiding system instability or failure caused by identification errors or failures. Comprehensive evaluation of recognition operation quality and adaptive adjustment capabilities further improve the stability and reliability of the system, enabling the system to maintain efficient and accurate operation in various complex environments. Through continuous monitoring and evaluation of recognition operation quality, this technical solution can provide strong data support for the optimization of system performance.

[0097] When abnormal situations such as the recognition processing time being too long or too short are found, the system can adjust the recognition algorithm or parameters in time to improve the accuracy and efficiency of recognition.

[0098] In summary, this technical solution achieves comprehensive monitoring of the identification process and abnormal warning by real-time monitoring of the processing time of torque parameter change identification and comprehensive evaluation of the identification operation quality. This technical solution not only improves the stability and reliability of the system, but also provides strong support for the optimization of system performance.

[0099] In another embodiment, based on the torque parameter adjustment target range corresponding to the operation interval, one of the control loops of the servo motor is regulated; based on the change of the torque parameter of the operation interval during the regulation of the one control loop, it is determined whether it is necessary to increase the regulation of other control loops, including:

[0100] Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, one of the current loop and the speed loop with a smaller adjustment time is used as a control loop corresponding to the current regulation of the servo motor;

[0101] The torque magnitude change sensitivity and the torque direction change sensitivity of the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

[0102] The beneficial effect of the above embodiment is that the operation interval includes a torque magnitude sub-interval in which the torque magnitude cannot be uniformly changed and a torque direction angle sub-interval in which the torque direction cannot be uniformly changed. In order to ensure the stable torque output of the servo motor, it is necessary to predetermine the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, and on this basis, determine the current adjustment range and speed adjustment range corresponding to the current loop and speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved (because the servo motor can adjust the output torque magnitude and torque direction through the current loop or the speed loop, so when the torque magnitude adjustment target value range and the torque direction adjustment target value range of the servo motor are adjusted to the full range respectively, the current adjustment range and speed adjustment range corresponding to the current loop and the speed loop of the servo motor are determined. After the range is determined, the current adjustment range or speed adjustment range of the current loop or speed loop of the servo motor is also determined accordingly); and based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, one of the current loop and the speed loop with a smaller adjustment time is used as a control loop corresponding to the current regulation of the servo motor, that is, if the adjustment time of the servo motor in the current adjustment range is smaller, the current loop is used as a control loop corresponding to the current regulation of the servo motor; if the adjustment time of the servo motor in the speed adjustment range is smaller, the speed loop is used as a control loop corresponding to the current regulation of the servo motor, so that the control loop with smaller adjustment time can be used preferentially for torque output adjustment, effectively compressing the adjustment time. The torque magnitude change sensitivity and the torque direction change sensitivity in the operation range during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than the preset sensitivity threshold, it indicates that the desired torque output stability control effect cannot be obtained by relying solely on the regulation of one control loop. At this time, it is judged that the other one of the current loop and the speed loop needs to be increased, and the synchronous regulation of the current loop and the speed loop will be used to improve the accuracy and efficiency of the servo motor torque output stability control.

[0103] In another embodiment, when it is necessary to increase the control of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the change of the torque parameter; based on the torque parameter drift characteristic information corresponding to each of all the operation sub-intervals, the control mode of the servo motor in the other control loop is determined, including:

[0104] When it is necessary to increase the control of other control loops, the operation interval is divided into several operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the control of the one control loop;

[0105] Based on the torque magnitude drift rate and torque direction drift rate corresponding to each operation sub-interval, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loop.

[0106] The beneficial effect of the above embodiment is that when it is necessary to increase the control of other control loops, the operation interval is divided into several operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the control process of the one control loop. In this way, the operation interval is segmented to obtain several operation sub-intervals, which is convenient for subsequent coarse adjustment or fine adjustment operations for each operation sub-interval, so that the output torque can reach the desired stability to the maximum extent. In addition, based on the torque magnitude drift rate and torque direction drift rate corresponding to each operation sub-interval, it is judged whether each operation sub-interval needs to be coarsely controlled or finely controlled, so as to determine whether the servo motor is in coarse control mode or fine control mode in the other control loops, improve the control accuracy of each operation sub-interval, thereby realizing the refined segmented control of the torque output, and there is no need to control the torque output for the entire operation process of the servo motor, reducing the workload of torque control and improving the efficiency of torque output stability adjustment.

[0107] See also Figure 2 As shown, a torque output stabilization control system of a coreless DC servo motor provided in one embodiment of the present application. The torque output stabilization control system of the coreless DC servo motor includes:

[0108] The torque output instability identification module is used to collect the torque output dynamic data of the hollow cup DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor;

[0109] A torque output adjustment interval determination module is used to identify the torque parameter change in the torque output instability interval and determine the operation interval for adjusting the torque output of the servo motor;

[0110] A control loop regulation selection module, used to adjust a target range based on a torque parameter corresponding to the operation interval, and to regulate one of the control loops of the servo motor;

[0111] A control loop regulation adding module, used to determine whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation interval during the regulation of one control loop;

[0112] An operation interval division module is used to divide the operation interval into several operation sub-intervals based on the change of the torque parameter when other control loops need to be added and regulated;

[0113] The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals.

[0114] The beneficial effects of the above embodiments are as follows: the torque output stability control system of the coreless DC servo motor collects and analyzes the torque output dynamic data of the coreless DC servo motor, determines the unstable interval of the torque output, identifies the torque parameter changes, determines the operating interval for torque output adjustment, and limits the operating range for torque output stability regulation; based on the torque parameter adjustment target range of the operating interval, a control loop is regulated, and based on the corresponding torque parameter changes, it is determined whether it is necessary to increase the regulation of other control loops, and the servo motor is regulated in multiple directions by control loops; when it is necessary to increase the regulation of other control loops, based on the torque parameter changes, the operating interval is divided into several operating sub-intervals, and based on the torque parameter drift characteristic information of each operating sub-interval, the control mode of other control loops is determined, and refined segmented regulation of torque output is realized, and there is no need to perform torque output control for the entire operation process of the servo motor, thereby reducing the workload of torque regulation and improving the efficiency of torque output stability adjustment.

[0115] In another embodiment, the torque output instability identification module is used to collect the torque output dynamic data of the hollow cup DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor, including:

[0116] Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data;

[0117] The torque output dynamic data is analyzed to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use this as the torque output instability interval;

[0118] The torque output adjustment interval determination module is used to identify the torque parameter change in the torque output unstable interval and determine the operation interval for adjusting the torque output of the servo motor, including:

[0119] The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain the torque magnitude change rate information corresponding to the torque magnitude interval and the torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, the sub-interval within the torque magnitude interval where uniform torque magnitude change cannot be achieved and the sub-interval within the torque direction interval where uniform torque direction change cannot be achieved are determined, and this is used as the operation interval for adjusting the torque output of the servo motor.

[0120] The beneficial effect of the above embodiment is that the coreless DC servo motor will go through a startup period after it is powered on. At this time, a stable and regular magnetic field distribution is not established inside the servo motor, and accordingly, the torque output by the servo motor cannot reach a stable state. If the torque output of the servo motor is stabilized during this startup period, the expected stable regulation target cannot be achieved. For this purpose, the magnetic field distribution state data inside the servo motor is collected after it is powered on, and the time domain change analysis of the magnetic field distribution state data is performed to obtain whether the magnetic field inside the servo motor presents the expected change law. If so, it indicates that a stable and regular magnetic field distribution has been established inside the servo motor. At this time, the torque output dynamic data of the servo motor collected can truly reflect the torque output of the servo motor, and the servo motor is subjected to dynamic data detection in terms of output torque size and output torque direction, thereby comprehensively detecting the torque output of the servo motor. The torque output dynamic data is analyzed to obtain status information on the duration of maintenance of the torque magnitude and the torque direction output by the servo motor. For example, it is determined whether the shortest duration for the torque magnitude output by the servo motor to be maintained at the corresponding fixed value and the shortest duration for the torque direction to be maintained at the corresponding fixed value are less than a preset time threshold. If so, it is determined that the torque output of the servo motor is unstable. Subsequently, the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable are determined, and subsequently the torque output stability control is performed to limit the control range. The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain the torque magnitude change rate information corresponding to the torque magnitude interval and the torque direction change rate information corresponding to the torque direction interval, and uniform change identification is performed on the torque magnitude change rate information and the torque direction change rate information to determine the sub-interval within the torque magnitude interval where uniform change of torque magnitude cannot be achieved (i.e., the torque magnitude value sub-interval where uniform change of torque magnitude cannot be achieved) and the sub-interval within the torque direction interval where uniform change of torque direction cannot be achieved (i.e., the torque direction angle sub-interval where uniform change of torque direction cannot be achieved), and this is used as the operation interval for adjusting the torque output of the servo motor, providing a segment range for subsequent segmented control of the servo motor.

[0121] In another embodiment, real-time monitoring of the recognition operation quality of the torque parameter change recognition and abnormal warning when the recognition operation is abnormal include:

[0122] Real-time monitoring of the identification processing time of each torque parameter change identification;

[0123] Extracting a preset recognition processing time reference value;

[0124] Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value;

[0125] The identification operation evaluation coefficient is obtained by the following formula:

[0126]

[0127] Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula:

[0128]

[0129] Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula:

[0130]

[0131] Where x represents the adjustment coefficient; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time moment parameter changes;

[0132] Comparing the identification operation evaluation coefficient with a preset coefficient threshold;

[0133] When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

[0134] The beneficial effect of the above embodiment is that by real-time monitoring of the processing time of each torque parameter change identification, potential problems in the identification process can be discovered in time. When the identification operation evaluation coefficient exceeds the preset coefficient threshold, the system can automatically determine that there is an abnormality in the operation and issue an alarm, thereby improving the response speed and reliability of the system. The technical solution not only takes into account the processing time of a single identification, but also comprehensively evaluates the identification operation quality from multiple dimensions by calculating the average value, median value and standard deviation of the identification processing time. The calculation of the evaluation coefficient is further refined by using mathematical tools such as logarithmic functions and adjustment coefficients, making the evaluation results more accurate and comprehensive. By dynamically determining the base (a) and adjustment coefficient (x) of the logarithmic function, the technical solution can adaptively adjust the calculation method of the evaluation coefficient according to the actual distribution of the identification processing time. This adaptive adjustment capability enables the system to better adapt to the identification requirements in different scenarios and improves the flexibility and adaptability of the system. Real-time monitoring and abnormal warning mechanisms help to timely discover and handle abnormal situations in the identification process, thereby avoiding system instability or failure caused by identification errors or failures. Comprehensive evaluation of recognition operation quality and adaptive adjustment capabilities further improve the stability and reliability of the system, enabling the system to maintain efficient and accurate operation in various complex environments. Through continuous monitoring and evaluation of recognition operation quality, this technical solution can provide strong data support for the optimization of system performance.

[0135] When abnormal situations such as the recognition processing time being too long or too short are found, the system can adjust the recognition algorithm or parameters in time to improve the accuracy and efficiency of recognition.

[0136] In summary, this technical solution achieves comprehensive monitoring of the recognition process and abnormal warning by real-time monitoring of the processing time of torque parameter change recognition and comprehensive evaluation of the recognition operation quality. This technical solution not only improves the stability and reliability of the system, but also provides strong support for the optimization of system performance.

[0137] In another embodiment, the control loop regulation selection module is used to adjust the target range based on the torque parameter corresponding to the operation interval, and regulate one of the control loops of the servo motor, including:

[0138] Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, one of the current loop and the speed loop with a smaller adjustment time is used as a control loop corresponding to the current regulation of the servo motor;

[0139] The control loop regulation adding module is used to determine whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation interval during the regulation of the one control loop, including:

[0140] The torque magnitude change sensitivity and the torque direction change sensitivity of the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

[0141] The beneficial effect of the above embodiment is that the operation interval includes a torque magnitude sub-interval in which the torque magnitude cannot be uniformly changed and a torque direction angle sub-interval in which the torque direction cannot be uniformly changed. In order to ensure the stable torque output of the servo motor, it is necessary to predetermine the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, and on this basis, determine the current adjustment range and speed adjustment range corresponding to the current loop and speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved (because the servo motor can adjust the output torque magnitude and torque direction through the current loop or the speed loop, so when the torque magnitude adjustment target value range and the torque direction adjustment target value range of the servo motor are adjusted to the full range respectively, the current adjustment range and speed adjustment range corresponding to the current loop and the speed loop of the servo motor are determined. After the range is determined, the current adjustment range or speed adjustment range of the current loop or speed loop of the servo motor is also determined accordingly); and based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, one of the current loop and the speed loop with a smaller adjustment time is used as a control loop corresponding to the current regulation of the servo motor, that is, if the adjustment time of the servo motor in the current adjustment range is smaller, the current loop is used as a control loop corresponding to the current regulation of the servo motor; if the adjustment time of the servo motor in the speed adjustment range is smaller, the speed loop is used as a control loop corresponding to the current regulation of the servo motor, so that the control loop with smaller adjustment time can be used preferentially for torque output adjustment, effectively compressing the adjustment time. The torque magnitude change sensitivity and the torque direction change sensitivity in the operation range during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than the preset sensitivity threshold, it indicates that the desired torque output stability control effect cannot be obtained by relying solely on the regulation of one control loop. At this time, it is judged that the other one of the current loop and the speed loop needs to be increased, and the synchronous regulation of the current loop and the speed loop will be used to improve the accuracy and efficiency of the servo motor torque output stability control.

[0142] In another embodiment, the operation interval division module is used to divide the operation interval into several operation sub-intervals based on the change of the torque parameter when it is necessary to increase the regulation of other control loops, including:

[0143] When it is necessary to increase the control of other control loops, the operation interval is divided into several operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the control of the one control loop;

[0144] The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, including:

[0145] Based on the torque magnitude drift rate and torque direction drift rate corresponding to each operation sub-interval, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loop.

[0146] The beneficial effect of the above embodiment is that when it is necessary to increase the control of other control loops, the operation interval is divided into several operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the control process of the one control loop. In this way, the operation interval is segmented to obtain several operation sub-intervals, which is convenient for subsequent coarse adjustment or fine adjustment operations for each operation sub-interval, so that the output torque can reach the desired stability to the maximum extent. In addition, based on the torque magnitude drift rate and torque direction drift rate corresponding to each operation sub-interval, it is judged whether each operation sub-interval needs to be coarsely controlled or finely controlled, so as to determine whether the servo motor is in coarse control mode or fine control mode in the other control loops, improve the control accuracy of each operation sub-interval, thereby realizing the refined segmented control of the torque output, and there is no need to control the torque output for the entire operation process of the servo motor, reducing the workload of torque control and improving the efficiency of torque output stability adjustment.

[0147] In general, the torque output stability control method and system of the hollow cup DC servo motor collects and analyzes the torque output dynamic data of the hollow cup DC servo motor, determines the unstable torque output interval, identifies the torque parameter changes, determines the operating interval for torque output adjustment, and limits the operating range for torque output stability regulation; based on the torque parameter adjustment target range of the operating interval, a control loop is regulated, and based on the corresponding torque parameter changes, it is determined whether it is necessary to increase the regulation of other control loops, and the servo motor is regulated in multiple directions; when it is necessary to increase the regulation of other control loops, based on the torque parameter changes, the operating interval is divided into several operating sub-intervals, so as to determine the control mode of other control loops based on the torque parameter drift characteristic information of each operating sub-interval, and realize the refined segmented regulation of torque output, without the need to perform torque output control for the entire operation process of the servo motor, thereby reducing the workload of torque regulation and improving the efficiency of torque output stability adjustment.

[0148] 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 torque output stabilization control method for a coreless DC servo motor, characterized in that: include: Collecting dynamic data of torque output of the coreless DC servo motor, analyzing the dynamic data of torque output, and obtaining an unstable interval of torque output of the servo motor; Identifying torque parameter changes in the torque output instability interval, and determining an operation interval for adjusting the torque output of the servo motor; Adjusting a target range of torque parameters corresponding to the operation interval to regulate one of the control loops of the servo motor; Based on the change of the torque parameter in the operation range during the regulation of the one control loop, determining whether it is necessary to increase the regulation of other control loops; When it is necessary to increase the regulation of other control loops, the operation interval is divided into several operation sub-intervals based on the change of the torque parameter; based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, the regulation mode of the servo motor in the other control loops is determined.

2. The torque output stabilization control method of the coreless DC servo motor according to claim 1, characterized in that: Collecting dynamic data of torque output of the coreless DC servo motor, analyzing the dynamic data of torque output, and obtaining an unstable interval of torque output of the servo motor; Identifying the torque parameter change in the torque output instability interval and determining the operation interval for adjusting the torque output of the servo motor includes: Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data; Analyze the torque output dynamic data to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use them as the torque output unstable interval; The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain torque magnitude change rate information corresponding to the torque magnitude interval and torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, a sub-interval within the torque magnitude interval in which a uniform change of torque magnitude cannot be achieved and a sub-interval within the torque direction interval in which a uniform change of torque direction cannot be achieved are determined, and this is used as an operation interval for adjusting the torque output of the servo motor.

3. The torque output stabilization control method of the coreless DC servo motor according to claim 2, characterized in that: Real-time monitoring of the recognition and operation quality of torque parameter change recognition, and abnormal warning when abnormal operation is recognized, including: Real-time monitoring of the identification processing time of each torque parameter change identification; Extracting a preset recognition processing time reference value; Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value; The identification operation evaluation coefficient is obtained by the following formula: Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula: Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula: Where x represents the adjustment coefficient; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time moment parameter changes; Comparing the identification operation evaluation coefficient with a preset coefficient threshold; When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

4. The torque output stabilization control method of a coreless DC servo motor according to claim 1, characterized in that: Adjusting a target range of torque parameters corresponding to the operation interval to regulate one of the control loops of the servo motor; Based on the change of the torque parameter in the operation range during the regulation of the one control loop, it is determined whether it is necessary to increase the regulation of other control loops, including: Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, use one of the current loop and the speed loop with a smaller adjustment time as a control loop corresponding to the current regulation of the servo motor; The torque magnitude change sensitivity and the torque direction change sensitivity in the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

5. The torque output stabilization control method of a coreless DC servo motor according to claim 1, characterized in that: When it is necessary to increase the regulation of other control loops, the operation interval is divided into a number of operation sub-intervals based on the change of the torque parameter; Based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, determining the control mode of the servo motor in the other control loops includes: When it is necessary to increase the regulation of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the regulation of the one control loop; Based on the torque magnitude drift rate and torque direction drift rate corresponding to each of the operation sub-intervals, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loops.

6. The torque output stabilization control system of the coreless DC servo motor is characterized by: include: A torque output instability identification module is used to collect the torque output dynamic data of the hollow cup DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor; A torque output adjustment interval determination module, used to identify torque parameter changes in the torque output instability interval and determine an operation interval for adjusting the torque output of the servo motor; A control loop regulation selection module, configured to adjust a target range based on a torque parameter corresponding to the operation interval and regulate one of the control loops of the servo motor; A control loop regulation adding module, used for judging whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation interval during the regulation of the one control loop; An operation interval division module, used for dividing the operation interval into a plurality of operation sub-intervals based on the change of the torque parameter when it is necessary to increase the regulation of other control loops; The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals.

7. The torque output stabilization control system of the coreless DC servo motor according to claim 6, characterized in that: The torque output instability identification module is used to collect the torque output dynamic data of the hollow cup DC servo motor, analyze the torque output dynamic data, and obtain the torque output instability interval of the servo motor, including: Collect the magnetic field distribution state data inside the hollow cup DC servo motor after it is powered on and started, perform time domain change analysis on the magnetic field distribution state data, and determine whether the servo motor is in a state of regular magnetic field change; if so, collect the torque output dynamic data of the servo motor; wherein the torque output dynamic data includes output torque magnitude dynamic data and output torque direction dynamic data; Analyze the torque output dynamic data to obtain the state information of the duration of the torque magnitude constant and the duration of the torque direction constant maintained by the servo motor, so as to determine the torque magnitude interval and the torque direction interval in which the torque output of the servo motor is unstable, and use them as the torque output unstable interval; The torque output adjustment interval determination module is used to identify the torque parameter change in the torque output instability interval and determine the operation interval for adjusting the torque output of the servo motor, including: The change rates of the torque magnitude interval and the torque direction interval are respectively identified to obtain torque magnitude change rate information corresponding to the torque magnitude interval and torque direction change rate information corresponding to the torque direction interval; based on the torque magnitude change rate information and the torque direction change rate information, a sub-interval within the torque magnitude interval in which a uniform change of torque magnitude cannot be achieved and a sub-interval within the torque direction interval in which a uniform change of torque direction cannot be achieved are determined, and this is used as an operation interval for adjusting the torque output of the servo motor.

8. The torque output stabilization control system of the coreless DC servo motor according to claim 7, characterized in that: Real-time monitoring of the recognition and operation quality of torque parameter change recognition, and abnormal warning when abnormal operation is recognized, including: Real-time monitoring of the identification processing time of each torque parameter change identification; Extracting a preset recognition processing time reference value; Obtaining an identification operation evaluation coefficient using the identification processing time of each torque parameter change identification and a preset identification processing time reference value; The identification operation evaluation coefficient is obtained by the following formula: Where Q represents the identification operation evaluation coefficient; n represents the total number of torque parameter change identifications; T i T represents the corresponding identification processing time for the i-th torque parameter change identification; c Indicates the preset reference value of recognition processing time; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; a represents the base of the logarithmic function, and the base of the logarithmic function is determined by the following formula: Where a represents the base of the logarithmic function; T c Indicates the preset reference value of recognition processing time; T z represents the intermediate value of the identification processing time corresponding to the n-time torque parameter change identification; x represents the adjustment coefficient, and the adjustment coefficient is obtained by the following formula: Where x represents the adjustment coefficient; T p represents the average value of the recognition processing time corresponding to the recognition of n torque parameter changes; T z represents the median value of the recognition processing time corresponding to the recognition of n torque parameter changes; T b It represents the standard deviation of the recognition processing time corresponding to the recognition of n-time moment parameter changes; Comparing the identification operation evaluation coefficient with a preset coefficient threshold; When the identification operation evaluation coefficient exceeds a preset coefficient threshold, it is determined that the operation of the torque parameter change identification is abnormal, and an abnormal operation alarm is issued.

9. The torque output stabilization control system of the coreless DC servo motor according to claim 6, characterized in that: The control loop regulation selection module is used to adjust the target range based on the torque parameter corresponding to the operation interval, and regulate one of the control loops of the servo motor, including: Based on the torque magnitude adjustment target value range and the torque direction adjustment target value range corresponding to the operation interval, determine the current adjustment range and the speed adjustment range corresponding to the current loop and the speed loop of the servo motor when the full range adjustment corresponding to the torque magnitude adjustment target value range and the torque direction adjustment target value range is achieved; based on the adjustment time corresponding to the servo motor in the current adjustment range and the speed adjustment range, use one of the current loop and the speed loop with a smaller adjustment time as a control loop corresponding to the current regulation of the servo motor; The control loop regulation adding module is used to determine whether it is necessary to increase the regulation of other control loops based on the change of the torque parameter in the operation range during the regulation of one control loop, including: The torque magnitude change sensitivity and the torque direction change sensitivity in the operation interval during the regulation of the one control loop are obtained. If the torque magnitude change sensitivity or the torque direction change sensitivity is less than a preset sensitivity threshold, it is determined that the other of the current loop and the speed loop needs to be increased in regulation; otherwise, it is determined that there is no need to increase the regulation of other control loops.

10. The torque output stabilization control system of the coreless DC servo motor according to claim 6, characterized in that: The operation interval division module is used to divide the operation interval into several operation sub-intervals based on the change of the torque parameter when it is necessary to increase the regulation of other control loops, including: When it is necessary to increase the regulation of other control loops, the operation interval is divided into a plurality of operation sub-intervals based on the characteristic information of the change of the torque magnitude sensitivity and the torque direction sensitivity of the operation interval over time during the regulation of the one control loop; The control mode determination module is used to determine the control mode of the servo motor in the other control loop based on the torque parameter drift characteristic information corresponding to all the operation sub-intervals, including: Based on the torque magnitude drift rate and torque direction drift rate corresponding to each of the operation sub-intervals, it is determined whether coarse control or fine control is required for each operation sub-interval, thereby determining whether the servo motor performs coarse control mode or fine control mode in the other control loops.

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