Servo driver control method and device, medium, processor and motor

Abstract

The invention discloses a servo driver dynamic braking control method and device, a medium, a processor and a motor, and the servo driver control method comprises the following steps: a q-axis current calculation step: calculating the q-axis current of the motor through the secondary differential of the position information of the motor; a judgment execution step: judging whether the q-axis current of the motor exceeds the peak current of the motor, and if so, cancelling the dynamic braking state of the motor; if not, the dynamic braking state of the motor is kept. According to the invention, the need of adding an additional current sampling module in a dynamic braking mechanism can be avoided, and a motor protection function can be realized through an existing signal processing mechanism, so that the system design is simplified, and the cost is reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of motor control, and in particular relates to a servo motor control method, device, medium, processor and motor. Background Art

[0002] Traditional servo motor control systems usually disconnect the enable signal when encountering a servo fault (such as overcurrent, overvoltage or encoder failure). This is a preventive measure to prevent the fault from further deteriorating. However, there is a problem in this case: disconnecting the enable signal will cause the current sampling module to lose the bootstrap voltage, which is necessary for its normal operation.

[0003] In motor control systems, analog-to-digital converter (ADC) chips are widely used for high-precision current sampling. The design strategy of bootstrap power supply is extremely critical for these modulators because it can ensure the accuracy of sampling. Bootstrap power supply can ensure that the power ground of the ADC chip and the potential of the measurement point are floating and can change with the potential change of the measurement point, avoiding the measurement error caused by inconsistent ground reference points.

[0004] This is because even a small ground voltage difference can cause significant measurement errors in the current sampling of the motor windings. The bootstrap power supply design ensures that the power supply of the analog-to-digital converter is consistent with the potential of the measurement point, providing a ground reference that is floating and dynamically matched to the measurement circuit, thereby achieving high-precision and low-noise current measurement. Therefore, the bootstrap power supply is crucial to maintaining current sampling accuracy, improving system robustness, and ensuring the effective implementation of control algorithms.

[0005] Therefore, after the servo motor disconnects the enable signal, the current sampling module will lose the bootstrap voltage, and the current sampling module will no longer be able to collect current data in the motor winding, losing the ability to monitor the actual current of the motor under fault conditions, and will also be unable to effectively perform fault analysis and take subsequent protection measures.

[0006] In terms of dynamic braking, the existing technology usually relies on additional hardware components to protect the motor from damage caused by excessive current. For example, patents CN205319691U and CN105470927B propose solutions to add fuses or sampling resistors and protection units to the braking resistor. Patents CN111610437A and CN101483402A describe hardware-based short-circuit protection and current monitoring solutions, respectively.

[0007] Although the above methods provide solutions to a certain extent, most of them focus on the physical sampling and disconnection of current during dynamic braking, rather than focusing on the signal processing and control algorithm level to optimize the dynamic response of the entire system. These traditional methods usually make system design more complicated and increase costs, and have limitations in fault prevention and post-fault processing. Therefore, a new control method is needed that can achieve dynamic motor protection without increasing the complexity and cost of system hardware. Summary of the invention

[0008] In view of this, the present invention aims to overcome the defects in the above-mentioned prior art and provide a servo drive control method, device, medium, processor and motor, which can automatically disconnect the dynamic braking during the dynamic braking process to protect the motor from damage by excessive current.

[0009] As a first aspect of the present invention, the technical solution of the servo drive control method embodiment provided is as follows:

[0010] A servo drive control method, comprising the following steps:

[0011] The q-axis current calculation step is to calculate the q-axis current of the motor by the second derivative of the motor position information;

[0012] The step of judging execution is to judge whether the q-axis current of the motor exceeds the peak current of the motor. If yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

[0013] Furthermore, the step of calculating the q-axis current of the motor includes:

[0014] The angular acceleration of the motor is calculated by the second derivative of the motor position information;

[0015] The q-axis current of the motor is calculated using the angular acceleration of the motor, the moment of inertia of the motor, and the back EMF constant of the motor.

[0016] Furthermore, the calculation formula of the q-axis current of the motor is as follows:

[0017]

[0018] Where: I q is the q-axis current of the motor, K t is the back EMF constant of the motor, J is the moment of inertia of the motor, and a is the angular acceleration of the motor.

[0019] Furthermore, K tIt is obtained by dividing the rated torque of the motor by the rated current, or provided by the motor manufacturer; J is determined by the system in which the motor actually runs, and will be set during installation and commissioning, or obtained by inertia identification.

[0020] Furthermore, the angular acceleration of the motor is filtered before being used to calculate the q-axis current of the motor.

[0021] Furthermore, the filtering process includes adjusting the filtering characteristics according to preset parameters or an adaptive algorithm to optimize the suppression of noise and the retention of effective signals.

[0022] Furthermore, in the q-axis current calculation step, it is also necessary to determine whether the angular acceleration of the motor exceeds the set range: if not, continue to calculate the angular acceleration of the motor; if yes, enter the judgment execution step.

[0023] As a second aspect of the present invention, the technical solution of the servo drive control device embodiment provided is as follows:

[0024] A servo drive control device, comprising the following units:

[0025] A q-axis current calculation unit, used for calculating the q-axis current of the motor through the second derivative of the motor position information;

[0026] The judgment execution unit is used to judge whether the q-axis current of the motor exceeds the peak current of the motor. If yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

[0027] As a third aspect of the present invention, the embodiment of the computer-readable storage medium provided is as follows:

[0028] A computer-readable storage medium, comprising a stored program, wherein the program executes any one of the methods described in the first aspect above when executed.

[0029] As a fourth aspect of the present invention, the technical solution of the embodiment of the processor provided is as follows:

[0030] A processor is used to run a program, wherein the program executes the method described in any one of the first aspects above when running.

[0031] As a fifth aspect of the present invention, the technical solution of the embodiment of the motor provided is as follows:

[0032] A motor, comprising the servo drive control device described in any one of the second aspects above.

[0033] The present invention provides an innovative solution to solve the problems existing in the traditional servo motor control system through advanced signal processing technology and control strategy. The beneficial effects of the embodiments of the present invention compared with the prior art are as follows:

[0034] The servo drive control method of the embodiment of the present invention calculates the q-axis current of the motor through the second derivative of the motor position information, and determines whether the q-axis current of the motor exceeds the peak current of the motor. If so, the dynamic braking state of the motor is canceled, eliminating the need to add an additional current sampling module in the dynamic braking mechanism. The motor protection function can be realized through the existing signal processing mechanism, which not only simplifies the system design but also reduces the cost. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 is a flow chart of a servo drive control method according to a first embodiment of the present invention;

[0036] Figure 2 A detailed flow chart of the servo drive control method of the first embodiment of the present invention when dynamically braking a motor;

[0037] Figure 3 A specific flow chart of q-axis current calculation in the servo drive control method of the first embodiment of the present invention;

[0038] Figure 4 A specific flow chart of filtering processing in the servo drive control method of the first embodiment of the present invention;

[0039] Figure 5 This is a comparison chart between the calculated value and the true value of the q-axis current without filtering the angular acceleration;

[0040] Figure 6 To adopt Figure 4 Methods Filter the angular acceleration to compare the calculated value and the true value of the q-axis current;

[0041] Figure 7 A flow chart of setting the dead zone threshold of angular acceleration in the servo drive control method according to the first embodiment of the present invention;

[0042] Figure 8 This is a principle block diagram of a servo drive control device according to a second embodiment of the present invention. DETAILED DESCRIPTION

[0043] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application may be combined with each other.

[0044] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0045] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequential order. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present application are described here. In addition, the terms "including" and "having" and any of their variations are intended to cover non-exclusive inclusions, for example, the process, method, system, product or equipment comprising a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or equipment.

[0046] It should be understood that, in the specification, claims and drawings, when a step is described as being connected to another step, the step may be directly connected to the other step, or be connected to the other step through a third step; when an element / unit is described as being "connected" to another element / unit, the element / unit may be "directly connected" to the other element / unit, or be "connected" to the other element / unit through a third element / unit.

[0047] In addition, the drawings of the present disclosure are only schematic diagrams of the present disclosure and are not necessarily drawn to scale. The same symbols in the drawings represent the same or similar parts, and thus repeated descriptions thereof will be omitted. Some of the block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented using software, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontrollers.

[0048] The present invention is dedicated to protecting the servo motor from failure, emergency stop or power failure and other emergency situations, so that it can stop running quickly and safely, and can prevent damage caused by excessive current generated during dynamic braking. The inventive concept of the present application is to obtain the q-axis current of the motor by calculating the second differential of the servo motor position signal, and automatically disconnect the dynamic braking when the current exceeds the peak current allowed by the motor, so as to achieve the purpose of protecting the motor. Further, calculating the q-axis current includes calculating the current angular acceleration (hereinafter referred to as acceleration) by the second differential of the servo motor position signal, and then calculating the q-axis current based on the motor parameters. In order to improve the noise suppression ability of the servo control system and ensure the accuracy of speed and acceleration measurement, a filtering module can be used to process the signal. The filtering module includes but is not limited to one or more filters including an average filter, a low-pass filter, a digital filter, an analog filter, a Kalman filter, a median filter, and a Gaussian filter, as well as other filters suitable for reducing high-frequency noise and retaining effective signals that can adjust the filtering characteristics according to preset parameters or adaptive algorithms. An additional benefit of the present invention is that it eliminates the need to add an additional current sampling module in the dynamic braking mechanism, and the motor protection function can be achieved through the existing signal processing mechanism, which not only simplifies the system design but also reduces the cost. Through this flexible filtering strategy, the present invention can effectively protect the servo motor from potential damage during the dynamic braking process, while improving the stability and reliability of the entire control system. The filtering technology solution of the present invention also provides a wide range of protection for new filtering technologies that may appear in the future, ensuring the advancement and long-term effectiveness of the technology.

[0049] First embodiment

[0050] This embodiment provides a servo drive control method. Figure 1 This is a flow chart of the servo drive control method according to the first embodiment of the present invention. Figure 1 , which include:

[0051] The q-axis current calculation step S100 calculates the q-axis current of the motor by the second derivative of the motor position information;

[0052] Step S200 is executed to determine whether the q-axis current of the motor exceeds the peak current of the motor: if yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

[0053] The servo drive control method of this embodiment calculates the q-axis current of the motor through the second derivative of the motor position information, and determines whether the q-axis current of the motor exceeds the peak current of the motor. If so, the dynamic braking state of the motor is canceled, eliminating the need to add an additional current sampling module in the dynamic braking mechanism. The motor protection function can be achieved through the existing signal processing mechanism, which not only simplifies the system design but also reduces the cost.

[0054] Figure 2 This is a detailed flow chart of the servo drive control method of the first embodiment of the present invention when the motor is dynamically braked. Figure 2 The servo drive control method of this embodiment is used to control the dynamic braking of the motor. When the current exceeds the peak current of the motor, the system will determine that the current reverse current is too large and quickly disconnect the dynamic braking to protect the motor from damage by excessive current. In specific implementation, the kinematic parameters of the motor are used to estimate the q-axis current. Specifically, under the dq coordinate axis, the mathematical model of the permanent magnet synchronous motor after CLARK transformation and PARK transformation is:

[0055] The torque equation is as follows:

[0056] T e =K t I q (Formula 1)

[0057] The equation of motion is as follows:

[0058] J·a+B·ω m =T e -T L (Formula 2)

[0059] Where: T e is the motor torque, T L is the load torque, J is the moment of inertia, a is the angular acceleration, K t is the back EMF constant, I q is the q-axis current, B is the friction coefficient, ω m is the angular velocity of the motor.

[0060] In the present invention, since the contribution of friction force in a large inertia system is small relative to the electromagnetic torque and can be ignored, the load torque and the motor torque can be regarded as a whole and combined into a total torque T E ,Right now

[0061] T E =T e -T L (Formula 3)

[0062] Therefore, the calculation model of electromagnetic torque can be simplified as:

[0063] J·a=K t I q (Formula 4)

[0064] Among them, a can be obtained by second-order differentiation of the encoder position; K t It is usually obtained by dividing the rated torque of the motor by the rated current, or provided by the motor manufacturer; J is determined by the system in which the servo motor actually runs, and is usually set during installation and commissioning, or obtained by inertia identification.

[0065] Since the servo will be disconnected when the motor fails, the current sampling module stops working due to the loss of bootstrap voltage. In order to obtain the q-axis current, the motor can be prevented from being subjected to excessive current during dynamic braking to avoid damage. According to formula 4, it can be obtained:

[0066]

[0067] Among them, the back electromotive force constant is obtained by dividing the rated torque of the motor by the rated current; and the inertia is obtained by inertia identification.

[0068] Therefore, the q-axis current can be obtained by knowing only the angular acceleration of the motor. The acceleration can be obtained by second-order differentiation of the position, which can be read by the encoder.

[0069] Figure 3 A specific flow chart of the q-axis current calculation in the servo drive control method of the first embodiment of the present invention is shown in FIG. Figure 3 In order to estimate velocity and acceleration from continuous position measurements, a discrete difference algorithm is used. This algorithm estimates velocity by calculating the change in position between position measurements taken at fixed time intervals. Subsequently, the change in velocity is calculated based on the continuous velocity estimates and the acceleration is estimated using the same discrete difference algorithm. This difference-based approach is suitable for digital control systems and overcomes the limitation of practical hardware implementations where continuous differentiation cannot be performed.

[0070] Based on this idea, we can estimate the q-axis current value of the motor, and then prevent the motor from being subjected to excessive current during dynamic braking to avoid damage. The following is Figure 3 Access Figure 2 A detailed introduction to the entire process:

[0071] See also Figure 2 When the servo drive is powered on, it will determine whether to enter the dynamic braking state according to the system control;

[0072] Please continue to see Figure 2When entering dynamic braking, the parameters required for subsequent calculations are initialized first. The total inertia of the system is obtained by inertia identification, and the back electromotive force constant is obtained by dividing the rated torque of the motor by the rated current. The rated torque and rated current of the motor are obtained by querying the technical manual provided by the motor manufacturer and have been preset in the servo drive.

[0073] Please continue to see Figure 2 After initialization is completed, the motor will calculate the motor q-axis current in real time and determine whether the q-axis current exceeds the peak current of the motor. If it exceeds, the dynamic brake relay will be quickly turned off to protect the motor. Figure 3 The flowchart of the q-axis current estimation method is as follows:

[0074] Step S201 is a step for monitoring the position of the motor: the encoder of the servo motor monitors the position of the motor in real time, and converts the acquired position information into an electrical signal and sends it to the servo driver.

[0075] Step S202 is a position signal processing step: performing necessary conversion on the position electrical signal to obtain the real-time position value of the motor.

[0076] Step S203 is a speed calculation step: In this embodiment, a discrete difference algorithm is used to estimate the speed and acceleration from the continuous position measurement. This algorithm estimates the speed by calculating the change in position between the position measurements made at fixed time intervals. This difference-based method is suitable for digital control systems and can overcome the limitation that continuous differentiation cannot be performed in actual hardware implementation.

[0077] Step S204 is a step of calculating acceleration: a discrete difference algorithm is used again based on the estimated velocity value to calculate the velocity change to estimate the acceleration.

[0078] Step S205 is a step for calculating the q-axis current: the above S204 has obtained the step acceleration value, parameter initialization, and the motor's moment of inertia and back electromotive force constant. According to Formula 5, the expected q-axis current can be calculated.

[0079] As a specific implementation of this embodiment, the angular acceleration of the motor is further filtered before being used to calculate the q-axis current of the motor.

[0080] Furthermore, the filtering process includes adjusting the filtering characteristics according to preset parameters or an adaptive algorithm to optimize the suppression of noise and the retention of valid signals.

[0081] In the motor control system, since the differentiation of the position signal will amplify the high-frequency signal, the secondary differential operation will lead to a significant increase in high-frequency noise, which may interfere with the accurate estimation of the current. In order to solve this problem, the angular acceleration needs to be filtered in the above specific implementation before being used to calculate the q-axis current of the motor. The filtering process can effectively filter out the high-frequency noise, thereby reducing the high-frequency noise amplified by the secondary differential operation of the position, so as to enhance the system's monitoring accuracy of current state changes. The filtering process can, for example, use an average filtering algorithm to smooth the acceleration signal by calculating the average value of the acceleration over a period of time instead of the instantaneous value.

[0082] Figure 4 This is a specific flow chart of filtering processing in the servo drive control method of the first embodiment of the present invention. Figure 4 The specific implementation methods are described in detail as follows:

[0083] First, a filter module needs to be constructed according to actual needs, which can process the acceleration signal. According to the system requirements and noise characteristics, one or more suitable filtering algorithms can be selected for combination, such as average filtering, low-pass filtering, Kalman filtering, etc. This embodiment uses an average filter to reduce high-frequency noise in the dynamic braking control method of the servo drive. The average filter is selected because it provides a simple and effective way to smooth short-term fluctuations and reduce random noise.

[0084] like Figure 4 As shown, it is Figure 3 The difference is that Figure 3 Between steps S203 and S204, Figure 4 A filtering process step S302 is added, and the speed signal obtained by the second derivative of the position signal is input into the filter module for filtering process. Figure 4 In step S303, the filter module will smooth these signals by calculating the average speed value over a period of time and replacing the instantaneous speed value to effectively remove high-frequency noise.

[0085] In order to verify the effect of this improvement measure, a physical prototype was used for experimental testing. During the test, the motor q-axis current signal before and after the filter processing was recorded, and the oscilloscope of the host computer software was used to generate a comparative waveform diagram.

[0086] Figure 5 This is a comparison chart of the calculated q-axis current value and the actual value without filtering the angular acceleration. It can be clearly seen that the predicted current is interfered by noise and has large fluctuations, which affects the accurate judgment of whether the motor q-axis current exceeds the set peak value.

[0087] Relatively speaking, Figure 6 To adopt Figure 4 The method filters the angular acceleration and compares the calculated q-axis current with the true value. The processed predicted current shows significant noise reduction, and the consistency with the measured current waveform is significantly improved. This improvement significantly improves the accuracy of determining the motor q-axis current over-limit state, thus providing a more reliable safety monitoring method for the motor control system.

[0088] In addition, considering the small noise or disturbance that may occur during the signal processing, the present invention also introduces a dead zone control strategy. In practical applications, in order to avoid frequent unnecessary adjustments of the system due to small signal changes, an appropriate dead zone threshold is set. When the signal change is lower than the threshold, the system will not respond, thereby avoiding unnecessary control actions caused by small errors or noise, and saving computing resources, thereby improving the stability of the system.

[0089] Specifically, in the q-axis current calculation step, it is also necessary to determine whether the angular acceleration of the motor exceeds the set range (ie, the dead zone threshold): if not, continue to calculate the angular acceleration of the motor; if yes, enter the judgment execution step.

[0090] It should be noted that the above-mentioned dead zone control logic strategy is not a necessary condition for the core functions of the servo control system. Its introduction is intended to improve the practicality and stability of the system.

[0091] The dead zone control logic is designed based on in-depth research on system responsiveness and stability. By setting a predetermined dead zone threshold, the system can effectively ignore those small, insignificant speed changes, thereby avoiding oversensitivity to noise and unnecessary system reactions. This strategy reduces the frequent actions of the system while providing a certain filtering effect, making it more robust and economical while maintaining sensitivity.

[0092] Figure 7 This is a flow chart of setting the dead zone threshold of angular acceleration in the servo drive control method according to the first embodiment of the present invention:

[0093] In the parameter initialization stage, the dead zone threshold needs to be set according to the actual situation, that is, according to the noise level of the system and the expected response sensitivity, the appropriate dead zone threshold is determined. This threshold is used to identify the minimum speed change that can be ignored to avoid the system responding to small speed fluctuations that may be caused by noise.

[0094] Monitor speed changes: During each measurement cycle, the current speed value is captured and compared with the speed value from the previous cycle to determine if the speed has changed significantly.

[0095] exist Figure 3After the motor acceleration is calculated in step S204, if the monitored speed change is less than the dead zone threshold, it is considered that the current speed change is not caused by the actual acceleration, but by noise. In this case, the system will ignore the change and assume that the acceleration is zero.

[0096] Only when the speed change exceeds the deadband threshold, the system considers it a valid dynamic change and then calculates the acceleration. The acceleration is calculated based on the speed change and the time interval.

[0097] This processing logic helps suppress unrealistic acceleration readings caused by measurement noise or system vibration, thereby improving the accuracy and stability of system control. In this way, the dynamic brake control method avoids unnecessary dynamic braking operations while ensuring that the protection mechanism is activated only when there is actual physical acceleration change.

[0098] The servo drive control method of this embodiment is described in detail above. The servo drive control method of this embodiment can perform dynamic braking operations more safely by estimating the current based on the acceleration of the motor. At the same time, by introducing filtering processing and dead zone threshold, the response accuracy of the system to current state changes and the stability of control are improved. Even when the enable is disconnected, the monitoring and protection functions can be maintained, and the motor can be effectively protected from damage by excessive current during dynamic braking. At the same time, the monitoring accuracy and robustness of the system to current state changes are enhanced.

[0099] Second embodiment

[0100] This embodiment provides a servo drive control device of an embodiment. Figure 8 For a functional block diagram of a servo drive control device according to the second embodiment of the present invention, please refer to Figure 8 , which include:

[0101] A q-axis current calculation unit, used for calculating the q-axis current of the motor through the second derivative of the motor position information;

[0102] The judgment execution unit is used to judge whether the q-axis current of the motor exceeds the peak current of the motor: if yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

[0103] The technical means adopted by the control device of this embodiment are consistent with the control method of the first embodiment, and the beneficial effects are the same, so they are not repeated; in addition, the preferred technical means or further improved means of each step in the control method of the first embodiment can be extended to the corresponding units of this embodiment, and this embodiment will not describe them one by one.

[0104] Third embodiment

[0105] If the unit integrated in the control device in the above-mentioned second embodiment is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, in essence, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server or a network device, etc.) to perform all or part of the steps of the above-mentioned methods of each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk and other media that can store program codes.

[0106] Therefore, the third embodiment of the present invention provides a computer-readable storage medium, which includes a stored program, and the program executes the method of any specific implementation method of the first embodiment.

[0107] Fourth embodiment

[0108] A fourth embodiment of the present invention provides a processor for running a program, wherein the program executes a method of any specific implementation method of the first embodiment when running.

[0109] Fifth embodiment

[0110] This embodiment provides a motor, which includes any servo drive control device in the second embodiment.

[0111] Since the motor of this embodiment includes any one of the servo drive control devices in the second embodiment described above, it can effectively protect the servo motor from potential damage during dynamic braking, while improving the stability and reliability of the entire control system, and eliminating the need to add an additional current sampling module in the dynamic braking mechanism. The motor protection function can be achieved through the existing signal processing mechanism, which simplifies the system design and reduces costs. It has significant engineering application value and commercial potential.

[0112] The above are only preferred embodiments of the present invention, and it should be noted that the above preferred embodiments should not be regarded as limiting the present invention. For those skilled in the art, several equivalent substitutions, improvements and modifications can be made without departing from the spirit and scope of the present invention, and these equivalent substitutions, improvements and modifications should also be regarded as the protection scope of the present invention. The embodiments will not be repeated here, and the protection scope of the present invention shall be based on the scope defined by the claims.

Claims

1. A servo drive control method, characterized in that: The steps include: The q-axis current calculation step is to calculate the q-axis current of the motor by the second derivative of the motor position information; The step of judging execution is to judge whether the q-axis current of the motor exceeds the peak current of the motor. If yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

2. The servo drive control method according to claim 1, characterized in that: The q-axis current calculation step of the motor includes: The angular acceleration of the motor is calculated by the second derivative of the motor position information; The q-axis current of the motor is calculated using the angular acceleration of the motor, the moment of inertia of the motor, and the back EMF constant of the motor.

3. The servo drive control method according to claim 2, characterized in that: The calculation formula of the q-axis current of the motor is as follows: Where: I q is the q-axis current of the motor, K t is the back EMF constant of the motor, J is the moment of inertia of the motor, and a is the angular acceleration of the motor.

4. The servo drive control method according to claim 3, characterized in that: K t It is obtained by dividing the rated torque of the motor by the rated current, or provided by the motor manufacturer; J is determined by the system in which the motor actually runs, and will be set during installation and commissioning, or obtained by inertia identification.

5. The servo drive control method according to claim 2, characterized in that: The angular acceleration of the motor is filtered before being used to calculate the q-axis current of the motor.

6. The servo drive control method according to claim 5, characterized in that: The filtering process includes adjusting the filtering characteristics according to preset parameters or an adaptive algorithm to optimize the suppression of noise and the retention of effective signals.

7. The servo drive control method according to claim 2, characterized in that: In the q-axis current calculation step, it is also necessary to determine whether the angular acceleration of the motor exceeds the set range: if not, continue to calculate the angular acceleration of the motor; if yes, enter the judgment execution step.

8. A servo drive control device, characterized in that: The following units are included: A q-axis current calculation unit, used for calculating the q-axis current of the motor through the second derivative of the motor position information; The judgment execution unit is used to judge whether the q-axis current of the motor exceeds the peak current of the motor. If yes, the dynamic braking state of the motor is cancelled; if no, the dynamic braking state of the motor is maintained.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein the program executes the method according to any one of claims 1 to 7 when executed.

10. A processor, characterized in that: The processor is used to run a program, wherein the program executes the method according to any one of claims 1 to 7 when running.

11. A motor, characterized in that: Including the servo drive control device as described in claim 8.

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