Processing method and device based on alternating current servo control system

Abstract

The embodiment of the invention provides a processing method and device based on an alternating current servo control system. The method comprises the following steps: acquiring a current sampling result in a current control period; according to the current sampling result, calculating to obtain a control parameter for updating a time sequence control signal; and updating a time sequence control signal according to the control parameter, and outputting the updated time sequence control signal in the current control period so as to perform time sequence control on each module in a current controller of the alternating current servo control system according to the output time sequence control signal. Through the embodiment of the invention, the improvement of the current loop time sequence is realized, the current sampling and the control parameter calculation are carried out before the time sequence control signal is updated, the time sequence control signal is immediately updated and output in the current control period, the time delay of a control loop is reduced, the bandwidth of the current loop is improved, and the response performance of the current loop is further expanded.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a processing method and device based on an AC servo control system. Background Art

[0002] In AC servo control systems, current loop bandwidth is often involved. Current loop bandwidth is an important indicator for evaluating the current control performance of motor drive systems. It refers to the maximum signal frequency that the current closed-loop system can track. Simply put, current loop bandwidth reflects the response speed of the current controller to the current command.

[0003] In practical applications, the factors that affect the current loop bandwidth mainly include PWM (Pulse Width Modulation) switching frequency and control loop delay. Due to the limitations of power switch device performance and heat dissipation capacity, the PWM switching frequency of medium and small power servo drives is generally controlled at around 10kHz, and there is little room for improvement. Therefore, without increasing the PWM switching frequency, minimizing the control loop delay is of great significance to the improvement of the current loop bandwidth. However, in the existing technology, the effect of reducing the control loop delay is not good, which in turn affects the improvement of the current loop bandwidth. Summary of the invention

[0004] In view of the above problems, a processing method and device based on an AC servo control system is proposed to overcome the above problems or at least partially solve the above problems, including:

[0005] A processing method based on an AC servo control system, the method comprising:

[0006] Obtain the current sampling results in the current control cycle;

[0007] According to the current sampling result, a control parameter for updating a timing control signal is calculated;

[0008] The timing control signal is updated according to the control parameter, and the updated timing control signal is output in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0009] Optionally, the timing control signal is a signal obtained based on triangular carrier modulation, and updating the timing control signal according to the control parameter includes:

[0010] Detecting a target position of the triangular carrier;

[0011] At the target position of the triangular carrier, a timing control signal is updated according to the control parameter.

[0012] Optionally, the target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

[0013] Optionally, the timing control signal is a signal obtained by comparing a triangular carrier with a modulation signal output by a current controller.

[0014] Optionally, the current controller in the AC servo control system is a current controller implemented based on a field programmable gate array.

[0015] Optionally, the current controller is provided with a plurality of counters, and the current controller controls the timing in the following manner:

[0016] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0017] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0018] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0019] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0020] Optionally, the timing control signal is a pulse width modulation signal, and the control parameter is a duty cycle parameter of the timing control signal.

[0021] Optionally, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0022] A processing device based on an AC servo control system, the device comprising:

[0023] A current sampling result acquisition module is used to obtain the current sampling result in the current control cycle;

[0024] A control parameter calculation module, used to calculate the control parameters used to update the timing control signal according to the current sampling result;

[0025] The signal updating and outputting module is used to update the timing control signal according to the control parameter and output the updated timing control signal in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0026] An electronic device comprises a processor, a memory and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method described above when executed by the processor.

[0027] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method described above is implemented.

[0028] A computer program product comprises a computer program, wherein when the computer program is executed by a processor, the computer program implements the method as described above.

[0029] The embodiments of the present invention have the following advantages:

[0030] In an embodiment of the present invention, by acquiring the current sampling result in the current control cycle, the control parameters for updating the timing control signal are calculated according to the current sampling result, the timing control signal is updated according to the control parameters, and the updated timing control signal is output in the current control cycle, so that the timing control of each module in the current controller of the AC servo control system is performed according to the output timing control signal, thereby realizing improvement in the current loop timing, performing current sampling and calculating the control parameters before the timing control signal is updated, and immediately updating and outputting them in the current control cycle, thereby reducing the delay of the control loop, improving the current loop bandwidth, and further expanding the current loop response performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the technical solution of the present invention, the accompanying drawings required for use in the description of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0032] Figure 1 is a flowchart of a processing method based on an AC servo control system provided by some embodiments of the present invention;

[0033] Figure 2 is a schematic diagram of an improved current sampling and PWM update timing provided by some embodiments of the present invention;

[0034] Figure 3 is a schematic diagram of a current loop hardware structure provided by some embodiments of the present invention;

[0035] Figure 4 is a schematic diagram of a FPGA module trigger timing provided by some embodiments of the present invention;

[0036] Figure 5 is a flowchart of another processing method based on an AC servo control system provided by some embodiments of the present invention;

[0037] Figure 6 is a flowchart of another processing method based on an AC servo control system provided by some embodiments of the present invention;

[0038] Figure 7 It is a structural block diagram of another processing device based on an AC servo control system provided by some embodiments of the present invention. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the present invention more obvious and easy to understand, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0040] In the embodiment of the present invention, by changing the current sampling point and the PWM update timing, the PWM duty cycle is updated at the lowest point and the highest point of the triangular carrier, the current loop vector control calculation is performed before the PWM update, and the duty cycle is calculated by collecting the current at time k, and is immediately updated and output at time k, which can reduce the current loop delay and realize the current loop bandwidth expansion of the AC servo system based on FPGA (Field Programmable Gate Array).

[0041] In a related technology, a digital current loop controller is designed with high-performance DSP (Digital Signal Process) as the core. The DSP outputs a PWM signal with a changing duty cycle to the power amplifier, which causes a change in the motor armature current. The current signal is fed back to the control system analyzer by the Hall sensor, thereby obtaining the current loop output signal from the PWM signal.

[0042] In the embodiment of the present invention, a controller with FPGA as the core is adopted, which is a parallel operation mode. Compared with the serial operation of DSP, FPGA can reduce the current sampling delay and calculation delay to the minimum, while the DSP control chip in the related technology is difficult to meet the minimum delay requirement.

[0043] In another related technology, by adding or subtracting only the triangular carrier count value of M cycles in N consecutive PWM cycles, while the triangular carrier count value of the remaining PWM cycles remains unchanged, the problem of the commonly used processor main frequency speed not being particularly high is solved. However, when there is a PWM signal with a higher output frequency, adjusting the value of the triangular carrier counter will cause the PWM frequency signal to change significantly, resulting in low accuracy and easy oscillation of the phase-locked loop.

[0044] In the embodiment of the present invention, by changing the current sampling point and the PWM update timing method, the PWM duty cycle is updated at the lowest and highest points of the triangular carrier, and the current loop vector control calculation is performed before the PWM update, which can effectively avoid the above problems.

[0045] In another related technology, a servo control system with a resonance suppression function includes a control module, a power circuit module, a motor speed measurement module and a communication monitoring module. The entire system requires a DSP chip to complete auxiliary operations, and does not solve the impact of the control loop delay on the current loop bandwidth.

[0046] In the embodiment of the present invention, a controller with FPGA as the core is adopted to improve the timing of the current loop and reduce the delay of the control loop, which is of great significance to the improvement of the bandwidth of the current loop.

[0047] The embodiments of the present invention are further described below with reference to the accompanying drawings:

[0048] Reference Figure 1 , showing a step flow chart of a processing method based on an AC servo control system provided by some embodiments of the present invention, the AC servo motor system may include an AC servo system based on an asynchronous motor and an AC servo system based on a synchronous motor. In some examples, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0049] Specifically, the following steps may be included:

[0050] Step 101, obtaining the current sampling result in the current control cycle.

[0051] In practical applications, there are multiple control cycles in the timing control. In the current control cycle, by changing the current sampling point, current sampling is performed before updating the timing control signal to obtain the current sampling result.

[0052] Step 102: Calculate and obtain control parameters for updating a timing control signal according to the current sampling result.

[0053] In some embodiments of the present invention, the timing control signal may be a pulse width modulation (PWM) signal, and the control parameter may be a duty cycle parameter of the timing control signal.

[0054] After the current sampling result is obtained, the control parameter for updating the timing control signal can be calculated according to the current sampling result, such as the control parameter calculated by current loop vector control.

[0055] Step 103, updating the timing control signal according to the control parameter, and outputting the updated timing control signal in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0056] After obtaining the control parameter, the timing control signal can be updated according to the control parameter. For example, the timing control signal can be a PWM signal and the control parameter can be a duty cycle parameter. Then, updating the timing control signal can be updating the duty cycle of the PWM signal. After the timing control signal is updated, the updated timing control signal can be output within the current control cycle.

[0057] In the related art, the control parameters sampled and calculated in the current control cycle need to be output in the next control cycle, that is, the duty cycle calculated from the current sampled at time k is updated and output at the next time k+1. In the embodiment of the present invention, by performing current sampling and control parameter calculation before updating the timing control signal, and immediately updating and outputting them in the current control cycle, the current loop delay can be reduced, that is, the duty cycle calculated from the current sampled at time k can be output at the current time k.

[0058] like Figure 2 , Ts is the triangle wave carrier period, Tcal is the calculation delay (i.e. the delay for calculating the duty cycle parameters), Tpwm is the PWM duty cycle update delay (i.e. the update timing control signal), I(k) is the kth current sampling moment, PWM(k) is the kth PWM duty cycle update moment, and so on.

[0059] In the related art, the current sampling points I(k-1), I(k), and I(k+1) are performed together at the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are changed in advance of the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated.

[0060] Since the related art performs current sampling calculations of I(k-1), I(k), and I(k+1) at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and performs data update after calculation, it takes calculation time to update the timing control signal. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are in advance of the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), so it only needs to update the data at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and it is not necessary to perform current sampling and parameter calculation.

[0061] In some embodiments of the present invention, the timing control signal may be a signal obtained based on triangular carrier modulation. In some examples, the timing control signal may be a signal obtained by comparing the triangular carrier with the modulated signal output by the current controller. For example, when the timing control signal may be a PWM signal, the PWM output waveform is generated by comparing the triangular carrier with the modulated waveform output by the current controller.

[0062] In some embodiments of the present invention, updating the timing control signal according to the control parameter includes:

[0063] Detecting the target position of the triangular carrier; at the target position of the triangular carrier, updating the timing control signal according to the control parameter.

[0064] In some examples, the target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

[0065] In practical applications, since the timing control signal can be a signal obtained by triangular carrier modulation, the triangular carrier has a minimum point and a maximum point in one cycle, such as Figure 2 Where Ts is the period of the triangular wave carrier, the timing control signal can be updated at the lowest point and the highest point of the triangular carrier.

[0066] In some embodiments of the present invention, the current controller in the AC servo control system is a current controller implemented based on a field programmable gate array (FPGA).

[0067] In order to reduce the total delay, the current sampling delay and parameter calculation delay should be minimized. Compared with the DSP control chip in the related art, it is difficult to meet the minimum operating time. In the embodiment of the present invention, FPGA is used to implement the current controller, which can control Tsample (current sampling delay) + Tcal (parameter calculation delay) within a few microseconds, which can be ignored relative to Tpwm (PWM duty cycle update delay). The formula is as follows:

[0068] Td=Tsample+Tcale+Tpwm≈Tpwm

[0069] In some embodiments of the present invention, the digital hardware of the current controller implemented by FPGA mainly includes a current sampling module, an encoder module, a coordinate transformation module, a PI regulator module and a SVPWM module. Figure 3 , id* and iq* represent the d-axis current command and q-axis current command respectively, id and iq represent the d-axis current feedback and q-axis current feedback respectively, Ia and Ib represent the a-phase current and b-phase current of the motor respectively, θ is the motor position angle, and PWM1-PWM6 are the 6-channel PWM waveforms output.

[0070] Among them, the current sampling module uses high-speed AD to sample at a fixed clock. In order to reduce the noise of the sampled current and improve the accuracy, the sampled current is filtered by a filter. The filtered current undergoes coordinate changes (Clark and Park changes). The electrical angle required for the coordinate change is obtained by decoding the θ value output by the encoder and then calculating it through CORDIC (Coordinate Rotation Digital Computer). When the difference between the current command and the current feedback is adjusted by PI, the voltage command is output. The SVPWM (Space Vector Pulse Width Modulation) module calculates according to the output result of the PARK inverse transformation and outputs six PWM waveforms.

[0071] Park transformation (also translated as Park transformation) is a coordinate transformation, which is mainly used to analyze the operation of synchronous motors. By projecting the three-phase currents of the stator a, b, and c onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis), and the zero axis (0 axis) perpendicular to the dq plane, the stator inductance matrix is ​​diagonalized, thereby simplifying the operation analysis of synchronous motors. Park inverse transformation is the process of transforming the results of closed-loop control from the dq rotating coordinate system back to the αβ stationary coordinate system.

[0072] Clarke transformation is a coordinate transformation used to convert three-phase current from the ABC coordinate system to the αβ coordinate system. This transformation is based on the principle of conservation of magnetomotive force, ensuring that the rotating magnetic field generated by the current before and after the transformation is equivalent and the motor output power remains unchanged.

[0073] The main idea of ​​the SVPWM module is to use the ideal stator flux circle of a three-phase symmetrical motor when powered by a three-phase symmetrical sinusoidal voltage as a reference standard, and to make appropriate switches in different switching modes of the three-phase inverter to form a PWM wave, and to track its accurate flux circle with the actual flux vector formed.

[0074] In some embodiments of the present invention, the current controller is provided with multiple counters. In the current controller, in order to ensure accurate control of the timing of each module, except for the current sampling, filter, and encoder modules, other modules use the counters as a reference to trigger each module to run in sequence.

[0075] In some embodiments of the present invention, the current controller controls the timing in the following manner:

[0076] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0077] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0078] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0079] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0080] like Figure 4 The figure is the FPGA module trigger timing diagram, Rperiod is the PWM period register value, Rdead is the dead time register value; Rcomp(k) is the kth PWM output comparison register value, Rcal is the calculation module trigger register value, and Tsi is the current sampling time, as follows:

[0081] The PWM counter (ie, signal counter) starts counting upward from 0 to Rperiod (eg, the PWM period is 10KHz, the controller main frequency is 50MHz, Rperiod=5000), and then counts downward.

[0082] When the PWM counter value is 0 and Rperiod, the PWM comparator value Rcomp is updated.

[0083] When the PWM counter value is equal to Rcomp, the dead-band counter is triggered to run.

[0084] When the dead time counter increases from 0 to Rdead (such as the controller frequency is 50MHz, the dead time is 2us, then Rdead is 100) or decreases from Rdead to 0, the PWM output is inverted.

[0085] When the PWM counter counts down to Rcal or counts up to Rperiod-Rcal, the coordinate transformation module, PI regulator module and SVPWM module are triggered to run successively to calculate the new Rcomp value for PWM duty cycle update output.

[0086] In an embodiment of the present invention, by acquiring the current sampling result in the current control cycle, the control parameters for updating the timing control signal are calculated according to the current sampling result, the timing control signal is updated according to the control parameters, and the updated timing control signal is output in the current control cycle, so that the timing control of each module in the current controller of the AC servo control system is performed according to the output timing control signal, thereby realizing improvement in the current loop timing, performing current sampling and calculating the control parameters before the timing control signal is updated, and immediately updating and outputting them in the current control cycle, thereby reducing the delay of the control loop, improving the current loop bandwidth, and further expanding the current loop response performance.

[0087] Specifically, compared with the related art, the embodiments of the present invention have the following effects:

[0088] In a related technology, a digital current loop controller is designed with high-performance DSP (Digital Signal Process) as the core. The DSP outputs a PWM signal with a changing duty cycle to the power amplifier, which causes a change in the motor armature current. The current signal is fed back to the control system analyzer by the Hall sensor, thereby obtaining the current loop output signal from the PWM signal.

[0089] In the embodiment of the present invention, a controller with FPGA as the core is adopted, which is a parallel operation mode. Compared with the serial operation of DSP, FPGA can reduce the current sampling delay and calculation delay to the minimum, while the DSP control chip in the related technology is difficult to meet the minimum delay requirement.

[0090] In another related technology, by adding or subtracting only the triangular carrier count value of M cycles in N consecutive PWM cycles, while the triangular carrier count value of the remaining PWM cycles remains unchanged, the problem of the commonly used processor main frequency speed not being particularly high is solved. However, when there is a PWM signal with a higher output frequency, adjusting the value of the triangular carrier counter will cause the PWM frequency signal to change significantly, resulting in low accuracy and easy oscillation of the phase-locked loop.

[0091] In the embodiment of the present invention, by changing the current sampling point and the PWM update timing method, the PWM duty cycle is updated at the lowest and highest points of the triangular carrier, and the current loop vector control calculation is performed before the PWM update, which can effectively avoid the above problems.

[0092] In another related technology, a servo control system with a resonance suppression function includes a control module, a power circuit module, a motor speed measurement module and a communication monitoring module. The entire system requires a DSP chip to complete auxiliary operations, and does not solve the impact of the control loop delay on the current loop bandwidth.

[0093] In the embodiment of the present invention, a controller with FPGA as the core is adopted to improve the timing of the current loop and reduce the delay of the control loop, which is of great significance to the improvement of the bandwidth of the current loop.

[0094] Reference Figure 5 , showing a step flow chart of another processing method based on an AC servo control system provided by some embodiments of the present invention, the AC servo motor system may include an AC servo system based on an asynchronous motor and an AC servo system based on a synchronous motor. In some examples, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0095] Specifically, the following steps may be included:

[0096] Step 501, obtaining the current sampling result in the current control cycle.

[0097] In practical applications, there are multiple control cycles in the timing control. In the current control cycle, by changing the current sampling point, current sampling is performed before updating the timing control signal to obtain the current sampling result.

[0098] Step 502: Calculate and obtain control parameters for updating a timing control signal according to the current sampling result.

[0099] In some embodiments of the present invention, the timing control signal may be a pulse width modulation (PWM) signal, and the control parameter may be a duty cycle parameter of the timing control signal.

[0100] After the current sampling result is obtained, the control parameter for updating the timing control signal can be calculated according to the current sampling result, such as the control parameter calculated by current loop vector control.

[0101] Step 503: Detect the target position of the triangular carrier.

[0102] Step 504, at the target position of the triangular carrier, update the timing control signal according to the control parameter, and output the updated timing control signal within the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0103] After obtaining the control parameter, the timing control signal can be updated according to the control parameter. For example, the timing control signal can be a PWM signal and the control parameter can be a duty cycle parameter. Then, updating the timing control signal can be updating the duty cycle of the PWM signal. After the timing control signal is updated, the updated timing control signal can be output within the current control cycle.

[0104] In the related art, the control parameters sampled and calculated in the current control cycle need to be output in the next control cycle, that is, the duty cycle calculated from the current sampled at time k is updated and output at the next time k+1. In the embodiment of the present invention, by performing current sampling and control parameter calculation before updating the timing control signal, and immediately updating and outputting them in the current control cycle, the current loop delay can be reduced, that is, the duty cycle calculated from the current sampled at time k can be output at the current time k.

[0105] like Figure 2 , Ts is the triangle wave carrier period, Tcal is the calculation delay (i.e. the delay for calculating the duty cycle parameters), Tpwm is the PWM duty cycle update delay (i.e. the update timing control signal), I(k) is the kth current sampling moment, PWM(k) is the kth PWM duty cycle update moment, and so on.

[0106] In the related art, the current sampling points I(k-1), I(k), and I(k+1) are performed together at the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are changed in advance of the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated.

[0107] Since the related art performs current sampling calculations of I(k-1), I(k), and I(k+1) at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and performs data update after calculation, it takes calculation time to update the timing control signal. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are in advance of the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), so it only needs to update the data at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and it is not necessary to perform current sampling and parameter calculation.

[0108] In some embodiments of the present invention, the timing control signal may be a signal obtained based on triangular carrier modulation. In some examples, the timing control signal may be a signal obtained by comparing the triangular carrier with the modulated signal output by the current controller. For example, when the timing control signal may be a PWM signal, the PWM output waveform is generated by comparing the triangular carrier with the modulated waveform output by the current controller.

[0109] In some examples, the target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

[0110] In practical applications, since the timing control signal can be a signal obtained by triangular carrier modulation, the triangular carrier has a minimum point and a maximum point in one cycle, such as Figure 2 Where Ts is the period of the triangular wave carrier, the timing control signal can be updated at the lowest point and the highest point of the triangular carrier.

[0111] In some embodiments of the present invention, the current controller in the AC servo control system is a current controller implemented based on a field programmable gate array (FPGA).

[0112] In order to reduce the total delay, the current sampling delay and parameter calculation delay should be minimized. Compared with the DSP control chip in the related art, it is difficult to meet the minimum operating time. In the embodiment of the present invention, FPGA is used to implement the current controller, which can control Tsample (current sampling delay) + Tcal (parameter calculation delay) within a few microseconds, which can be ignored relative to Tpwm (PWM duty cycle update delay). The formula is as follows:

[0113] Td=Tsample+Tcale+Tpwm≈Tpwm

[0114] In some embodiments of the present invention, the digital hardware of the current controller implemented by FPGA mainly includes a current sampling module, an encoder module, a coordinate transformation module, a PI regulator module and a SVPWM module. Figure 3 , id* and iq* represent the d-axis current command and q-axis current command respectively, id and iq represent the d-axis current feedback and q-axis current feedback respectively, Ia and Ib represent the a-phase current and b-phase current of the motor respectively, θ is the motor position angle, and PWM1-PWM6 are the 6-channel PWM waveforms output.

[0115] Among them, the current sampling module uses high-speed AD to sample at a fixed clock. In order to reduce the noise of the sampled current and improve the accuracy, the sampled current is filtered by a filter. The filtered current undergoes coordinate changes (Clark and Park changes). The electrical angle required for the coordinate change is obtained by decoding the θ value output by the encoder and then calculating it through CORDIC (Coordinate Rotation Digital Computer). When the difference between the current command and the current feedback is adjusted by PI, the voltage command is output. The SVPWM (Space Vector Pulse Width Modulation) module calculates according to the output result of the PARK inverse transformation and outputs six PWM waveforms.

[0116] Park transformation (also translated as Park transformation) is a coordinate transformation, which is mainly used to analyze the operation of synchronous motors. By projecting the three-phase currents of the stator a, b, and c onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis), and the zero axis (0 axis) perpendicular to the dq plane, the stator inductance matrix is ​​diagonalized, thereby simplifying the operation analysis of synchronous motors. Park inverse transformation is the process of transforming the results of closed-loop control from the dq rotating coordinate system back to the αβ stationary coordinate system.

[0117] Clarke transformation is a coordinate transformation used to convert three-phase current from the ABC coordinate system to the αβ coordinate system. This transformation is based on the principle of conservation of magnetomotive force, ensuring that the rotating magnetic field generated by the current before and after the transformation is equivalent and the motor output power remains unchanged.

[0118] The main idea of ​​the SVPWM module is to use the ideal stator flux circle of a three-phase symmetrical motor when powered by a three-phase symmetrical sinusoidal voltage as a reference standard, and to make appropriate switches in different switching modes of the three-phase inverter to form a PWM wave, and to track its accurate flux circle with the actual flux vector formed.

[0119] In some embodiments of the present invention, the current controller is provided with multiple counters. In the current controller, in order to ensure accurate control of the timing of each module, except for the current sampling, filter, and encoder modules, other modules use the counters as a reference to trigger each module to run in sequence.

[0120] In some embodiments of the present invention, the current controller controls the timing in the following manner:

[0121] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0122] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0123] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0124] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0125] like Figure 4 The figure is the FPGA module trigger timing diagram, Rperiod is the PWM period register value, Rdead is the dead time register value; Rcomp(k) is the kth PWM output comparison register value, Rcal is the calculation module trigger register value, and Tsi is the current sampling time, as follows:

[0126] The PWM counter (ie, signal counter) starts counting upward from 0 to Rperiod (eg, the PWM period is 10KHz, the controller main frequency is 50MHz, Rperiod=5000), and then counts downward.

[0127] When the PWM counter value is 0 and Rperiod, the PWM comparator value Rcomp is updated.

[0128] When the PWM counter value is equal to Rcomp, the dead-band counter is triggered to run.

[0129] When the dead time counter increases from 0 to Rdead (such as the controller frequency is 50MHz, the dead time is 2us, then Rdead is 100) or decreases from Rdead to 0, the PWM output is inverted.

[0130] When the PWM counter counts down to Rcal or counts up to Rperiod-Rcal, the coordinate transformation module, PI regulator module and SVPWM module are triggered to run successively to calculate the new Rcomp value for PWM duty cycle update output.

[0131] In an embodiment of the present invention, by acquiring the current sampling result in the current control cycle, the control parameters for updating the timing control signal are calculated according to the current sampling result, the timing control signal is updated according to the control parameters, and the updated timing control signal is output in the current control cycle, so that the timing control of each module in the current controller of the AC servo control system is performed according to the output timing control signal, thereby realizing improvement in the current loop timing, performing current sampling and calculating the control parameters before the timing control signal is updated, and immediately updating and outputting them in the current control cycle, thereby reducing the delay of the control loop, improving the current loop bandwidth, and further expanding the current loop response performance.

[0132] Reference Figure 6 , showing a step flow chart of another processing method based on an AC servo control system provided by some embodiments of the present invention, the AC servo motor system may include an AC servo system based on an asynchronous motor and an AC servo system based on a synchronous motor. In some examples, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0133] Specifically, the following steps may be included:

[0134] Step 601, obtaining the current sampling result in the current control cycle.

[0135] In practical applications, there are multiple control cycles in the timing control. In the current control cycle, by changing the current sampling point, current sampling is performed before updating the timing control signal to obtain the current sampling result.

[0136] Step 602: Calculate and obtain a control parameter for updating a timing control signal according to the current sampling result; wherein the timing control signal is a pulse width modulation signal, and the control parameter is a duty cycle parameter of the timing control signal.

[0137] In some embodiments of the present invention, the timing control signal may be a pulse width modulation (PWM) signal, and the control parameter may be a duty cycle parameter of the timing control signal.

[0138] After the current sampling result is obtained, the control parameter for updating the timing control signal can be calculated according to the current sampling result, such as the control parameter calculated by current loop vector control.

[0139] Step 603: Detect the lowest point and / or the highest point of the triangular carrier.

[0140] Step 604, at the lowest point and / or highest point of the triangular carrier, update the timing control signal according to the control parameter, and output the updated timing control signal within the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0141] After obtaining the control parameter, the timing control signal can be updated according to the control parameter. For example, the timing control signal can be a PWM signal and the control parameter can be a duty cycle parameter. Then, updating the timing control signal can be updating the duty cycle of the PWM signal. After the timing control signal is updated, the updated timing control signal can be output within the current control cycle.

[0142] In the related art, the control parameters sampled and calculated in the current control cycle need to be output in the next control cycle, that is, the duty cycle calculated from the current sampled at time k is updated and output at the next time k+1. In the embodiment of the present invention, by performing current sampling and control parameter calculation before updating the timing control signal, and immediately updating and outputting them in the current control cycle, the current loop delay can be reduced, that is, the duty cycle calculated from the current sampled at time k can be output at the current time k.

[0143] like Figure 2 , Ts is the triangle wave carrier period, Tcal is the calculation delay (i.e. the delay for calculating the duty cycle parameters), Tpwm is the PWM duty cycle update delay (i.e. the update timing control signal), I(k) is the kth current sampling moment, PWM(k) is the kth PWM duty cycle update moment, and so on.

[0144] In the related art, the current sampling points I(k-1), I(k), and I(k+1) are performed together at the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are changed in advance of the time when the timing control signal PWM(k-1), PWM(k), and PWM(k+1) are updated.

[0145] Since the related art performs current sampling calculations of I(k-1), I(k), and I(k+1) at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and performs data update after calculation, it takes calculation time to update the timing control signal. In the embodiment of the present invention, the current sampling points I(k-1), I(k), and I(k+1) are in advance of the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), so it only needs to update the data at the time of updating the timing control signal PWM(k-1), PWM(k), and PWM(k+1), and it is not necessary to perform current sampling and parameter calculation.

[0146] In some embodiments of the present invention, the timing control signal may be a signal obtained based on triangular carrier modulation. In some examples, the timing control signal may be a signal obtained by comparing the triangular carrier with the modulated signal output by the current controller. For example, when the timing control signal may be a PWM signal, the PWM output waveform is generated by comparing the triangular carrier with the modulated waveform output by the current controller.

[0147] In practical applications, since the timing control signal can be a signal obtained by triangular carrier modulation, the triangular carrier has a minimum point and a maximum point in one cycle, such as Figure 2 Where Ts is the period of the triangular wave carrier, the timing control signal can be updated at the lowest point and the highest point of the triangular carrier.

[0148] In some embodiments of the present invention, the current controller in the AC servo control system is a current controller implemented based on a field programmable gate array (FPGA).

[0149] In order to reduce the total delay, the current sampling delay and parameter calculation delay should be minimized. Compared with the DSP control chip in the related art, it is difficult to meet the minimum operating time. In the embodiment of the present invention, FPGA is used to implement the current controller, which can control Tsample (current sampling delay) + Tcal (parameter calculation delay) within a few microseconds, which can be ignored relative to Tpwm (PWM duty cycle update delay). The formula is as follows:

[0150] Td=Tsample+Tcale+Tpwm≈Tpwm

[0151] In some embodiments of the present invention, the digital hardware of the current controller implemented by FPGA mainly includes a current sampling module, an encoder module, a coordinate transformation module, a PI regulator module and a SVPWM module. Figure 3, id* and iq* represent the d-axis current command and q-axis current command respectively, id and iq represent the d-axis current feedback and q-axis current feedback respectively, Ia and Ib represent the a-phase current and b-phase current of the motor respectively, θ is the motor position angle, and PWM1-PWM6 are the 6-channel PWM waveforms output.

[0152] Among them, the current sampling module uses high-speed AD to sample at a fixed clock. In order to reduce the noise of the sampled current and improve the accuracy, the sampled current is filtered by a filter. The filtered current undergoes coordinate changes (Clark and Park changes). The electrical angle required for the coordinate change is obtained by decoding the θ value output by the encoder and then calculating it through CORDIC (Coordinate Rotation Digital Computer). When the difference between the current command and the current feedback is adjusted by PI, the voltage command is output. The SVPWM (Space Vector Pulse Width Modulation) module calculates according to the output result of the PARK inverse transformation and outputs six PWM waveforms.

[0153] Park transformation (also translated as Park transformation) is a coordinate transformation, which is mainly used to analyze the operation of synchronous motors. By projecting the three-phase currents of the stator a, b, and c onto the direct axis (d axis) rotating with the rotor, the quadrature axis (q axis), and the zero axis (0 axis) perpendicular to the dq plane, the stator inductance matrix is ​​diagonalized, thereby simplifying the operation analysis of synchronous motors. Park inverse transformation is the process of transforming the results of closed-loop control from the dq rotating coordinate system back to the αβ stationary coordinate system.

[0154] Clarke transformation is a coordinate transformation used to convert three-phase current from the ABC coordinate system to the αβ coordinate system. This transformation is based on the principle of conservation of magnetomotive force, ensuring that the rotating magnetic field generated by the current before and after the transformation is equivalent and the motor output power remains unchanged.

[0155] The main idea of ​​the SVPWM module is to use the ideal stator flux circle of a three-phase symmetrical motor when powered by a three-phase symmetrical sinusoidal voltage as a reference standard, and to make appropriate switches in different switching modes of the three-phase inverter to form a PWM wave, and to track its accurate flux circle with the actual flux vector formed.

[0156] In some embodiments of the present invention, the current controller is provided with multiple counters. In the current controller, in order to ensure accurate control of the timing of each module, except for the current sampling, filter, and encoder modules, other modules use the counters as a reference to trigger each module to run in sequence.

[0157] In some embodiments of the present invention, the current controller controls the timing in the following manner:

[0158] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0159] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0160] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0161] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0162] like Figure 4 The figure is the FPGA module trigger timing diagram, Rperiod is the PWM period register value, Rdead is the dead time register value; Rcomp(k) is the kth PWM output comparison register value, Rcal is the calculation module trigger register value, and Tsi is the current sampling time, as follows:

[0163] The PWM counter (ie, signal counter) starts counting upward from 0 to Rperiod (eg, the PWM period is 10KHz, the controller main frequency is 50MHz, Rperiod=5000), and then counts downward.

[0164] When the PWM counter value is 0 and Rperiod, the PWM comparator value Rcomp is updated.

[0165] When the PWM counter value is equal to Rcomp, the dead-band counter is triggered to run.

[0166] When the dead time counter increases from 0 to Rdead (such as the controller frequency is 50MHz, the dead time is 2us, then Rdead is 100) or decreases from Rdead to 0, the PWM output is inverted.

[0167] When the PWM counter counts down to Rcal or counts up to Rperiod-Rcal, the coordinate transformation module, PI regulator module and SVPWM module are triggered to run successively to calculate the new Rcomp value for PWM duty cycle update output.

[0168] In an embodiment of the present invention, by acquiring the current sampling result in the current control cycle, the control parameters for updating the timing control signal are calculated according to the current sampling result, the timing control signal is updated according to the control parameters, and the updated timing control signal is output in the current control cycle, so that the timing control of each module in the current controller of the AC servo control system is performed according to the output timing control signal, thereby realizing improvement in the current loop timing, performing current sampling and calculating the control parameters before the timing control signal is updated, and immediately updating and outputting them in the current control cycle, thereby reducing the delay of the control loop, improving the current loop bandwidth, and further expanding the current loop response performance.

[0169] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0170] Reference Figure 7 , shows a schematic diagram of the structure of a processing device based on an AC servo control system provided by some embodiments of the present invention, which may specifically include the following modules:

[0171] The current sampling result acquisition module 701 is used to acquire the current sampling result in the current control cycle;

[0172] A control parameter calculation module 702, configured to calculate a control parameter for updating a timing control signal according to the current sampling result;

[0173] The signal updating and outputting module 703 is used to update the timing control signal according to the control parameters and output the updated timing control signal in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0174] In some embodiments of the present invention, the timing control signal is a signal obtained based on triangular carrier modulation, and updating the timing control signal according to the control parameter includes:

[0175] Detecting a target position of the triangular carrier;

[0176] At the target position of the triangular carrier, a timing control signal is updated according to the control parameter.

[0177] In some embodiments of the present invention, the target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

[0178] In some embodiments of the present invention, the timing control signal is a signal obtained by comparing a triangular carrier with a modulation signal output by a current controller.

[0179] In some embodiments of the present invention, the current controller in the AC servo control system is a current controller implemented based on a field programmable logic gate array.

[0180] In some embodiments of the present invention, the current controller is provided with a plurality of counters, and the current controller controls the timing in the following manner:

[0181] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0182] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0183] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0184] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0185] In some embodiments of the present invention, the timing control signal is a pulse width modulation signal, and the control parameter is a duty cycle parameter of the timing control signal.

[0186] In some embodiments of the present invention, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0187] In an embodiment of the present invention, by acquiring the current sampling result in the current control cycle, the control parameters for updating the timing control signal are calculated according to the current sampling result, the timing control signal is updated according to the control parameters, and the updated timing control signal is output in the current control cycle, so that the timing control of each module in the current controller of the AC servo control system is performed according to the output timing control signal, thereby realizing improvement in the current loop timing, performing current sampling and calculating the control parameters before the timing control signal is updated, and immediately updating and outputting them in the current control cycle, thereby reducing the delay of the control loop, improving the current loop bandwidth, and further expanding the current loop response performance.

[0188] Specifically, compared with the related art, the embodiments of the present invention have the following effects:

[0189] In a related technology, a digital current loop controller is designed with high-performance DSP (Digital Signal Process) as the core. The DSP outputs a PWM signal with a changing duty cycle to the power amplifier, which causes a change in the motor armature current. The current signal is fed back to the control system analyzer by the Hall sensor, thereby obtaining the current loop output signal from the PWM signal.

[0190] In the embodiment of the present invention, a controller with FPGA as the core is adopted, which is a parallel operation mode. Compared with the serial operation of DSP, FPGA can reduce the current sampling delay and calculation delay to the minimum, while the DSP control chip in the related technology is difficult to meet the minimum delay requirement.

[0191] In another related technology, by adding or subtracting only the triangular carrier count value of M cycles in N consecutive PWM cycles, while the triangular carrier count value of the remaining PWM cycles remains unchanged, the problem of the commonly used processor main frequency speed not being particularly high is solved. However, when there is a PWM signal with a higher output frequency, adjusting the value of the triangular carrier counter will cause the PWM frequency signal to change significantly, resulting in low accuracy and easy oscillation of the phase-locked loop.

[0192] In the embodiment of the present invention, by changing the current sampling point and the PWM update timing method, the PWM duty cycle is updated at the lowest and highest points of the triangular carrier, and the current loop vector control calculation is performed before the PWM update, which can effectively avoid the above problems.

[0193] In another related technology, a servo control system with a resonance suppression function includes a control module, a power circuit module, a motor speed measurement module and a communication monitoring module. The entire system requires a DSP chip to complete auxiliary operations, and does not solve the impact of the control loop delay on the current loop bandwidth.

[0194] In the embodiment of the present invention, a controller with FPGA as the core is adopted to improve the timing of the current loop and reduce the delay of the control loop, which is of great significance to the improvement of the bandwidth of the current loop.

[0195] Some embodiments of the present invention further provide an electronic device, comprising a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the above method is implemented when the computer program is executed by the processor.

[0196] Some embodiments of the present invention further provide a computer-readable storage medium, on which a computer program is stored, and the computer program implements the above method when executed by a processor.

[0197] Some embodiments of the present invention further provide a computer program product, including a computer program, which implements the above method when executed by a processor.

[0198] A processing method based on an AC servo control system, the method comprising:

[0199] Obtain the current sampling results in the current control cycle;

[0200] According to the current sampling result, a control parameter for updating a timing control signal is calculated;

[0201] The timing control signal is updated according to the control parameter, and the updated timing control signal is output in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

[0202] Optionally, the timing control signal is a signal obtained based on triangular carrier modulation, and updating the timing control signal according to the control parameter includes:

[0203] Detecting a target position of the triangular carrier;

[0204] At the target position of the triangular carrier, a timing control signal is updated according to the control parameter.

[0205] Optionally, the target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

[0206] Optionally, the timing control signal is a signal obtained by comparing a triangular carrier with a modulation signal output by a current controller.

[0207] Optionally, the current controller in the AC servo control system is a current controller implemented based on a field programmable gate array.

[0208] Optionally, the current controller is provided with a plurality of counters, and the current controller controls the timing in the following manner:

[0209] The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value;

[0210] When the signal counter counts to the minimum value or the period register value, the comparison register value is updated;

[0211] When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted;

[0212] When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

[0213] Optionally, the timing control signal is a pulse width modulation signal, and the control parameter is a duty cycle parameter of the timing control signal.

[0214] Optionally, the AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

[0215] As for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0216] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with the relevant laws, regulations and standards of the relevant countries and regions, and provide corresponding operation entrances for users to choose to authorize or refuse.

[0217] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0218] Those skilled in the art will appreciate that the embodiments of the present invention may be provided as methods, devices, or computer program products. Therefore, the embodiments of the present invention may take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the embodiments of the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0219] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0220] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0221] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0222] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0223] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the above elements.

[0224] The above is a detailed introduction to a processing method and device based on an AC servo control system. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A processing method based on an AC servo control system, characterized in that: The method comprises: Obtain the current sampling results in the current control cycle; According to the current sampling result, a control parameter for updating a timing control signal is calculated; The timing control signal is updated according to the control parameter, and the updated timing control signal is output in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

2. The method according to claim 1, characterized in that The timing control signal is a signal obtained based on triangular carrier modulation, and the updating of the timing control signal according to the control parameter includes: Detecting a target position of the triangular carrier; At the target position of the triangular carrier, a timing control signal is updated according to the control parameter.

3. The method according to claim 2, characterized in that The target position of the triangular carrier is the lowest point and / or the highest point of the triangular carrier.

4. The method according to claim 2, characterized in that: The timing control signal is a signal obtained by comparing the triangular carrier with the modulation signal output by the current controller.

5. The method according to any one of claims 1 to 4, characterized in that: The current controller in the AC servo control system is a current controller implemented based on a field programmable logic gate array.

6. The method according to claim 5, characterized in that The current controller is provided with a plurality of counters, and the current controller controls the timing in the following manner: The control signal counter starts counting up from a minimum value, and when the count increases to the period register value, the control signal counter starts counting down from the period register value; When the signal counter counts to the minimum value or the period register value, the comparison register value is updated; When the signal counter counts to the comparison register value, the dead zone counter is triggered to run, and when the dead zone counter counts up to the minimum value or the dead zone time register value, the timing control signal output is inverted; When the signal counter counts the difference between the calculation module trigger register value or the period register value and the calculation module trigger register value, a new comparison register value is calculated to update the control parameter of the timing control signal according to the new comparison register value.

7. The method according to claim 1, characterized in that The timing control signal is a pulse width modulation signal, and the control parameter is a duty cycle parameter of the timing control signal.

8. The method according to claim 1, characterized in that The AC servo control system is an AC servo control system based on a permanent magnet synchronous motor.

9. A processing device based on an AC servo control system, characterized in that: The device comprises: A current sampling result acquisition module is used to obtain the current sampling result in the current control cycle; A control parameter calculation module, used to calculate the control parameters used to update the timing control signal according to the current sampling result; The signal updating and outputting module is used to update the timing control signal according to the control parameter and output the updated timing control signal in the current control cycle, so as to perform timing control on each module in the current controller of the AC servo control system according to the output timing control signal.

10. An electronic device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program implements the method according to any one of claims 1 to 8 when executed by the processor.

11. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method according to any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that The invention comprises a computer program which, when executed by a processor, implements the method according to any one of claims 1 to 8.

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