Digital-analog hybrid high-precision position servo motor system and driving control method

Abstract

The invention relates to the technical field of motor control, and particularly provides a digital-analog hybrid high-precision position servo motor system and a drive control method. The position servo motor system comprises a digital control module, an analog driving module, a power supply module, a sampling module, a communication module and a position servo motor body, the communication module sends a control instruction to the digital control module; the sampling module collects a current signal and a position signal of the position servo motor body; the digital control module processes the control instruction, the current signal and the position signal by adopting an active-disturbance-rejection control algorithm and a double-closed-loop control strategy to generate a control signal; and the simulation driving module amplifies the control signal into a voltage signal capable of driving the position servo motor body to operate according to the control instruction. According to the invention, the active disturbance rejection control algorithm and the double-closed-loop control strategy are adopted to obtain higher control precision, so that accurate control of the position servo motor is realized.

Description

Technical Field

[0001] The present disclosure relates to the field of motor control technology, and in particular to a digital-analog hybrid high-precision position servo motor system and a drive control method. Background Art

[0002] With the continuous advancement of CNC machining technology, multi-axis linkage CNC machining platforms have emerged. Multi-axis linkage CNC machining platforms are mainly composed of servo drive modules and mechanical transmission systems. They have significant characteristics such as high machining accuracy and good flexibility. They are widely used in aerospace, intelligent sensor processing and other industries. In multi-axis linkage CNC machining platforms, position servo motors can achieve precise control of the position and speed of machining tools through closed-loop feedback control systems, combined with high-precision encoders or sensors, thereby significantly improving the positioning accuracy and dynamic response performance of the system. Therefore, performance indicators such as the response speed and control accuracy of the position servo motor system are crucial to the performance of high-precision CNC machining platforms.

[0003] In the related art, position servo motors usually use analog controllers for position adjustment. However, due to the hardware limitations of analog controllers, high-precision control algorithms cannot be used, resulting in insufficient accuracy of output signals and inability to achieve precise control of the position servo motor. Summary of the invention

[0004] In view of this, an exemplary embodiment of the present disclosure provides a digital-analog hybrid high-precision position servo motor system and a drive control method to solve the problems existing in the related art.

[0005] In one aspect of an exemplary embodiment of the present disclosure, a high-precision position servo motor system with mixed digital and analog features is provided, the system comprising: a digital control module, an analog drive module, a power module, a sampling module, a communication module, and a position servo motor body, wherein an output end of the position servo motor body is connected to an input end of the sampling detection module, an output end of the sampling module is connected to an input end of the digital control module, an output end of the communication module is connected to an input end of the digital control module, an output end of the digital control module is connected to an input end of the analog drive module, an output end of the analog drive module is connected to an input end of the position servo motor body, and a power module is electrically connected to the digital control module and the analog drive module, respectively, to supply power;

[0006] The communication module sends a control instruction issued by an operator to the digital control module;

[0007] The sampling module collects the current signal and the position signal of the position servo motor body, and sends the current signal and the position signal to the digital control module;

[0008] The digital control module uses an anti-disturbance control algorithm and a dual closed-loop control strategy to process the control command, current signal and position signal, generates a control signal, and sends the control signal to the analog drive module;

[0009] The analog drive module amplifies the control signal into a voltage signal; the voltage signal is used to drive the position servo motor body to operate according to the control instruction.

[0010] Another aspect of the exemplary embodiments of the present disclosure provides a driving control method for a high-precision position servo motor with a mixed digital-analog structure, which is applied to a high-precision position servo motor system with a mixed digital-analog structure. The method includes:

[0011] When the communication module receives the control instruction, the sampling module acquires the real-time data of the position servo motor; the real-time data includes a current signal, a position signal and a speed signal;

[0012] The digital control module uses an anti-disturbance control algorithm and a double closed-loop control strategy to process the control instructions and the real-time data to generate a control signal;

[0013] The analog driving module amplifies the control signal into a voltage signal, and drives the position servo motor body based on the voltage signal.

[0014] According to another aspect of the exemplary embodiments of the present disclosure, a computer device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement the method described in the exemplary embodiments of the present disclosure.

[0015] According to another aspect of the exemplary embodiments of the present disclosure, a computer-readable storage medium is provided, on which a computer program / instruction is stored. When the computer program / instruction is executed by a processor, the method described in the exemplary embodiments of the present disclosure is implemented.

[0016] According to another aspect of the exemplary embodiments of the present disclosure, a computer program product is provided, including a computer program / instruction. When the computer program / instruction is executed by a processor, the method described in the exemplary embodiments of the present disclosure is implemented.

[0017] As will be described in detail below, according to an embodiment of the present disclosure, a high-precision position servo motor system with mixed digital and analog features includes a digital control module, an analog drive module, a power supply module, a sampling module, a communication module and a position servo motor body, the output end of the position servo motor body is connected to the input end of the sampling detection module, the output end of the sampling module is connected to the input end of the digital control module, the output end of the communication module is connected to the input end of the digital control module, the output end of the digital control module is connected to the input end of the analog drive module, the output end of the analog drive module is connected to the input end of the position servo motor body, and the power supply module is electrically connected to the digital control module and the analog drive module for power supply; the communication module sends a control instruction issued by an operator to the digital control module; the sampling module collects the current signal and position signal of the position servo motor body, and sends the current signal and position signal to the digital control module; the digital control module uses an anti-disturbance control algorithm and a dual closed-loop control strategy to process the control instruction, the current signal and the position signal, generates a control signal, and sends the control signal to the analog drive module; the analog drive module amplifies the control signal into a voltage signal; the voltage signal is used to drive the position servo motor body to operate according to the control instruction. Therefore, the position servo motor system provided by the present disclosure can obtain higher control accuracy by adopting an anti-disturbance control algorithm and a dual closed-loop control strategy, thereby achieving precise control of the position servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The above and other purposes, features and advantages of the present disclosure will become more apparent by describing the embodiments of the present disclosure in more detail in conjunction with the accompanying drawings. The accompanying drawings are used to provide a further understanding of the embodiments of the present disclosure and constitute a part of the specification. Together with the embodiments of the present disclosure, they are used to explain the present disclosure and do not constitute a limitation of the present disclosure. In the accompanying drawings, the same reference numerals generally represent the same components or steps.

[0019] Figure 1 This is a schematic diagram of the structure of a servo motor drive control system provided by an exemplary embodiment of the present disclosure;

[0020] Figure 2 A schematic diagram of the circuit structure of a speed resolution differential circuit provided by an exemplary embodiment of the present disclosure;

[0021] Figure 3 A schematic flow chart of a servo motor drive control method provided by an exemplary embodiment of the present disclosure;

[0022] Figure 4 This is a schematic diagram of the structure of an auto-disturbance rejection control strategy for a position loop provided by an exemplary embodiment of the present disclosure;

[0023] Figure 5 A structural block diagram of an electronic device provided as an example in the present disclosure;

[0024] Figure 6 A schematic diagram of a computer program product provided by an exemplary embodiment of the present disclosure. DETAILED DESCRIPTION

[0025] Embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. Although certain embodiments of the present disclosure are shown in the accompanying drawings, it should be understood that the present disclosure can be implemented in various forms and should not be construed as being limited to the embodiments described herein, which are instead provided for a more thorough and complete understanding of the present disclosure. It should be understood that the drawings and embodiments of the present disclosure are only for exemplary purposes and are not intended to limit the scope of protection of the present disclosure.

[0026] It should be understood that the various steps described in the method embodiments of the present disclosure may be performed in different orders and / or in parallel. In addition, the method embodiments may include additional steps and / or omit the steps shown. The scope of the present disclosure is not limited in this respect.

[0027] The term "including" and its variations used in this document are open inclusions, that is, "including but not limited to". The term "based on" means "based at least in part on". The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one other embodiment"; the term "some embodiments" means "at least some embodiments". Relevant definitions of other terms will be given in the description below. It should be noted that the concepts of "first", "second", etc. mentioned in this disclosure are only used to distinguish different devices, modules or units, and are not used to limit the order or interdependence of the functions performed by these devices, modules or units.

[0028] It should be noted that the modifications of "one" and "plurality" mentioned in the present disclosure are illustrative rather than restrictive, and those skilled in the art should understand that unless otherwise clearly indicated in the context, it should be understood as "one or more".

[0029] The names of the messages or information exchanged between multiple devices in the embodiments of the present disclosure are only used for illustrative purposes and are not used to limit the scope of these messages or information.

[0030] It is understandable that before using the technical solutions disclosed in the embodiments of the present disclosure, the types, scope of use, usage scenarios, etc. of the personal information involved in the present disclosure should be informed to the user and the user's authorization should be obtained in an appropriate manner in accordance with relevant laws and regulations.

[0031] For example, in response to receiving an active request from a user, a prompt message is sent to the user to clearly prompt the user that the operation requested to be performed will require obtaining and using the user's personal information. Thus, the user can autonomously choose whether to provide personal information to software or hardware such as an electronic device, application, server, or storage medium that performs the operation of the technical solution of the present disclosure according to the prompt message.

[0032] As an optional but non-limiting implementation, in response to receiving an active request from the user, the method of sending a prompt message to the user may be, for example, a pop-up window, in which the prompt message may be presented in text. In addition, the pop-up window may also carry a selection control for the user to choose "agree" or "disagree" to provide personal information to the electronic device. It is understandable that the above notification and the process of obtaining user authorization are only illustrative and do not constitute a limitation on the implementation of the present disclosure. Other methods that meet relevant laws and regulations may also be applied to the implementation of the present disclosure.

[0033] With the continuous advancement of CNC machining technology, multi-axis linkage CNC machining platforms have emerged. Multi-axis linkage CNC machining platforms are mainly composed of servo drive modules and mechanical transmission systems. They have significant characteristics such as high machining accuracy and good flexibility. They are widely used in aerospace, intelligent sensor processing and other industries. In multi-axis linkage CNC machining platforms, position servo motors can achieve precise control of the position and speed of machining tools through closed-loop feedback control systems, combined with high-precision encoders or sensors, thereby significantly improving the positioning accuracy and dynamic response performance of the system. Therefore, performance indicators such as the response speed and control accuracy of the position servo motor system are crucial to the performance of high-precision CNC machining platforms.

[0034] In the related art, position servo motors usually use analog controllers for position adjustment. However, due to the hardware limitations of analog controllers, high-precision control algorithms cannot be used, resulting in insufficient accuracy of output signals and inability to achieve precise control of the position servo motor.

[0035] Therefore, in order to solve the above problems, the exemplary embodiments of the present disclosure provide a servo motor drive control system and a drive control method, which adopts a double closed-loop control strategy with a current loop as an inner loop and a position loop as an outer loop to obtain higher control performance. In addition, the current loop is controlled by a PID algorithm, and the position loop adopts an anti-disturbance control strategy combined with a speed solving differential circuit, pursuing higher dynamic performance and control accuracy in position control. Therefore, the above drive control system and drive control method can effectively improve the steady-state performance, dynamic performance and robustness of the position servo motor, and meet the requirements of high-precision machining platform technology.

[0036] For example, Figure 1This is a schematic diagram of the structure of a servo motor drive control system provided by an exemplary embodiment of the present disclosure, such as Figure 1 As shown, the servo motor drive control system includes a digital control module, an analog drive module, a power module, a sampling module, a communication module and a position servo motor body. The output end of the motor body is connected to the input end of the sampling detection module, the output end of the sampling module is connected to the input end of the digital control module, the output end of the communication module is connected to the input end of the digital control module, the output end of the digital control module is connected to the input end of the analog drive module, the output end of the analog drive module is connected to the input end of the motor body, and the power module is electrically connected to the digital control module and the analog drive module respectively for power supply.

[0037] Among them, the sampling module is used to obtain the real-time current signal and position signal of the position servo motor body.

[0038] The sampling module includes a current sampling circuit, a position sampling circuit and a speed resolution differential circuit. The input end of the current sampling circuit is connected to the motor body, the output end of the current sampling circuit is connected to the input end of the first A / D (Digital to Analog Converter, digital analog converter) conversion circuit, and the output end of the first A / D conversion circuit is connected to the input end of the digital control module. The input end of the position sampling circuit is connected to the motor body, the output end of the position sampling circuit is connected to the input end of the speed resolution differential circuit, the output end of the speed resolution differential circuit is connected to the input end of the second A / D (Analog to Digital Converter, analog digital converter) conversion circuit, and the output end of the second A / D conversion circuit is connected to the input end of the digital control module.

[0039] Exemplarily, the current sampling circuit includes a tunnel magnetoresistance current sensor, which collects the current signal of the position servo motor and transmits it to a DSP (Digital Signal Processor) processor; the position sampling circuit includes a photoelectric position sensor, which collects the position signal of the position servo motor and transmits it to the DSP processor. The first A / D conversion circuit can be a current loop A / D converter, the model of which can be a chip of AD7688, and the second A / D conversion circuit can be a position loop A / D converter, which uses an 18-bit A / D conversion chip, the model of which is AD4003. Since it can provide 18-bit resolution, the highest sampling rate can reach 2MSPS, and the highest power consumption is only 16mW, it can meet the high-precision requirements of the position loop.

[0040] Among them, the tunnel magnetoresistive current sensor can adopt the CT415-HSN820MR model, which detects the change of magnetic field and outputs the current signal through the tunnel effect, making it suitable for noise-sensitive systems. In addition, since its maximum current detection range is ±20A, it has a bandwidth of 1MHz and a response time of up to 300ms, it can meet the requirements of high dynamic response of the current loop. The tunnel magnetoresistive current sensor can adopt an 8-pin SOIC package, which is easy to integrate into the circuit board and suitable for miniaturized design.

[0041] The speed resolution differential circuit may include an operational amplifier, a resistor, and a capacitor, and is used to resolve the speed signal of the position servo motor and transmit it to the DSP processor.

[0042] Exemplarily, the operational amplifier may be the OP2177 model, which has the characteristics of low noise, high precision, wide voltage range, low power consumption, and good temperature stability. It is suitable for high-precision signal processing and low-noise, low-power applications, and can ensure the accuracy of the speed solution signal.

[0043] For example, Figure 2 The circuit structure diagram of the speed solving differential circuit provided by the present disclosure is as follows: Figure 2 As shown in the figure, the speed calculation differential circuit includes an operational amplifier, a capacitor C connected in series at the inverting input terminal, a resistor R0 connected to the ground at the non-inverting input terminal, and a resistor R connected in parallel across the inverting input terminal. On this basis, a small resistor R1 is connected in series at the input stage as a buffer, and a small capacitor C1 is connected in parallel in the feedback path as a compensation capacitor, thereby preventing circuit blockage and self-oscillation, and ensuring the stability and calculation accuracy of the speed calculation differential circuit module. I represents the input signal, U OUT Indicates the output signal.

[0044] Since the signal after differentiation is the inverse of the original signal, it is necessary to use OP2177 to build a phase shift circuit to adjust the signal phase. In addition, since the allowable input voltage range of TMS320F28335 is 0-3.3V, it is necessary to use OP2177 to build a signal conditioning circuit to convert the signal level, convert the output signal of the speed solution differential circuit to the range of 0-3.3V and then input it into the DSP for solution.

[0045] The digital control module is used to analyze the real-time current signal and position signal and output the control signal for adjusting the motor position. The digital control module may include a DSP processor and a crystal oscillator circuit, a reset circuit, a JTAG (Joint Test Action Group) circuit, and a CAN (Controller Area Network) communication circuit and other peripheral circuits. The digital control module is connected to the input end of the analog drive module through a D / A conversion circuit.

[0046] For example, the DSP processor model may be TMS320F28335, and the D / A conversion circuit model may be LTC1468. The TMS320F28335 chip has a maximum clock frequency of 150 MHz, a high-resolution 12-bit ADC, a sampling rate of up to 1 MSPS, 56 KB of high-speed SRAM (Static Random-Access Memory), and 66 reusable GPIO pins (General Purpose Input / Output), which can implement high-performance control algorithms.

[0047] The analog drive module is used to convert the control signal output by the digital control module into an analog signal that can directly drive the motor, and amplify these signals to provide sufficient power. The analog drive module includes a power operational amplifier, which adopts a voltage connection method, and the output end of the power operational amplifier is connected to the motor body.

[0048] The analog drive module includes a power operational amplifier and a resistor. The output end of the power operational amplifier is connected to the position servo motor body, the output end of the D / A conversion circuit is connected to the negative input end of the power operational amplifier, and the positive input end of the power operational amplifier is grounded.

[0049] Exemplarily, the linear power operational amplifier may be an OPA541 high voltage and high current operational amplifier, which has a supply voltage range of 10V-40V and a maximum long-term output current of up to 10A, which can meet the requirements of the position servo motor system.

[0050] The communication module is used to receive control instructions and send the control instructions to the digital control module. The communication module includes a host computer and a communication circuit, the output end of the host computer is connected to the input end of the communication circuit, and the output end of the communication circuit is connected to the input end of the digital control module.

[0051] Among them, the communication circuit can use ISO1050 CAN transceiver, and the communication protocol uses RS-485 protocol, which uses a pair of positive and negative signal lines to communicate through potential difference, has strong anti-interference ability, and can ensure data accuracy. In addition, the CAN transceiver supports up to 32 drivers and receivers connected to the same bus, has multi-station capability, and the maximum transmission distance can reach 3000 meters, which is suitable for industrial automation application environment.

[0052] The power module is electrically connected to the digital control module and the analog drive module for power supply. The power module adopts an isolated power supply mode. The main power supply is a 24V DC power supply. The 24V DC power supply can be converted into a ±15V power supply through the URA2415S-6WR3 isolated power supply to power digital chips such as A / D conversion chips and D / A conversion chips. It is converted into ±5V, 3.3V and 1.8V DC power supplies through LM7805 and LM7905 voltage regulator chips to power the DSP processor and its peripheral circuits.

[0053] For example, Figure 3 A flow chart of a servo motor drive control method provided by an exemplary embodiment of the present disclosure is shown in FIG. Figure 3 As shown, the following steps may be specifically included:

[0054] Step S310: When the communication module receives the control instruction, the sampling module acquires the real-time data of the position servo motor; the real-time data includes a current signal, a position signal and a speed signal.

[0055] The host computer generates control instructions according to the operator's input instructions or preset programs, and transmits the control instructions to the DSP processor through the communication circuit.

[0056] The DSP processor receives the real-time data of the position servo motor collected by the sampling module, and the real-time data of the position servo motor may include a current signal, a position signal and a speed signal. The current signal is obtained by collecting the current sampling circuit in the sampling module, the position signal is obtained by collecting the position sampling circuit in the sampling module, and the speed signal is obtained by performing differential processing and calculation on the position signal by the speed resolution differential circuit in the sampling module.

[0057] Step S320: The digital control module uses an anti-disturbance control algorithm and a dual closed-loop control strategy to process control instructions and real-time data to generate a control signal.

[0058] For example, an anti-disturbance control algorithm can be used in a DSP processor to solve the control instructions and the real-time data of the position servo motor to generate a control signal that takes disturbance into account. The anti-disturbance control algorithm regards the internal and external uncertainties of the position servo motor as total disturbances, and estimates and compensates them through an extended state observer.

[0059] In this embodiment, the servo motor drive control method adopts a topological structure of a digital control module and an analog drive module, and adopts a double closed-loop control strategy in which the inner loop is a current loop and the outer loop is a position loop.

[0060] Among them, the current loop is composed of a position servo motor body, a current sampling circuit, a first A / D conversion circuit, a DSP processor, a D / A conversion circuit and an analog drive module to form a closed loop. When the current loop of the position servo motor is controlled, the current command signal output by the position loop control is compared with the current signal collected by the current sampling circuit to obtain the current error. The PID (Proportional-Integral-Derivative) controller in the DSP processor modulates according to the current error to generate a controller current output signal. The controller current output signal is converted into an analog signal through a D / A conversion circuit and input into the analog drive module for amplification to drive the position servo motor.

[0061] The position loop is composed of the position servo motor body, the position sampling circuit, the speed calculation differential circuit, the second A / D conversion circuit, the DSP processor, the D / A conversion circuit and the analog drive module to form a closed loop. When the position loop of the position servo motor is controlled, the position command signal sent by the host computer, the position signal collected by the position sampling circuit and the speed signal obtained by the speed calculation differential circuit are solved and modulated by the self-anti-disturbance algorithm in the DSP processor to obtain the command signal of the current loop, which is output to the current loop PID controller of the DSP processor.

[0062] Specifically, the control method of the position loop includes:

[0063] Step S321: Design a speed solving differential circuit to obtain the transition signal of the position input and the speed signal of its first-order differential.

[0064] The speed resolution differential circuit is designed to replace the second-order tracking differentiator in the anti-disturbance control system, and the position command given by the host computer is low-pass filtered to obtain the transition signal of the position command and its first-order differential speed signal. The transition signal is the continuous change signal of the position command, and the first-order differential speed signal is the rate at which the position command changes over time.

[0065] High-frequency noise and interference can be eliminated through low-pass filtering to ensure the smoothness of the signal.

[0066] Exemplarily, the speed resolution differential circuit may specifically resolve the speed signal by:

[0067] The basic speed resolution differential circuit includes an operational amplifier U, a capacitor C connected in series to the inverting input terminal, a resistor R0 connected to the ground at the non-inverting input terminal, and a resistor R connected in parallel across the inverting input terminal.

[0068] The "virtual short" and "virtual break" of the operational amplifier can be expressed as:

[0069]

[0070] Among them, u + Represents the voltage signal at the non-inverting input terminal of the operational amplifier; u - Represents the voltage signal at the inverting input terminal of the operational amplifier; i + Represents the current signal at the non-inverting input terminal of the operational amplifier; i - Represents the current signal at the inverting input of the operational amplifier.

[0071] The output expression of the speed solving differential circuit is:

[0072]

[0073] Among them, U O Indicates input voltage; U I Indicates the output voltage; i R Represents the resistance current; i C Represents the capacitive current; u C Represents the capacitor voltage.

[0074] For an ideal operational amplifier, let the input signal U I The frequency is f, then the gain of the basic active speed resolution differential circuit composed of C and R is |G|=2πfRC, and the input frequency has no effect on the differential characteristics of the circuit. In the actual circuit, the open-loop gain A of the operational amplifier is a constant A0 at low frequencies, and |A| decreases with increasing frequency when it is higher than the transition frequency fc. When the input signal frequency increases to the intersection frequency f0 of the amplifier open-loop gain and the basic speed resolution differential circuit gain, the amplitude-frequency characteristic of the basic speed resolution differential circuit will have a peak, resulting in self-excitation; when the frequency is higher than f0, the amplitude-frequency characteristic will decrease with the increase of frequency, and this is the non-differentiated area of ​​the basic speed resolution differential circuit.

[0075] In order to make the speed resolution differential circuit work stably, a small resistor can be connected in series at the input end, and a small capacitor can be connected in parallel in the feedback path as an absorption capacitor to eliminate self-excitation and improve high-frequency characteristics. The complex gain of the improved speed resolution differential circuit is expressed as:

[0076]

[0077] The amplitude gain is:

[0078]

[0079] Among them, f1 represents the pole frequency introduced by R1 and C, f2 represents the pole frequency introduced by R and C1. f3 represents the characteristic frequency of the basic active speed solving differential circuit,

[0080] Step S322: Design an extended state observer according to the mathematical model of the position servo motor.

[0081] The extended state observer is used to observe the actual position signal, speed signal and unmodeled total disturbance signal of the motor. A nonlinear feedback control rate is designed, and the observed unmodeled total disturbance signal is input into the nonlinear feedback control rate to obtain an estimated disturbance signal and compensate it.

[0082] Exemplarily, the mathematical model of the position servo motor can be expressed as:

[0083]

[0084] Where, θ represents the motor rotor position; J represents the motor moment of inertia; B m represents the damping coefficient; T e Represents electromagnetic torque; T d Indicates load torque; K te represents the moment coefficient; i a Indicates the winding current.

[0085] After conversion to the state equation, it can be expressed as:

[0086]

[0087] Where x1 and x2 represent the motor rotor position and motor rotor angular velocity respectively; y represents the output of the position servo motor drive control system, that is, the actual position of the position servo motor; definition is the parameter in the algorithm, and is defined is the sum of the disturbances inside and outside the system, and expands it into a new state variable x3, defining Expand the original system into a new linear system, whose state space expression is as follows:

[0088]

[0089] In order to compensate the disturbance of the system, we define is the final control quantity of the system, and the system can be transformed into a linear integral control system as shown in the following formula:

[0090]

[0091] According to the principle of extended state observer, a third-order nonlinear state extended observer is designed for the position servo motor system to observe the system state and perform disturbance compensation. Its expression is:

[0092]

[0093] Among them, e(k) represents the error between the position observation value and the actual value; z1(k) and z2(k) represent the observation values ​​of the position feedback and velocity feedback of the position servo motor respectively; z3(k) represents the total disturbance observation value of the system; k represents the sampling time; h represents the sampling step; β1, β2, and β3 represent the gains of the extended state observer, which are related to the observer bandwidth.

[0094] fal(e,α,δ) is a continuous power function with a linear segment near the origin, which can avoid the high-frequency chattering phenomenon of the traditional extended state observer. Its expression is:

[0095]

[0096] Among them, α represents the system order correlation; δ represents the linear scale.

[0097] Assuming v is a given input, the final output u of the controller can be expressed as:

[0098]

[0099] The acquired signal is processed through nonlinear error feedback and controlled using a nonlinear function to output the required control quantity u0, which is expressed as follows:

[0100]

[0101] Among them, v1 represents the actual position of the position servo motor; z1 represents the position observation value of the position servo motor; e1 represents the error between the actual position and the position observation value; v2 represents the actual speed; z2 represents the speed observation value; e2 represents the error between the actual speed and the speed observation value.

[0102] Combined with the output of the extended state observer, take The nonlinear compensation strategy can be obtained:

[0103]

[0104] Step S323: Active disturbance rejection controller solution and modulation.

[0105] The ADRC can include three main parts: speed resolution differential circuit, extended state observer and nonlinear feedback control law. The speed resolution differential circuit is used to extract the continuous signal and differential signal of the system input; the extended state observer is used to estimate the system state and total disturbance; the nonlinear feedback control law is used to design the control law according to the output of the extended state observer to achieve accurate control of the system state. Based on this, the ADRC can effectively handle various disturbances in the servo motor control system and improve the robustness and control accuracy of the system.

[0106] The input data of the ADRC include: the position command given by the host computer, the transition signal of the position input obtained by the speed resolution differential circuit and the speed signal of its first-order differential, the total disturbance signal obtained by the extended state observer, the actual position signal collected by the position sampling circuit and the speed signal output by the speed resolution differential circuit. The ADRC resolves and modulates the input signal to calculate the output of the position loop, that is, the given value of the current loop. The given value of the current loop represents the current required by the position servo motor to achieve the position control target.

[0107] For example, Figure 4 This is a schematic diagram of the structure of the auto-disturbance rejection control strategy of the position loop provided by the present disclosure as an example. Figure 4 As shown, the driving control method of this embodiment adopts a dual closed-loop control strategy with a current loop as the inner loop and a position loop as the outer loop. Compared with the traditional three-closed-loop control of the position loop, speed loop, and current loop, the dual closed-loop control can improve the dynamic response capability of the system while ensuring the accuracy of the system. For the current loop of this control strategy, a traditional PID controller is used to control the armature current of the motor, and the linear power operational amplifier adopts a voltage connection method; for the position loop of this control strategy, an anti-disturbance control strategy combined with a speed solving differential circuit is used for control.

[0108] Specifically, the input r(t) of the speed resolution differential circuit is the given position signal of the host computer. The input of the nonlinear feedback control law is the error e1 between the given position signal and the observed position signal of the position servo motor, and the error e2 between the speed signal obtained from the speed resolution differential circuit and the observed speed signal obtained from the extended state observer. The input of the extended state observer is the actual value y(t) of the position of the position servo motor and the difference u between the compensation value of the observed disturbance and the output of the nonlinear feedback control rate. The output is the position observation value z1, speed observation value z2 and total disturbance observation value z3 of the position servo motor. The data is processed by the DSP processor to obtain the output of the self-disturbance rejection controller, that is, the given value of the current loop. w represents the actual disturbance of the position servo motor.

[0109] Based on this, the input signal is obtained through the speed solving differential circuit, the system state and disturbance are estimated using the extended state observer, and finally the self-disturbance rejection controller is used for solving and modulation to calculate the current set value required for precise position control. Therefore, the position loop control method can effectively handle the uncertainty and disturbance in the system and realize precise control of the servo motor position.

[0110] Step S330: the analog driving module amplifies the control signal into a voltage signal, and drives the position servo motor body based on the voltage signal.

[0111] The control signal is converted into an analog signal through a D / A conversion circuit and transmitted to the analog drive module. The analog drive module receives the analog signal after D / A conversion and amplifies it into a voltage signal that can drive the motor.

[0112] The analog drive module outputs the amplified voltage signal to the armature winding of the position servo motor to realize the control of the position servo motor.

[0113] One or more technical solutions provided in the exemplary embodiments of the present disclosure, in terms of optimization of the drive control structure, adopt a dual closed-loop control structure of an inner current loop and an outer position loop to meet the requirements of the position servo motor for high dynamic response performance. Compared with the traditional three-closed-loop control (position loop, speed loop, current loop), this dual closed-loop control strategy significantly improves the dynamic response performance of the system while ensuring the control accuracy of the system. This improvement not only simplifies the control structure, but also enhances the overall efficiency and flexibility of the system.

[0114] In the position loop control strategy, the anti-disturbance algorithm is used to observe and compensate for the internal and external disturbances of the position servo motor in real time through the extended state observer, thereby enhancing the system's anti-disturbance ability while improving the system's response speed and control accuracy. In addition, the anti-disturbance algorithm also effectively overcomes the problems of insufficient anti-disturbance ability and complex parameter adjustment in PID control.

[0115] In the speed calculation link, a speed calculation differential circuit is used to replace the digital differentiator. The speed calculation differential circuit has the advantages of fast response speed, simple circuit design, and low hardware implementation cost. Compared with the digital differentiator, it has no quantization error, thus effectively improving the accuracy of the position servo motor speed calculation and the response speed of the system.

[0116] Therefore, the servo motor drive control system and drive control method provided in the exemplary embodiments of the present disclosure can effectively improve the response speed and positioning accuracy of the position servo motor system.

[0117] The above mainly introduces the solutions provided by the exemplary embodiments of the present disclosure. It is understandable that in order to implement the above functions, the electronic device includes hardware structures and / or software modules corresponding to the execution of each function. Those skilled in the art should easily realize that, in combination with the units and algorithm steps of each example described in the embodiments disclosed herein, the present disclosure can be implemented in the form of hardware or a combination of hardware and computer software. Whether a function is executed in the form of hardware or computer software driving hardware depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to exceed the scope of the present disclosure.

[0118] The exemplary embodiments of the present disclosure can divide the functional units of the electronic device according to the above method examples. For example, each functional module can be divided according to each function, or two or more functions can be integrated into one processing module. The above integrated modules can be implemented in the form of hardware or in the form of software functional modules. It should be noted that the division of modules in the exemplary embodiments of the present disclosure is schematic and is only a logical function division. There may be other division methods in actual implementation.

[0119] The exemplary embodiment of the present disclosure also provides an electronic device, comprising: at least one processor; and a memory connected to the at least one processor in communication. The memory stores a computer program that can be executed by the at least one processor, and the computer program is used to cause the electronic device to perform the method according to the embodiment of the present disclosure when executed by the at least one processor.

[0120] The exemplary embodiments of the present disclosure also provide a non-transitory computer-readable storage medium storing a computer program, wherein the computer program, when executed by a processor of a computer, is used to cause the computer to perform the method according to the embodiments of the present disclosure.

[0121] Figure 5 The block diagram of the electronic device provided as an example of the present disclosure, the block diagram of the electronic device 500 that can be used as the server or client of the present disclosure will now be described, which is an example of a hardware device that can be applied to various aspects of the present disclosure. The electronic device is intended to represent various forms of digital electronic computer devices, such as laptop computers, desktop computers, workbenches, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processing, cellular phones, smart phones, wearable devices and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely examples, and are not intended to limit the implementation of the present disclosure described and / or required herein.

[0122] like Figure 5 As shown, the electronic device 500 includes a computing unit 501, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 502 or a computer program loaded from a storage unit 508 into a random access memory (RAM) 503. In the RAM 503, various programs and data required for the operation of the electronic device 500 can also be stored. The computing unit 501, the ROM 502, and the RAM 503 are connected to each other via a bus 504. An input / output (I / O) interface 505 is also connected to the bus 504.

[0123] A plurality of components in the electronic device 500 are connected to the I / O interface 505, including: an input unit 506, an output unit 507, a storage unit 508, and a communication unit 509. The input unit 506 may be any type of device capable of inputting information to the electronic device 500, and the input unit 506 may receive input digital or character information, and generate key signal inputs related to user settings and / or function control of the electronic device. The output unit 507 may be any type of device capable of presenting information, and may include, but is not limited to, a display, a speaker, a video / audio output terminal, a vibrator, and / or a printer. The storage unit 508 may include, but is not limited to, a disk, an optical disk. The communication unit 509 allows the electronic device 500 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks, and may include, but is not limited to, a modem, a network card, an infrared communication device, a wireless communication transceiver, and / or a chipset, such as a Bluetooth™ device, a WiFi device, a WiMax device, a cellular communication device, and / or the like.

[0124] The computing unit 501 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 501 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 501 performs the various methods and processes described above. Each of the methods described above may be implemented as a computer software program, which is tangibly included in a machine-readable medium, such as a storage unit 508. In some embodiments, part or all of the computer program may be loaded and / or installed on the electronic device 500 via the ROM 502 and / or the communication unit 509.

[0125] Figure 6 This is a schematic diagram of an exemplary computer program product provided by the present disclosure. The exemplary embodiment of the present disclosure also provides a computer program product 600, including a computer program 601, wherein the computer program 601, when executed by a processor of a computer, is used to cause the computer to perform a method according to an embodiment of the present disclosure.

[0126] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0127] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0128] As used in this disclosure, the terms "machine-readable medium" and "computer-readable medium" refer to any computer program product, apparatus, and / or device (e.g., disk, optical disk, memory, programmable logic device (PLD)) for providing machine instructions and / or data to a programmable processor, including a machine-readable medium that receives machine instructions as a machine-readable signal. The term "machine-readable signal" refers to any signal for providing machine instructions and / or data to a programmable processor.

[0129] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0130] The systems and techniques described herein may be implemented in a computing system that includes back-end components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes front-end components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such back-end components, middleware components, or front-end components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), and the Internet.

[0131] A computer system may include clients and servers. Clients and servers are generally remote from each other and usually interact through a communication network. The relationship of client and server is generated by computer programs running on respective computers and having a client-server relationship to each other.

[0132] In the above embodiments, it can be implemented in whole or in part by software, hardware, firmware or any combination thereof. When implemented by software, it can be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions. When the computer program or instruction is loaded and executed on a computer, the process or function described in the embodiment of the present disclosure is executed in whole or in part. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a terminal, a user device or other programmable device. The computer program or instruction may be stored in a computer-readable storage medium, or transmitted from one computer-readable storage medium to another computer-readable storage medium, for example, the computer program or instruction may be transmitted from one website site, computer, server or data center to another website site, computer, server or data center by wired or wireless means. The computer-readable storage medium may be any available medium that a computer can access or a data storage device such as a server, data center, etc. that integrates one or more available media. The available medium may be a magnetic medium, for example, a floppy disk, a hard disk, a tape; it may also be an optical medium, for example, a digital video disc (DVD); it may also be a semiconductor medium, for example, a solid state drive (SSD).

[0133] Although the present disclosure has been described in conjunction with specific features and embodiments thereof, it is apparent that various modifications and combinations may be made thereto without departing from the spirit and scope of the present disclosure. Accordingly, this specification and the drawings are merely exemplary illustrations of the present disclosure as defined by the appended claims, and are deemed to have covered any and all modifications, variations, combinations or equivalents within the scope of the present disclosure. Obviously, those skilled in the art may make various modifications and variations to the present disclosure without departing from the spirit and scope of the present disclosure. Thus, if these modifications and variations of the present disclosure fall within the scope of the claims of the present disclosure and their equivalents, the present disclosure is also intended to include these modifications and variations.

Claims

1. A high-precision position servo motor system with mixed digital and analog features, characterized in that: It includes a digital control module, an analog drive module, a power module, a sampling module, a communication module and a position servo motor body, wherein the output end of the position servo motor body is connected to the input end of the sampling detection module, the output end of the sampling module is connected to the input end of the digital control module, the output end of the communication module is connected to the input end of the digital control module, the output end of the digital control module is connected to the input end of the analog drive module, the output end of the analog drive module is connected to the input end of the position servo motor body, and the power module is electrically connected to the digital control module and the analog drive module respectively for power supply; The communication module sends a control instruction issued by an operator to the digital control module; The sampling module collects the current signal and the position signal of the position servo motor body, and sends the current signal and the position signal to the digital control module; The digital control module uses an anti-disturbance control algorithm and a dual closed-loop control strategy to process the control command, current signal and position signal, generates a control signal, and sends the control signal to the analog drive module; The analog drive module amplifies the control signal into a voltage signal; the voltage signal is used to drive the position servo motor body to operate according to the control instruction.

2. The position servo motor system according to claim 1, characterized in that: The sampling module includes a current sampling circuit, a position sampling circuit and a speed solving differential circuit; the input end of the current sampling circuit is connected to the position servo motor body, the output end of the current sampling circuit is connected to the input end of the first A / D conversion circuit, and the output end of the first A / D conversion circuit is connected to the input end of the digital control module; the input end of the position sampling circuit is connected to the position servo motor body, the output end of the position sampling circuit is connected to the input end of the speed solving differential circuit, the output end of the speed solving differential circuit is connected to the input end of the second A / D conversion circuit, and the output end of the second A / D conversion circuit is connected to the input end of the digital control module; The digital control module includes a digital signal processor DSP, and the digital control module is connected to the input end of the analog drive module through a D / A conversion circuit; The analog driving module includes a power operational amplifier, and the output end of the power operational amplifier is connected to the position servo motor body; The communication module includes a host computer and a communication circuit, the output end of the host computer is connected to the input end of the communication circuit, and the output end of the communication circuit is connected to the input end of the digital control module.

3. A driving control method for a high-precision position servo motor with mixed digital and analog features, characterized in that: Applied to the position servo motor system according to any one of claims 1 to 2, the method comprising: When the communication module receives the control instruction, the sampling module acquires the real-time data of the position servo motor; the real-time data includes a current signal, a position signal and a speed signal; The digital control module uses an anti-disturbance control algorithm and a double closed-loop control strategy to process the control instructions and the real-time data to generate a control signal; The analog driving module amplifies the control signal into a voltage signal, and drives the position servo motor body based on the voltage signal.

4. The method according to claim 3, characterized in that The dual closed-loop control strategy uses the current loop as the inner loop and the position loop as the outer loop; The current loop is composed of a position servo motor body, a current sampling circuit, a first A / D conversion circuit, a DSP processor, a D / A conversion circuit and an analog drive module in sequence; the position loop is composed of a position servo motor body, a position sampling circuit, a speed resolution differential circuit, a second A / D conversion circuit, a DSP processor, a D / A conversion circuit and an analog drive module in sequence; When the current loop of the position servo motor is controlled, the current command signal is compared with the current signal collected by the current sampling circuit to obtain a current error; the current error is modulated by the proportional-integral-differential PID controller in the DSP processor to obtain a controller current output signal; the controller current output signal is converted into an analog signal by a D / A conversion circuit and input into an analog drive module for amplification; When the position loop of the position servo motor is controlled, the position command signal in the control command, the position signal collected by the position sampling circuit and the speed signal obtained by the speed solving differential circuit are solved and modulated by the self-anti-disturbance algorithm in the DSP processor to obtain the current command signal; the current command signal is sent to the current loop PID controller of the DSP processor.

5. The method according to claim 4, characterized in that The control method of the position loop includes: Constructing a speed calculation differential circuit, and performing low-pass filtering on the position command signal in the control command through the speed calculation differential circuit to obtain a transition signal of the position command signal and a speed signal of its first-order differential; Acquire a pre-constructed mathematical model of a position servo motor, and construct an extended state observer based on the mathematical model of the position servo motor; estimate a position signal, a first-order differential speed signal, and a total disturbance signal of the position servo motor through the extended state observer; An active disturbance rejection controller is constructed, and the transition signal, the first-order differential speed signal, the position command signal, the position signal, the speed signal and the total disturbance signal are solved by the active disturbance rejection controller to obtain the current command signal of the current loop.

6. The method according to claim 5, characterized in that The basic differential circuit of the speed resolution differential circuit comprises: an operational amplifier U, a capacitor C connected in series at the inverting input terminal, a resistor R0 connected to the ground at the non-inverting input terminal, and a resistor R connected in parallel across the inverting input terminal; The "virtual short" and "virtual break" of the operational amplifier are expressed as: Among them, u + Represents the voltage signal at the non-inverting input terminal of the operational amplifier; u - Represents the voltage signal at the inverting input terminal of the operational amplifier; i + Represents the current signal at the non-inverting input terminal of the operational amplifier; i - represents the current signal at the inverting input terminal of the operational amplifier; The output expression of the speed calculation differential circuit is: Among them, U O Indicates input voltage; U I Indicates the output voltage; i R Represents the resistance current; i C Represents the capacitive current; u C represents the capacitor voltage; The improved speed resolution differential circuit includes a small resistor in series at the input end and a small capacitor in parallel as an absorption capacitor in the feedback path. The complex gain of the improved speed resolution differential circuit is expressed as: The amplitude gain is: Among them, f1 represents the pole frequency introduced by R1 and C, f2 represents the pole frequency introduced by R and C1. f3 represents the characteristic frequency of the basic active speed solving differential circuit, 7. The method according to claim 5, characterized in that The method of obtaining a pre-constructed mathematical model of the position servo motor and constructing an extended state observer based on the mathematical model of the position servo motor; and estimating a total disturbance signal of the position servo motor by using the extended state observer comprises: The mathematical model of the position servo motor is expressed as: Where, θ represents the motor rotor position; J represents the motor moment of inertia; B m represents the damping coefficient; T e Represents electromagnetic torque; T d Indicates load torque; K te represents the moment coefficient; i a Indicates the winding current; After conversion to the state equation, it is expressed as: Where x1 and x2 represent the motor rotor position and motor rotor angular velocity respectively; y represents the output of the position servo motor drive control system, that is, the actual position of the position servo motor; definition is the parameter in the algorithm, and is defined is the sum of the disturbances inside and outside the system, and expands it into a new state variable x3, defining Expand the original system into a new linear system, whose state space expression is as follows: definition is the final control quantity of the system, and the system is transformed into a linear integral control system: According to the principle of extended state observer, a third-order nonlinear state extended observer is designed for the position servo motor system to observe the system state and perform disturbance compensation. Its expression is: Among them, e(k) represents the error between the position observation value and the actual value; z1(k) and z2(k) represent the observation values ​​of the position feedback and velocity feedback of the position servo motor respectively; z3(k) represents the total disturbance observation value of the system; k represents the sampling time; h represents the sampling step; β1, β2, β3 represent the gains of the extended state observer respectively, which are related to the observer bandwidth; fal(e, α, δ) is a continuous power function with a linear segment near the origin, which can avoid the high-frequency chatter phenomenon of the traditional extended state observer, and its expression is: Among them, α represents the system order correlation; δ represents the linear scale; Assuming v is a given input, the final output u of the controller is expressed as: The acquired signal is processed through nonlinear error feedback and controlled using a nonlinear function to output the required control quantity u0, which is expressed as follows: Among them, v1 represents the actual position of the position servo motor; z1 represents the position observation value of the position servo motor; e1 represents the error between the actual position and the position observation value; v2 represents the actual speed; z2 represents the speed observation value; e2 represents the error between the actual speed and the speed observation value; Combined with the output of the extended state observer, take The nonlinear compensation strategy is:

8. A computer device comprising a memory, a processor and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the method of claim 3.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instructions are executed by a processor, the method of claim 3 is implemented.

10. A computer program product comprising a computer program / instructions, characterized in that When the computer program / instructions are executed by a processor, the method of claim 3 is implemented.

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