Torque precision output control method and system for limited angle torque motor

Abstract

The present invention provides a torque precision output control method and system for a limited angle torque motor, which collects and analyzes the output torque data of the limited angle torque motor to obtain an actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the position change information of the rotor after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding precision conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor.

Description

Technical Field

[0001] The present invention relates to the field of electric motors, and in particular to a torque precision output control method and system for a limited angle torque motor. Background Art

[0002] A limited angle torque motor is a motor that can only output torque within a limited angle range. It is mainly composed of an electromagnetic rotor and a fixed stator. The electromagnetic rotor rotates relative to the fixed stator through electromagnetic force, and the position and speed of the electromagnetic rotor can be accurately controlled to change the magnitude of its own output torque. Limited angle torque motors are widely used in precision control equipment such as machine tools and robots. Under normal circumstances, limited angle torque motors do not set feedback adjustment mode, which causes the torque output of limited angle torque motors to float, making it impossible to ensure that the limited angle torque motor always outputs torque stably, reducing the operating reliability and accuracy of the limited angle torque motor. Summary of the invention

[0003] The object of the present invention is to provide a torque accuracy output control method and system for a limited angle torque motor, which collects and analyzes the output torque data of the limited angle torque motor to obtain an actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor and accurately identifying the torque output fluctuation distribution of the limited angle torque motor within an operating cycle; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval, and the rotor action factors that cause torque output fluctuations in the limited angle torque motor are identified and screened; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor.

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

[0005] A torque precision output control method for a limited angle torque motor, comprising:

[0006] Collecting output torque data of the limited angle torque motor, analyzing the output torque data to obtain an actual torque output curve of the limited angle torque motor; and determining an unstable torque output interval of the limited angle torque motor based on the actual torque output curve;

[0007] Based on the torque output unstable interval, inverse processing is performed on the torque output process of the limited angle torque motor to obtain information related to abnormal torque action corresponding to the torque output unstable interval;

[0008] Based on the information related to the abnormal torque action, the rotor stepping action of the effective angle torque motor is adjusted; based on the position change information of the rotor after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions.

[0009] Optionally, collecting output torque data of the limited angle torque motor, analyzing the output torque data to obtain an actual torque output curve of the limited angle torque motor; and determining a torque output instability interval of the limited angle torque motor based on the actual torque output curve, comprising:

[0010] Based on the time information of the limited angle torque motor completing a complete angle swing cycle, determine the output torque collection frequency of the limited angle torque motor, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; perform error correction processing and continuous fitting processing on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor;

[0011] The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output instability interval of the limited angle torque motor.

[0012] Optionally, based on the torque output unstable interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output unstable interval, including:

[0013] Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data, and obtaining force-angle output time correlation data;

[0014] Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

[0015] Optionally, based on the abnormal torque action related information, the effective angle torque motor is subjected to a rotor stepping action adjustment; based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including:

[0016] Determine the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor based on the action position information of the force magnitude drift and the angle magnitude drift during the torque output unstable interval included in the abnormal torque action related information;

[0017] Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

[0018] Optionally, a range is set for a single maximum adjustment amplitude for changing an increase value or a decrease value of the electromagnetic force currently applied to the rotor, including:

[0019] Extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position;

[0020] Retrieve the proportional gain coefficient corresponding to the torque adjustment;

[0021] Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment;

[0022] The first adjustment factor is obtained by the following formula:

[0023]

[0024] Among them, S 01 represents the first adjustment factor; w crepresents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation;

[0025] Retrieve current electromagnetic force and expected electromagnetic force;

[0026] Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment;

[0027] The second adjustment factor is obtained by the following formula:

[0028]

[0029] Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor;

[0030] The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula:

[0031] G=min[(1+S 01 )·G0,(1+S 02 )·G0]

[0032] Where G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

[0033] The torque precision output control system of the limited angle torque motor includes:

[0034] An output torque acquisition and analysis module, used for acquiring output torque data of the limited angle torque motor, analyzing the output torque data, and obtaining an actual torque output curve of the limited angle torque motor;

[0035] A torque output instability identification module, used for determining a torque output instability interval of the limited-angle torque motor based on the actual torque output curve;

[0036] An abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval;

[0037] A rotor motion adjustment module, configured to adjust the rotor stepping motion of the effective angle torque motor based on the abnormal torque motion related information;

[0038] The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the rotor position change information after the rotor stepping motion adjustment, until the output torque of the limited angle torque motor meets the corresponding accuracy condition.

[0039] Optionally, the output torque acquisition and analysis module is used to acquire output torque data of the limited angle torque motor, analyze the output torque data, and obtain an actual torque output curve of the limited angle torque motor, including:

[0040] Based on the time information of the limited angle torque motor completing a complete angle swing cycle, determine the output torque collection frequency of the limited angle torque motor, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; perform error correction processing and continuous fitting processing on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor;

[0041] The torque output instability identification module is used to determine the torque output instability interval of the limited angle torque motor based on the actual torque output curve, including:

[0042] The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output instability interval of the limited angle torque motor.

[0043] Optionally, the abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval, including:

[0044] Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data, and obtaining force-angle output time correlation data;

[0045] Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

[0046] Optionally, the rotor motion adjustment module is used to adjust the rotor stepping motion of the effective angle torque motor based on the abnormal torque motion related information, including:

[0047] Determine the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor based on the action position information of the force magnitude drift and the angle magnitude drift during the torque output unstable interval included in the abnormal torque action related information;

[0048] The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the position change information of the rotor after the rotor stepping motion adjustment until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including:

[0049] Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

[0050] Optionally, a range is set for a single maximum adjustment amplitude for changing an increase value or a decrease value of the electromagnetic force currently applied to the rotor, including:

[0051] Extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position;

[0052] Retrieve the proportional gain coefficient corresponding to the torque adjustment;

[0053] Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment;

[0054] The first adjustment factor is obtained by the following formula:

[0055]

[0056] Among them, S 01 represents the first adjustment factor; w c represents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation;

[0057] Retrieve current electromagnetic force and expected electromagnetic force;

[0058] Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment;

[0059] The second adjustment factor is obtained by the following formula:

[0060]

[0061] Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor;

[0062] The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula:

[0063] G=min[(1+S 01 )·G0,(1+S 02 )·G0]

[0064] Where G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

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

[0066] The torque accuracy output control method and system of the limited angle torque motor provided in the present application collect and analyze the output torque data of the limited angle torque motor to obtain the actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor and accurately identifying the torque output fluctuation distribution of the limited angle torque motor within an operating cycle; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval, and the rotor action factors that cause torque output fluctuations in the limited angle torque motor are identified and screened; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the prior art descriptions. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. Among them:

[0068] Figure 1 A schematic flow chart of a torque accuracy output control method for a limited angle torque motor provided by the present invention.

[0069] Figure 2 This is a structural schematic diagram of a torque accuracy output control system for a limited angle torque motor provided by the present invention. DETAILED DESCRIPTION

[0070] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0071] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0072] Reference to "embodiments" herein means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0073] See also Figure 1 As shown, an embodiment of the present application provides a torque precision output control method for a limited angle torque motor. The torque precision output control method for a limited angle torque motor includes:

[0074] Collecting output torque data of the limited angle torque motor, analyzing the output torque data, and obtaining an actual torque output curve of the limited angle torque motor; and determining an unstable torque output interval of the limited angle torque motor based on the actual torque output curve;

[0075] Based on the torque output unstable interval, the torque output process of the limited angle torque motor is inverted to obtain information related to the abnormal torque action corresponding to the torque output unstable interval;

[0076] Based on the information related to the abnormal torque action, the rotor stepping action of the effective angle torque motor is adjusted; based on the position change information of the rotor after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions.

[0077] The beneficial effects of the above embodiments are as follows: the torque accuracy output control method of the limited angle torque motor collects and analyzes the output torque data of the limited angle torque motor to obtain the actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor, and accurately identifying the torque output fluctuation distribution of the limited angle torque motor within an operating cycle; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval, and the rotor action factors that cause torque output fluctuations inside the limited angle torque motor are identified and screened; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor.

[0078] In another embodiment, output torque data of the limited angle torque motor is collected, the output torque data is analyzed to obtain an actual torque output curve of the limited angle torque motor; based on the actual torque output curve, an unstable torque output interval of the limited angle torque motor is determined, including:

[0079] Based on the time information of the limited angle torque motor completing a complete angle swing cycle, the output torque collection frequency of the limited angle torque motor is determined, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; error correction processing and continuous fitting processing are performed on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor;

[0080] The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output unstable interval of the limited angle torque motor.

[0081] The beneficial effect of the above embodiment is that the limited angle torque motor will rotate within a limited angle range and output torque outward during operation, and the rotation of the limited angle torque motor within the limited angle range is periodic. In order to fully and comprehensively collect torque data on the torque output of the limited angle torque motor, the output torque collection frequency of the limited angle torque motor is determined based on the time information of the limited angle torque motor completing a complete angle swing cycle, wherein the longer the time length to complete a complete angle swing cycle, the greater the corresponding output torque collection frequency, thereby collecting enough output torque data to the maximum extent within a complete angle swing cycle. And the output torque data corresponding to all the complete angle swing cycles collected are processed by data error correction and data difference continuous fitting, so as to obtain the actual torque output curve of the limited angle torque motor, thereby continuously representing the actual torque output state of the limited angle torque motor. In addition, the actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor in the time domain, and the time domain change information of the actual torque output drift of the limited angle torque motor is determined. The actual torque output drift time domain change information includes the change information of the up and down fluctuation rate of the actual output torque of the limited angle torque motor compared with the ideal output torque over time, and the time interval corresponding to the up and down fluctuation rate exceeding the preset fluctuation rate threshold is determined as the torque output unstable interval of the limited angle torque motor, which provides a reference for the subsequent torque precision output control of the limited angle torque motor.

[0082] In another embodiment, based on the torque output unstable interval, the torque output process of the limited angle torque motor is inverted to obtain information related to the abnormal torque action corresponding to the torque output unstable interval, including:

[0083] Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data to obtain force-angle output time correlation data;

[0084] Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

[0085] The beneficial effect of the above embodiment is that the force output data and the angle output data of the limited angle torque motor in the corresponding period are collected in a directional manner based on the unstable torque output interval, and the force output data and the angle output data are processed in the time domain to obtain the force-angle output time correlation data, so that the correlation between the force output and the angle output in the unstable torque output interval can be fully characterized at the time level, which is convenient for the subsequent inversion of the torque output process of the limited angle torque motor and provides sufficient data. In addition, based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the unstable torque output interval, so as to accurately determine the action position information corresponding to the force size drift during the unstable torque output interval and the action position information corresponding to the angle size drift during the unstable torque output period, so as to identify and select the rotor action factors that cause torque output fluctuations inside the limited angle torque motor, so as to facilitate the subsequent targeted adjustment of the rotor action of the limited angle torque motor.

[0086] In another embodiment, based on the abnormal torque action related information, the effective angle torque motor is subjected to rotor stepping action adjustment; based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including:

[0087] Based on the information related to the abnormal torque action including the action position information of the force magnitude drift and the angle magnitude drift corresponding to the torque output unstable interval, determining the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor;

[0088] Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

[0089] The beneficial effect of the above embodiment is that the rotor of the limited angle torque motor performs a stepping rotation action process to form a torque output. For this purpose, based on the information related to the abnormal torque action including the corresponding action position information of the force magnitude drift and the angle magnitude drift during the unstable interval of the torque output, the electromagnetic force applied to the effective angle torque motor for the rotor stepping action adjustment is determined, and the adjusted electromagnetic force is applied when the rotor rotates to the corresponding position, so that the rotor of the effective angle torque motor can obtain accurate electromagnetic force correction. In addition, based on the accuracy of the change of the rotation position of the rotor over time after the rotor stepping action adjustment, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition (that is, the distribution change of the output torque magnitude of the limited angle torque motor over time is consistent with the preset torque magnitude time domain distribution), so as to improve the operation reliability and accuracy of the limited angle torque motor.

[0090] In another embodiment, a range is set for changing a single maximum adjustment amplitude of an increase value or a decrease value of the electromagnetic force currently applied to the rotor, including:

[0091] Extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position;

[0092] Retrieve the proportional gain coefficient corresponding to the torque adjustment;

[0093] Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment;

[0094] The first adjustment factor is obtained by the following formula:

[0095]

[0096] Among them, S 01 represents the first adjustment factor; w c represents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation;

[0097] Retrieve current electromagnetic force and expected electromagnetic force;

[0098] Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment;

[0099] The second adjustment factor is obtained by the following formula:

[0100]

[0101] Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor;

[0102] The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula:

[0103] G=min[(1+S 01 )·G0,(1+S 02 )·G0]

[0104] Where G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

[0105] The beneficial effect of the above embodiment is that by extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position, and calculating the first adjustment factor in combination with the preset deviation angle reference value, the rotor position deviation can be accurately quantified. This helps to make more precise adjustments according to the actual state of the rotor. The proportional gain coefficient (K) corresponding to the torque adjustment is introduced. p ), so that the adjustment process can be adjusted in real time according to the dynamic changes of the rotor. This dynamic adjustment mechanism can respond to the position or torque changes of the rotor more quickly, thereby improving the stability and response speed of the system. By comparing the current electromagnetic force and the expected electromagnetic force to calculate the second adjustment factor, the influence of the electromagnetic force can be comprehensively considered. This helps to ensure that the changes in the electromagnetic force match the actual needs of the rotor during the adjustment process, avoiding over-adjustment or under-adjustment. The single maximum adjustment amplitude is set in combination with the first adjustment factor and the second adjustment factor, making the adjustment process more flexible and controllable. This setting method can automatically adjust the adjustment amplitude according to different working conditions and adjustment requirements to achieve the best adjustment effect. This technical solution realizes precise control and flexible adjustment of the rotor electromagnetic force adjustment by comprehensively considering the rotor's position deviation, torque adjustment requirements and changes in electromagnetic force. This comprehensive adjustment strategy helps to improve the robustness of the system, enabling it to better adapt to various complex working conditions and changes.

[0106] In summary, this technical solution achieves precise control and flexible adjustment of the rotor electromagnetic force by accurately quantifying the rotor position deviation and the change of electromagnetic force, combined with a dynamic adjustment mechanism. This helps to improve the stability and response speed of the system, and enhance the robustness of the system, thereby meeting various complex working conditions and adjustment requirements.

[0107] See also Figure 2 As shown, a torque precision output control system of a limited angle torque motor provided by an embodiment of the present application. The torque precision output control system of the limited angle torque motor includes:

[0108] An output torque acquisition and analysis module is used to acquire output torque data of the limited angle torque motor, analyze the output torque data, and obtain an actual torque output curve of the limited angle torque motor;

[0109] A torque output instability identification module, used for determining a torque output instability interval of the limited-angle torque motor based on the actual torque output curve;

[0110] An abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited-angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval;

[0111] A rotor motion adjustment module, used for adjusting the rotor stepping motion of the effective angle torque motor based on the information related to the abnormal torque motion;

[0112] The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the rotor position change information after the rotor stepping motion adjustment, until the output torque of the limited angle torque motor meets the corresponding accuracy condition.

[0113] The beneficial effects of the above embodiments are as follows: the torque accuracy output control system of the limited angle torque motor collects and analyzes the output torque data of the limited angle torque motor to obtain the actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor, and accurately identifying the torque output fluctuation distribution of the limited angle torque motor within an operating cycle; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval, and the rotor action factors that cause torque output fluctuations inside the limited angle torque motor are identified and screened; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor.

[0114] In another embodiment, the output torque acquisition and analysis module is used to acquire output torque data of the limited angle torque motor, analyze the output torque data, and obtain an actual torque output curve of the limited angle torque motor, including:

[0115] Based on the time information of the limited angle torque motor completing a complete angle swing cycle, the output torque collection frequency of the limited angle torque motor is determined, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; error correction processing and continuous fitting processing are performed on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor;

[0116] The torque output instability identification module is used to determine the torque output instability interval of the limited-angle torque motor based on the actual torque output curve, including:

[0117] The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output unstable interval of the limited angle torque motor.

[0118] The beneficial effect of the above embodiment is that the limited angle torque motor will rotate within a limited angle range and output torque outward during operation, and the rotation of the limited angle torque motor within the limited angle range is periodic. In order to fully and comprehensively collect torque data on the torque output of the limited angle torque motor, the output torque collection frequency of the limited angle torque motor is determined based on the time information of the limited angle torque motor completing a complete angle swing cycle, wherein the longer the time length to complete a complete angle swing cycle, the greater the corresponding output torque collection frequency, thereby collecting enough output torque data to the maximum extent within a complete angle swing cycle. And the output torque data corresponding to all the complete angle swing cycles collected are processed by data error correction and data difference continuous fitting, so as to obtain the actual torque output curve of the limited angle torque motor, thereby continuously representing the actual torque output state of the limited angle torque motor. In addition, the actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor in the time domain, and the time domain change information of the actual torque output drift of the limited angle torque motor is determined. The actual torque output drift time domain change information includes the change information of the up and down fluctuation rate of the actual output torque of the limited angle torque motor compared with the ideal output torque over time, and the time interval corresponding to the up and down fluctuation rate exceeding the preset fluctuation rate threshold is determined as the torque output unstable interval of the limited angle torque motor, which provides a reference for the subsequent torque precision output control of the limited angle torque motor.

[0119] In another embodiment, the abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval, including:

[0120] Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data to obtain force-angle output time correlation data;

[0121] Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

[0122] The beneficial effect of the above embodiment is that the force output data and the angle output data of the limited angle torque motor in the corresponding period are collected in a directional manner based on the unstable torque output interval, and the force output data and the angle output data are processed in the time domain to obtain the force-angle output time correlation data, so that the correlation between the force output and the angle output in the unstable torque output interval can be fully characterized at the time level, which is convenient for the subsequent inversion of the torque output process of the limited angle torque motor and provides sufficient data. In addition, based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the unstable torque output interval, so as to accurately determine the action position information corresponding to the force size drift during the unstable torque output interval and the action position information corresponding to the angle size drift during the unstable torque output period, so as to identify and select the rotor action factors that cause torque output fluctuations inside the limited angle torque motor, so as to facilitate the subsequent targeted adjustment of the rotor action of the limited angle torque motor.

[0123] In another embodiment, the rotor motion adjustment module is used to adjust the rotor stepping motion of the effective angle torque motor based on the abnormal torque motion related information, including:

[0124] Based on the information related to the abnormal torque action including the action position information of the force magnitude drift and the angle magnitude drift corresponding to the torque output unstable interval, determining the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor;

[0125] The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the position change information of the rotor after the rotor stepping motion adjustment, until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including:

[0126] Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

[0127] The beneficial effect of the above embodiment is that the rotor of the limited angle torque motor performs a stepping rotation action process to form a torque output. For this purpose, based on the information related to the abnormal torque action including the corresponding action position information of the force magnitude drift and the angle magnitude drift during the unstable interval of the torque output, the electromagnetic force applied to the effective angle torque motor for the rotor stepping action adjustment is determined, and the adjusted electromagnetic force is applied when the rotor rotates to the corresponding position, so that the rotor of the effective angle torque motor can obtain accurate electromagnetic force correction. In addition, based on the accuracy of the change of the rotation position of the rotor over time after the rotor stepping action adjustment, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition (that is, the distribution change of the output torque magnitude of the limited angle torque motor over time is consistent with the preset torque magnitude time domain distribution), so as to improve the operation reliability and accuracy of the limited angle torque motor.

[0128] In another embodiment, a range is set for changing a single maximum adjustment amplitude of an increase value or a decrease value of the electromagnetic force currently applied to the rotor, including:

[0129] Extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position;

[0130] Retrieve the proportional gain coefficient corresponding to the torque adjustment;

[0131] Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment;

[0132] The first adjustment factor is obtained by the following formula:

[0133]

[0134] Among them, S 01 represents the first adjustment factor; w c represents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation;

[0135] Retrieve current electromagnetic force and expected electromagnetic force;

[0136] Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment;

[0137] The second adjustment factor is obtained by the following formula:

[0138]

[0139] Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor;

[0140] The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula:

[0141] G=min[(1+S 01 )·G0,(1+S 02 )·G0]

[0142] Where G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

[0143] The beneficial effect of the above embodiment is that by extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position, and calculating the first adjustment factor in combination with the preset deviation angle reference value, the rotor position deviation can be accurately quantified. This helps to make more precise adjustments according to the actual state of the rotor. The proportional gain coefficient (K) corresponding to the torque adjustment is introduced. p ), so that the adjustment process can be adjusted in real time according to the dynamic changes of the rotor. This dynamic adjustment mechanism can respond to the position or torque changes of the rotor more quickly, thereby improving the stability and response speed of the system. By comparing the current electromagnetic force and the expected electromagnetic force to calculate the second adjustment factor, the influence of the electromagnetic force can be comprehensively considered. This helps to ensure that the changes in the electromagnetic force match the actual needs of the rotor during the adjustment process, avoiding over-adjustment or under-adjustment. The single maximum adjustment amplitude is set in combination with the first adjustment factor and the second adjustment factor, making the adjustment process more flexible and controllable. This setting method can automatically adjust the adjustment amplitude according to different working conditions and adjustment requirements to achieve the best adjustment effect. This technical solution realizes precise control and flexible adjustment of the rotor electromagnetic force adjustment by comprehensively considering the rotor's position deviation, torque adjustment requirements and changes in electromagnetic force. This comprehensive adjustment strategy helps to improve the robustness of the system, enabling it to better adapt to various complex working conditions and changes.

[0144] In summary, this technical solution achieves precise control and flexible adjustment of the rotor electromagnetic force by accurately quantifying the rotor position deviation and the change of electromagnetic force, combined with a dynamic adjustment mechanism. This helps to improve the stability and response speed of the system, and enhance the robustness of the system, thereby meeting various complex working conditions and adjustment requirements.

[0145] In general, the torque accuracy output control method and system of the limited angle torque motor collects and analyzes the output torque data of the limited angle torque motor to obtain the actual torque output curve, thereby determining the torque output instability interval of the limited angle torque motor and accurately identifying the torque output fluctuation distribution of the limited angle torque motor within an operating cycle; based on the torque output instability interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output instability interval, and the rotor action factors that cause torque output fluctuations in the limited angle torque motor are identified and screened; based on the abnormal torque action related information, the effective angle torque motor is adjusted in rotor stepping action, and based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions, thereby improving the operation reliability and accuracy of the limited angle torque motor.

[0146] The above is only a specific implementation of the present invention, and any other improvements made based on the concept of the present invention are considered to be within the protection scope of the present invention.

Claims

1. A torque accuracy output control method for a limited angle torque motor, characterized in that: include: Collecting output torque data of the limited angle torque motor, analyzing the output torque data to obtain an actual torque output curve of the limited angle torque motor; and determining an unstable torque output interval of the limited angle torque motor based on the actual torque output curve; Based on the torque output unstable interval, inverse processing is performed on the torque output process of the limited angle torque motor to obtain information related to abnormal torque action corresponding to the torque output unstable interval; Based on the information related to the abnormal torque action, the rotor stepping action of the effective angle torque motor is adjusted; based on the position change information of the rotor after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy conditions.

2. The torque accuracy output control method of a limited angle torque motor according to claim 1, characterized in that: Collecting output torque data of the limited angle torque motor, analyzing the output torque data, and obtaining an actual torque output curve of the limited angle torque motor; Determining the torque output unstable interval of the limited angle torque motor based on the actual torque output curve includes: Based on the time information of the limited angle torque motor completing a complete angle swing cycle, determine the output torque collection frequency of the limited angle torque motor, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; perform error correction processing and continuous fitting processing on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor; The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output instability interval of the limited angle torque motor.

3. The torque precision output control method of a limited angle torque motor according to claim 1, characterized in that: Based on the torque output unstable interval, the torque output process of the limited angle torque motor is inverted to obtain abnormal torque action related information corresponding to the torque output unstable interval, including: Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data, and obtaining force-angle output time correlation data; Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

4. The torque precision output control method of a limited angle torque motor according to claim 1, characterized in that: Based on the abnormal torque action related information, the effective angle torque motor is adjusted by a rotor stepping action; based on the rotor position change information after the rotor stepping action adjustment, the parameters of the rotor stepping action adjustment are changed until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including: Determine the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor based on the action position information of the force magnitude drift and the angle magnitude drift during the torque output unstable interval included in the abnormal torque action related information; Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

5. The torque precision output control method of a limited angle torque motor according to claim 4, characterized in that: The range setting is for changing the single maximum adjustment amplitude of the increase or decrease value of the electromagnetic force currently applied to the rotor, including: Extracting the deviation angle between the actual rotation position of the rotor and the expected rotation position; Retrieve the proportional gain coefficient corresponding to the torque adjustment; Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment; The first adjustment factor is obtained by the following formula: Among them, S 01 represents the first adjustment factor; w c represents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation; Retrieve current electromagnetic force and expected electromagnetic force; Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment; The second adjustment factor is obtained by the following formula: Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor; The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula: G=min[(1+S 01 )·G0,(1+S 02 )·G0] Wherein, G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

6. A torque precision output control system for a limited angle torque motor, characterized in that: include: An output torque acquisition and analysis module, used for acquiring output torque data of the limited angle torque motor, analyzing the output torque data, and obtaining an actual torque output curve of the limited angle torque motor; A torque output instability identification module, used for determining a torque output instability interval of the limited-angle torque motor based on the actual torque output curve; An abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval; A rotor motion adjustment module, configured to adjust the rotor stepping motion of the effective angle torque motor based on the abnormal torque motion related information; The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the rotor position change information after the rotor stepping motion adjustment, until the output torque of the limited angle torque motor meets the corresponding accuracy condition.

7. The torque accuracy output control system of the limited angle torque motor according to claim 6, characterized in that: The output torque acquisition and analysis module is used to acquire the output torque data of the limited angle torque motor, analyze the output torque data, and obtain the actual torque output curve of the limited angle torque motor, including: Based on the time information of the limited angle torque motor completing a complete angle swing cycle, determine the output torque collection frequency of the limited angle torque motor, so as to collect the output torque data corresponding to each of several complete angle swing cycles of the limited angle torque motor; perform error correction processing and continuous fitting processing on the output torque data corresponding to all complete angle swing cycles to obtain the actual torque output curve of the limited angle torque motor; The torque output instability identification module is used to determine the torque output instability interval of the limited angle torque motor based on the actual torque output curve, including: The actual torque output curve is compared with the ideal torque output curve corresponding to the current load of the limited angle torque motor and the actual torque output curve in time domain to determine the time domain change information of the actual torque output drift of the limited angle torque motor, so as to determine the torque output instability interval of the limited angle torque motor.

8. The torque precision output control system of the limited angle torque motor according to claim 6, characterized in that: The abnormal torque action identification module is used to perform inversion processing on the torque output process of the limited angle torque motor based on the torque output unstable interval to obtain abnormal torque action related information corresponding to the torque output unstable interval, including: Obtaining force output data and angle output data corresponding to the torque output unstable interval of the limited angle torque motor, performing time domain correlation processing on the force output data and the angle output data, and obtaining force-angle output time correlation data; Based on the force-angle output time correlation data, the torque output process of the limited angle torque motor is inverted to obtain the abnormal action force related information and abnormal action angle related information corresponding to the torque output unstable interval; wherein, the abnormal action force related information includes the action position information corresponding to the force size drift during the torque output unstable interval; the abnormal action angle related information includes the action position information corresponding to the angle size drift during the torque output unstable period.

9. The torque precision output control system of the limited angle torque motor according to claim 6, characterized in that: The rotor motion adjustment module is used to adjust the rotor stepping motion of the effective angle torque motor based on the abnormal torque motion related information, including: Determine the electromagnetic force applied to adjust the rotor stepping action of the effective angle torque motor based on the action position information of the force magnitude drift and the angle magnitude drift during the torque output unstable interval included in the abnormal torque action related information; The rotor motion parameter changing module is used to change the parameters of the rotor stepping motion adjustment based on the position change information of the rotor after the rotor stepping motion adjustment until the output torque of the limited angle torque motor meets the corresponding accuracy condition, including: Based on the accuracy of the change of the rotational position of the rotor over time after the rotor stepping action is adjusted, it is judged whether the rotor is in a normal stepping action state; if so, the electromagnetic force currently applied to the rotor is kept unchanged; if not, the increase value or decrease value of the electromagnetic force currently applied to the rotor is changed until the output torque of the limited angle torque motor meets the corresponding time-varying accuracy condition.

10. The torque accuracy output control system of the limited angle torque motor according to claim 6, characterized in that: The range setting is for changing the single maximum adjustment amplitude of the increase or decrease value of the electromagnetic force currently applied to the rotor, including: Extract the deviation angle between the actual rotation position of the rotor and the expected rotation position; call the proportional gain coefficient corresponding to the torque adjustment; Obtaining a first adjustment factor by using a deviation angle between the actual rotation position of the rotor and the desired rotation position and a proportional gain coefficient corresponding to the torque adjustment; The first adjustment factor is obtained by the following formula: Among them, S 01 represents the first adjustment factor; w c represents the deviation angle between the actual rotation position of the rotor and the expected rotation position; w s Indicates the preset deviation angle reference value; K p Indicates the proportional gain coefficient corresponding to the torque regulation; Retrieve current electromagnetic force and expected electromagnetic force; Obtaining a second adjustment factor according to the current electromagnetic force and the expected electromagnetic force combined with a proportional gain coefficient corresponding to the torque adjustment; The second adjustment factor is obtained by the following formula: Among them, S 02 represents the second regulatory factor; F c Indicates the current electromagnetic force; F s represents the expected electromagnetic force; K p Indicates the proportional gain coefficient corresponding to torque regulation; S 01 represents the first adjustment factor; The first adjustment factor and the second adjustment factor are used to set a single maximum adjustment amplitude, wherein the single maximum adjustment amplitude is obtained by the following formula: G=min[(1+S 01 )·G0,(1+S 02 )·G0] Where G represents the maximum single adjustment range; G0 represents the preset initial single adjustment range; S 01 represents the first regulatory factor; S 02 Represents the second adjustment factor.

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