A servo motor rotor anti-collision control method and related equipment

Abstract

The present invention discloses a servo motor rotor anti-collision control method and related equipment. The control method includes: obtaining the rotor operating parameters of the servo motor system and constructing a servo motor system simulation model in a control unit; performing simulation to obtain real-time simulated torque data; monitoring the real-time operating status of the servo motor system and obtaining real-time monitored torque data; presetting a safety error threshold, and judging whether there is an obstacle in front of the servo motor system's rotor based on the safety error threshold and the error value between the real-time simulated torque data and the real-time monitored torque data. If an obstacle is determined to be present, the servo motor system's rotor is controlled to stop operating. The present invention sets a servo motor system simulation model, calculates and generates rotor position information based on current loop position information, and compares the simulated position with the actual position. This eliminates the need for additional sensors, reduces equipment size, reduces production costs, and effectively improves product competitiveness.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor rotor anti-collision, and in particular to a servo motor rotor anti-collision control method and related equipment. Background Art

[0002] In industrial production applications, a large number of servo motors are required due to production needs. These servo motors usually need to be monitored in real time during operation to ensure their normal operation. In some application scenarios that require anti-collision, the operating posture of the servo motor needs to be further monitored, especially to determine whether there is a collision risk with the rotor inside the servo motor. In common monitoring processes, pressure sensors or visual inspections are usually used to monitor possible collisions with the rotor inside the servo motor. The main monitoring locations are the end and protected end of the servo motor machinery to protect the safety of operators and protect production products and production machinery from damage.

[0003] At present, with the increasing pressure of industry competition and the emergence of cost issues, the demand for cost reduction of mechanical equipment is becoming more and more prominent. The traditional monitoring method of setting up sensors is costly and requires a certain sensing space, which is not in line with the current trend of reducing costs and improving monitoring efficiency. Summary of the Invention

[0004] The purpose of the present invention is to overcome the shortcomings of the existing technology. The present invention provides a servo motor rotor anti-collision control method and related equipment. By setting a servo motor system simulation model, the rotor position information is calculated based on the current loop position information, and the simulated position is compared with the actual position. There is no need to set up additional sensors, which reduces the equipment volume, reduces production costs, and effectively improves product competitiveness.

[0005] The present invention provides a servo motor rotor anti-collision control method, which is applied to a servo motor rotor anti-collision control device. The servo motor rotor anti-collision control device includes a control unit, a monitoring unit, and a servo motor system. The control unit has a built-in servo motor system simulation model.

[0006] The control method includes:

[0007] Acquiring rotor operating parameters of the servo motor system, and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system;

[0008] Perform simulation based on the servo motor system simulation model to obtain real-time simulation torque data;

[0009] Monitoring the real-time operating state of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data;

[0010] A safety error threshold is preset, and based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data, it is judged whether there is an obstacle in front of the rotor of the servo motor system; if it is judged that there is an obstacle, the rotor of the servo motor system is controlled to stop running.

[0011] Furthermore, the servo motor system includes a servo motor, a PI controller, a first-order low-pass filter, a tachometer, a first signal modulator, and a second signal modulator, and the servo motor includes a servo motor body, a current loop, and an encoder;

[0012] The output end of the first signal modulator is connected to the input end of the PI controller, the output end of the PI controller is connected to the input end of the first-order low-pass filter, the output end of the first-order low-pass filter is connected to the input end of the second signal modulator, the output end of the second signal modulator is connected to the input end of the current loop, the servo motor body is respectively connected to the output end of the current loop and the input end of the encoder, the output end of the encoder is connected to the input end of the tachometer, and the output end of the tachometer is connected to the input end of the first signal modulator.

[0013] Furthermore, the obtaining of the rotor operating parameters of the servo motor system and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system includes:

[0014] Obtaining a speed loop gain, a speed loop integral constant, a torque setting filter time constant, a speed measurement filter time constant, and a load variable ratio of the servo motor system;

[0015] Build a blank servo motor system simulation model;

[0016] The speed loop gain, speed loop integral constant, torque setting filter time constant, speed measurement filter time constant, and load variable ratio are substituted into the blank servo motor system simulation model to obtain the servo motor system simulation model.

[0017] Furthermore, the construction of a blank servo motor system simulation model includes:

[0018] The blank servo motor system simulation model includes a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator. The virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder.

[0019] The output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator.

[0020] Furthermore, the performing simulation based on the servo motor system simulation model to obtain real-time simulation torque data includes:

[0021] The simulated first signal modulator modulates the simulated control signal and transmits the modulated simulated control signal to the simulated PI controller;

[0022] The simulated PI controller processes the modulated simulated control signal, outputs a simulated PI control signal, and transmits the simulated PI control signal to the simulated current loop after filtering by the simulated first-order low-pass filter;

[0023] The simulated current loop responds to the signal and outputs a simulated encoded signal to the simulated tachometer via the simulated encoder;

[0024] The simulation tachometer performs torque integration on the simulation coded signal to obtain a speed feedback value of the rotor in the simulation model of the servo motor system;

[0025] Performing speed feedback integration on a speed feedback value of a rotor in the servo motor system simulation model to obtain a position parameter of the rotor in the servo motor system simulation model;

[0026] The position parameters of the rotor in the servo motor system simulation model are used as the input of the simulated first signal modulator, and then processed by the simulated PI controller and the simulated first-order low-pass filter to output real-time simulated torque data.

[0027] Furthermore, the monitoring of the real-time operating status of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data includes:

[0028] A position parameter of a rotor in the servo motor system is obtained based on the monitoring unit.

[0029] Furthermore, the preset safety error threshold, and judging whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data, include:

[0030] Preset torque error threshold;

[0031] Calculating an actual torque error value between a position parameter of a rotor in the servo motor system simulation model and a position parameter of a rotor in the servo motor system;

[0032] The torque error threshold is compared with the actual torque error value to determine whether there is an obstacle in front of the rotor of the servo motor system. If the actual torque error value is greater than the torque error threshold, it is determined that there is an obstacle and the rotor of the servo motor system is controlled to stop running.

[0033] The present invention also provides a servo motor rotor anti-collision control system, which is used to implement the above-mentioned servo motor rotor anti-collision control method. The control system includes:

[0034] a model building module, the model building module being configured to obtain rotor operating parameters of the servo motor system and to build a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system;

[0035] A simulation module, configured to perform simulation based on the servo motor system simulation model to obtain real-time simulation torque data;

[0036] A real-time monitoring module, configured to monitor the real-time operating status of the servo motor system based on the monitoring unit and obtain real-time monitoring torque data;

[0037] A safety judgment module is used to preset a safety error threshold, and judge whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data. If it is determined that there is an obstacle, the rotor of the servo motor system is controlled to stop running.

[0038] The present invention also provides an electronic device, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the above-mentioned servo motor rotor anti-collision control method.

[0039] The present invention also provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the servo motor rotor anti-collision control method described above is implemented.

[0040] The present invention provides a servo motor rotor anti-collision control method and related equipment. By setting a simulation model of a servo motor system, simulation is performed under the same scheduling framework as the actual servo motor system to obtain real-time simulation torque data. The error value between the real-time simulation torque data and the real-time monitoring torque data is compared with a preset safety error threshold to judge whether there is an obstacle in front of the rotor in the servo motor system and whether there is a collision risk. No additional sensors need to be set, the equipment volume is reduced, the production cost is reduced, and the product competitiveness is effectively improved. In the simulation, the current loop is used as the torque data integral response method, which has a fast response speed and high monitoring accuracy, reducing the error between the simulation and the actual operation. The speed loop gain is applied based on the tachometer to further improve the accuracy of the rotor position information obtained by the simulation. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] 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 description of the prior art. 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 paying any creative work.

[0042] Figure 1 Schematic diagram of the servo motor rotor anti-collision control device in Embodiment 1 of the present invention;

[0043] Figure 2 This is a flow chart of the servo motor rotor anti-collision control method in the first embodiment of the present invention;

[0044] Figure 3 This is a flowchart of constructing a servo motor system simulation model in the first embodiment of the present invention;

[0045] Figure 4 This is a flow chart of obtaining real-time simulated torque data by simulation based on a servo motor system simulation model in the first embodiment of the present invention;

[0046] Figure 5 This is a flowchart for determining whether a rotor of a servo motor system has a collision risk in the first embodiment of the present invention;

[0047] Figure 6 This is an architecture diagram of the servo motor rotor anti-collision control system in the second embodiment of the present invention. DETAILED DESCRIPTION

[0048] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making any creative efforts shall fall within the scope of protection of the present invention.

[0049] In the present invention, it should be understood that terms such as "include" or "have" are intended to indicate the presence of features, numbers, steps, behaviors, components, parts or their combinations disclosed in this specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, behaviors, components, parts or their combinations exist or are added.

[0050] It should also be noted that, in the absence of conflict, the embodiments and features of the embodiments of the present invention can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0051] Example 1

[0052] A first embodiment of the present invention provides a servo motor rotor anti-collision control method, which is applied to a servo motor rotor anti-collision control device. The servo motor rotor anti-collision control device includes a control unit, a monitoring unit, and a servo motor system. The control unit has a built-in servo motor system simulation model.

[0053] The control method includes: obtaining rotor operating parameters of the servo motor system, and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system; performing simulation based on the servo motor system simulation model to obtain real-time simulation torque data; monitoring the real-time operating status of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data; presetting a safety error threshold, and judging whether there is an obstacle in front of the rotor of the servo motor system based on the safety error threshold and the error value between the real-time simulation torque data and the real-time monitoring torque data; if it is judged that there is an obstacle, controlling the rotor of the servo motor system to stop running.

[0054] In an optional implementation of this embodiment, as Figure 1 As shown, Figure 1 A schematic diagram of a servo motor rotor anti-collision control device in a first embodiment of the present invention is shown. The servo motor rotor anti-collision control device includes a control unit, a monitoring unit, and a servo motor system. The control unit has a built-in servo motor system simulation model.

[0055] Specifically, the control unit is used to control the monitoring unit to collect the operating status information of the servo motor system, and to simulate the servo motor system simulation model to obtain real-time simulation torque data, and compare the error value between the real-time simulation torque data and the real-time monitoring torque data with a preset safety error threshold to determine whether there is an obstacle in front of the rotor of the servo motor system.

[0056] Furthermore, the monitoring unit is used to monitor the operating status of the servo motor system in real time and collect real-time monitoring torque data.

[0057] In an optional implementation of this embodiment, the servo motor system includes a servo motor, a PI controller, a first-order low-pass filter, a tachometer, a first signal modulator, and a second signal modulator. The servo motor includes a servo motor body, a current loop, and an encoder, wherein:

[0058] The output end of the first signal modulator is connected to the input end of the PI controller, the output end of the PI controller is connected to the input end of the first-order low-pass filter, the output end of the first-order low-pass filter is connected to the input end of the second signal modulator, the output end of the second signal modulator is connected to the input end of the current loop, the servo motor body is respectively connected to the output end of the current loop and the input end of the encoder, the output end of the encoder is connected to the input end of the tachometer, and the output end of the tachometer is connected to the input end of the first signal modulator.

[0059] In an optional implementation of this embodiment, the control unit has a built-in blank servo motor system simulation model, including a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator. The virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder, wherein;

[0060] The output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator.

[0061] It should be noted that the servo motor rotor anti-collision control device in this embodiment includes two sets of servo control programs, one of which is the actual servo motor control program, that is, the above-mentioned servo motor system, and the other is an ideal simulation model, that is, the above-mentioned servo motor system simulation model built into the control unit. The two sets of servo control programs run simultaneously under the same scheduling framework.

[0062] In an optional implementation of this embodiment, as Figure 1 As shown, the control unit of the servo motor rotor anti-collision control device also includes a simulated third signal modulator, and the input end of the simulated third signal modulator is connected to the input end of the current loop and the input end of the simulated current loop, that is, real-time simulated torque data and real-time monitored torque data are input, and the error value between the two is output.

[0063] In an optional implementation of this embodiment, as Figure 2 As shown, Figure 2 The flowchart of the servo motor rotor anti-collision control method in the first embodiment of the present invention is shown, which includes the following steps:

[0064] S201, obtaining rotor operating parameters of the servo motor system, and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system;

[0065] In an optional implementation of this embodiment, as Figure 3 As shown, Figure 3 The flowchart of constructing a servo motor system simulation model in the first embodiment of the present invention is shown, including the following steps:

[0066] S301, obtaining a speed loop gain, a speed loop integral constant, a torque setting filter time constant, a speed measurement filter time constant, and a load variable ratio of the servo motor system;

[0067] In an optional implementation of this embodiment, the parameters that need to be input into the servo motor system simulation model include speed loop gain Kspd, speed loop integral constant Tspd, torque given filter time constant Ttrq, speed measurement filter time constant Tsfb, and load variable ratio Js.

[0068] It should be noted that the five parameters input into the servo motor system simulation model are consistent with the values ​​of the actual servo motor system.

[0069] S302, constructing a blank servo motor system simulation model;

[0070] In an optional implementation of this embodiment, a blank servo motor system simulation model is constructed, wherein the blank servo motor system simulation model includes a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator, and the virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder;

[0071] The output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator.

[0072] S303 , substituting the speed loop gain, speed loop integral constant, torque setting filter time constant, speed measurement filter time constant, and load variable ratio into the blank servo motor system simulation model to obtain the servo motor system simulation model.

[0073] In an optional implementation of this embodiment, the speed loop gain, speed loop integral constant, torque given filter time constant, speed measurement filter time constant, and load variable ratio obtained in step S301 are substituted into the blank servo motor system simulation model to obtain a servo motor system simulation model that is basically similar to the actual servo motor system and can operate under a unified scheduling framework.

[0074] S202, performing simulation based on the servo motor system simulation model to obtain real-time simulation torque data;

[0075] In an optional implementation of this embodiment, as Figure 4 As shown, Figure 4 A flowchart of performing simulation based on a servo motor system simulation model to obtain real-time simulated torque data in the first embodiment of the present invention is shown, including the following steps:

[0076] S401, the simulated first signal modulator modulates the simulated control signal, and transmits the modulated simulated control signal to the simulated PI controller;

[0077] In an optional implementation of this embodiment, the simulation control signal Spd_cmd is input to the simulation first signal modulator, and the simulation first signal modulator modulates the simulation control signal Spd_cmd and outputs the modulated simulation control signal Spd_err_s to the simulation PI controller.

[0078] S402, the simulated PI controller processes the modulated simulated control signal, outputs a simulated PI control signal, filters the signal through the simulated first-order low-pass filter, and then transmits the signal to the simulated current loop;

[0079] In an optional implementation of this embodiment, the simulated PI controller processes the modulated simulated control signal, outputs the simulated PI control signal Trq_cmd_s0 to the simulated first-order low-pass filter, and after filtering, generates the filtered simulated PI control signal Trq_cmd_s1 to the simulated current loop of the virtual servo motor.

[0080] S403, the simulated current loop responds to the signal and outputs a simulated coded signal to the simulated tachometer through the simulated encoder;

[0081] In an optional implementation of this embodiment, the simulated current loop responds to the simulated PI control signal Trq_cmd_s1 after filtering, passes through the virtual servo motor body, and outputs a simulated encoding signal to the simulated tachometer through the simulated encoder.

[0082] Specifically, a simulated current loop is used here to respond to the simulated PI control signal. Its response speed is very fast and can be considered as a direct pass, and its delay can be ignored.

[0083] S404, the simulation tachometer performs torque integration on the simulation coded signal to obtain a speed feedback value of the rotor in the servo motor system simulation model;

[0084] In an optional implementation of this embodiment, the simulation tachometer is equipped with a built-in speed loop, and a torque reference integral operation is performed on the filtered simulation PI control signal Trq_cmd_s1 to obtain a speed feedback value Spdmot of the rotor in the servo motor system simulation model. The calculation formula includes:

[0085] Spdmot=∫Trq_cmd_s1

[0086] Where Spdmot is the speed feedback value, and Trq_cmd_s1 is the simulated PI control signal after filtering.

[0087] S405, performing speed feedback integration on the speed feedback value of the rotor in the servo motor system simulation model to obtain position parameters of the rotor in the servo motor system simulation model;

[0088] In an optional implementation of this embodiment, after performing speed feedback integration on the speed feedback value Spdmot of the rotor in the servo motor system simulation model, the position parameter Pos of the rotor in the servo motor system simulation model is obtained, and the calculation formula includes:

[0089] Pos=∫Spdmot

[0090] Where Pos is the position parameter and Spdmot is the speed feedback value.

[0091] S406 , using the position parameter of the rotor in the servo motor system simulation model as the input of the simulated first signal modulator, and then processing it through the simulated PI controller and the simulated first-order low-pass filter to output real-time simulated torque data.

[0092] In an optional implementation of this embodiment, the position parameter Pos of the rotor in the servo motor system simulation model is used as the input of the simulated first signal modulator, and then processed by the simulated PI controller and the simulated first-order low-pass filter to output real-time simulated torque data.

[0093] Specifically, a three-loop control system is adopted here, namely the current loop, the speed loop and the position loop. First, the current loop feedback is adopted. After the torque speed integral is given, it is output to the speed loop. The speed loop setting is adopted and compared with the speed feedback value. That is, after the speed feedback integral is performed, it is used as a PI adjustment parameter and re-input into the simulation first signal modulator, and then input into the input end of the simulation PI controller for PI adjustment (actually PID adjustment, that is, proportional adjustment, integral adjustment, and differential adjustment, mainly proportional adjustment and integral adjustment here, that is, PI adjustment). After that, the setting of the position loop is output, which is the real-time simulation torque data Trq_cmd_s1′ of the torque of the rotor in the simulation servo motor system.

[0094] S203, monitoring the real-time operating state of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data;

[0095] In an optional implementation of this embodiment, position parameters of a rotor in the servo motor system are acquired based on the monitoring unit.

[0096] Specifically, the operating state of the servo motor system is similar to that of the simulated servo motor system, and both are implemented under the same scheduling framework. Specifically, the control signal Spd_cmd is input into the first signal modulator, and the modulated output signal Spd_err is sent to the PI controller, and the PI control signal Trq_cmd0 is output to the first-order low-pass filter, and the filtered signal Trq_cmd1 is output to the second signal modulator. With T1 as the modulation reference value, the output signal Trq_cmd2 is sent to the current loop of the servo motor, through the servo motor body and the encoder to the tachometer, and again through the torque integration of the speed loop to obtain the speed feedback value, and through the speed feedback integration to obtain the position parameters of the rotor in the servo motor system, and then re-input into the first signal modulator as the PI adjustment parameter, and the setting of the output position loop is the real-time monitoring torque data Trq_cmd_2′ of the torque of the rotor in the servo motor system.

[0097] S204. Preset a safety error threshold, and determine whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data. If it is determined that there is an obstacle, control the rotor of the servo motor system to stop running.

[0098] In an optional implementation of this embodiment, as Figure 5 As shown, Figure 5 A flowchart of determining whether a rotor of a servo motor system has a collision risk in a first embodiment of the present invention is shown, including the following steps:

[0099] S501, preset torque error threshold;

[0100] In an optional implementation of this embodiment, the torque error threshold is preset based on actual experience and needs.

[0101] S502, calculating an actual torque error value between a position parameter of a rotor in the servo motor system simulation model and a position parameter of a rotor in the servo motor system;

[0102] In an optional implementation of this embodiment, the actual torque error value between the real-time simulated torque data of the rotor in the servo motor system simulation model and the real-time monitored torque data of the rotor in the servo motor system is calculated, and the calculation formula includes:

[0103]

[0104] Where TI err is the actual torque error value.

[0105] S503, comparing the torque error threshold with the actual torque error value to determine whether there is an obstacle in front of the rotor of the servo motor system;

[0106] In an optional implementation of this embodiment, the preset torque error threshold is compared with the actual torque error value TI err Comparison is made to determine whether there is an obstacle in front of the rotor of the servo motor system.

[0107] S504, controlling the rotor of the servo motor system to stop running;

[0108] In an optional implementation of this embodiment, if the actual torque error value is greater than the torque error threshold, it is determined that an obstacle exists, and the rotor of the servo motor system is controlled to stop running.

[0109] S505: No control operation is performed on the rotor of the servo motor system.

[0110] In an optional implementation of this embodiment, if the actual torque error value is not greater than the torque error threshold, it is determined that no obstacle exists, and no control operation is performed on the rotor of the servo motor system.

[0111] In summary, embodiment 1 of the present invention provides a servo motor rotor anti-collision control method, which sets a simulation model of a servo motor system, performs simulation under the same scheduling framework as the actual servo motor system, obtains real-time simulation torque data, compares the error value between the real-time simulation torque data and the real-time monitoring torque data with a preset safety error threshold, and judges whether there is an obstacle in front of the rotor in the servo motor system and whether there is a collision risk. There is no need to set up additional sensors, which reduces the equipment size, reduces production costs, and effectively improves product competitiveness. In the simulation, the current loop is used as the torque data integral response method, which has a fast response speed and high monitoring accuracy, reducing the error between the simulation and the actual operation. The speed loop gain is applied based on the tachometer to further improve the accuracy of the rotor position information obtained by the simulation.

[0112] Example 2

[0113] Embodiment 2 of the present invention provides a servo motor rotor anti-collision control system, which is used to implement the servo motor rotor anti-collision control method in embodiment 1. The control system includes a model building module, a simulation module, a real-time monitoring module, and a safety judgment module.

[0114] In an optional implementation of this embodiment, as Figure 6 As shown, Figure 6The following diagram shows the architecture of the servo motor rotor anti-collision control system in the second embodiment of the present invention, including the following modules:

[0115] A model building module 10, the model building module 10 is used to obtain rotor operating parameters of the servo motor system, and build a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system;

[0116] In an optional implementation of this embodiment, the servo motor system includes a servo motor, a PI controller, a first-order low-pass filter, a tachometer, a first signal modulator, and a second signal modulator, and the servo motor includes a servo motor body, a current loop, and an encoder;

[0117] The output end of the first signal modulator is connected to the input end of the PI controller, the output end of the PI controller is connected to the input end of the first-order low-pass filter, the output end of the first-order low-pass filter is connected to the input end of the second signal modulator, the output end of the second signal modulator is connected to the input end of the current loop, the servo motor body is respectively connected to the output end of the current loop and the input end of the encoder, the output end of the encoder is connected to the input end of the tachometer, and the output end of the tachometer is connected to the input end of the first signal modulator.

[0118] In an optional implementation of this embodiment, obtaining rotor operating parameters of the servo motor system and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system includes:

[0119] Obtaining a speed loop gain, a speed loop integral constant, a torque setting filter time constant, a speed measurement filter time constant, and a load variable ratio of the servo motor system;

[0120] Build a blank servo motor system simulation model;

[0121] The speed loop gain, speed loop integral constant, torque setting filter time constant, speed measurement filter time constant, and load variable ratio are substituted into the blank servo motor system simulation model to obtain the servo motor system simulation model.

[0122] In an optional implementation of this embodiment, constructing a blank servo motor system simulation model includes:

[0123] The blank servo motor system simulation model includes a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator. The virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder.

[0124] The output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator.

[0125] A simulation module 20 is used to perform simulation based on the servo motor system simulation model to obtain real-time simulation torque data;

[0126] In an optional implementation of this embodiment, performing simulation based on the servo motor system simulation model to obtain real-time simulation torque data includes:

[0127] The simulated first signal modulator modulates the simulated control signal and transmits the modulated simulated control signal to the simulated PI controller;

[0128] The simulated PI controller processes the modulated simulated control signal, outputs a simulated PI control signal, and transmits the simulated PI control signal to the simulated current loop after filtering by the simulated first-order low-pass filter;

[0129] The simulated current loop responds to the signal and outputs a simulated encoded signal to the simulated tachometer via the simulated encoder;

[0130] The simulation tachometer performs torque integration on the simulation coded signal to obtain a speed feedback value of the rotor in the simulation model of the servo motor system;

[0131] Performing speed feedback integration on a speed feedback value of a rotor in the servo motor system simulation model to obtain a position parameter of the rotor in the servo motor system simulation model;

[0132] The position parameters of the rotor in the servo motor system simulation model are used as the input of the simulated first signal modulator, and then processed by the simulated PI controller and the simulated first-order low-pass filter to output real-time simulated torque data.

[0133] A real-time monitoring module 30 is configured to monitor the real-time operating state of the servo motor system based on the monitoring unit and obtain real-time monitoring torque data;

[0134] In an optional implementation of this embodiment, the monitoring of the real-time operating status of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data includes:

[0135] A position parameter of a rotor in the servo motor system is obtained based on the monitoring unit.

[0136] The safety judgment module 40 is used to preset a safety error threshold, and judge whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data. If it is determined that there is an obstacle, the rotor of the servo motor system is controlled to stop running.

[0137] In an optional implementation of this embodiment, the preset safety error threshold, and determining whether there is an obstacle in front of the rotor of the servo motor system based on an error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data, include:

[0138] Preset torque error threshold;

[0139] Calculating an actual torque error value between a position parameter of a rotor in the servo motor system simulation model and a position parameter of a rotor in the servo motor system;

[0140] The torque error threshold is compared with the actual torque error value to determine whether there is an obstacle in front of the rotor of the servo motor system. If the actual torque error value is greater than the torque error threshold, it is determined that there is an obstacle and the rotor of the servo motor system is controlled to stop running.

[0141] In summary, embodiment 2 of the present invention provides a servo motor rotor anti-collision control system, which is used to implement the servo motor rotor anti-collision control method described in embodiment 1. By setting a simulation model of the servo motor system, simulation is performed under the same scheduling framework as the actual servo motor system to obtain real-time simulation torque data, and the error value between the real-time simulation torque data and the real-time monitoring torque data is compared with a preset safety error threshold to determine whether there is an obstacle in front of the rotor in the servo motor system and whether there is a collision risk. There is no need to set up additional sensors, which reduces the equipment size, reduces production costs, and effectively improves product competitiveness. In the simulation, the current loop is used as the torque data integral response method, which has fast response speed and high monitoring accuracy, reducing the error between the simulation and actual operation. The speed loop gain is applied based on the tachometer to further improve the accuracy of the rotor position information obtained by the simulation.

[0142] Example 3

[0143] Embodiment 3 of the present invention provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the servo motor rotor anti-collision control method described in embodiment 1.

[0144] In summary, embodiment three of the present invention provides an electronic device for executing the servo motor rotor anti-collision control method described in embodiment one. By setting a simulation model of the servo motor system, simulation is performed under the same scheduling framework as the actual servo motor system to obtain real-time simulation torque data. The error value between the real-time simulation torque data and the real-time monitoring torque data is compared with a preset safety error threshold to determine whether there is an obstacle in front of the rotor in the servo motor system and whether there is a collision risk. There is no need to set up additional sensors, which reduces the size of the equipment, reduces production costs, and effectively improves product competitiveness. In the simulation, the current loop is used as the torque data integral response method, which has a fast response speed and high monitoring accuracy, reducing the error between the simulation and the actual operation. The speed loop gain is applied based on the tachometer to further improve the accuracy of the rotor position information obtained by the simulation.

[0145] Example 4

[0146] A fourth embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor, the servo motor rotor anti-collision control method described in the first embodiment is implemented.

[0147] In summary, embodiment four of the present invention provides a computer-readable storage medium for executing the servo motor rotor anti-collision control method described in embodiment one, by setting a simulation model of the servo motor system, performing simulation under the same scheduling framework as the actual servo motor system, obtaining real-time simulation torque data, and comparing the error value between the real-time simulation torque data and the real-time monitoring torque data with a preset safety error threshold to determine whether there is an obstacle in front of the rotor in the servo motor system and whether there is a collision risk. There is no need to set up additional sensors, which reduces the equipment size, reduces production costs, and effectively improves product competitiveness. In the simulation, the current loop is used as the torque data integral response method, which has a fast response speed and high monitoring accuracy, reducing the error between the simulation and the actual operation. The speed loop gain is applied based on the tachometer to further improve the accuracy of the rotor position information obtained by the simulation.

[0148] The above is a detailed introduction to a servo motor rotor anti-collision control method and related equipment provided by the present invention. Ordinary technicians in this field can understand that all or part of the steps in the various methods of the above embodiments can be completed by instructing related hardware through a program. The program can be stored in a computer-readable storage medium, and the storage medium may include: read-only memory (ROM), random access memory (RAM), disk or optical disk, etc.

[0149] In addition, the embodiments of the present invention are introduced in detail above. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea. At the same time, for those skilled in the art, according to the idea of ​​the present invention, there will be changes in the specific implementation methods and application scope. In summary, the content of this specification should not be understood as limiting the present invention.

Claims

1. A servo motor rotor anti-collision control method, characterized in that: The servo motor rotor anti-collision control method is applied to a servo motor rotor anti-collision control device, which includes a control unit, a monitoring unit, and a servo motor system, wherein a servo motor system simulation model is built into the control unit; The control method includes: Acquiring rotor operating parameters of the servo motor system, and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system; The step of obtaining rotor operating parameters of the servo motor system and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system comprises: obtaining a speed loop gain, a speed loop integral constant, a torque given filter time constant, a speed measurement filter time constant, and a load inertia ratio of the servo motor system; constructing a blank servo motor system simulation model; and substituting the speed loop gain, the speed loop integral constant, the torque given filter time constant, the speed measurement filter time constant, and the load inertia ratio into the blank servo motor system simulation model to obtain the servo motor system simulation model. The construction of the blank servo motor system simulation model includes: the blank servo motor system simulation model includes a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator, the virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder; the output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator; Perform simulation based on the servo motor system simulation model to obtain real-time simulation torque data; Monitoring the real-time operating state of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data; A safety error threshold is preset, and based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data, it is judged whether there is an obstacle in front of the rotor of the servo motor system; if it is judged that there is an obstacle, the rotor of the servo motor system is controlled to stop running.

2. The servo motor rotor anti-collision control method according to claim 1, characterized in that: The servo motor system includes a servo motor, a PI controller, a first-order low-pass filter, a tachometer, a first signal modulator, and a second signal modulator. The servo motor includes a servo motor body, a current loop, and an encoder. The output end of the first signal modulator is connected to the input end of the PI controller, the output end of the PI controller is connected to the input end of the first-order low-pass filter, the output end of the first-order low-pass filter is connected to the input end of the second signal modulator, the output end of the second signal modulator is connected to the input end of the current loop, the servo motor body is respectively connected to the output end of the current loop and the input end of the encoder, the output end of the encoder is connected to the input end of the tachometer, and the output end of the tachometer is connected to the input end of the first signal modulator.

3. The servo motor rotor anti-collision control method according to claim 1, characterized in that: The performing simulation based on the servo motor system simulation model to obtain real-time simulation torque data includes: The simulated first signal modulator modulates the simulated control signal and transmits the modulated simulated control signal to the simulated PI controller; The simulated PI controller processes the modulated simulated control signal, outputs a simulated PI control signal, and transmits the simulated PI control signal to the simulated current loop after filtering by the simulated first-order low-pass filter; The simulated current loop responds to the signal and outputs a simulated encoded signal to the simulated tachometer via the simulated encoder; The simulation tachometer performs torque integration on the simulation coded signal to obtain a speed feedback value of the rotor in the simulation model of the servo motor system; Performing speed feedback integration on a speed feedback value of a rotor in the servo motor system simulation model to obtain a position parameter of the rotor in the servo motor system simulation model; The position parameters of the rotor in the servo motor system simulation model are used as the input of the simulated first signal modulator, and then processed by the simulated PI controller and the simulated first-order low-pass filter to output real-time simulated torque data.

4. The servo motor rotor anti-collision control method according to claim 3, characterized in that: The monitoring of the real-time operating state of the servo motor system based on the monitoring unit to obtain real-time monitoring torque data includes: A position parameter of a rotor in the servo motor system is obtained based on the monitoring unit.

5. The servo motor rotor anti-collision control method according to claim 4, characterized in that: The preset safety error threshold, and judging whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data, include: Preset torque error threshold; Calculating an actual torque error value between a position parameter of a rotor in the servo motor system simulation model and a position parameter of a rotor in the servo motor system; The torque error threshold is compared with the actual torque error value to determine whether there is an obstacle in front of the rotor of the servo motor system. If the actual torque error value is greater than the torque error threshold, it is determined that there is an obstacle and the rotor of the servo motor system is controlled to stop running.

6. A servo motor rotor anti-collision control system, characterized in that: The servo motor rotor anti-collision control system is used to implement the servo motor rotor anti-collision control method according to any one of claims 1 to 5, and the control system includes: a model building module, the model building module being configured to obtain rotor operating parameters of the servo motor system and to build a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system; The step of obtaining rotor operating parameters of the servo motor system and constructing a servo motor system simulation model in the control unit based on the rotor operating parameters of the servo motor system comprises: obtaining a speed loop gain, a speed loop integral constant, a torque given filter time constant, a speed measurement filter time constant, and a load inertia ratio of the servo motor system; constructing a blank servo motor system simulation model; and substituting the speed loop gain, the speed loop integral constant, the torque given filter time constant, the speed measurement filter time constant, and the load inertia ratio into the blank servo motor system simulation model to obtain the servo motor system simulation model. The construction of the blank servo motor system simulation model includes: the blank servo motor system simulation model includes a virtual servo motor, a simulated PI controller, a simulated first-order low-pass filter, a simulated tachometer, and a simulated first signal modulator, the virtual servo motor includes a virtual servo motor body, a simulated current loop, and a simulated encoder; the output end of the simulated first signal modulator is connected to the input end of the simulated PI controller, the output end of the simulated PI controller is connected to the input end of the simulated first-order low-pass filter, the output end of the simulated first-order low-pass filter is connected to the input end of the simulated current loop, the virtual servo motor body is respectively connected to the output end of the simulated current loop and the input end of the simulated encoder, the output end of the simulated encoder is connected to the input end of the simulated tachometer, and the output end of the simulated tachometer is connected to the input end of the simulated first signal modulator; A simulation module, the simulation module is used to perform simulation based on the servo motor system simulation model to obtain real-time simulation torque data; A real-time monitoring module, configured to monitor the real-time operating status of the servo motor system based on the monitoring unit and obtain real-time monitoring torque data; A safety judgment module is used to preset a safety error threshold, and judge whether there is an obstacle in front of the rotor of the servo motor system based on the error value between the safety error threshold and the real-time simulation torque data and the real-time monitoring torque data. If it is determined that there is an obstacle, the rotor of the servo motor system is controlled to stop running.

7. An electronic device, characterized in that: The method comprises a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the servo motor rotor anti-collision control method according to any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the servo motor rotor anti-collision control method according to any one of claims 1 to 5 is implemented.

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