Motor controller adaptive rotary transformer processing method and system

Abstract

The invention relates to the technical field of motor control, in particular to a motor controller adaptive rotary transformer processing method and system. The method comprises the following steps: firstly, acquiring a current rotary transformer signal and historical monitoring data of a motor, dividing stages and acquiring a total angle target of each stage; further in the current feedback adjustment process, the angle and the rotating speed of the motor rotor at each moment and the task progress of the motor at the current moment are obtained; further judging whether the current feedback regulation process is regulated or not; when it is further judged that the current feedback adjustment process needs to be regulated and controlled, similar parameters of the current stage and each historical reference stage are obtained according to similar characteristics of angles and rotating speeds of the current stage and the historical stage at the total angle target and the collection moment with the same collection sequence number; further obtaining a feedback control instruction after the current moment in the current stage according to the similar parameters and the PID control instruction in each historical reference stage; and finally controlling the motor according to the feedback control instruction.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a method and system for adapting a motor controller to a resolver. Background Art

[0002] In a servo motor, the motor controller is the core component of the motor control system. It uses the high-precision position and speed feedback information provided by the resolver (resolver) combined with advanced control algorithms to precisely control the motor and ensure that the motor can operate according to the expected instructions.

[0003] The existing technologies for controlling motor motion mainly include PID controllers, feedforward control, and model predictive control (MPC). These technical means mainly adjust the motor motion parameters by precalculating the future state and comparing it with the current state. However, in practical applications, the current feedback control method has a delay in processing data, resulting in a lag in motor regulation. Summary of the invention

[0004] In order to solve the technical problem that the current PID control method has a delay in processing data, which easily causes hysteresis in motor regulation, the purpose of the present invention is to provide a motor controller adapted resolver processing method and system, and the technical scheme adopted is as follows: A method for adapting a motor controller to a resolver processing method, the method comprising: Obtain the current resolver signal and historical monitoring data of the motor; the historical monitoring data at least includes the angle, speed and PID control instruction of the motor rotor; divide the motor operation into stages through the motor controller and obtain the total angle target of each stage; the resolver signal includes a sine signal and a cosine signal; set the feedback adjustment process according to the preset feedback adjustment cycle; In the current feedback regulation process, the resolver signal is analyzed to obtain the angle and speed of the motor rotor at each moment of the current stage; the task progress of the motor at the current moment is obtained according to the total angle target of the current stage and the speed from the start moment of the current stage to the current moment; according to the task progress at the current moment, combined with the change characteristics of the speed in the preset historical neighborhood at the current moment, it is determined whether the current feedback regulation process is to be regulated; When it is determined that the current feedback regulation process needs to be regulated: according to the similar characteristics of the total angle target of the current stage and the total angle target of the historical stage in the historical monitoring data, the historical reference stage of the current stage is obtained; according to the similar characteristics of the angle and the speed at the collection moment of the same collection sequence number of the current stage and each of the historical reference stages, similar parameters of the current stage and each of the historical reference stages are obtained; according to the similar parameters and the PID control instructions of each of the historical reference stages, the feedback control instructions of the current stage after the current moment are obtained; The motor is controlled according to the feedback control instruction.

[0005] Furthermore, the method of analyzing the resolver signal to obtain the angle of the motor rotor at each moment in the current stage includes: The ratio of the sine signal to the cosine signal at each moment is mapped by an inverse tangent function and converted into an angle value, which is used as the angle of the motor rotor at each moment.

[0006] Furthermore, the method of analyzing the resolver signal to obtain the rotational speed of the motor rotor at each moment in the current stage includes: After Kalman filtering is applied to the angle of the motor rotor at each moment, the angular velocity of the motor rotor at each moment is obtained by using a differential method and used as the rotational speed.

[0007] Furthermore, the method for obtaining the task progress includes: The ratio of the integral value of the rotation speed from the starting time of the current stage to the current time to the total angle target of the current stage is used as the task progress at the current time.

[0008] Furthermore, the method for determining whether the current feedback regulation process is regulated includes: If the task progress at the current moment is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, it is determined that the current feedback adjustment process needs to be regulated; If the task progress at the current moment is less than the first preset threshold, or greater than the second preset threshold, a straight line fitting is performed on the speed within the preset historical neighborhood at the current moment; if the task progress at the current moment is less than the first preset threshold, and the slope of the fitting line is less than 0, it is determined that the current feedback adjustment process needs to be regulated; if the task progress at the current moment is greater than the second preset threshold, and the slope of the fitting line is greater than or equal to 0, it is determined that the current feedback adjustment process needs to be regulated.

[0009] Furthermore, the method for obtaining the historical reference stage includes: Obtain the absolute value of the difference between the total angle target of the current stage and the historical stage, and use it as the target similarity between the current stage and the corresponding historical stage after negative correlation mapping through a negative exponential function with a natural base e as the base; The historical stage in which the target similarity is greater than a third preset threshold is used as a historical reference stage.

[0010] Furthermore, the method for obtaining the similarity parameters includes: The similarity parameters of the current stage and each of the historical reference stages are obtained by using a similarity parameter calculation formula, wherein the similarity parameter calculation formula includes: ; in, A serial number indicating a historical reference phase; Indicates the current stage and Similar parameters of the historical reference stage; t represents the acquisition sequence number at the acquisition time; Indicates the number of collection moments from the start time of the current stage to the current moment, and The minimum value among the number of collection moments in the historical reference phases, which also represents the total number of collection moments compared; Represents an exponential function with the natural base e as the base; Indicates taking the absolute value; Indicates the angle value at the tth acquisition moment in the current stage; Indicates The angle value at the tth acquisition moment of the historical reference stage; Indicates the speed value at the tth acquisition moment in the current stage; Indicates The speed value at the tth collection moment in the historical reference phase.

[0011] Furthermore, the method for obtaining the feedback control instruction includes: The PID control instruction at least includes a proportional parameter, an integral parameter and a differential parameter of a PID controller; any one of the PID control instructions is selected as a target instruction; the number of all acquisition moments from the start time to the current time in the current stage is taken as a historical number; The target instructions at each collection moment with a collection number greater than the historical number in all the historical reference stages are weighted and averaged with the similar parameters of the current stage and each of the historical reference stages as weights, and used as feedback control instructions for each future moment in the current stage.

[0012] Furthermore, the preset feedback adjustment period is 3 seconds.

[0013] The present invention also proposes a motor controller adapted to resolver processing system, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing any one of the steps of the motor controller adapted to resolver processing method when executing the computer program.

[0014] The present invention has the following beneficial effects: The present invention first obtains the current resolver signal and historical monitoring data of the motor, divides the stages and obtains the total angle target of each stage, and obtains the basis for analysis data; further in the current feedback adjustment process, the resolver signal is analyzed to obtain the angle and speed of the motor rotor at each moment in the current stage, and the data information in the resolver signal is extracted to provide a basis for subsequent analysis; the angle and speed of the motor rotor at each moment and the task progress of the motor at the current moment are further obtained, the degree of completion of the motor for the current stage at the current moment is evaluated, and a quantitative index of the motor operation state is provided, which is convenient for judging whether the motor operation needs to be regulated; further, through the task progress at the current moment, combined with the change characteristics of the speed in the preset historical neighborhood at the current moment, it can be quickly judged whether there is an abnormality or a situation that needs to be regulated, The feedback control is made more timely, unnecessary regulation processes are reduced, and the operation continuity of the motor system is improved; further, when it is determined that the current feedback regulation process needs to be regulated: according to the similar characteristics of the total angle target of the current stage and the historical stage, combined with the similar characteristics of the angle and speed at the acquisition time of the same acquisition sequence number, similar parameters of the current stage and each historical reference stage are obtained from the two angles of target similarity and motor operation process similarity, so as to facilitate the subsequent reference to the PID control instructions of different historical reference stages, and obtain the feedback control instructions of the current stage after the current moment; further, according to the similar parameters and the PID control instructions of each historical reference stage, the feedback control instructions of the current stage after the current moment are obtained, providing a basis for the final control of the motor; and finally the motor is controlled according to the feedback control instructions. The present invention determines whether to regulate by analyzing the current task progress and combining the local speed change; when regulation is needed, the similar characteristics of the current stage and the historical stage in the total angle target, the angle of the same sequence number and the speed are analyzed, so as to quickly obtain the feedback control instructions with the help of the historical control instructions, and reduce the delay of the PID controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are briefly introduced below. 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 creative work.

[0016] Figure 1 A flow chart of a method for adapting a motor controller to a resolver processing method provided by an embodiment of the present invention; Figure 2 An example diagram of a resolver signal provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0017] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the motor controller adaptation resolver processing method and system proposed by the present invention, its specific implementation method, structure, features and effects, in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0018] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0019] The following describes in detail a method and system for adapting a motor controller to a resolver provided by the present invention in conjunction with the accompanying drawings.

[0020] In an embodiment of the present invention, in order to reduce the delay in data processing of a traditional PID controller during feedback control and reduce the lag in motor regulation, by analyzing the similar characteristics of the motor's current resolver signal and historical monitoring data, the PID control instructions in similar historical monitoring data are used to quickly predict the feedback control instructions after the current moment and control the motor, thereby reducing the time consumption of data processing and analysis and improving the response speed.

[0021] See also Figure 1 , which shows a flow chart of a method for adapting a motor controller to a resolver processing method provided by an embodiment of the present invention, specifically comprising: Step S1: Obtain the current resolver signal and historical monitoring data of the motor; the historical monitoring data at least includes the angle, speed and PID control instructions of the motor rotor; divide the motor operation into stages through the motor controller and obtain the total angle target of each stage; the resolver signal includes a sine signal and a cosine signal; set the feedback adjustment process according to the preset feedback adjustment cycle.

[0022] In an embodiment of the present invention, a rotary transformer is installed on the motor to obtain the current rotary transformer signal of the motor, wherein the rotary transformer signal includes a sine signal and a cosine signal, which are used to monitor the angle and speed of the motor rotor; historical monitoring data of a preset historical neighborhood of the motor is collected, and since it is necessary to predict the feedback control instructions after the current moment based on similar historical monitoring data, the historical monitoring data at least includes the angle, speed and PID control instructions of the motor rotor; during the operation of the motor, feedback control instructions are continuously output through cyclic feedback regulation, so as to facilitate precise control of the motor, so firstly, the feedback regulation process is set according to the preset feedback regulation cycle, and the cycle of the feedback regulation process is set once.

[0023] During the operation of the motor, the motor controller will first split the motor's corresponding task objectives and the corresponding motor operation plan into multiple stages, and generate corresponding motor operation parameters according to the total angle target of each stage. Then, based on these operating parameters, it will output corresponding control signals to the motor, so that the motor can operate stably according to the plan.

[0024] It should be noted that, in one embodiment of the present invention, the acquisition frequency of the resolver signal is 20 Hz, and the motor controller sends a sinusoidal excitation sub-signal with a frequency of 10,000 Hz to the resolver. Electromagnetic induction is generated as the motor rotor moves, thereby generating a set of orthogonal sinusoidal signals and cosine signals; the preset historical neighborhood is the historical 30 days adjacent to the current day; the preset feedback adjustment period is 3 seconds, and the feedback adjustment process is performed every 3 seconds.

[0025] See also Figure 2 , which shows an example diagram of a resolver signal provided by an embodiment of the present invention, Figure 2 The signal whose envelope is cosine is a cosine signal, that is, the signal whose maximum point first shows a decreasing trend is a cosine signal; the signal whose envelope is sinusoidal is a sine signal, that is, the signal whose maximum point first shows an increasing trend is a sine signal.

[0026] Step S2: In the current feedback adjustment process, the resolver signal is analyzed to obtain the angle and speed of the motor rotor at each moment in the current stage; the task progress of the motor at the current moment is obtained according to the total angle target of the current stage and the speed from the start moment of the current stage to the current moment; according to the task progress at the current moment, combined with the change characteristics of the speed within the preset historical neighborhood at the current moment, it is determined whether the current feedback adjustment process is to be regulated.

[0027] In order to facilitate the subsequent comparison of the similar characteristics of the angle and speed in the current stage with the angle and speed in the historical monitoring data, it is necessary to first analyze the resolver signal to obtain the angle and speed of the motor rotor at each moment in the current stage, so as to provide a basis for subsequent comparison.

[0028] Preferably, in one embodiment of the present invention, the ratio of the sine signal to the cosine signal at each moment is mapped by an inverse tangent function and converted into an angle value, which is used as the angle of the motor rotor at each moment, and the position of the rotor is located by the angle.

[0029] It should be noted that the angle value when the cosine function is 0 is set to 90°; the inverse tangent function and the unit conversion of the angle are technical means well known to those skilled in the art and will not be described in detail.

[0030] Preferably, in one embodiment of the present invention, considering that the differential method will use partial average values ​​instead of instantaneous values ​​in calculation, the angle of the motor rotor at each moment is subjected to Kalman filtering, and the differential method is used to obtain the angular velocity of the motor rotor at each moment and use it as the rotational speed.

[0031] It should be noted that Kalman filtering and differential method for obtaining angular velocity are both existing technologies, the unit of angle is degree, and the unit of angular velocity is degree per second.

[0032] Taking into account that the motor rotor at different task progress has different rotation characteristics and the speed also has corresponding change characteristics, we first obtain the task progress of the motor at the current moment based on the total angle target of the current stage and the speed from the start time of the current stage to the current moment, evaluate the degree to which the motor completes the goal of the current stage at the current moment, and provide quantitative indicators of the motor's operating status, which is convenient for judging whether the motor operation needs to be regulated.

[0033] Preferably, in one embodiment of the present invention, the ratio of the integral value of the rotation speed from the start time of the current stage to the current time to the total angle target of the current stage is used as the task progress at the current time.

[0034] As an example, the calculation formula for task progress includes: ; Where d is the identifier of the current moment; Indicates the task progress at the current moment; Indicates the time point corresponding to the start of the current stage, which is also the lower limit of the integral; Indicates the time point corresponding to the current moment, which is also the upper limit of the integral; A function representing the rotation speed corresponding to each acquisition moment; Indicates the total angle target for the current stage.

[0035] In the calculation formula of task progress, the accumulated angle completed at the current moment is obtained by integrating the rotation speed. , the ratio of the accumulated angle to the total angle target is used as the task progress at the current moment, quantifying the degree of completion of the current stage's goals at the current moment.

[0036] During the operation of the motor, the change in speed is an important parameter reflecting the operating status. Through the task progress at the current moment and the change characteristics of the speed in the preset historical neighborhood at the current moment, it is possible to quickly determine whether there is an abnormality or a situation that requires regulation, making feedback control more timely, reducing unnecessary regulation processes, and improving the operation continuity of the motor system.

[0037] Preferably, in one embodiment of the present invention, considering that the motor speed will gradually increase or no longer change at the initial stage of the task, it reflects that the motor has just started to run or entered a stable operation period. At this time, it is only necessary to continue to monitor the operation of the motor without additional regulation; at the end of the task, the speed will gradually decrease, and the task of the current stage will be completed, and no additional regulation is required; and for the period between the initial stage of the task and the end stage of the task, the motor is performing the task, and feedback regulation is required to maintain operational stability; Based on this, if the task progress at the current moment is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, it reflects that the current moment is within the normal progress range of the task, and it is determined that the current feedback adjustment process needs to be regulated; If the task progress at the current moment is less than the first preset threshold, or greater than the second preset threshold, a straight line fitting is performed on the speed within the preset historical neighborhood at the current moment; if the task progress at the current moment is less than the first preset threshold, and the slope of the fitted straight line is less than 0, it reflects that the current moment is in the initial stage of the task, and the motor shows a trend of shutting down, and it is determined that the current feedback adjustment process needs to be regulated; if the task progress at the current moment is greater than the second preset threshold, and the slope of the fitted straight line is greater than or equal to 0, it reflects that the current moment is in the final stage of the task, and the motor shows a trend of exceeding the total angle target, and it is determined that the current feedback adjustment process needs to be regulated.

[0038] As an example, the first preset threshold is 10%, and the second preset threshold is 90%; for the case where the task progress is less than 10% and the slope of the fitted straight line is greater than or equal to 0, and the task progress is greater than 90% and the slope of the fitted straight line is less than 0, it is determined that no adjustment is required.

[0039] It should be noted that in other embodiments of the present invention, implementers can set other first preset thresholds and second preset thresholds on their own.

[0040] Step S3: When it is determined that the current feedback regulation process needs to be regulated: based on the similar characteristics of the total angle target of the current stage and the total angle target of the historical stage in the historical monitoring data, obtain the historical reference stage of the current stage; based on the similar characteristics of the angle and speed at the collection moment of the same collection sequence number of the current stage and each historical reference stage, obtain the similar parameters of the current stage and each historical reference stage; based on the similar parameters and the PID control instructions of each historical reference stage, obtain the feedback control instructions of the current stage after the current moment.

[0041] When it is determined that the current feedback regulation process needs to be regulated, it is first necessary to analyze the historical stages that can be used as references in the current stage to narrow the scope of analysis; considering that when the total angle target is similar, the control parameters generated by the motor controller and the operation process of the motor will also have certain similarities and can be used as a reference in the current stage, so based on the similar characteristics of the total angle target of the current stage and the total angle target of the historical stage in the historical monitoring data, the historical reference stage of the current stage is obtained.

[0042] Preferably, in one embodiment of the present invention, the absolute value of the difference between the total angle target of the current stage and the historical stage is obtained, and after negative correlation mapping through a negative exponential function with a natural base e as the base, it is used as the target similarity between the current stage and the corresponding historical stage; The historical stage whose target similarity is greater than the third preset threshold is used as the historical reference stage.

[0043] As an example, the third preset threshold is 0.9, and the calculation formula of the target similarity includes: ; in, A serial number indicating a historical stage; Indicates the current stage and Similarity of goals in each historical stage; Indicates the overall angle target for the current stage; Indicates The overall goal from the perspective of each historical stage; The natural base e is the negative exponential function of the base, and x represents the independent variable.

[0044] In the calculation formula of target similarity, the smaller the absolute value of the difference between the total angle target of the current stage and the historical stage, the more similar the total angle targets of the two stages are. As x through After the function is negatively correlated and normalized, it is used as the target similarity between the current stage and the corresponding historical stage.

[0045] It should be noted that, in another embodiment of the present invention, considering that the control parameters generated by the motor controller may also include the completion time, the more similar the completion time is, the more similar the two stages are, which can be used as a supplement to the total angle target, specifically: , Indicates the completion time of the current stage. Indicates The completion time of a historical stage.

[0046] After the historical reference stages are screened out, it is necessary to further analyze the similarity between the operation process of the current stage and each historical reference stage, so as to evaluate the reference degree of each historical reference stage to the current stage. The similar characteristics of the angle and speed of the same acquisition sequence number reflect the similarity of different stages in the specific operation process. Therefore, according to the similar characteristics of the angle and speed of the current stage and each historical reference stage at the acquisition moment of the same acquisition sequence number, the similar parameters of the current stage and each historical reference stage are obtained, which is convenient for the subsequent reference to the PID control instructions of different historical reference stages, and the feedback control instructions of the current stage after the current moment are obtained, so as to prepare for the final fast feedback control of the motor.

[0047] Preferably, in one embodiment of the present invention, the calculation formula of the similarity parameter includes: ; in, A serial number indicating a historical reference phase; Indicates the current stage and Similar parameters of the historical reference stage; t represents the acquisition sequence number at the acquisition time; Indicates the number of collection moments from the start time of the current stage to the current moment, and The minimum value among the number of collection moments in the historical reference phases, which also represents the total number of collection moments compared; Represents an exponential function with the natural base e as the base; Indicates taking the absolute value; Indicates the angle value at the tth acquisition moment in the current stage; Indicates The angle value at the tth acquisition moment of the historical reference stage; Indicates the speed value at the tth acquisition moment in the current stage; Indicates The speed value at the tth collection moment in the historical reference phase.

[0048] In the calculation formula of similar parameters, the angle difference and speed difference of the collection time of the same collection sequence number are expressed by the absolute value of the difference; the angle difference and speed difference are then combined by adding them, and with the help of right Negative correlation mapping and normalization are performed to represent the similar characteristics of the angle and rotation speed at the acquisition time of the same acquisition sequence number; finally, the overall similar characteristics of all the same acquisition numbers are represented by averaging to represent the similar parameters of the current stage and the corresponding historical reference stage.

[0049] It should be noted that the starting time of each stage is used as the starting serial number of the collection time in the corresponding stage, and the collection time in each stage is sorted in chronological order, that is, each stage corresponds to a sequence of collection serial numbers of its own collection time.

[0050] After further characterizing the similar characteristics of the current stage and the historical reference stage in the motor operation through similar parameters, the feedback control instructions of the current stage after the current moment can be obtained based on the similar parameters and the PID control instructions of each historical reference stage, in preparation for the final fast feedback control of the motor.

[0051] Preferably, in one embodiment of the present invention, the PID control instruction at least includes a proportional parameter, an integral parameter and a differential parameter of the PID controller; any PID control instruction is selected as a target instruction, so as to analyze the PID control instructions one by one; the number of all acquisition moments from the start moment to the current moment in the current stage is taken as a historical number, indicating the historical acquisition moments that have occurred in the current stage at the current moment; Taking into account the need to predict the PID control instructions of the current stage after the current moment based on the PID control instructions of the historical reference stage, and the larger the similarity parameter is, the greater the similarity between the target stage and the corresponding historical reference stage is, and the greater the reference value is, so the target instructions at each collection moment in all historical reference stages with a collection number greater than the historical number are weighted and averaged with the similarity parameters of the current stage and each historical reference stage as weights, and then used as the feedback control instructions for each future moment of the current stage.

[0052] As an example: The calculation formula for the feedback control command includes: ; Among them, w represents the sequence number of the future moment after the current moment, and is also the sequence number of the collection moment in the historical reference stage whose collection sequence number is greater than the historical quantity; Indicates the type number of the target instruction; represents the wth future moment in the current stage Feedback control instructions of target instructions; Indicates the number of historical reference stages with collection sequence numbers greater than the historical number, and also the number of historical reference stages that can be used as references for the wth future moment of the current stage; k represents the sequence number of the historical reference stage; Indicates that when calculating the feedback control command of the wth future moment in the current stage, the kth historical reference stage The value of the target instruction; It represents the similarity parameters between the current stage and the kth historical reference stage when calculating the feedback control command of the wth future moment of the current stage; It represents the sum of similar parameters of all historical reference stages and the current stage that can be used for reference at the w-th future moment of the current stage; It represents the weight of the weighted average of the target instructions of the kth historical reference stage when calculating the feedback control instruction of the wth future moment in the current stage.

[0053] In the calculation formula of the feedback control command, based on the feature transfer theory in transfer learning, when the two stages have high similarity in the feature space, the system dynamic characteristics are transferable in probability distribution. The similarity parameters of the current stage and the historical reference stage are normalized in this way, and the sum of the normalized similarity parameters of all historical reference stages that can be used for reference at the wth future moment of the current stage is 1. The greater the similarity between the target stage and the corresponding historical reference stage, the greater the reference value, the greater the similarity parameter, and the contribution of high-similarity samples is automatically enhanced; with the help of historical quantity alignment time axis, the PID parameters of the historical reference stage As a priori knowledge base, As a weighted weight for reference, it can also be regarded as The conditional probability of predicting the feedback control command at the current wth future moment through the control response (target command) at the wth moment in the historical stage; Therefore, through the weighted averaging method, the target instructions corresponding to all historical reference stages available for reference at the wth future moment in the current stage are integrated as the feedback control instructions of the current stage after the current moment. By predicting the three target instructions one by one, the feedback control instructions of the current stage after the current moment are obtained, providing a basis for fast feedback control of the motor.

[0054] It should be noted that, considering the inconsistency of the time length of the historical reference stage, that is, the inconsistency of the total number of collection moments, when gradually predicting the future moments after the current moment, the shorter historical reference stages may gradually disappear. For example, if the historical number of the current stage is 50, the total number of historical reference stage A is 60, the total number of B is 70, and the total number of C is 80, then when predicting the collection moments with collection sequence numbers 51-60 in the current stage, A, B and C all have data for reference. is 3; when predicting the collection time of the collection sequence number 61-70 in the current stage, only B and C have data for reference. is 2; when predicting the collection time with collection sequence number 71-80 in the current stage, only C has data for reference. is 1; when predicting the collection moment after the collection number 81 of the current stage, there is no historical stage for reference and it is impossible to make a prediction based on history. If the motor is still in operation at the collection moment after the collection number 81, the traditional PID controller is used to directly control it; therefore, when predicting each future moment, the historical reference stages for reference need to be re-screened and sorted.

[0055] Step S4: Control the motor according to the feedback control instruction.

[0056] By judging whether the current feedback regulation process needs to be regulated, and when it is determined that the current feedback regulation process needs to be regulated, by analyzing the similar characteristics of the total angle target and the angle and speed of the same acquisition sequence number in the current stage and the historical stage, and using historical data to quickly obtain the feedback control instruction, the motor can be controlled according to the feedback control instruction to reduce the delay of the PID controller.

[0057] In an embodiment of the present invention, a feedback control instruction is input into a PID controller to generate a corresponding motor control signal, and a fast feedback control of the motor is completed. Specifically, the PID parameter of the obtained feedback control instruction is directly brought into the incremental type to obtain the control increment Δu(t), and then the control quantity u(t-1) at the previous moment is obtained to obtain the control quantity u(t) at the current moment. The PID controller outputs a motor control signal such as a PWM control signal based on u(t) and sends it to the motor drive circuit; the speed and angle control of the motor rotor are realized by combining the position loop and the speed loop with the PWM signal, so as to adjust the operating parameters of the motor; and then the analysis is continued in the new feedback adjustment process, and the cycle is repeated until the motor stops.

[0058] It should be noted that the working principle of the PID controller and the PID control method are technical means well known to those skilled in the art and will not be described in detail here.

[0059] An embodiment of the present invention also provides a motor controller adaptation resolver processing system, the system includes a memory, a processor and a computer program, wherein the memory is used to store the corresponding computer program, the processor is used to run the corresponding computer program, and when the computer program runs in the processor, it can implement a motor controller adaptation resolver processing method described in steps S1-S4.

[0060] In summary, in view of the technical problem that the current PID control method has a delay in processing data, which easily causes the lag in motor regulation, the present invention proposes a motor controller adapted to the rotary transformer processing method and system. The present invention first obtains the current rotary transformer signal and historical monitoring data of the motor, divides the stages and obtains the total angle target of each stage; further in the current feedback adjustment process, obtains the angle and speed of the motor rotor at each moment and the task progress of the motor at the current moment; further determines whether the current feedback adjustment process is regulated; further when it is determined that the current feedback adjustment process needs to be regulated: according to the similar characteristics of the total angle target of the current stage and the historical stage, combined with the similar characteristics of the angle and speed at the acquisition moment of the same acquisition sequence number, obtain the similar parameters of the current stage and each historical reference stage; further according to the similar parameters and the PID control instructions of each historical reference stage, obtain the feedback control instructions of the current stage after the current moment; finally control the motor according to the feedback control instructions. The present invention determines whether to perform regulation by analyzing the current task progress and combining the local speed change; when regulation is needed, the similar characteristics of the current stage and the historical stage in the total angle target, the angle with the same sequence number and the speed are analyzed, so as to quickly obtain feedback control instructions with the help of historical control instructions, thereby reducing the delay of the PID controller.

[0061] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0062] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A method for adapting a motor controller to a resolver, characterized in that: The method comprises: Obtain the current resolver signal and historical monitoring data of the motor; the historical monitoring data at least includes the angle, speed and PID control instruction of the motor rotor; divide the motor operation into stages through the motor controller and obtain the total angle target of each stage; the resolver signal includes a sine signal and a cosine signal; set the feedback adjustment process according to the preset feedback adjustment cycle; In the current feedback regulation process, the resolver signal is analyzed to obtain the angle and speed of the motor rotor at each moment of the current stage; the task progress of the motor at the current moment is obtained according to the total angle target of the current stage and the speed from the start moment of the current stage to the current moment; according to the task progress at the current moment, combined with the change characteristics of the speed in the preset historical neighborhood at the current moment, it is determined whether the current feedback regulation process is to be regulated; When it is determined that the current feedback regulation process needs to be regulated: according to the similar characteristics of the total angle target of the current stage and the total angle target of the historical stage in the historical monitoring data, the historical reference stage of the current stage is obtained; according to the similar characteristics of the angle and the speed at the collection moment of the same collection sequence number of the current stage and each of the historical reference stages, similar parameters of the current stage and each of the historical reference stages are obtained; according to the similar parameters and the PID control instructions of each of the historical reference stages, the feedback control instructions of the current stage after the current moment are obtained; The motor is controlled according to the feedback control instruction.

2. A method for adapting a motor controller to a resolver according to claim 1, characterized in that: The method of analyzing the resolver signal to obtain the angle of the motor rotor at each moment in the current stage includes: The ratio of the sine signal to the cosine signal at each moment is mapped by an inverse tangent function and converted into an angle value, which is used as the angle of the motor rotor at each moment.

3. A method for adapting a motor controller to a resolver according to claim 2, characterized in that: The method for analyzing the resolver signal to obtain the rotation speed of the motor rotor at each moment in the current stage includes: After Kalman filtering is applied to the angle of the motor rotor at each moment, the angular velocity of the motor rotor at each moment is obtained by using a differential method and used as the rotational speed.

4. A method for adapting a motor controller to a resolver according to claim 1, characterized in that: The method for obtaining the task progress includes: The ratio of the integral value of the rotation speed from the starting time of the current stage to the current time to the total angle target of the current stage is used as the task progress at the current time.

5. The method for adapting a motor controller to a resolver according to claim 1, characterized in that: The method for determining whether the current feedback regulation process is regulated includes: If the task progress at the current moment is greater than or equal to the first preset threshold and less than or equal to the second preset threshold, it is determined that the current feedback adjustment process needs to be regulated; If the task progress at the current moment is less than the first preset threshold, or greater than the second preset threshold, a straight line fitting is performed on the speed within the preset historical neighborhood at the current moment; if the task progress at the current moment is less than the first preset threshold, and the slope of the fitting line is less than 0, it is determined that the current feedback adjustment process needs to be regulated; if the task progress at the current moment is greater than the second preset threshold, and the slope of the fitting line is greater than or equal to 0, it is determined that the current feedback adjustment process needs to be regulated.

6. A method for adapting a motor controller to a resolver according to claim 1, characterized in that: The method for obtaining the historical reference stage includes: Obtain the absolute value of the difference between the total angle target of the current stage and the historical stage, and use it as the target similarity between the current stage and the corresponding historical stage after negative correlation mapping through a negative exponential function with a natural base e as the base; The historical stage in which the target similarity is greater than a third preset threshold is used as a historical reference stage.

7. A method for adapting a motor controller to a resolver according to claim 1, characterized in that: The method for obtaining the similarity parameters includes: The similarity parameters of the current stage and each of the historical reference stages are obtained by using a similarity parameter calculation formula, wherein the similarity parameter calculation formula includes: ； in, A serial number indicating a historical reference phase; Indicates the current stage and Similar parameters of the historical reference stage; t represents the acquisition sequence number at the acquisition time; Indicates the number of collection moments from the start time of the current stage to the current moment, and The minimum value among the number of collection moments in the historical reference phases, which also represents the total number of collection moments compared; Represents an exponential function with the natural base e as the base; Indicates taking the absolute value; Indicates the angle value at the tth acquisition moment in the current stage; Indicates The angle value at the tth acquisition moment of the historical reference stage; Indicates the speed value at the tth acquisition moment in the current stage; Indicates The speed value at the tth collection moment in the historical reference phase.

8. A method for adapting a motor controller to a resolver according to claim 7, characterized in that: The method for obtaining the feedback control instruction includes: The PID control instruction at least includes a proportional parameter, an integral parameter and a differential parameter of a PID controller; any one of the PID control instructions is selected as a target instruction; the number of all acquisition moments from the start time to the current time in the current stage is taken as a historical number; The target instructions at each collection moment with a collection number greater than the historical number in all the historical reference stages are weighted and averaged with the similar parameters of the current stage and each of the historical reference stages as weights, and used as feedback control instructions for each future moment in the current stage.

9. The method for adapting a motor controller to a resolver according to claim 1, characterized in that: The preset feedback adjustment period is 3 seconds.

10. A motor controller adapted to resolver processing system, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a motor controller adaptation resolver processing method as described in any one of claims 1 to 9 are implemented.

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