A method for automatically adjusting performance parameters of a servo motor and related equipment

Abstract

The present invention discloses a method for automatically tuning the performance parameters of a servo motor and related equipment. The method comprises: monitoring the operating state of the servo motor to obtain position difference data of the servo motor; extracting the performance parameters of the servo motor to be tuned based on the position difference data, and inputting the performance parameters to be tuned into an automatic adjustment (AAT) model; setting safe movement parameters in the AAT model; automatically identifying the operating state based on the AAT model to obtain an automatic identification result of the operating state; performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value; tuning the performance parameters to be tuned based on the feedforward value to obtain the performance parameters of the servo motor after tuning. The present invention effectively reduces the difficulty of debugging the servo performance parameters of the servo motor, optimizes debugging accuracy, improves debugging efficiency, and thereby improves the overall operating performance of the servo motor.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor performance debugging, and in particular to a servo motor performance parameter automatic tuning method and related equipment. Background Art

[0002] In industrial production application scenarios, a large number of servo motors need to be set up due to production needs, and the debugging of the servo performance parameters of these servo motors is a key and difficult point for most technicians. There are many types of servo performance parameters, and each has a corresponding function. For example, some are related to responsiveness, and some are related to vibration and noise. Any change in the value of a servo performance parameter will affect the adjusted operating state of the servo motor. Therefore, debuggers need to spend more time and energy to learn and understand the control principles of servo motors in order to better understand the role of each servo performance parameter. However, despite learning and understanding, in actual application, debuggers are still unable to perform proficient debugging based on the learned content, but only debug according to their own fragmented experience, which not only leads to poor debugging accuracy of the servo performance parameters of the servo motor, but also affects the debugging efficiency, thereby affecting the overall operating state of the servo motor. Summary of the Invention

[0003] The purpose of the present invention is to overcome the shortcomings of the prior art. The present invention provides a method and related equipment for automatically adjusting the performance parameters of a servo motor, which effectively reduces the difficulty of debugging the servo performance parameters of the servo motor, optimizes the debugging accuracy, improves the debugging efficiency, and thus improves the overall operating performance of the servo motor.

[0004] The present invention provides a method for automatically adjusting performance parameters of a servo motor, the method comprising:

[0005] Monitor the operating status of the servo motor and obtain the position difference data of the servo motor;

[0006] Extracting the performance parameters of the servo motor to be adjusted according to the position difference data, and inputting the performance parameters to be adjusted into the AAT automatic tuning model;

[0007] Setting the safe mobility parameters in the AAT automatic tuning model;

[0008] Automatically identify the operating state based on the AAT automatic tuning model, and obtain an automatic identification result of the operating state;

[0009] Performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value;

[0010] The performance parameter to be adjusted is adjusted based on the feedforward value to obtain the performance parameter of the servo motor after adjustment.

[0011] Furthermore, the monitoring of the operating state of the servo motor and obtaining the position difference data of the servo motor includes:

[0012] Extracting the position data that the servo motor should reach, which is pre-stored in the servo motor memory;

[0013] Based on the position sensor sensing the actual position data of the servo motor;

[0014] Based on the expected position data and the actual position data, it is determined whether a position difference occurs, and corresponding position difference data is acquired.

[0015] Furthermore, extracting the performance parameters of the servo motor to be adjusted according to the position difference data, and inputting the performance parameters to be adjusted into the AAT automatic tuning model includes:

[0016] The capacitance data and inductance data to be adjusted of the high-frequency part of the transmitter of the servo motor are extracted according to the position difference data, and the capacitance data and inductance data to be adjusted are input into the AAT automatic tuning model.

[0017] Furthermore, the setting of the secure mobility parameters in the AAT automatic tuning model includes:

[0018] The safe moving distance, safe moving speed and safe moving acceleration of the AAT automatic tuning model during the automatic tuning process are set.

[0019] Furthermore, the automatic identification of the operating state based on the AAT automatic tuning model and obtaining the automatic identification result of the operating state include:

[0020] Performing automatic inertia identification based on the AAT automatic tuning model to obtain an automatic inertia identification result;

[0021] Performing automatic vibration identification based on the AAT automatic tuning model to obtain an automatic vibration identification result;

[0022] Automatic rigidity identification is performed based on the AAT automatic tuning model to obtain an automatic rigidity identification result.

[0023] Furthermore, performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value includes:

[0024] Calculating a speed original feedforward value based on the automatic identification result of the operating state;

[0025] Based on the original feedforward value of the speed, gradually increase it and detect the position deviation waveform of the servo motor;

[0026] Whether an overshoot phenomenon occurs is determined based on the degree of change of the position deviation waveform. When it is determined that an overshoot phenomenon occurs, a speed feedforward value at that moment is extracted.

[0027] Furthermore, the step of adjusting the performance parameter to be adjusted based on the feedforward value to obtain the performance parameter of the servo motor after adjustment includes:

[0028] After obtaining the tuned performance parameters of the servo motor, it is determined whether the position difference data of the servo motor meets the normal operating conditions when the servo motor operates based on the tuned performance parameters.

[0029] The present invention also provides a servo motor performance parameter automatic tuning system, which is used to implement the above-mentioned servo motor performance parameter automatic tuning method, and the system includes:

[0030] A position difference data acquisition module, wherein the position difference data acquisition module is used to monitor the operating state of the servo motor and acquire position difference data of the servo motor;

[0031] a module for extracting performance parameters to be adjusted, the module being used to extract performance parameters to be adjusted of the servo motor based on the position difference data, and input the performance parameters to be adjusted into an AAT automatic tuning model;

[0032] A safe mobility parameter setting module, configured to set safe mobility parameters in the AAT automatic tuning model;

[0033] An automatic operating status identification module, configured to automatically identify the operating status based on the AAT automatic tuning model and obtain an automatic operating status identification result;

[0034] A feedforward identification and analysis module, configured to perform feedforward identification and analysis based on the automatic identification result of the operating state to obtain a feedforward value;

[0035] A performance parameter setting module is used to set the performance parameter to be set based on the feedforward value, and obtain the performance parameter of the servo motor after the setting is completed.

[0036] 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 method for automatically adjusting the performance parameters of a servo motor.

[0037] 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 computer program implements the above-mentioned method for automatically adjusting the performance parameters of the servo motor.

[0038] The present invention provides a method and related equipment for automatically tuning the performance parameters of a servo motor. By monitoring the operating status of the servo motor, position difference data of the servo motor is obtained, and then the performance parameters of the servo motor to be tuned, that is, the performance parameters that need to be tuned, are determined. The reasons for the poor performance of the servo motor can be quickly monitored, and the operating loss can be reduced. The operating status of the servo motor is automatically identified through the AAT automatic tuning model, replacing the process of manual identification and debugging by debugging personnel, avoiding the problems of poor debugging accuracy and low debugging efficiency due to insufficient manual experience. Feedforward identification analysis is performed to obtain feedforward values, and the performance parameters to be tuned are tuned according to the feedforward values, effectively improving the tuning accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameters of the servo motor, optimizing debugging accuracy, improving debugging efficiency, and thus improving the overall operating performance of the servo motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] 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.

[0040] Figure 1 is a flow chart of a method for automatically tuning servo motor performance parameters in a first embodiment of the present invention;

[0041] Figure 2 This is a flow chart of obtaining position difference data of a servo motor in the first embodiment of the present invention;

[0042] Figure 3 This is a flow chart of automatic motion state identification based on the AAT automatic tuning model in the first embodiment of the present invention;

[0043] Figure 4 This is a flow chart of performing feedforward identification analysis to obtain feedforward values ​​in the first embodiment of the present invention;

[0044] Figure 5 This is a diagram of the architecture of the servo motor performance parameter automatic tuning system in the second embodiment of the present invention. DETAILED DESCRIPTION

[0045] 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.

[0046] 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.

[0047] 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.

[0048] Example 1

[0049] Embodiment 1 of the present invention provides a method for automatically tuning the performance parameters of a servo motor, the method comprising: monitoring the operating state of the servo motor to obtain position difference data of the servo motor; extracting the performance parameters to be tuned of the servo motor based on the position difference data, and inputting the performance parameters to be tuned into an AAT automatic tuning model; setting safe movement parameters in the AAT automatic tuning model; automatically identifying the operating state based on the AAT automatic tuning model to obtain an automatic identification result of the operating state; performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value; tuning the performance parameters to be tuned based on the feedforward value to obtain the performance parameters of the servo motor after tuning.

[0050] In an optional implementation of this embodiment, as Figure 1 As shown, Figure 1 The flowchart of the method for automatically tuning the performance parameters of a servo motor in the first embodiment of the present invention is shown, which includes the following steps:

[0051] S101, monitoring the operating status of the servo motor and obtaining position difference data of the servo motor;

[0052] In an optional implementation of this embodiment, the operating state of the servo motor is monitored, mainly to obtain position difference data of the motor in the servo motor.

[0053] In an optional implementation of this embodiment, as Figure 2 As shown, Figure 2 A flow chart of obtaining position difference data of a servo motor in the first embodiment of the present invention is shown, including the following steps:

[0054] S201, extracting the position data that the servo motor should reach, which is pre-stored in the servo motor memory;

[0055] In an optional implementation of this embodiment, pre-stored position data of the position that the servo motor should reach is extracted in the PLC (Programmable Logic Controller) of the servo motor.

[0056] Specifically, since the speed of the servo motor rotor is controlled by the input signal, the voltage signal is converted into torque and speed to drive the control object. Therefore, PLC is usually used as the hub of the servo motor operation control. The PLC pre-stores the position data that the motor corresponding to the servo motor should reach at various times.

[0057] S202, sensing the actual position data of the servo motor based on the position sensor;

[0058] In an optional implementation of this embodiment, the position data actually reached by the servo motor is acquired based on sensing by a set position sensor, and the acquired position data is converted by an A / D module.

[0059] S203 : Determine whether a position difference occurs based on the expected position data and the actual position data, and obtain corresponding position difference data.

[0060] In an optional implementation of this embodiment, it is determined whether there is a position difference between the position data that the servo motor should reach obtained in step S201 and the position data actually reached by the servo motor obtained in step S202, and the corresponding position difference data is obtained.

[0061] In an optional implementation of this embodiment, a position difference judgment threshold is preset, and the position difference between the position data that the servo motor should reach and the position data actually reached is compared with the position difference judgment threshold. If the position difference is larger than the position difference judgment threshold, it is judged that a position difference occurs, and the position difference data between the two is extracted. If the position difference is smaller than the position difference judgment threshold, it is judged that no position difference occurs, and no subsequent tuning process is required.

[0062] Here, the operating status of the servo motor is monitored, and the position difference data of the servo motor is obtained to determine whether the servo motor performance parameters need to be adjusted, and to provide data support for the subsequent tuning process.

[0063] By monitoring the operating status of the servo motor, obtaining the position difference data of the servo motor, and then judging the performance parameters of the servo motor that need to be adjusted, that is, the performance parameters that need to be tuned, the cause of poor performance of the servo motor can be quickly monitored to reduce operating losses.

[0064] S102, extracting performance parameters of the servo motor to be adjusted according to the position difference data, and inputting the performance parameters to be adjusted into an AAT automatic tuning model;

[0065] In an optional implementation of this embodiment, the capacitance data and inductance data to be adjusted of the high-frequency part of the transmitter of the servo motor are extracted based on the position difference data, and the capacitance data and inductance data to be adjusted are input into the AAT automatic tuning model.

[0066] Specifically, the performance data to be adjusted in the high-frequency part of the transmitter of the servo motor are extracted according to the position difference data, mainly capacitance data and inductance data, and also including some voltage data and current data, and these performance data to be adjusted are input into the AAT automatic tuning model.

[0067] In an optional implementation of this embodiment, the AAT automatic tuning model adopts an automatic tuning control model of automatic antenna tuning (Automatic Antenna Tuning, AAT), which is a control method for adjusting the variable capacitance and inductance of the RF system through a motor drive device so that the RF system operates in an optimal impedance matching state. In this embodiment, it is applied to the tuning of the high-frequency part of the transmitter of the servo motor, so that the transmitter state reaches the optimal matching state, thereby optimizing the performance of the servo motor.

[0068] S103: Setting the secure mobility parameters in the AAT automatic tuning model;

[0069] In an optional implementation of this embodiment, a safe moving distance, a safe moving speed, and a safe moving acceleration are set for the AAT automatic tuning model during the automatic tuning process.

[0070] Specifically, since the servo motor is an engine that controls the operation of mechanical components in the private server system and is an indirect speed change device of the auxiliary motor, it can control the speed. Therefore, when setting the safe movement parameters in the AAT automatic tuning model, it is important to set the parameters related to speed, including setting the safe movement distance, safe movement speed and safe movement acceleration, to ensure the safety and stability of the AAT automatic tuning model during operation.

[0071] S104, performing automatic identification of the operating state based on the AAT automatic tuning model, and obtaining an automatic identification result of the operating state;

[0072] In an optional implementation of this embodiment, the AAT (automatic antenna tuning) process of the AAT automatic tuning model is started to perform automatic identification processes of three common indicators, namely, inertia, vibration, and rigidity, which usually appear when the servo motor is in operation.

[0073] In an optional implementation of this embodiment, as Figure 3 As shown, Figure 3 The flowchart of the automatic identification of motion state based on the AAT automatic tuning model in the first embodiment of the present invention is shown, including the following steps:

[0074] S301, performing automatic inertia identification based on the AAT automatic tuning model to obtain an automatic inertia identification result;

[0075] In an optional implementation of this embodiment, the AAT automatic tuning model is adjusted to enter the inertia automatic identification mode, and a preset inertia identification value is input into the servo motor. The servo motor converts the inertia identification value into torque data and rotates back and forth according to the converted torque data. After a period of time, the rotation stops, and data is collected during the rotation operation to obtain the inertia automatic identification result.

[0076] In an optional implementation of this embodiment, the AAT automatic tuning model performs automatic inertia identification based on an improved particle swarm algorithm.

[0077] Specifically, the preset inertia identification value is used as the initial population particle number, the number of discrete points, the search interval and the maximum number of iterations are set, and a random initial value is assigned to each initial population particle in the search space. After the servo motor rotates, the rotation data is sampled, and the rotation data of the initial acceleration stage and the final deceleration stage are discarded. Continuous discrete points are taken as the data set to be substituted into the fitness function to obtain the fitness value. The individual is memorized and updated according to the fitness value and the updated position, speed, learning factor and inertia weight of the particle after iteration. After a certain number of iterations, the global extreme value is obtained as the final solution for automatic inertia identification.

[0078] It should be noted that the automatic inertia identification results are mainly the rotational inertia value and the variation value. The preset inertia identification value must be higher than the rotational inertia value of the servo motor itself.

[0079] S302, performing automatic vibration identification based on the AAT automatic tuning model to obtain an automatic vibration identification result;

[0080] In an optional implementation of this embodiment, the AAT automatic tuning model is adjusted to enter the vibration automatic identification mode, and a preset high-frequency signal is input into the servo motor. The servo motor converts the high-frequency signal into vibration data and performs vibration operation according to the converted vibration data. The vibration is stopped after a period of time, and data is collected during the vibration operation to obtain the vibration automatic identification result.

[0081] In an optional implementation of this embodiment, the AAT automatic tuning model performs automatic vibration identification based on a pole placement method.

[0082] Specifically, when the servo motor performs vibration operation according to the converted vibration data, several position points on the servo motor are extracted as vibration poles, that is, vibration reference points. The vibration frequencies of these vibration poles can basically reflect the overall vibration state of the entire servo motor. Then, a vibration transfer function is constructed, including state variables, state matrix, input matrix, output matrix and transfer matrix. Based on the state feedback method, the vibration feedback gain of these vibration poles is calculated to obtain the vibration feedback gain as the vibration automatic identification result.

[0083] S303 : Performing automatic rigidity identification based on the AAT automatic tuning model to obtain an automatic rigidity identification result.

[0084] In an optional implementation of this embodiment, the AAT automatic tuning model is adjusted to enter the rigidity automatic identification mode, preset rigidity parameters are input into the servo motor, and the value of the rigidity parameter is gradually increased until the servo motor is induced to vibrate. The rigidity parameter at this moment is extracted, and two rigidity levels are called back. The rigidity parameter after the call back is used as the rigidity automatic identification result.

[0085] It should be noted that the rigidity considered here is the property of a material that does not deform under the action of an external force, that is, the strong resistance of an object to external forces. During the resistance process, there is a certain range between the external force causing damage to the object and the object showing a certain resistance phenomenon. In this embodiment, when the servo motor is sensed to generate vibration, the rigidity parameter at this moment has exceeded this range, so it is necessary to call back two rigidity levels so that the rigidity parameter after the call back is more in line with the starting point of the resistance of the servo motor housing material to external forces. The rigidity parameter at this time will more accurately reflect the actual state of the servo motor as the result of automatic rigidity identification.

[0086] Here, the AAT automatic tuning model is used to automatically identify the operating status of the servo motor, replacing the manual identification and debugging process performed by the debugging personnel, avoiding the problems of poor debugging accuracy and low debugging efficiency caused by insufficient manual experience.

[0087] S105, performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value;

[0088] In an optional implementation of this embodiment, a feedforward identification analysis is performed based on the inertia automatic identification result, the vibration automatic identification result, and the stiffness automatic identification result obtained in step S104 to obtain a feedforward value.

[0089] In an optional implementation of this embodiment, as Figure 4 As shown, Figure 4 A flow chart of performing feedforward identification analysis to obtain feedforward values ​​in the first embodiment of the present invention is shown, including the following steps:

[0090] S401, calculating the original speed feedforward value based on the automatic identification result of the operating state;

[0091] In an optional implementation of this embodiment, based on the inertia automatic identification results, vibration automatic identification results and stiffness automatic identification results, the corresponding inertia critical value, vibration critical value and stiffness critical value are extracted, and the original speed feedforward value is obtained by comprehensive calculation.

[0092] S402, based on the original speed feedforward value, gradually increase it and detect the position deviation waveform of the servo motor;

[0093] In an optional implementation of this embodiment, the original speed feedforward value is used as a reference, and the original speed feedforward value is gradually increased, while the position deviation waveform of the servo motor is detected.

[0094] Specifically, the change of the feedforward value will affect the position deviation value of the servo motor. Here, by detecting the position deviation waveform, the change of the position deviation value of the servo motor when the feedforward value changes can be reflected.

[0095] S403 , judging whether an overshoot phenomenon occurs based on the degree of change of the position deviation waveform, and extracting the speed feedforward value at that moment when it is judged that an overshoot phenomenon occurs.

[0096] In an optional implementation of this embodiment, whether an overshoot phenomenon occurs is determined based on the degree of change of the position deviation waveform.

[0097] Specifically, when the highest peak of the position deviation waveform exceeds the equilibrium position, it is determined that an overshoot phenomenon occurs, and the speed feedforward value at that moment is extracted.

[0098] In an optional implementation of this embodiment, it may be considered to make the highest peak of the position deviation waveform exceed a certain overshoot of the equilibrium position, and perform a callback, and verify the change rate of the unknown deviation waveform based on the callback amount.

[0099] Here, feedforward identification analysis is performed to obtain feedforward values, and the performance parameters to be adjusted are adjusted according to the feedforward values, which effectively improves the adjustment accuracy and efficiency, effectively reduces the difficulty of debugging the servo performance parameters of the servo motor, optimizes the debugging accuracy, improves the debugging efficiency, and thus improves the overall operating performance of the servo motor.

[0100] S106 , tuning the performance parameters to be tuned based on the feedforward value, and obtaining the tuned performance parameters of the servo motor.

[0101] In an optional implementation of this embodiment, the performance parameter to be adjusted is adjusted based on the feedforward value obtained in step S105 to obtain the performance parameter of the servo motor after adjustment.

[0102] Specifically, the frequency and voltage of the transmitter of the servo motor are adjusted through the feedforward value, including increasing or decreasing the frequency and voltage, so that the capacitance and inductance of the high-frequency part of the transmitter can be restored to the optimal tuning state.

[0103] In an optional implementation of this embodiment, after obtaining the tuned performance parameters of the servo motor, it is determined whether the position difference data of the servo motor meets normal operating conditions when the servo motor operates based on the tuned performance parameters.

[0104] Specifically, when it is determined that the position difference data of the servo motor does not meet the normal operating conditions when the servo motor is operating based on the tuned performance parameters, the performance parameters of the servo motor need to be re-tuned until the position difference data of the servo motor meets the normal operating conditions after tuning.

[0105] In summary, the first embodiment of the present invention provides a method for automatic tuning of the performance parameters of a servo motor. By monitoring the operating status of the servo motor, the position difference data of the servo motor is obtained, and then the performance parameters of the servo motor to be tuned, that is, the performance parameters that need to be tuned, are judged. The reasons for the poor performance of the servo motor can be quickly monitored to reduce operating losses. The operating status of the servo motor is automatically identified through the AAT automatic tuning model, replacing the process of manual identification and debugging by the debugging personnel, avoiding the problems of poor debugging accuracy and low debugging efficiency due to insufficient manual experience. Feedforward identification analysis is performed to obtain feedforward values, and the performance parameters to be tuned are tuned according to the feedforward values, effectively improving the tuning accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameters of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and thus improving the overall operating performance of the servo motor.

[0106] Example 2

[0107] Embodiment 2 of the present invention provides a servo motor performance parameter automatic tuning system, which is used to implement the servo motor performance parameter automatic tuning method described in embodiment 1. The system includes a position difference data acquisition module, a performance parameter extraction module to be tuned, a safe movement parameter setting module, an automatic operating status identification module, a feedforward identification and analysis module, and a performance parameter tuning module.

[0108] In an optional implementation of this embodiment, as Figure 5 As shown, Figure 5 The following diagram shows the architecture of the servo motor performance parameter automatic tuning system in the second embodiment of the present invention, including the following modules:

[0109] A position difference data acquisition module 10 is used to monitor the operating state of the servo motor and acquire position difference data of the servo motor;

[0110] In an optional implementation of this embodiment, the monitoring of the operating status of the servo motor and obtaining the position difference data of the servo motor include: extracting the position data that the servo motor should reach pre-stored in the servo motor memory; sensing the position data actually reached by the servo motor based on the position sensor; judging whether a position difference occurs based on the position data that should be reached and the position data actually reached, and obtaining the corresponding position difference data.

[0111] A module 20 for extracting performance parameters to be adjusted, configured to extract performance parameters to be adjusted of the servo motor based on the position difference data, and input the performance parameters to be adjusted into an AAT automatic tuning model;

[0112] In an optional implementation of this embodiment, extracting the performance parameters to be adjusted of the servo motor based on the position difference data and inputting the performance parameters to be adjusted into the AAT automatic tuning model includes: extracting the capacitance data and inductance data to be adjusted of the high-frequency part of the transmitter of the servo motor based on the position difference data, and inputting the capacitance data and inductance data to be adjusted into the AAT automatic tuning model.

[0113] A safe mobility parameter setting module 30, configured to set safe mobility parameters in the AAT automatic tuning model;

[0114] In an optional implementation of this embodiment, setting the safe movement parameters in the AAT automatic tuning model includes setting a safe movement distance, a safe movement speed, and a safe movement acceleration of the AAT automatic tuning model during the automatic tuning process.

[0115] An automatic operating status identification module 40 is configured to automatically identify the operating status based on the AAT automatic tuning model and obtain an automatic operating status identification result;

[0116] In an optional implementation of this embodiment, the automatic identification of the operating status based on the AAT automatic tuning model and obtaining the automatic identification result of the operating status include: automatically identifying inertia based on the AAT automatic tuning model and obtaining the automatic identification result of inertia; automatically identifying vibration based on the AAT automatic tuning model and obtaining the automatic identification result of vibration; and automatically identifying stiffness based on the AAT automatic tuning model and obtaining the automatic identification result of stiffness.

[0117] A feedforward identification and analysis module 50 is configured to perform feedforward identification and analysis based on the automatic identification result of the operating state to obtain a feedforward value;

[0118] In an optional implementation of this embodiment, the feedforward identification analysis is performed based on the automatic identification result of the operating state, and obtaining the feedforward value includes: calculating the original speed feedforward value based on the automatic identification result of the operating state; gradually increasing the original speed feedforward value based on the reference, and detecting the position deviation waveform of the servo motor; judging whether an overshoot phenomenon occurs based on the degree of change of the position deviation waveform, and when it is judged that an overshoot phenomenon occurs, extracting the speed feedforward value at the moment.

[0119] The performance parameter setting module 60 is used to set the performance parameter to be set based on the feedforward value, and obtain the performance parameter of the servo motor after the setting is completed.

[0120] In an optional implementation of this embodiment, the performance parameters to be adjusted are adjusted based on the feedforward value, and obtaining the performance parameters of the servo motor after adjustment includes: after obtaining the performance parameters of the servo motor after adjustment, determining whether the position difference data of the servo motor meets normal operating conditions when the servo motor is operating based on the adjusted performance parameters.

[0121] In summary, the second embodiment of the present invention provides a servo motor performance parameter automatic tuning system for implementing the servo motor performance parameter automatic tuning method described in the first embodiment, by monitoring the operating status of the servo motor, obtaining the position difference data of the servo motor, and then judging the performance parameters of the servo motor to be tuned, that is, the performance parameters that need to be tuned, and quickly monitoring the reasons for the poor performance of the servo motor, thereby reducing operating losses; the operating status of the servo motor is automatically identified through the AAT automatic tuning model, replacing the process of manual identification and debugging by the debugging personnel, thereby avoiding the problems of poor debugging accuracy and low debugging efficiency due to insufficient manual experience; feedforward identification analysis is performed to obtain feedforward values, and the performance parameters to be tuned are tuned according to the feedforward values, thereby effectively improving the tuning accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameters of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and thereby improving the overall operating performance of the servo motor.

[0122] Example 3

[0123] 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 method for automatically adjusting the performance parameters of the servo motor described in embodiment 1.

[0124] In summary, embodiment three of the present invention provides an electronic device for executing the automatic tuning method for the servo motor performance parameters described in embodiment one, by monitoring the operating status of the servo motor, obtaining the position difference data of the servo motor, and then judging the performance parameters of the servo motor to be tuned, that is, the performance parameters that need to be tuned, and quickly monitoring the reasons for the poor performance of the servo motor, thereby reducing operating losses; automatically identifying the operating status of the servo motor through the AAT automatic tuning model, replacing the process of manual identification and debugging by the debugging personnel, avoiding the problems of poor debugging accuracy and low debugging efficiency due to insufficient manual experience; performing feedforward identification analysis, obtaining feedforward values, and tuning the performance parameters to be tuned according to the feedforward values, thereby effectively improving the tuning accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameters of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and thereby improving the overall operating performance of the servo motor.

[0125] Example 4

[0126] 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 method for automatically adjusting the performance parameters of the servo motor described in the first embodiment is implemented.

[0127] In summary, embodiment four of the present invention provides a computer-readable storage medium for executing the automatic tuning method for the servo motor performance parameters described in embodiment one, by monitoring the operating status of the servo motor, obtaining the position difference data of the servo motor, and then judging the performance parameters of the servo motor to be tuned, that is, the performance parameters that need to be tuned, and quickly monitoring the reasons for the poor performance of the servo motor, thereby reducing operating losses; automatically identifying the operating status of the servo motor through the AAT automatic tuning model, replacing the process of manual identification and debugging by the debugging personnel, and avoiding the problems of poor debugging accuracy and low debugging efficiency due to insufficient manual experience; performing feedforward identification analysis, obtaining feedforward values, and tuning the performance parameters to be tuned according to the feedforward values, thereby effectively improving the tuning accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameters of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and thereby improving the overall operating performance of the servo motor.

[0128] The above is a detailed introduction to a method for automatic tuning of servo motor performance parameters and related equipment provided by the present invention. Those skilled in the art will 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.

[0129] 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 method for automatically tuning the performance parameters of a servo motor, characterized in that: The method comprises: Monitor the operating status of the servo motor and obtain the position difference data of the servo motor; Extracting the performance parameters of the servo motor to be adjusted according to the position difference data, and inputting the performance parameters to be adjusted into the AAT automatic tuning model; Extracting the performance parameters of the servo motor to be adjusted according to the position difference data and inputting the performance parameters to be adjusted into the AAT automatic tuning model includes: extracting capacitance data and inductance data to be adjusted of a high-frequency part of a transmitter of the servo motor according to the position difference data, and inputting the capacitance data and inductance data to be adjusted into the AAT automatic tuning model; Setting the safe mobility parameters in the AAT automatic tuning model; Automatically identify the operating state based on the AAT automatic tuning model, and obtain an automatic identification result of the operating state; Performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value; The performing of feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value includes: calculating an original speed feedforward value based on the automatic identification result of the operating state; gradually increasing the original speed feedforward value based on the reference value, and detecting a position deviation waveform of the servo motor; judging whether an overshoot phenomenon occurs based on the degree of change of the position deviation waveform, and extracting the speed feedforward value at that moment when an overshoot phenomenon is judged to occur; The performance parameter to be adjusted is adjusted based on the feedforward value to obtain the performance parameter of the servo motor after adjustment.

2. The method for automatically adjusting the performance parameters of a servo motor according to claim 1, wherein: The step of monitoring the operating state of the servo motor and obtaining position difference data of the servo motor includes: Extracting the position data that the servo motor should reach, which is pre-stored in the servo motor memory; Based on the position sensor sensing the actual position data of the servo motor; Based on the expected position data and the actual position data, it is determined whether a position difference occurs, and corresponding position difference data is acquired.

3. The method for automatically tuning the performance parameters of a servo motor according to claim 1, wherein: The setting of the secure mobility parameters in the AAT automatic tuning model includes: The safe moving distance, safe moving speed and safe moving acceleration of the AAT automatic tuning model during the automatic tuning process are set.

4. The method for automatically adjusting the performance parameters of a servo motor according to claim 1, wherein: The automatically identifying the operating state based on the AAT automatic tuning model and obtaining the automatic identification result of the operating state includes: Performing automatic inertia identification based on the AAT automatic tuning model to obtain an automatic inertia identification result; Performing automatic vibration identification based on the AAT automatic tuning model to obtain an automatic vibration identification result; Automatic rigidity identification is performed based on the AAT automatic tuning model to obtain an automatic rigidity identification result.

5. The method for automatically tuning the performance parameters of a servo motor according to claim 1, wherein: The step of adjusting the performance parameter to be adjusted based on the feedforward value to obtain the performance parameter of the servo motor after adjustment includes: After obtaining the tuned performance parameters of the servo motor, it is determined whether the position difference data of the servo motor meets the normal operating conditions when the servo motor operates based on the tuned performance parameters.

6. A servo motor performance parameter automatic tuning system, characterized in that: The servo motor performance parameter automatic tuning system is used to implement the servo motor performance parameter automatic tuning method according to any one of claims 1 to 5, and the system includes: A position difference data acquisition module, wherein the position difference data acquisition module is used to monitor the operating state of the servo motor and acquire position difference data of the servo motor; a module for extracting performance parameters to be adjusted, the module being used to extract performance parameters to be adjusted of the servo motor based on the position difference data, and input the performance parameters to be adjusted into an AAT automatic tuning model; Extracting the performance parameters of the servo motor to be adjusted according to the position difference data and inputting the performance parameters to be adjusted into the AAT automatic tuning model includes: extracting capacitance data and inductance data to be adjusted of a high-frequency part of a transmitter of the servo motor according to the position difference data, and inputting the capacitance data and inductance data to be adjusted into the AAT automatic tuning model; A safe mobility parameter setting module, configured to set safe mobility parameters in the AAT automatic tuning model; An automatic operating status identification module, configured to automatically identify the operating status based on the AAT automatic tuning model and obtain an automatic operating status identification result; A feedforward identification and analysis module, configured to perform feedforward identification and analysis based on the automatic identification result of the operating state to obtain a feedforward value; The performing of feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value includes: calculating an original speed feedforward value based on the automatic identification result of the operating state; gradually increasing the original speed feedforward value based on the reference value, and detecting a position deviation waveform of the servo motor; judging whether an overshoot phenomenon occurs based on the degree of change of the position deviation waveform, and extracting the speed feedforward value at that moment when an overshoot phenomenon is judged to occur; A performance parameter setting module is used to set the performance parameter to be set based on the feedforward value, and obtain the performance parameter of the servo motor after the setting is completed.

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 method for automatically adjusting the performance parameters of a servo motor 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 the processor, the method for automatically tuning the performance parameters of the servo motor according to any one of claims 1 to 5 is implemented.

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