Method and device for coordinating amplitude-frequency and phase-frequency responses of electric steering engine and medium

Abstract

The invention relates to the technical field of electric steering engine control, in particular to a method and equipment for coordinating amplitude-frequency and phase-frequency responses of an electric steering engine and a medium. The method comprises the steps of obtaining a first control instruction of the electric steering engine, and obtaining an instruction identification frequency based on the instruction; feed-forward and dead-zone compensation coefficients are obtained based on the instruction identification frequency; performing low-pass filtering on the first control instruction to obtain a second control instruction; a feedback result of operation of the electric steering engine based on the second control instruction is obtained, and first control output is obtained according to a PID control algorithm; obtaining a second control output based on a feed-forward compensation algorithm, the second control instruction and a feed-forward compensation coefficient; obtaining a third control output based on a dead-zone compensation algorithm, the first control output, the second control output and the dead-zone compensation coefficient; and adjusting the amplitude-frequency and phase-frequency response of the electric steering engine according to the first control output, the second control output and the third control output. Therefore, the problem that the synchronous improvement of the amplitude-frequency response and the phase-frequency response of the electric steering engine has conflicts is solved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric steering gear control, and in particular to a method, a device and a medium for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear. Background Art

[0002] Since its birth, electric steering gear has rapidly replaced traditional hydraulic steering gear, pneumatic steering gear and other steering gears due to its relatively light weight, low cost and flexible control. At the same time, with the development of technology, electric steering gears increasingly emphasize high dynamics and high power-to-weight ratio, which makes the overall requirements of electric steering gear indicators higher and higher, while requiring smaller size and lighter weight.

[0003] For electric servos with relatively limited hardware design capabilities, there is often a conflict between the simultaneous improvement of amplitude-frequency response and phase-frequency response, especially for traditional control based on PID control. When the phase-frequency characteristic is improved to a certain extent by increasing the coefficient, the amplitude-frequency response of the electric servo will exceed the amplitude of the command itself, causing the electric servo to jitter or even diverge, and the system to enter an unstable state. On the other hand, traditional control algorithms usually control the full-frequency amplitude-frequency response and phase-frequency response of the electric servo as a whole, making it difficult to accurately control the bandwidth of the electric servo, and unable to control it to achieve specific amplitude-frequency and phase-frequency response requirements at a certain required frequency point.

[0004] However, various control algorithms that have emerged in recent years can only improve the performance indicators of electric servos within a small range, or focus on solving the adverse effects of uncertain factors such as nonlinearity and disturbance on the control of electric servos. It is difficult to fundamentally and significantly improve indicators such as amplitude-frequency and phase-frequency of electric servos simultaneously.

[0005] In view of the above problems, the present invention proposes a method for coordinating the amplitude-frequency and phase-frequency responses of an electric steering gear. Under the premise of ensuring the stability of the electric steering gear, the amplitude-frequency response characteristics and the phase-frequency response characteristics of the electric steering gear are improved synchronously, and the electric steering gear can be controlled to achieve specific amplitude-frequency and phase-frequency response requirements at a certain required frequency point. Summary of the invention

[0006] In order to solve the problem of conflict between synchronous enhancement of amplitude-frequency response and phase-frequency response of an electric servo, the present invention provides a method for coordinating amplitude-frequency response and phase-frequency response of an electric servo.

[0007] According to a first aspect of the present invention, the present invention provides a method for coordinating amplitude-frequency and phase-frequency responses of an electric servo, comprising:

[0008] Obtaining the first control instruction of the electric servo;

[0009] Obtaining an instruction recognition frequency based on the first control instruction;

[0010] Obtaining a feedforward compensation coefficient and a dead zone compensation coefficient based on the instruction recognition frequency;

[0011] According to the use requirements, the first control instruction is low-pass filtered to obtain the second control instruction;

[0012] Obtaining a feedback result of the electric servo running based on the second control instruction, and obtaining a first control output according to a preset PID control algorithm;

[0013] Obtaining a second control output based on a preset feedforward compensation algorithm, the second control instruction and the feedforward compensation coefficient;

[0014] Obtaining a third control output based on a preset dead zone compensation algorithm, the first control output, the second control output and the dead zone compensation coefficient;

[0015] The amplitude-frequency and phase-frequency responses of the electric servo are adjusted according to the first control output, the second control output and the third control output.

[0016] In some embodiments, the step of low-pass filtering the first control instruction to obtain the second control instruction according to the usage requirement includes:

[0017] The first control instruction is filtered using a notch filter, and the transfer function of the notch filter is:

[0018] ;

[0019] in, is the notch center frequency, is the notch depth, The bandwidth of the notch filter can be adjusted, and s is a complex frequency variable.

[0020] In some embodiments, the feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation differential equation is as follows:

[0021] ;

[0022] in, For the second control output, is the nth control instruction, is the compensation coefficient of the nth control instruction, is the n-1th control instruction, is the compensation coefficient of the n-1th control instruction, is the n-2th control instruction, is the compensation coefficient of the n-2th control instruction.

[0023] In some embodiments, the dead zone compensation algorithm, the dead zone compensation formula is:

[0024] ;

[0025] in, is the dead zone compensation coefficient, is the third control output, For the first control output, is the second control output.

[0026] In some embodiments, the PID control algorithm is expressed as:

[0027] e(t)=r(t)-y(t);

[0028] ;

[0029] in, , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, r(t), e(t), and y(t) are the second control instruction, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

[0030] In some embodiments, obtaining a feedforward compensation coefficient based on the instruction recognition frequency includes:

[0031] Obtaining the number of crossing points based on the instruction recognition frequency;

[0032] Obtain feedforward compensation coefficient sequence;

[0033] A corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence is selected based on the number of the crossing points.

[0034] In some embodiments, obtaining a dead zone compensation coefficient based on the instruction recognition frequency includes:

[0035] Obtaining the number of crossing points based on the instruction recognition frequency;

[0036] Obtain dead zone compensation coefficient sequence;

[0037] A corresponding feedforward compensation coefficient in the dead zone compensation coefficient sequence is selected based on the number of the crossing points.

[0038] In some embodiments, the number of crossing points obtained based on the instruction recognition frequency is obtained based on the following formula:

[0039] ;

[0040] in, is the instruction recognition frequency, N is the number of crossing points, St is the sampling period, and n is the number of sampling points.

[0041] According to a second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in the first aspect.

[0042] According to a third aspect of the present invention, a computer-readable storage medium stores a program, and the program is executed by a processor to implement the method of coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in the first aspect.

[0043] In order to solve the conflict problem of synchronously improving the amplitude-frequency response and phase-frequency response of the electric servo, the present invention has the following advantages:

[0044] Through the technical scheme of the present invention, coordinated control of the amplitude-frequency and phase-frequency responses of the electric servo can be achieved. While greatly improving the phase delay of the electric servo, increasing the system bandwidth and improving the small signal response capability, the technical difficulties of resonance and even oscillation caused by large PID control and feedforward compensation of the electric servo are simultaneously solved. At the same time, replacing the hardware capability design with a large margin with a software composite control algorithm is helpful to reduce the size and weight of the electric servo and save the hardware design cost of the electric servo. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] Figure 1 A flow chart showing a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo is shown;

[0046] Figure 2 A schematic diagram showing the relationship between the instruction recognition frequency and the crossing point. DETAILED DESCRIPTION

[0047] The present disclosure will now be discussed with reference to several exemplary embodiments. It should be understood that these embodiments are discussed only to enable those skilled in the art to better understand and thus implement the present disclosure, rather than implying any limitation on the scope of the present disclosure.

[0048] As used herein, the term "including" and its variants are to be interpreted as open-ended terms meaning "including but not limited to". The term "based on" is to be interpreted as "based at least in part on". The terms "one embodiment" and "an embodiment" are to be interpreted as "at least one embodiment". The term "another embodiment" is to be interpreted as "at least one other embodiment". The orientation or position relationship indicated by the terms "upper", "lower", "left", "right", "front", "back", "top", "bottom", "inner", "outer", "vertical", "horizontal", "lateral", "longitudinal" and the like is based on the orientation or position relationship shown in the accompanying drawings. These terms are mainly for better describing the present application and its embodiments, and are not used to limit the indicated devices, elements or components to have a specific orientation, or to be constructed and operated in a specific orientation. In addition, in addition to being used to indicate an orientation or position relationship, some of the above terms may also be used to indicate other meanings, such as the term "upper" may also be used to indicate a certain dependency or connection relationship in some cases. For those of ordinary skill in the art, the specific meanings of these terms in this application can be understood according to the specific circumstances. In addition, the terms "install", "set", "provided with", "connected" and "connected" should be understood in a broad sense. For example, it can be a fixed connection, a detachable connection, or an integral structure; it can be a mechanical connection, or an electrical connection; it can be directly connected, or indirectly connected through an intermediate medium, or it can be an internal connection between two devices, elements or components. For those of ordinary skill in the art, the specific meanings of the above terms in this application can be understood according to the specific circumstances. In addition, the terms "first", "second", etc. are mainly used to distinguish different devices, elements or components (the specific types and structures may be the same or different), and are not used to indicate or imply the relative importance and quantity of the indicated devices, elements or components. Unless otherwise specified, "plurality" means two or more.

[0049] In a first aspect, this embodiment discloses a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo, such as Figure 1 As shown, the following steps are included:

[0050] Obtaining the first control instruction of the electric servo;

[0051] Obtaining an instruction recognition frequency based on the first control instruction;

[0052] Obtaining a feedforward compensation coefficient and a dead zone compensation coefficient based on the instruction recognition frequency;

[0053] According to the use requirements, the first control instruction is low-pass filtered to obtain the second control instruction;

[0054] Obtaining a feedback result of the electric servo running based on the second control instruction, and obtaining a first control output according to a preset PID control algorithm;

[0055] Obtaining a second control output based on a preset feedforward compensation algorithm, the second control instruction and the feedforward compensation coefficient;

[0056] Obtaining a third control output based on a preset dead zone compensation algorithm, the first control output, the second control output and the dead zone compensation coefficient;

[0057] The amplitude-frequency and phase-frequency responses of the electric servo are adjusted according to the first control output, the second control output and the third control output.

[0058] In the present embodiment, a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo is disclosed. First, before the PID control is implemented, a frequency recognition algorithm is used to obtain the command recognition frequency according to the control command of the electric servo, and a feedforward compensation coefficient and a dead zone compensation coefficient are calculated based on the command recognition frequency. Secondly, a notch filter is used to perform low-pass filtering on the response of the electric servo according to the use requirements. Thirdly, a PID control algorithm is used to carry out basic control of the electric servo, and a first control output is obtained based on the feedback result of the servo, and a second control output is calculated based on the feedforward compensation algorithm, the control command and the feedforward compensation coefficient. Finally, based on the first control output, the second control output and the dead zone compensation algorithm and its compensation coefficient, a third control output is calculated, and the amplitude-frequency and phase-frequency responses of the electric servo are adjusted according to the first control output, the second control output and the third control output.

[0059] Specifically, the command recognition frequency has two functions. First, the proportional coefficient is set according to the frequency. The proportional coefficient sequence is a set of proportional coefficients of the feedback result in the PID control algorithm, which is used to match different proportional coefficients according to different frequencies to reduce the high-frequency proportional control amount. While improving the low-frequency response effect of the electric servo, the electric servo responds quickly attenuated in the high-frequency band according to the use requirements, thereby improving the high-frequency stability of the electric servo. Second, the feedforward compensation and dead zone compensation attenuation coefficients are set according to the frequency. While reducing the high-frequency control amount, the feedforward compensation and dead zone compensation under high-frequency conditions are reduced, thereby further improving the high-frequency stability of the electric servo.

[0060] Specifically, according to the use requirements, the notch filter is used in combination with the high-frequency attenuation characteristics of the electric servo itself to perform low-pass filtering on the electric servo control command, so as to minimize the amplitude of the medium and high frequency commands that the electric servo can respond to, and further improve the high-frequency stability.

[0061] Specifically, a PID control algorithm is used to carry out basic control of the electric steering gear to obtain a first control output, and the electric steering gear is adjusted using the first control output, which can improve the phase delay of the electric steering gear, increase the response speed, reduce the steady-state error, etc. A larger proportional control and integral control are used, and in order to prevent excessive overshoot, the differential control effect is simultaneously enhanced to improve the overall response result of the electric steering gear.

[0062] Specifically, the second control output is calculated using a feedforward compensation algorithm, and the electric servo is adjusted using the second control output, which can significantly reduce the phase delay of the low-frequency band electric servo and improve the stability of the electric servo.

[0063] Specifically, the dead zone compensation algorithm is used to calculate the third control output, and the electric servo is adjusted using the third control output. While overcoming the system dead zone, improving the sensitivity of the servo, and enhancing the small signal response capability, the influence of the dead zone compensation on the high frequency band can be effectively reduced.

[0064] Specifically, through the method of coordinating the amplitude-frequency and phase-frequency responses of the electric steering gear of the present invention, a feedforward compensation algorithm and a dead zone compensation algorithm are added on the basis of PID control, and a notch filter is used for low-pass filtering before PID control, and the feedforward compensation coefficient and the dead zone compensation coefficient are adjusted using the instruction recognition frequency. This can greatly improve the phase delay of the electric steering gear, increase the system bandwidth and improve the small signal response capability, while simultaneously solving the technical problems of resonance and even oscillation of the electric steering gear caused by large PID control, feedforward compensation, etc.

[0065] In some embodiments, the step of low-pass filtering the first control instruction to obtain the second control instruction according to the usage requirement includes:

[0066] The first control instruction is filtered using a notch filter, and the transfer function of the notch filter is:

[0067] ;

[0068] in, is the notch center frequency, is the notch depth, The bandwidth of the notch filter can be adjusted, and s is a complex frequency variable.

[0069] In this embodiment, a notch filter is used to perform low-pass filtering on the first control instruction, and an expression of a transfer function of the notch filter is given.

[0070] Specifically, since the electric servo itself has the characteristic of high-frequency attenuation, the attenuation frequency band may not meet the actual use requirements, and low-pass filtering will cause the electric servo response phase delay to increase. Therefore, in order to meet the use requirements of the electric servo, the influence of filtering on the phase delay of the electric servo is minimized.

[0071] Specifically, through low-pass filtering, the electric servo relies on the notch filter to attenuate the electric servo command in the low frequency band. At the same time, the electric servo relies on its own attenuation characteristics to attenuate in the high frequency band. Combined with the notch filter designed with appropriate center frequency point, attenuation depth and notch width, the response attenuation of the designed frequency band is achieved. While improving the high-frequency response stability of the electric servo, it can also offset the unstable effects caused by the enhancement of the electric servo control quantity that may be caused by other control algorithms.

[0072] In some embodiments, the feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation differential equation is as follows:

[0073] ;

[0074] in, For the second control output, is the nth control instruction, is the compensation coefficient of the nth control instruction, is the n-1th control instruction, is the compensation coefficient of the n-1th control instruction, is the n-2th control instruction, is the compensation coefficient of the n-2th control instruction.

[0075] In this embodiment, the expression of the feedforward compensation algorithm is given. As a pre-control algorithm, the feedforward compensation algorithm can effectively improve the phase delay of the electric servo. The feedforward compensation can directly calculate a compensation amount according to the control instruction, which is used to correct the response of the electric servo in advance, thereby reducing the phase delay and improving the stability.

[0076] Specifically, when the phase delay of the servo itself is large, it is necessary to increase the feedforward compensation strength, which may also cause the amplitude response of the electric servo to rise, causing the electric servo to resonate or even diverge. Therefore, the present invention adopts a second-order feedforward, trying to significantly improve the phase response delay of the electric servo while minimizing other side effects caused by the feedforward compensation. At the same time, in order to prevent the amplitude response of the electric servo from rising due to a large feedforward compensation, the feedforward compensation coefficient is adjusted according to the command recognition frequency to adjust the feedforward compensation amount.

[0077] In some embodiments, the dead zone compensation algorithm, the dead zone compensation formula is:

[0078] ;

[0079] in, is the dead zone compensation coefficient, is the third control output, For the first control output, is the second control output.

[0080] In this embodiment, the expression of the dead zone compensation algorithm is given. There are system dead zones in the electric servo system, including mechanical transmission clearance, electrical dead zones, etc., which can be compensated by the dead zone compensation algorithm. Overcoming the system dead zone can effectively improve the sensitivity of the servo and enhance the small signal response capability. At the same time, the dead zone compensation can reduce the phase delay of the electric servo, but excessive dead zone compensation may also cause oscillation. Therefore, the dead zone compensation coefficient is adjusted according to the command recognition frequency. In the low frequency band, the dead zone compensation amount can be appropriately increased to overcome the dead zone phenomenon and improve the sensitivity; in the high frequency band, the dead zone compensation amount needs to be reduced to avoid adverse effects on the high frequency band response.

[0081] In some embodiments, the PID control algorithm is expressed as:

[0082] e(t)=r(t)-y(t);

[0083] ;

[0084] in, , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, r(t), e(t), and y(t) are the second control instruction, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

[0085] In this embodiment, a formula expression of the PID control algorithm is given. PID control is a commonly used and efficient control algorithm in the field of automatic control, and is also commonly used in the control of electric steering gears.

[0086] Specifically, the core idea of ​​the PID control algorithm is to control according to the error and error speed: when the system error is larger, a larger control amount is output through the proportional link to reduce the error as quickly as possible. At the same time, the differential part adjusts the control amount according to the current error change trend to prevent excessive overshoot; when the system error is small, the control amount is continuously increased under the action of integration to gradually eliminate the static error, and finally achieve zero-error control of the system.

[0087] Specifically, the system also has a preset proportional coefficient sequence, which can use different proportional coefficients based on different command recognition frequencies. The proportional system sequence is a set of empirical values ​​obtained based on the application of the PID control algorithm in the electric servo system. For example, PGainTable

[21] ={1.0, 1.0, 0.7, 0.5, 0.5, 0.5, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7, 0.7} is a proportional coefficient sequence. Different proportional coefficients can be matched in the sequence based on different frequencies to achieve more precise control purposes.

[0088] Specifically, the PID control algorithm can improve the control accuracy of the electric servo, increase the response rate of the servo system, help reduce overshoot and even oscillation, make the servo more stable during rotation, avoid errors and damage caused by excessive rotation, and enhance the stability of the servo system.

[0089] In some embodiments, obtaining a feedforward compensation coefficient based on the instruction recognition frequency includes:

[0090] Obtaining the number of crossing points based on the instruction recognition frequency;

[0091] Obtain feedforward compensation coefficient sequence;

[0092] A corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence is selected based on the number of the crossing points.

[0093] In some embodiments, obtaining a dead zone compensation coefficient based on the instruction recognition frequency includes:

[0094] Obtaining the number of crossing points based on the instruction recognition frequency;

[0095] Obtain dead zone compensation coefficient sequence;

[0096] A corresponding feedforward compensation coefficient in the dead zone compensation coefficient sequence is selected based on the number of the crossing points.

[0097] In some embodiments, the number of crossing points obtained based on the instruction recognition frequency is obtained based on the following formula:

[0098] ;

[0099] in, is the instruction recognition frequency, N is the number of crossing points, St is the sampling period, and n is the number of sampling points.

[0100] In this embodiment, a method for obtaining a feedforward compensation coefficient and a dead zone compensation coefficient based on the instruction recognition frequency is introduced. First, the number of crossing points is obtained based on the instruction recognition frequency; second, a feedforward compensation coefficient sequence and a dead zone compensation coefficient sequence preset in the system are obtained; and the compensation coefficients in each sequence are matched based on the number of crossing points.

[0101] Specifically, this embodiment also provides a formula for obtaining the number of crossing points based on the command recognition frequency. More specifically, in actual use of electric servos, command control is mostly random and non-periodic, so the command recognition frequency is obtained based on the system approximate calculation. Figure 2 As shown in the figure, the instructions in the sampling period are decomposed into several segments of the same length, and the average value of all sampling points in the segment is taken as the zero point. Each time the zero point is crossed is taken as a crossing point, and finally the number of crossing points in the entire sampling period is obtained. The figure shows a random control instruction, the AB segment mean is Ek, the AB segment sampling point is n, the sampling period is St, the number of crossing points is N, and the calculated instruction recognition frequency is , and then by the formula The number of crossing points can be calculated.

[0102] Specifically, when calculating the crossing points, if the average value of the sampling points is 10, then if data of samples 9.2 and 10.1 appear in the sampling points, the number of crossing points increases by 1.

[0103] Specifically, the feedforward compensation coefficient sequence and the dead zone compensation coefficient sequence are two sets of sequences preset in the system, which are obtained based on the empirical data of the actual use of the electric servo. Through the command recognition frequency, a more suitable feedforward compensation coefficient or dead zone compensation coefficient can be selected to better coordinate the conflict between the amplitude-frequency and phase-frequency responses of the electric servo. For example, QGainTable

[21] ={0.5, 0.5, 0.5, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0, 1.0} is a set of dead zone compensation coefficient sequences. Based on the above-mentioned command recognition frequency, the number of crossing points is 4, and the 4th number in the sequence is selected as the dead zone compensation coefficient to participate in the calculation of the third control output.

[0104] According to a second aspect of the present invention, an electronic device includes a processor and a memory; the memory is used to store a program; the processor executes the program to implement a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in the first aspect.

[0105] According to a third aspect of the present invention, a computer-readable storage medium stores a program, and the program is executed by a processor to implement the method of coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in the first aspect.

[0106] To sum up, through the technical scheme of the present invention, the coordinated control of the amplitude-frequency and phase-frequency responses of the electric servo can be achieved, while greatly improving the phase delay of the electric servo, increasing the system bandwidth and improving the small signal response capability, the technical problems of resonance and even oscillation caused by large PID control and feedforward compensation of the electric servo are simultaneously solved. At the same time, the software composite control algorithm is used to replace the hardware capability design with a large margin, which helps to reduce the size and weight of the electric servo and save the hardware design cost of the electric servo.

[0107] Those of ordinary skill in the art will appreciate that the modules and algorithm steps described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of the present invention.

[0108] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and equipment can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0109] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or modules, which can be electrical, mechanical or other forms.

[0110] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical modules, that is, they may be located in one place or distributed on multiple network modules. Some or all of the modules may be selected according to actual needs to achieve the purpose of the embodiments of the present invention.

[0111] In addition, each functional module in the embodiment of the present invention may be integrated into one processing module, or each module may exist physically separately, or two or more modules may be integrated into one module.

[0112] If the functions are implemented in the form of software function modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the energy-saving signal sending / receiving method of each embodiment of the present invention. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.

[0113] The above description is only a preferred embodiment of the present application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of the invention involved in the present application is not limited to the technical solution formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the inventive concept. For example, the above features are replaced with (but not limited to) technical features with similar functions disclosed in the present application.

[0114] It should be understood that the size of the sequence number of each step in the content of the invention and the embodiments of the present invention does not absolutely mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiment of the present invention. For the purpose of example and description, the foregoing description of the implementation of the present disclosure has been given. The foregoing description is not exhaustive and is not intended to limit the present disclosure to the exact form disclosed. Various deformations and modifications may exist according to the above teachings, or various deformations and modifications may be obtained from the practice of the present disclosure. These embodiments are selected and described to illustrate the principles of the present disclosure and its practical application, so that those skilled in the art can use the present disclosure in various embodiments and various modifications suitable for the specific purpose conceived.

Claims

1. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo, characterized in that: include: Obtaining the first control instruction of the electric servo; Obtaining an instruction recognition frequency based on the first control instruction; Obtaining a feedforward compensation coefficient and a dead zone compensation coefficient based on the instruction recognition frequency; According to the use requirements, the first control instruction is low-pass filtered to obtain the second control instruction; Obtaining a feedback result of the electric servo running based on the second control instruction, and obtaining a first control output according to a preset PID control algorithm; Obtaining a second control output based on a preset feedforward compensation algorithm, the second control instruction and the feedforward compensation coefficient; Obtaining a third control output based on a preset dead zone compensation algorithm, the first control output, the second control output and the dead zone compensation coefficient; The amplitude-frequency and phase-frequency responses of the electric servo are adjusted according to the first control output, the second control output and the third control output.

2. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: According to the use requirement, low-pass filtering is performed on the first control instruction to obtain the second control instruction, including: The first control instruction is filtered using a notch filter, and the transfer function of the notch filter is: ； in, is the notch center frequency, is the notch depth, The bandwidth of the notch filter can be adjusted, and s is a complex frequency variable.

3. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: The feedforward compensation algorithm adopts second-order feedforward compensation, and the second-order feedforward compensation differential equation is as follows: ； in, For the second control output, is the nth control instruction, is the compensation coefficient of the nth control instruction, is the n-1th control instruction, is the compensation coefficient of the n-1th control instruction, is the n-2th control instruction, is the compensation coefficient of the n-2th control instruction.

4. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: The dead zone compensation algorithm and dead zone compensation formula are as follows: ； in, is the dead zone compensation coefficient, is the third control output, For the first control output, is the second control output.

5. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: The formula expression of the PID control algorithm is: e(t)=r(t)-y(t); ； in, , , are the proportional coefficient, integral coefficient, and differential coefficient respectively, r(t), e(t), and y(t) are the second control instruction, position deviation, and feedback result respectively, is the integral value of the error, is the differential value of the error, is the first control output.

6. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: The obtaining of a feedforward compensation coefficient based on the instruction recognition frequency includes: Obtaining the number of crossing points based on the instruction recognition frequency; Obtain feedforward compensation coefficient sequence; A corresponding feedforward compensation coefficient in the feedforward compensation coefficient sequence is selected based on the number of the crossing points.

7. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 1, characterized in that: The obtaining of the dead zone compensation coefficient based on the instruction recognition frequency includes: Obtaining the number of crossing points based on the instruction recognition frequency; Obtain dead zone compensation coefficient sequence; A corresponding dead zone compensation coefficient in the dead zone compensation coefficient sequence is selected based on the number of the crossing points.

8. A method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as claimed in claim 6 or 7, characterized in that: The number of crossing points obtained based on the instruction recognition frequency is obtained based on the following formula: ； in, is the instruction recognition frequency, N is the number of crossing points, St is the sampling period, and n is the number of sampling points.

9. An electronic device, characterized in that: It comprises a processor and a memory; the memory is used to store a program; the processor executes the program to implement a method for coordinating the amplitude-frequency and phase-frequency responses of an electric servo as described in any one of claims 1-8.

10. A computer-readable storage medium, characterized in that: The storage medium stores a program, and the program is executed by a processor to implement a method for coordinating amplitude-frequency and phase-frequency responses of an electric servo according to any one of claims 1 to 8.

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