Permanent magnet alternating current servo motor action delay identification and response speed improvement method and system

Abstract

The invention provides a permanent magnet alternating current servo motor action delay identification and response speed improvement method and system. The permanent magnet alternating current servo motor action delay recognition and response speed improvement method comprises the steps of monitoring d-axis voltage of multiple stages of permanent magnet alternating current servo motors which operate simultaneously in real time to obtain delay time corresponding to each stage of permanent magnet alternating current servo motor; adjusting the compensation adjustment parameter of each stage of permanent magnet alternating current servo motor by using the delay time length corresponding to each stage of permanent magnet alternating current servo motor to obtain the adjusted compensation adjustment parameter corresponding to each stage of permanent magnet alternating current servo motor; and correcting dq-axis voltage according to the adjusted compensation adjustment parameter corresponding to each stage of permanent magnet alternating current servo motor in combination with the delay compensation angle of each stage of permanent magnet alternating current servo motor. The system comprises modules corresponding to the steps of the method.

Description

Technical Field

[0001] The invention provides a method and system for identifying action delay and improving response speed of a permanent magnet AC servo motor, belonging to the technical field of servo motor control. Background Art

[0002] Permanent magnet AC servo motors, especially permanent magnet synchronous motors, are widely used in the industrial field due to their advantages such as high efficiency, high power density and fast response. However, in practical applications, the action delay and response speed of permanent magnet AC servo motors have always been the key factors affecting their performance. This delay may be caused by many factors, including but not limited to the complexity of the internal structure of the motor, the hysteresis of current control, the error of the transmission system and the improper setting of the control system parameters. Permanent magnet AC servo motors are composed of permanent magnets and electromagnetic windings, and have an inherent magnetic field. When current passes through the electromagnetic winding, the rotor of the motor rotates with the magnetic field, thereby realizing energy conversion. However, due to the complex internal structure and control requirements of the motor, its torque output is often closely related to the precise control of the current waveform. Traditional control methods, such as PI controllers, are difficult to achieve accurate current tracking during transient processes due to the inertia of the motor and the hysteresis of current control. This leads to a decrease in the motor response speed and an increase in action delay. The design and optimization of the mechanical transmission system is crucial to improving the response speed of the servo motor. An unreasonable transmission structure may introduce problems such as clearance, friction and elastic deformation, which will affect the response speed and accuracy of the motor. For example, the use of low-precision transmission components will lead to an increase in transmission errors and reduce the rigidity and stability of the system. Parameter tuning of the control system is an important part of improving the performance of servo motors. By adjusting the gain parameters of the position loop, speed loop and current loop, the dynamic response characteristics of the system can be optimized. However, the adjustment of the gain parameters needs to balance between stability and response speed. Excessive gain may cause system oscillation and reduce performance. In the permanent magnet AC servo system, the current loop is the innermost loop of the servo system, and its performance directly restricts the overall performance of the system. In the synchronous rotating coordinate system, the current loop inevitably has an execution time delay, which causes the current regulator to produce an angular error in the rotating coordinate system, and then causes errors in the phase and amplitude of the inverter voltage set value, affecting the dynamic performance of the system. In order to solve this problem, it is necessary to adopt delay compensation methods, such as voltage compensation method and time compensation method, to reduce the delay of the current loop. In order to improve the response speed of the permanent magnet AC servo motor and reduce the action delay, it is necessary to monitor the running status of the motor in real time and adjust the compensation adjustment parameters of the motor according to the monitoring results. By real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motor running simultaneously, the delay time of each stage of the motor can be obtained. Then, the compensation adjustment parameters of each motor are adjusted using the delay time lengths to obtain the adjusted compensation adjustment parameters. Finally, the dq axis voltages are corrected according to the adjusted parameters to achieve delay compensation.

[0003] In summary, the motion delay and response speed problem of permanent magnet AC servo motor is a comprehensive engineering problem, which needs to be addressed from multiple aspects, including the internal structure of the motor, the design of the transmission system, the parameter setting of the control system, and real-time monitoring and compensation adjustment. The method for identifying the motion delay and improving the response speed of the permanent magnet AC servo motor proposed in the present invention is an effective solution to these problems. Summary of the invention

[0004] The present invention provides a method and system for identifying the action delay and improving the response speed of a permanent magnet AC servo motor, which is used to solve the above-mentioned technical problems existing in the prior art. The technical solutions adopted are as follows:

[0005] A method for identifying action delay and improving response speed of a permanent magnet AC servo motor, the method comprising:

[0006] Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor;

[0007] The compensation adjustment parameters of each stage of the permanent magnet AC servo motor are adjusted by using the delay time length corresponding to each stage of the permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor;

[0008] According to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor, the dq axis voltage is corrected in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor.

[0009] Furthermore, real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor includes:

[0010] Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously, and obtaining the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously;

[0011] The dq axis voltage is corrected by using the delay compensation angle of each stage of permanent magnet AC servo motor;

[0012] When the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero, the delay time corresponding to each stage of the permanent magnet AC servo motor is obtained according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle.

[0013] Furthermore, the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously is monitored in real time, and the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously is obtained, including:

[0014] Controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load condition;

[0015] The d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously is monitored in real time, and the delay compensation angle of each stage of the permanent magnet AC servo motor is obtained according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

[0016] Furthermore, the compensation adjustment parameters of each level of permanent magnet AC servo motor are adjusted by using the delay time length corresponding to each level of permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor, including:

[0017] Extracting the delay time length corresponding to each level of the permanent magnet AC servo motor;

[0018] Extracting the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0019] Obtaining a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0020] The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula:

[0021]

[0022] Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φ d Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; T d represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor;

[0023] The first adjustment factor is combined with the overall delay rate of the multi-stage permanent magnet AC servo motor to adjust the compensation adjustment parameter of each stage of the permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameter corresponding to each stage of the permanent magnet AC servo motor.

[0024] Further, the compensation adjustment parameters of each stage of the permanent magnet AC servo motor are adjusted by using the first adjustment factor in combination with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor, including:

[0025] Retrieving the first adjustment factor corresponding to each level of permanent magnet AC servo motor;

[0026] Obtaining a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor;

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

[0028]

[0029] Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T d Indicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φ dp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor;

[0030] The first adjustment factor and the second adjustment factor are used to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller to obtain the adjusted proportional coefficient and the integral coefficient corresponding to each stage of the permanent magnet AC servo motor;

[0031] The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula:

[0032]

[0033] Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

[0034] A permanent magnet AC servo motor motion delay identification and response speed improvement system, the permanent magnet AC servo motor motion delay identification and response speed improvement system comprising:

[0035] The delay time acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor;

[0036] A compensation adjustment parameter acquisition module is used to adjust the compensation adjustment parameters of each level of permanent magnet AC servo motor using the delay time length corresponding to each level of permanent magnet AC servo motor, and obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor;

[0037] The modification control module is used to correct the dq axis voltage in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor according to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor.

[0038] Furthermore, the delay time acquisition module includes:

[0039] A delay compensation angle acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and to acquire the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously;

[0040] An initial correction module is used to correct the dq axis voltage using the delay compensation angle of each stage of the permanent magnet AC servo motor;

[0041] The delay time acquisition execution module is used to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle when the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero.

[0042] Furthermore, the delay time acquisition execution module includes:

[0043] A working condition control module, used for controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load working condition;

[0044] The compensation angle acquisition module is used to monitor the d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and obtain the delay compensation angle of each stage of the permanent magnet AC servo motor according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

[0045] Furthermore, the compensation adjustment parameter acquisition module includes:

[0046] A delay time length extraction module, used to extract the delay time length corresponding to each level of the permanent magnet AC servo motor;

[0047] A delay compensation angle extraction module is used for the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0048] A first adjustment factor acquisition module, used for acquiring a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0049] The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula:

[0050]

[0051] Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φ d Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; T d represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor;

[0052] The compensation adjustment parameter acquisition execution module is used to adjust the compensation adjustment parameters of each stage of permanent magnet AC servo motor by using the first adjustment factor combined with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of permanent magnet AC servo motor.

[0053] Furthermore, the compensation adjustment parameter acquisition execution module includes:

[0054] A first adjustment factor retrieving module, used to retrieve the first adjustment factor corresponding to each level of permanent magnet AC servo motor;

[0055] A second adjustment factor acquisition module, used for acquiring a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor;

[0056] The second adjustment factor is obtained by the following formula:

[0057]

[0058] Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T dIndicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φ dp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor;

[0059] A coefficient adjustment module, used to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller by using the first adjustment factor and the second adjustment factor, and obtain the adjusted proportional coefficient and the integral coefficient corresponding to each level of the permanent magnet AC servo motor;

[0060] The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula:

[0061]

[0062] Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

[0063] Beneficial effects of the present invention:

[0064] The method and system for identifying the action delay and improving the response speed of a permanent magnet AC servo motor proposed in the present invention can effectively reduce the action delay of the permanent magnet AC servo motor through real-time monitoring and compensation adjustment, thereby improving its response speed. This is particularly important for application scenarios that require fast response. The adjustment of the compensation adjustment parameters not only helps to reduce the action delay, but also can enhance the stability of the system to a certain extent. By optimizing parameters such as the current loop gain, the oscillation and fluctuation of the system can be reduced. The technical solution can reduce the error accumulation of the motor during operation by correcting the dq axis voltage, thereby improving the control accuracy. This is of great significance for application scenarios that require high-precision control. By reducing the action delay and improving the response speed, the energy efficiency of the permanent magnet AC servo motor can be optimized. At the same output power, the motor can reach the target speed faster, thereby reducing unnecessary energy consumption. The technical solution has strong adaptability and can be applied to different types of permanent magnet AC servo motors and different application scenarios. By adjusting the compensation adjustment parameters, optimized control of different motors can be achieved. BRIEF DESCRIPTION OF THE DRAWINGS

[0065] Figure 1 is a flow chart of the method of the present invention;

[0066] Figure 2 The system block diagram of the system of the present invention. DETAILED DESCRIPTION

[0067] The preferred embodiments of the present invention are described below in conjunction with the accompanying drawings. It should be understood that the preferred embodiments described herein are only used to illustrate and explain the present invention, and are not used to limit the present invention.

[0068] The embodiment of the present invention provides a method for identifying the action delay and improving the response speed of a permanent magnet AC servo motor, such as Figure 1 As shown, the method for identifying the action delay and improving the response speed of the permanent magnet AC servo motor includes:

[0069] S1, real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor;

[0070] S2, adjusting the compensation adjustment parameters of each level of permanent magnet AC servo motor by using the delay time length corresponding to each level of permanent magnet AC servo motor, to obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor;

[0071] S3, correcting the dq axis voltage in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor according to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor.

[0072] The working principle of the above technical solution is: by real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously, the delay time of each stage of the motor under a specific operating state can be obtained. This step is the basis for subsequent compensation adjustment. According to the delay time length of each stage of the permanent magnet AC servo motor obtained, the compensation adjustment parameters of each stage of the motor are adjusted. These compensation adjustment parameters may include current loop gain, voltage compensation angle, etc., and the purpose is to reduce the action delay of the motor by adjusting these parameters. According to the adjusted compensation adjustment parameters, combined with the delay compensation angle of each stage of the permanent magnet AC servo motor, the dq axis voltage is corrected. The purpose of this step is to compensate for the action delay of the motor by adjusting the voltage waveform, thereby improving the response speed.

[0073] The effect of the above technical solution is: through real-time monitoring and compensation adjustment, the action delay of the permanent magnet AC servo motor can be effectively reduced, thereby improving its response speed. This is particularly important for application scenarios that require fast response. The adjustment of the compensation adjustment parameters not only helps to reduce the action delay, but also can enhance the stability of the system to a certain extent. By optimizing parameters such as the current loop gain, the oscillation and fluctuation of the system can be reduced. By correcting the dq axis voltage, the technical solution can reduce the error accumulation of the motor during operation, thereby improving the control accuracy. This is of great significance for application scenarios that require high-precision control. By reducing the action delay and increasing the response speed, the energy efficiency of the permanent magnet AC servo motor can be optimized. At the same output power, the motor can reach the target speed faster, thereby reducing unnecessary energy consumption. The technical solution has strong adaptability and can be applied to different types of permanent magnet AC servo motors and different application scenarios. By adjusting the compensation adjustment parameters, optimized control of different motors can be achieved.

[0074] In summary, this technical solution has high application value in the identification of motion delay and improvement of response speed of permanent magnet AC servo motors, and can significantly improve the performance and control accuracy of the motors.

[0075] In one embodiment of the present invention, the d-axis voltage of a multi-stage permanent magnet AC servo motor running simultaneously is monitored in real time to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor, including:

[0076] S101, monitoring the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and obtaining the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously;

[0077] S102, correcting the dq axis voltage using the delay compensation angle of each stage of the permanent magnet AC servo motor;

[0078] S103, when the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero, obtaining the delay time corresponding to each stage of the permanent magnet AC servo motor according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle.

[0079] The working principle of the above technical solution is as follows: first, the d-axis voltage of the multi-stage permanent magnet AC servo motor running simultaneously is monitored in real time. The d-axis voltage is an important parameter in motor control, which reflects the electromagnetic characteristics of the motor under a specific operating state. At the same time, the delay compensation angle of each stage of the permanent magnet AC servo motor is obtained. The delay compensation angle is the angle corresponding to the phase delay caused by various factors (such as the hysteresis of current control, mechanical inertia, etc.) during the rotation of the motor. The dq-axis voltage is corrected using the obtained delay compensation angle. The dq-axis voltage is a key parameter in motor control, which determines the electromagnetic torque and speed of the motor. By correcting the dq-axis voltage, the phase error caused by the delay compensation angle can be reduced, thereby improving the control accuracy and response speed of the motor. When the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq-axis voltage to zero, it means that the phase error of the motor has been fully compensated. At this time, the delay time corresponding to each stage of the motor is calculated according to the mechanical angular velocity of each stage of the motor (that is, the actual speed of the motor) and the delay compensation angle. The delay time reflects the time interval required for the motor to actually start the action from receiving the control instruction.

[0080] The effect of the above technical solution is: by real-time monitoring of the d-axis voltage and obtaining the delay compensation angle, and correcting the dq-axis voltage, the phase error of the motor can be significantly reduced, thereby improving the control accuracy of the motor. This is particularly important for application scenarios that require high-precision control (such as robots, CNC machine tools, etc.). The reduction of the delay time means that the time interval from the motor receiving the control instruction to the actual start of the action is shortened, thereby improving the response speed of the motor. This is of great significance for application scenarios that require fast response (such as automated production lines, electric vehicles, etc.). By accurately calculating the delay time of each level of the motor, the control parameters of the motor can be adjusted more finely, thereby enhancing the stability of the entire system. This helps to reduce the fluctuations and oscillations of the system and improve the operating efficiency of the system. The optimized motor control strategy can reduce the energy consumption and heat generation of the motor, thereby improving the energy efficiency of the motor. This is particularly important for application scenarios that require long-term operation (such as wind power generation, electric vehicles, etc.). The technical solution has strong adaptability and can be applied to different types of permanent magnet AC servo motors and different application scenarios. By adjusting the monitoring parameters and control strategies, optimized control of different motors can be achieved.

[0081] In summary, this technical solution has significant technical effects in optimizing the control performance of permanent magnet AC servo motors, which can improve control accuracy, optimize response speed, enhance system stability, improve energy efficiency and enhance adaptability.

[0082] An embodiment of the present invention monitors the d-axis voltage of multi-stage permanent magnet AC servo motors running simultaneously in real time, and obtains the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously, including:

[0083] S1011, controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load condition;

[0084] S1012, real-time monitoring of the d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously, and obtaining the delay compensation angle of each stage of the permanent magnet AC servo motor according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

[0085] The working principle of the above technical solution is as follows: First, each motor in the multi-stage permanent magnet AC servo motor is controlled to run at a preset speed to a no-load condition. The no-load condition means that the motor runs without an external load, which helps to reduce the impact of external factors on the motor performance, thereby more accurately evaluating the internal characteristics and delay compensation angle of the motor. The preset speed is to ensure that the motor runs in a stable state so that the d-axis voltage can be accurately monitored and the delay compensation angle can be calculated later. After the motor reaches the preset speed and no-load condition, the d-axis voltage of each stage of the permanent magnet AC servo motor is monitored in real time. The d-axis voltage is a key parameter in motor control, which reflects the electromagnetic characteristics of the motor under a specific operating state. According to the d-axis voltage command of each stage of the permanent magnet AC servo motor (i.e., the voltage value given in the control system), the delay compensation angle of each stage of the motor can be calculated. The delay compensation angle is the angle corresponding to the phase delay caused by various factors (such as the hysteresis of current control, mechanical inertia, etc.) after the motor receives the voltage command. By calculating the delay compensation angle, the phase error of the motor in responding to the voltage command can be understood, thereby providing a basis for subsequent compensation and adjustment.

[0086] The effect of the above technical solution is: by real-time monitoring of the d-axis voltage and calculating the delay compensation angle, the phase error of the motor when responding to the voltage command can be more accurately understood. This helps to introduce corresponding compensation measures in the control system, thereby reducing the phase error and improving the control accuracy of the motor. The acquisition of the delay compensation angle helps to optimize the performance of the motor. By adjusting the control strategy to compensate for the phase error, the vibration and noise of the motor can be reduced, and the operating efficiency and stability of the motor can be improved. The technical solution can monitor the d-axis voltage of the motor in real time and calculate the delay compensation angle, which enables the control system to adapt to different operating conditions and load conditions more flexibly. By adjusting the control parameters in real time, it can be ensured that the motor can maintain stable performance under various conditions. By real-time monitoring of the operating status of the motor and calculating the delay compensation angle, potential faults and problems can be discovered in time. This helps to take measures in advance for maintenance and repair, thereby avoiding the occurrence of faults and improving the reliability of the entire system. The technical solution provides a basis for intelligent control. By real-time monitoring and calculating the delay compensation angle, a more accurate motor model and control algorithm can be constructed. This helps to achieve a higher level of automation and intelligent control, and improve production efficiency and product quality.

[0087] In summary, this technical solution has significant technical effects in real-time monitoring of the d-axis voltage of a multi-stage permanent magnet AC servo motor and obtaining the delay compensation angle, which helps to improve the control accuracy of the motor, optimize the motor performance, enhance the system adaptability, improve the system reliability and promote intelligent control.

[0088] In one embodiment of the present invention, the compensation adjustment parameters of each level of permanent magnet AC servo motor are adjusted by using the delay time length corresponding to each level of permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor, including:

[0089] S201, extracting the delay time length corresponding to each level of the permanent magnet AC servo motor;

[0090] S202, extracting the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0091] S203, obtaining a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0092] The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula:

[0093]

[0094] Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φd Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; T d represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor;

[0095] S204. Use the first adjustment factor in combination with the overall delay rate of the multi-stage permanent magnet AC servo motor to adjust the compensation adjustment parameter of each stage of the permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameter corresponding to each stage of the permanent magnet AC servo motor.

[0096] The working principle of the above technical solution is: extract the delay time length (Td) and delay compensation angle (φd) corresponding to each level of permanent magnet AC servo motor from the monitoring data. These parameters reflect the phase delay and time delay of the motor when responding to the control command. Using the extracted delay time length (Td), delay compensation angle (φd) and other related parameters (such as the preset delay time reference value T, constant frequency ω, the number of associated permanent magnet AC servo motors n, correlation coefficient Gi, delay rate Pyi, etc.), the first adjustment factor (S01) corresponding to each level of permanent magnet AC servo motor is calculated by a specific formula. This formula comprehensively considers the delay time, delay compensation angle and correlation with other motors of the motor, aiming to more accurately reflect the actual operating state of the motor in the system. Using the calculated first adjustment factor (S01) and the overall delay rate of the multi-level permanent magnet AC servo motor, the compensation adjustment parameters of each level of permanent magnet AC servo motor are adjusted. The purpose of the adjustment is to optimize the response speed and control accuracy of the motor and reduce the phase error and time error caused by the delay time and delay compensation angle.

[0097] The effect of the above technical solution is: by accurately calculating the delay time length and delay compensation angle of each level of permanent magnet AC servo motor, and adjusting the compensation adjustment parameters accordingly, the response delay of the motor can be significantly reduced and the response speed of the system can be improved. The adjusted compensation adjustment parameters can more accurately reflect the actual operating state of the motor, thereby reducing the control error and improving the control accuracy of the system. By comprehensively considering the delay time, delay compensation angle and correlation with other motors of the motor, the operating state of the motor can be more comprehensively evaluated, and then the control strategy can be optimized to enhance the stability of the system. The optimized motor control strategy can reduce unnecessary energy consumption and heat generation, and improve the energy efficiency of the motor. The technical solution can adapt to permanent magnet AC servo motors of different models and different working conditions, as well as different control requirements. By adjusting the relevant parameters, the optimized control of different motors can be achieved. The technical solution provides a basis for intelligent control. By real-time monitoring and calculation of the delay time length and delay compensation angle of the motor, a more accurate motor model and control algorithm can be constructed to achieve a higher level of automation and intelligent control.

[0098] To sum up, this technical solution has significant technical effects in adjusting the compensation adjustment parameters by utilizing the delay time length and delay compensation angle corresponding to each level of permanent magnet AC servo motor, which can significantly improve the response speed and control accuracy of the motor, enhance the stability and energy efficiency of the system, and enhance the adaptability and intelligent control level.

[0099] In one embodiment of the present invention, the compensation adjustment parameter of each stage of the permanent magnet AC servo motor is adjusted by using the first adjustment factor in combination with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameter corresponding to each stage of the permanent magnet AC servo motor, including:

[0100] S2041, retrieve the first adjustment factor corresponding to each level of permanent magnet AC servo motor;

[0101] S2042, obtaining a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor;

[0102] The second adjustment factor is obtained by the following formula:

[0103]

[0104] Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T d Indicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φdp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor;

[0105] S2043, using the first adjustment factor and the second adjustment factor to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller, and obtain the adjusted proportional coefficient and the integral coefficient corresponding to each level of the permanent magnet AC servo motor;

[0106] The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula:

[0107]

[0108] Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

[0109] The working principle of the above technical solution is: the first adjustment factor (S01) corresponding to each level of permanent magnet AC servo motor is retrieved from the previous calculation or storage. This factor has integrated factors such as the delay time length, delay compensation angle and correlation with other motors of the motor. The second adjustment factor (S02) corresponding to each level of the motor is calculated by a specific formula using the overall delay rate (P) and other related parameters of the multi-level permanent magnet AC servo motor (such as the delay time length Td of each level of the motor, the preset delay time reference value T, the intermediate value φdz and the average value φdp of the delay compensation angle, etc.). This factor reflects the relative delay performance of the motor in the overall system. The proportional coefficient (Kp) and the integral coefficient (Ki) of the angle compensation PI controller are adjusted using the calculated first adjustment factor (S01) and the second adjustment factor (S02). The adjusted coefficients (Kpt and Kiit) are calculated by a specific formula to optimize the response speed and control accuracy of the motor.

[0110] The effect of the above technical solution is: by adjusting the proportional coefficient and integral coefficient of the PI controller, the response delay of the motor can be significantly reduced and the response speed of the system can be improved. In particular, in the case of load changes or external interference, the motor can recover to the desired operating state more quickly. Accurate PI controller parameter adjustment can reduce control errors and improve the control accuracy of the system. This helps to achieve smoother motor operation and more accurate positioning control. By comprehensively considering factors such as the motor's delay time, delay compensation angle, and overall delay rate, the motor's operating state can be more comprehensively evaluated, and the control strategy can be optimized to enhance the stability of the system. The optimized motor control strategy can reduce unnecessary energy consumption and heat generation, especially under long-term operation or high-load conditions, and can significantly improve the energy efficiency of the motor. The technical solution can adapt to permanent magnet AC servo motors of different models and different working conditions, as well as different control requirements. By adjusting the parameters of the PI controller, optimized control of different motors can be achieved. The technical solution provides a basis for intelligent control. By real-time monitoring and calculating the relevant parameters of the motor, and adjusting the parameters of the PI controller accordingly, a more accurate motor model and control algorithm can be constructed to achieve a higher level of automation and intelligent control.

[0111] To sum up, the technical solution has significant technical effects in adjusting the compensation adjustment parameters of each level of permanent magnet AC servo motor by using the first adjustment factor and the second adjustment factor, which can significantly improve the response speed and control accuracy of the motor, enhance the stability and energy efficiency of the system, and enhance the adaptability and intelligent control level.

[0112] The system for identifying the action delay and improving the response speed of a permanent magnet AC servo motor proposed by the present invention is as follows: Figure 2 As shown, the permanent magnet AC servo motor action delay identification and response speed improvement system includes:

[0113] The delay time acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor;

[0114] A compensation adjustment parameter acquisition module is used to adjust the compensation adjustment parameters of each level of permanent magnet AC servo motor using the delay time length corresponding to each level of permanent magnet AC servo motor, and obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor;

[0115] The modification control module is used to correct the dq axis voltage in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor according to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor.

[0116] The working principle of the above technical solution is: by real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously, the delay time of each stage of the motor under a specific operating state can be obtained. This step is the basis for subsequent compensation adjustment. According to the delay time length of each stage of the permanent magnet AC servo motor obtained, the compensation adjustment parameters of each stage of the motor are adjusted. These compensation adjustment parameters may include current loop gain, voltage compensation angle, etc., and the purpose is to reduce the action delay of the motor by adjusting these parameters. According to the adjusted compensation adjustment parameters, combined with the delay compensation angle of each stage of the permanent magnet AC servo motor, the dq axis voltage is corrected. The purpose of this step is to compensate for the action delay of the motor by adjusting the voltage waveform, thereby improving the response speed.

[0117] The effect of the above technical solution is: through real-time monitoring and compensation adjustment, the action delay of the permanent magnet AC servo motor can be effectively reduced, thereby improving its response speed. This is particularly important for application scenarios that require fast response. The adjustment of the compensation adjustment parameters not only helps to reduce the action delay, but also can enhance the stability of the system to a certain extent. By optimizing parameters such as the current loop gain, the oscillation and fluctuation of the system can be reduced. By correcting the dq axis voltage, the technical solution can reduce the error accumulation of the motor during operation, thereby improving the control accuracy. This is of great significance for application scenarios that require high-precision control. By reducing the action delay and increasing the response speed, the energy efficiency of the permanent magnet AC servo motor can be optimized. At the same output power, the motor can reach the target speed faster, thereby reducing unnecessary energy consumption. The technical solution has strong adaptability and can be applied to different types of permanent magnet AC servo motors and different application scenarios. By adjusting the compensation adjustment parameters, optimized control of different motors can be achieved.

[0118] In summary, this technical solution has high application value in the identification of motion delay and improvement of response speed of permanent magnet AC servo motors, and can significantly improve the performance and control accuracy of the motors.

[0119] In one embodiment of the present invention, the delay time acquisition module includes:

[0120] A delay compensation angle acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and to acquire the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously;

[0121] An initial correction module is used to correct the dq axis voltage using the delay compensation angle of each stage of the permanent magnet AC servo motor;

[0122] The delay time acquisition execution module is used to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle when the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero.

[0123] The working principle of the above technical solution is as follows: first, the d-axis voltage of the multi-stage permanent magnet AC servo motor running simultaneously is monitored in real time. The d-axis voltage is an important parameter in motor control, which reflects the electromagnetic characteristics of the motor under a specific operating state. At the same time, the delay compensation angle of each stage of the permanent magnet AC servo motor is obtained. The delay compensation angle is the angle corresponding to the phase delay caused by various factors (such as the hysteresis of current control, mechanical inertia, etc.) during the rotation of the motor. The dq-axis voltage is corrected using the obtained delay compensation angle. The dq-axis voltage is a key parameter in motor control, which determines the electromagnetic torque and speed of the motor. By correcting the dq-axis voltage, the phase error caused by the delay compensation angle can be reduced, thereby improving the control accuracy and response speed of the motor. When the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq-axis voltage to zero, it means that the phase error of the motor has been fully compensated. At this time, the delay time corresponding to each stage of the motor is calculated according to the mechanical angular velocity of each stage of the motor (that is, the actual speed of the motor) and the delay compensation angle. The delay time reflects the time interval required for the motor to actually start the action from receiving the control instruction.

[0124] The effect of the above technical solution is: by real-time monitoring of the d-axis voltage and obtaining the delay compensation angle, and correcting the dq-axis voltage, the phase error of the motor can be significantly reduced, thereby improving the control accuracy of the motor. This is particularly important for application scenarios that require high-precision control (such as robots, CNC machine tools, etc.). The reduction of the delay time means that the time interval from the motor receiving the control instruction to the actual start of the action is shortened, thereby improving the response speed of the motor. This is of great significance for application scenarios that require fast response (such as automated production lines, electric vehicles, etc.). By accurately calculating the delay time of each level of the motor, the control parameters of the motor can be adjusted more finely, thereby enhancing the stability of the entire system. This helps to reduce the fluctuations and oscillations of the system and improve the operating efficiency of the system. The optimized motor control strategy can reduce the energy consumption and heat generation of the motor, thereby improving the energy efficiency of the motor. This is particularly important for application scenarios that require long-term operation (such as wind power generation, electric vehicles, etc.). The technical solution has strong adaptability and can be applied to different types of permanent magnet AC servo motors and different application scenarios. By adjusting the monitoring parameters and control strategies, optimized control of different motors can be achieved.

[0125] In summary, this technical solution has significant technical effects in optimizing the control performance of permanent magnet AC servo motors, which can improve control accuracy, optimize response speed, enhance system stability, improve energy efficiency and enhance adaptability.

[0126] In one embodiment of the present invention, the delay time acquisition execution module includes:

[0127] A working condition control module, used for controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load working condition;

[0128] The compensation angle acquisition module is used to monitor the d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and obtain the delay compensation angle of each stage of the permanent magnet AC servo motor according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

[0129] The working principle of the above technical solution is as follows: First, each motor in the multi-stage permanent magnet AC servo motor is controlled to run at a preset speed to a no-load condition. The no-load condition means that the motor runs without an external load, which helps to reduce the impact of external factors on the motor performance, thereby more accurately evaluating the internal characteristics and delay compensation angle of the motor. The preset speed is to ensure that the motor runs in a stable state so that the d-axis voltage can be accurately monitored and the delay compensation angle can be calculated later. After the motor reaches the preset speed and no-load condition, the d-axis voltage of each stage of the permanent magnet AC servo motor is monitored in real time. The d-axis voltage is a key parameter in motor control, which reflects the electromagnetic characteristics of the motor under a specific operating state. According to the d-axis voltage command of each stage of the permanent magnet AC servo motor (i.e., the voltage value given in the control system), the delay compensation angle of each stage of the motor can be calculated. The delay compensation angle is the angle corresponding to the phase delay caused by various factors (such as the hysteresis of current control, mechanical inertia, etc.) after the motor receives the voltage command. By calculating the delay compensation angle, the phase error of the motor in responding to the voltage command can be understood, thereby providing a basis for subsequent compensation and adjustment.

[0130] The effect of the above technical solution is: by real-time monitoring of the d-axis voltage and calculating the delay compensation angle, the phase error of the motor when responding to the voltage command can be more accurately understood. This helps to introduce corresponding compensation measures in the control system, thereby reducing the phase error and improving the control accuracy of the motor. The acquisition of the delay compensation angle helps to optimize the performance of the motor. By adjusting the control strategy to compensate for the phase error, the vibration and noise of the motor can be reduced, and the operating efficiency and stability of the motor can be improved. The technical solution can monitor the d-axis voltage of the motor in real time and calculate the delay compensation angle, which enables the control system to adapt to different operating conditions and load conditions more flexibly. By adjusting the control parameters in real time, it can be ensured that the motor can maintain stable performance under various conditions. By real-time monitoring of the operating status of the motor and calculating the delay compensation angle, potential faults and problems can be discovered in time. This helps to take measures in advance for maintenance and repair, thereby avoiding the occurrence of faults and improving the reliability of the entire system. The technical solution provides a basis for intelligent control. By real-time monitoring and calculating the delay compensation angle, a more accurate motor model and control algorithm can be constructed. This helps to achieve a higher level of automation and intelligent control, and improve production efficiency and product quality.

[0131] In summary, this technical solution has significant technical effects in real-time monitoring of the d-axis voltage of a multi-stage permanent magnet AC servo motor and obtaining the delay compensation angle, which helps to improve the control accuracy of the motor, optimize the motor performance, enhance the system adaptability, improve the system reliability and promote intelligent control.

[0132] In one embodiment of the present invention, the compensation adjustment parameter acquisition module includes:

[0133] A delay time length extraction module, used to extract the delay time length corresponding to each level of the permanent magnet AC servo motor;

[0134] A delay compensation angle extraction module is used for the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0135] A first adjustment factor acquisition module, used for acquiring a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor;

[0136] The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula:

[0137]

[0138] Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φ d Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; Td represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor;

[0139] The compensation adjustment parameter acquisition execution module is used to adjust the compensation adjustment parameters of each stage of permanent magnet AC servo motor by using the first adjustment factor combined with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of permanent magnet AC servo motor.

[0140] The working principle of the above technical solution is: extract the delay time length (Td) and delay compensation angle (φd) corresponding to each level of permanent magnet AC servo motor from the monitoring data. These parameters reflect the phase delay and time delay of the motor when responding to the control command. Using the extracted delay time length (Td), delay compensation angle (φd) and other related parameters (such as the preset delay time reference value T, constant frequency ω, the number of associated permanent magnet AC servo motors n, correlation coefficient Gi, delay rate Pyi, etc.), the first adjustment factor (S01) corresponding to each level of permanent magnet AC servo motor is calculated by a specific formula. This formula comprehensively considers the delay time, delay compensation angle and correlation with other motors of the motor, aiming to more accurately reflect the actual operating state of the motor in the system. Using the calculated first adjustment factor (S01) and the overall delay rate of the multi-level permanent magnet AC servo motor, the compensation adjustment parameters of each level of permanent magnet AC servo motor are adjusted. The purpose of the adjustment is to optimize the response speed and control accuracy of the motor and reduce the phase error and time error caused by the delay time and delay compensation angle.

[0141] The effect of the above technical solution is: by accurately calculating the delay time length and delay compensation angle of each level of permanent magnet AC servo motor, and adjusting the compensation adjustment parameters accordingly, the response delay of the motor can be significantly reduced and the response speed of the system can be improved. The adjusted compensation adjustment parameters can more accurately reflect the actual operating state of the motor, thereby reducing the control error and improving the control accuracy of the system. By comprehensively considering the delay time, delay compensation angle and correlation with other motors of the motor, the operating state of the motor can be more comprehensively evaluated, and then the control strategy can be optimized to enhance the stability of the system. The optimized motor control strategy can reduce unnecessary energy consumption and heat generation, and improve the energy efficiency of the motor. The technical solution can adapt to permanent magnet AC servo motors of different models and different working conditions, as well as different control requirements. By adjusting the relevant parameters, the optimized control of different motors can be achieved. The technical solution provides a basis for intelligent control. By real-time monitoring and calculation of the delay time length and delay compensation angle of the motor, a more accurate motor model and control algorithm can be constructed to achieve a higher level of automation and intelligent control.

[0142] To sum up, this technical solution has significant technical effects in adjusting the compensation adjustment parameters by utilizing the delay time length and delay compensation angle corresponding to each level of permanent magnet AC servo motor, which can significantly improve the response speed and control accuracy of the motor, enhance the stability and energy efficiency of the system, and enhance the adaptability and intelligent control level.

[0143] In one embodiment of the present invention, the compensation adjustment parameter acquisition execution module includes:

[0144] A first adjustment factor retrieving module, used to retrieve the first adjustment factor corresponding to each level of permanent magnet AC servo motor;

[0145] A second adjustment factor acquisition module, used for acquiring a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor;

[0146] The second adjustment factor is obtained by the following formula:

[0147]

[0148] Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T d Indicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φ dp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor;

[0149] A coefficient adjustment module, used to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller by using the first adjustment factor and the second adjustment factor, and obtain the adjusted proportional coefficient and the integral coefficient corresponding to each level of the permanent magnet AC servo motor;

[0150] The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula:

[0151]

[0152] Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

[0153] The working principle of the above technical solution is: the first adjustment factor (S01) corresponding to each level of permanent magnet AC servo motor is retrieved from the previous calculation or storage. This factor has integrated factors such as the delay time length, delay compensation angle and correlation with other motors of the motor. The second adjustment factor (S02) corresponding to each level of the motor is calculated by a specific formula using the overall delay rate (P) and other related parameters of the multi-level permanent magnet AC servo motor (such as the delay time length Td of each level of the motor, the preset delay time reference value T, the intermediate value φdz and the average value φdp of the delay compensation angle, etc.). This factor reflects the relative delay performance of the motor in the overall system. The proportional coefficient (Kp) and the integral coefficient (Ki) of the angle compensation PI controller are adjusted using the calculated first adjustment factor (S01) and the second adjustment factor (S02). The adjusted coefficients (Kpt and Kiit) are calculated by a specific formula to optimize the response speed and control accuracy of the motor.

[0154] The effect of the above technical solution is: by adjusting the proportional coefficient and integral coefficient of the PI controller, the response delay of the motor can be significantly reduced and the response speed of the system can be improved. In particular, in the case of load changes or external interference, the motor can recover to the desired operating state more quickly. Accurate PI controller parameter adjustment can reduce control errors and improve the control accuracy of the system. This helps to achieve smoother motor operation and more accurate positioning control. By comprehensively considering factors such as the motor's delay time, delay compensation angle, and overall delay rate, the motor's operating state can be more comprehensively evaluated, and the control strategy can be optimized to enhance the stability of the system. The optimized motor control strategy can reduce unnecessary energy consumption and heat generation, especially under long-term operation or high-load conditions, and can significantly improve the energy efficiency of the motor. The technical solution can adapt to permanent magnet AC servo motors of different models and different working conditions, as well as different control requirements. By adjusting the parameters of the PI controller, optimized control of different motors can be achieved. The technical solution provides a basis for intelligent control. By real-time monitoring and calculating the relevant parameters of the motor, and adjusting the parameters of the PI controller accordingly, a more accurate motor model and control algorithm can be constructed to achieve a higher level of automation and intelligent control.

[0155] To sum up, the technical solution has significant technical effects in adjusting the compensation adjustment parameters of each level of permanent magnet AC servo motor by using the first adjustment factor and the second adjustment factor, which can significantly improve the response speed and control accuracy of the motor, enhance the stability and energy efficiency of the system, and enhance the adaptability and intelligent control level.

[0156] Obviously, those skilled in the art can make various changes and modifications to the present invention without departing from the spirit and scope of the present invention. Thus, if these modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include these modifications and variations.

Claims

1. A method for identifying action delay and improving response speed of a permanent magnet AC servo motor, characterized in that: The method for identifying the action delay and improving the response speed of the permanent magnet AC servo motor comprises: Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor; The compensation adjustment parameters of each stage of the permanent magnet AC servo motor are adjusted by using the delay time length corresponding to each stage of the permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor; According to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor, the dq axis voltage is corrected in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor.

2. The method for identifying the action delay and improving the response speed of a permanent magnet AC servo motor according to claim 1, characterized in that: Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor includes: Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously, and obtaining the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously; The dq axis voltage is corrected by using the delay compensation angle of each stage of permanent magnet AC servo motor; When the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero, the delay time corresponding to each stage of the permanent magnet AC servo motor is obtained according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle.

3. The method for identifying the action delay and improving the response speed of a permanent magnet AC servo motor according to claim 2, characterized in that: Real-time monitoring of the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously and obtaining the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously include: Controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load condition; The d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously is monitored in real time, and the delay compensation angle of each stage of the permanent magnet AC servo motor is obtained according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

4. The method for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 1, characterized in that: The compensation adjustment parameters of each level of permanent magnet AC servo motor are adjusted by using the delay time length corresponding to each level of permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor, including: Extracting the delay time length corresponding to each level of the permanent magnet AC servo motor; Extracting the delay compensation angle corresponding to each level of the permanent magnet AC servo motor; Obtaining a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor; The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula: Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φ d Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; T d represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor; The first adjustment factor is combined with the overall delay rate of the multi-stage permanent magnet AC servo motor to adjust the compensation adjustment parameter of each stage of the permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameter corresponding to each stage of the permanent magnet AC servo motor.

5. The method for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 4, characterized in that: The compensation adjustment parameters of each stage of the permanent magnet AC servo motor are adjusted by using the first adjustment factor in combination with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor, including: Retrieving the first adjustment factor corresponding to each level of permanent magnet AC servo motor; Obtaining a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor; The second adjustment factor is obtained by the following formula: Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T d Indicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φ dp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; The first adjustment factor and the second adjustment factor are used to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller to obtain the adjusted proportional coefficient and the integral coefficient corresponding to each stage of the permanent magnet AC servo motor; The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula: Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

6. A system for identifying the action delay and improving the response speed of a permanent magnet AC servo motor, characterized in that: The permanent magnet AC servo motor action delay identification and response speed improvement system comprises: The delay time acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor; A compensation adjustment parameter acquisition module is used to adjust the compensation adjustment parameters of each level of permanent magnet AC servo motor using the delay time length corresponding to each level of permanent magnet AC servo motor, and obtain the adjusted compensation adjustment parameters corresponding to each level of permanent magnet AC servo motor; The modification control module is used to correct the dq axis voltage in combination with the delay compensation angle of each stage of the permanent magnet AC servo motor according to the adjusted compensation adjustment parameters corresponding to each stage of the permanent magnet AC servo motor.

7. The system for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 6, characterized in that: The delay time acquisition module includes: A delay compensation angle acquisition module is used to monitor the d-axis voltage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and to acquire the delay compensation angle of the multi-stage permanent magnet AC servo motors running simultaneously; An initial correction module is used to correct the dq axis voltage using the delay compensation angle of each stage of the permanent magnet AC servo motor; The delay time acquisition execution module is used to obtain the delay time corresponding to each stage of the permanent magnet AC servo motor according to the mechanical angular velocity of each stage of the permanent magnet AC servo motor combined with the delay compensation angle when the delay compensation angle of each stage of the permanent magnet AC servo motor corrects the dq axis voltage to zero.

8. The system for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 7, characterized in that: The delay time acquisition execution module includes: A working condition control module, used for controlling each stage of the multi-stage permanent magnet AC servo motor to run at a preset speed to a no-load working condition; The compensation angle acquisition module is used to monitor the d-axis voltage of each stage of the multi-stage permanent magnet AC servo motors running simultaneously in real time, and obtain the delay compensation angle of each stage of the permanent magnet AC servo motor according to the d-axis voltage command of each stage of the permanent magnet AC servo motor.

9. The system for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 6, characterized in that: The compensation adjustment parameter acquisition module includes: A delay time length extraction module, used to extract the delay time length corresponding to each level of the permanent magnet AC servo motor; A delay compensation angle extraction module is used for the delay compensation angle corresponding to each level of the permanent magnet AC servo motor; A first adjustment factor acquisition module, used for acquiring a first adjustment factor corresponding to each level of the permanent magnet AC servo motor by using the delay time length corresponding to each level of the permanent magnet AC servo motor and the delay compensation angle corresponding to each level of the permanent magnet AC servo motor; The first adjustment factor corresponding to each level of permanent magnet AC servo motor is obtained by the following formula: Among them, S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; φ d Indicates the delay compensation angle corresponding to each level of permanent magnet AC servo motor; T d represents the delay time length corresponding to each level of permanent magnet AC servo motor; T represents the preset delay time reference value; ω represents the constant frequency; n represents the number of permanent magnet AC servo motors associated with the current level of permanent magnet AC servo motor; G i represents the correlation coefficient between the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor and the current first-level permanent magnet AC servo motor; P yi represents the delay rate corresponding to the i-th permanent magnet AC servo motor associated with the current first-level permanent magnet AC servo motor; The compensation adjustment parameter acquisition execution module is used to adjust the compensation adjustment parameters of each stage of permanent magnet AC servo motor by using the first adjustment factor combined with the overall delay rate of the multi-stage permanent magnet AC servo motor to obtain the adjusted compensation adjustment parameters corresponding to each stage of permanent magnet AC servo motor.

10. The system for identifying motion delay and improving response speed of a permanent magnet AC servo motor according to claim 9, characterized in that: The compensation adjustment parameter acquisition execution module includes: A first adjustment factor retrieving module, used to retrieve the first adjustment factor corresponding to each level of permanent magnet AC servo motor; A second adjustment factor acquisition module, used for acquiring a second adjustment factor corresponding to each stage of the permanent magnet AC servo motor by using the overall delay rate of the multi-stage permanent magnet AC servo motor; The second adjustment factor is obtained by the following formula: Among them, S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor; T d Indicates the delay time length corresponding to each level of permanent magnet AC servo motor; T indicates the preset delay time reference value; P indicates the overall delay rate of the multi-level permanent magnet AC servo motor; φ dz Indicates the intermediate value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; φ dp Indicates the average value of the delay compensation angle corresponding to the n-level permanent magnet AC servo motor; A coefficient adjustment module, used to adjust the proportional coefficient and the integral coefficient of the angle compensation PI controller by using the first adjustment factor and the second adjustment factor, and obtain the adjusted proportional coefficient and the integral coefficient corresponding to each level of the permanent magnet AC servo motor; The adjusted proportional coefficient and integral coefficient corresponding to each level of permanent magnet AC servo motor are obtained by the following formula: Among them, K pt Represents the adjusted proportionality coefficient; K p Indicates the proportional coefficient before adjustment; K iit Indicates the adjusted integral coefficient; K i Indicates the integral coefficient before adjustment; S 01 Indicates the first adjustment factor corresponding to each level of permanent magnet AC servo motor; S 02 Indicates the second adjustment factor corresponding to each level of permanent magnet AC servo motor.

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