Multi-vector synchronous control method of servo driver module

Abstract

The invention discloses a multi-vector synchronous control method of a servo driver module, which relates to the technical field of driving control, and comprises the following steps: forming an aging identification mechanism of aging characteristics; obtaining an actual parameter of at least one aging characteristic; forming an aging coefficient of the aging characteristic, and calculating to obtain the aging degree of the servo motor; establishing an influence model of the aging degree on the vector indexes; acquiring an expansion resistance function of the temperature on a driving shaft of the servo motor; the blocked torque of the servo motor is obtained; obtaining a compensation value of the vector index of the servo motor; obtaining a target compensation torque; calculating to obtain a characteristic value of the vector index; obtaining a target value of the vector index; and the servo driver module controls the servo motor according to the target value of the vector index. The aging degree of the servo motor is obtained through calculation, an influence model of the aging degree on the vector index is established, the vector index is compensated, and the influence of the temperature and the aging of the servo motor on the vector index is eliminated.

Description

Technical Field

[0001] The present invention relates to the field of drive control technology, and in particular to a multi-vector synchronous control method of a servo drive module. Background Art

[0002] Servo drive, also known as "servo controller" or "servo amplifier", is a controller used to control servo motors. Its function is similar to that of frequency converters on ordinary AC motors. It is part of the servo system and is mainly used in high-precision positioning systems. Generally, servo motors are controlled by position, speed and torque to achieve high-precision transmission system positioning. When controlling, vectors related to position, speed and torque are used to achieve control.

[0003] However, the operation of the servo motor is affected by its aging and temperature. When the control of the servo drive module is affected by these factors, the operation of the servo motor will also be disturbed accordingly. However, the existing technology lacks consideration of this interference, resulting in a certain room for improvement in the accuracy of the servo drive controlling the servo motor. Summary of the invention

[0004] In order to solve the above technical problems, a multi-vector synchronous control method of a servo drive module is provided. The technical solution solves the problem that the operation of the servo motor proposed in the above background technology is affected by its aging and temperature. When the control of the servo drive module is affected by these influences, the operation of the servo motor will also be affected accordingly. However, the existing technology lacks consideration of this interference, resulting in a certain room for improvement in the accuracy of the servo drive controlling the servo motor.

[0005] In order to achieve the above purpose, the technical solution adopted by the present invention is:

[0006] A multi-vector synchronous control method for a servo drive module, comprising:

[0007] Obtaining at least one vector index of a servo motor controlled by a servo drive module;

[0008] Obtain the torque contribution coefficient of the servo motor's torque to the vector index, and obtain the power contribution coefficient of the servo motor's power to the vector index;

[0009] Acquire at least one aging feature of the servo motor and form an aging recognition mechanism of the aging feature;

[0010] obtaining an actual parameter of at least one aging characteristic;

[0011] An aging coefficient that forms an aging characteristic, based on which the aging degree of the servo motor is calculated;

[0012] Establish a model for the impact of aging degree on vector indicators;

[0013] Obtain the real-time temperature of the working environment of the servo motor, and obtain the expansion resistance function of the temperature on the driving shaft of the servo motor;

[0014] Based on the expansion resistance function, the resistance torque of the servo motor is obtained;

[0015] Based on the influence model of aging degree on vector index, the compensation value of the vector index of the servo motor is obtained;

[0016] The target operating power and target torque of the servo motor are obtained, and the target torque is compensated based on the blocked torque to obtain the target compensation torque;

[0017] Based on the torque contribution coefficient and the power contribution coefficient, the characteristic value of the vector index is calculated;

[0018] The characteristic value of the vector indicator is superimposed with the compensation value to obtain the target value of the vector indicator;

[0019] The servo drive module controls the servo motor according to the target value of the vector indicator.

[0020] Preferably, the step of obtaining the torque contribution coefficient of the servo motor's torque to the vector index and obtaining the power contribution coefficient of the servo motor's power to the vector index comprises the following steps:

[0021] Acquire a first change in the torque of the servo motor when the vector index variation amplitude is a preset value;

[0022] Acquire a second change in the power of the servo motor when the vector index variation amplitude is a preset value;

[0023] When the first change amount and the second change amount are both 0, the torque contribution coefficient is 0 and the power contribution coefficient is 0;

[0024] When the first change amount is 0 and the second change amount is not 0, the torque contribution coefficient is 0, and the power contribution coefficient is equal to the preset value divided by the second change amount;

[0025] When the second change amount is 0 and the first change amount is not 0, the power contribution coefficient is 0, and the torque contribution coefficient is the preset value divided by the first change amount;

[0026] When both the first change amount and the second change amount are not 0, the torque contribution coefficient and the power contribution coefficient are calculated using the proportional distribution formula;

[0027] The proportional allocation formula is as follows:

[0028]

[0029] Among them, A is the torque contribution coefficient, B is the power contribution coefficient, a is the preset value, b is the first change amount, and c is the second change amount.

[0030] Preferably, the step of acquiring at least one aging feature of the servo motor and forming an aging identification mechanism of the aging feature comprises the following steps:

[0031] Based on the historical data, obtaining data of at least one sample servo motor, and obtaining at least one usage quality indicator of the sample servo motor;

[0032] Based on historical data, obtain the baseline parameters of the quality indicators of the sample servo motor when it is operating normally, and obtain the aging parameters of the quality indicators of the sample servo motor when it is operating after aging;

[0033] Taking an average value of at least one baseline parameter to obtain a baseline average parameter, taking an average value of at least one aging parameter to obtain an aging average parameter;

[0034] The aging average parameter is divided by the baseline average parameter to obtain the baseline value;

[0035] The aging parameter of the usage quality indicator is divided by the reference parameter of the usage quality indicator to obtain a value to be identified;

[0036] When the value to be identified is less than the reference value, the quality indicator is used as the aging feature, and the value to be identified using the quality indicator is paired with the aging feature;

[0037] The reference parameters of the quality indicators used are paired with the aging characteristics to obtain the actual parameters of the aging characteristics when the servo motor is operating;

[0038] The actual parameter of the aging feature is divided by the reference parameter corresponding to the aging feature to obtain the recognition ratio;

[0039] When the recognition ratio is less than the reference value, it is determined that the aging feature has aging phenomenon.

[0040] Preferably, the aging coefficient forming the aging characteristic, based on the aging coefficient, calculating the aging degree of the servo motor comprises the following steps:

[0041] Accumulate the to-be-recognized values ​​corresponding to the aging characteristics to obtain a total recognition value;

[0042] The value to be identified corresponding to the aging feature is divided by the total identification value to obtain the aging coefficient of the aging feature;

[0043] The aging characteristics that show aging phenomena are used as characteristic aging characteristics;

[0044] Use the aging formula to calculate the aging degree of the servo motor;

[0045] The aging formula is as follows:

[0046]

[0047] Where C is the aging degree of the servo motor, n is the total number of characteristic aging features, i is the subscript, d i is the actual parameter of the ith characteristic aging feature, e i is the aging coefficient of the i-th characteristic aging feature.

[0048] Preferably, the establishment of the influence model of aging degree on vector index comprises the following steps:

[0049] Obtaining a value range of the aging degree, dividing the value range of the aging degree at equal intervals, and obtaining at least one aging point;

[0050] When the aging degree is 0, obtaining the first conditional torque and the first conditional power of the servo motor;

[0051] When the aging degree is the value at the aging point, obtaining the second conditional torque and the second conditional power of the servo motor;

[0052] The result of multiplying the first condition torque by the torque contribution coefficient corresponding to the vector index and the result of multiplying the first condition power by the power contribution coefficient corresponding to the vector index are superimposed to obtain a total parameter of the vector index;

[0053] The result of multiplying the torque contribution coefficient corresponding to the second condition torque and the vector index and the result of multiplying the power contribution coefficient corresponding to the second condition power and the vector index are superimposed to obtain the effective parameter of the vector index;

[0054] The total parameter of the vector indicator minus the effective parameter of the vector indicator is used to obtain the loss parameter of the vector indicator;

[0055] The value at the aging point is paired and fitted with the loss parameter of the vector index to obtain a vector loss fitting function, wherein the value at the aging point is an independent variable, the loss parameter of the vector index is a dependent variable, and the vector loss fitting function corresponds to the vector index one by one;

[0056] At least one vector loss fitting function is summarized as a model of the effect of aging degree on the vector index.

[0057] Preferably, the step of obtaining the expansion resistance function of the driving shaft of the servo motor to the temperature comprises the following steps:

[0058] Obtaining a value range of the working temperature of the sample servo motor, dividing the value range of the working temperature into equal intervals, and obtaining at least one temperature point;

[0059] Under the condition of the value at the temperature point, the resistance of the bearing after the driving shaft of the sample servo motor expands is obtained as the characteristic force;

[0060] The values ​​at the temperature points are paired and fitted with the characteristic forces to obtain the expansion resistance function, in which the values ​​at the temperature points are independent variables and the characteristic forces are dependent variables.

[0061] Preferably, obtaining the hindered torque of the servo motor based on the expansion resistance function comprises the following steps:

[0062] Substitute the real-time temperature into the expansion resistance function to obtain the actual resistance of the drive shaft of the servo motor;

[0063] The actual resistance is multiplied by the radius of the drive shaft to obtain the resisting torque of the servo motor.

[0064] Preferably, the step of obtaining the compensation value of the vector index of the servo motor based on the influence model of the aging degree on the vector index comprises the following steps:

[0065] Substitute the aging degree of the servo motor into the vector loss fitting function corresponding to the vector index to obtain the compensation value of the vector index.

[0066] Preferably, compensating the target torque based on the blocked torque to obtain the target compensation torque comprises the following steps:

[0067] Obtain the radius of the driving shaft of the servo motor, and obtain the radius of the turntable driven by the driving shaft of the servo motor;

[0068] Based on the torque amplification formula, the amplified torque of the blocked torque is calculated;

[0069] The amplified torque is superimposed on the target torque to obtain the target compensation torque;

[0070] The torque amplification formula is as follows:

[0071]

[0072] Among them, D is the amplified torque, g is the radius of the drive shaft, f is the radius of the turntable, and E is the blocked torque.

[0073] Preferably, the step of calculating the characteristic value of the vector index based on the torque contribution coefficient and the power contribution coefficient comprises the following steps:

[0074] The target operating power is multiplied by the power contribution coefficient corresponding to the vector index to obtain the power contribution value;

[0075] The target compensation torque is multiplied by the torque contribution coefficient corresponding to the vector index to obtain the torque contribution value;

[0076] The power contribution value is added to the torque contribution value to obtain the characteristic value of the vector index.

[0077] Compared with the prior art, the present invention has the following beneficial effects:

[0078] The aging degree of the servo motor is obtained by calculation, a model of the influence of the aging degree on the vector index is established, the expansion resistance function of the driving shaft of the servo motor due to temperature is obtained, and the vector index is compensated. Therefore, when the servo driver module performs vector control on the servo motor, the parameters of the vector index for controlling the servo motor can be adjusted in time according to the aging condition of the servo motor and the temperature of the current working environment, thereby eliminating the influence of temperature and servo motor aging on the vector index, thereby ensuring that the operation control accuracy of the servo motor meets the requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0079] Figure 1 A schematic flow chart of a multi-vector synchronous control method of a servo drive module of the present invention;

[0080] Figure 2 A schematic diagram of a flow chart of obtaining a torque contribution coefficient of a servo motor's torque to a vector index and obtaining a power contribution coefficient of a servo motor's power to a vector index according to the present invention;

[0081] Figure 3 A schematic flow chart of an aging identification mechanism for obtaining at least one aging feature of a servo motor and forming the aging feature according to the present invention;

[0082] Figure 4 The aging coefficient for forming the aging characteristic of the present invention is a schematic flow chart of calculating the aging degree of the servo motor based on the aging coefficient;

[0083] Figure 5 A schematic diagram of a flow chart of establishing a model of the influence of aging degree on vector indicators according to the present invention;

[0084] Figure 6 It is a flow chart of obtaining the expansion resistance function of the driving shaft of the servo motor to the temperature of the present invention;

[0085] Figure 7 It is a schematic diagram of a flow chart of obtaining the hindered torque of the servo motor based on the expansion resistance function of the present invention;

[0086] Figure 8 It is a schematic diagram of a flow chart of compensating the target torque based on the blocked torque to obtain the target compensation torque of the present invention;

[0087] Fig. 9 The present invention is a flow chart of calculating the characteristic value of the vector index based on the torque contribution coefficient and the power contribution coefficient. DETAILED DESCRIPTION

[0088] The following description is used to disclose the present invention so that those skilled in the art can implement the present invention. The preferred embodiments described below are only examples, and those skilled in the art may think of other obvious variations.

[0089] Reference Figure 1 As shown, a multi-vector synchronous control method of a servo drive module includes:

[0090] Obtaining at least one vector index of a servo motor controlled by a servo drive module;

[0091] Obtain the torque contribution coefficient of the servo motor's torque to the vector index, and obtain the power contribution coefficient of the servo motor's power to the vector index;

[0092] Acquire at least one aging feature of the servo motor and form an aging recognition mechanism of the aging feature;

[0093] obtaining an actual parameter of at least one aging characteristic;

[0094] An aging coefficient that forms an aging characteristic, based on which the aging degree of the servo motor is calculated;

[0095] Establish a model for the impact of aging degree on vector indicators;

[0096] Obtain the real-time temperature of the working environment of the servo motor, and obtain the expansion resistance function of the temperature on the driving shaft of the servo motor;

[0097] Based on the expansion resistance function, the resistance torque of the servo motor is obtained;

[0098] Based on the influence model of aging degree on vector index, the compensation value of the vector index of the servo motor is obtained;

[0099] The target operating power and target torque of the servo motor are obtained, and the target torque is compensated based on the blocked torque to obtain the target compensation torque;

[0100] Based on the torque contribution coefficient and the power contribution coefficient, the characteristic value of the vector index is calculated;

[0101] The characteristic value of the vector indicator is superimposed with the compensation value to obtain the target value of the vector indicator;

[0102] The servo drive module controls the servo motor according to the target value of the vector indicator.

[0103] Since the servo motor is subject to aging and thermal expansion, when the servo driver module controls the servo motor, the instructions issued will be affected by these factors. In order to improve the accuracy of the servo driver module's control of the servo motor, these conditions need to be eliminated;

[0104] When controlling a servo motor, torque and speed are the most important control display characteristics. Since torque multiplied by angular velocity is power, and speed can be calculated based on angular velocity, it is sufficient to control torque and power. As long as the accuracy of torque and power is guaranteed to be sufficient, the accuracy of torque and speed will also be sufficient accordingly.

[0105] In this solution, a series of algorithms are set up to ensure that the servo drive module controls at least one vector index of the servo motor, so that the error between the servo motor and the target operating power and target torque is small enough, thereby completing the regulation.

[0106] Reference Figure 2 As shown, obtaining the torque contribution coefficient of the servo motor's torque to the vector index and obtaining the power contribution coefficient of the servo motor's power to the vector index include the following steps:

[0107] Acquire a first change in the torque of the servo motor when the vector index variation amplitude is a preset value;

[0108] Acquire a second change in the power of the servo motor when the vector index variation amplitude is a preset value;

[0109] When the first change amount and the second change amount are both 0, the torque contribution coefficient is 0 and the power contribution coefficient is 0;

[0110] When the first change amount is 0 and the second change amount is not 0, the torque contribution coefficient is 0, and the power contribution coefficient is equal to the preset value divided by the second change amount;

[0111] When the second change amount is 0 and the first change amount is not 0, the power contribution coefficient is 0, and the torque contribution coefficient is the preset value divided by the first change amount;

[0112] When both the first change amount and the second change amount are not 0, the torque contribution coefficient and the power contribution coefficient are calculated using the proportional distribution formula;

[0113] The proportional allocation formula is as follows:

[0114]

[0115] Among them, A is the torque contribution coefficient, B is the power contribution coefficient, a is the preset value, b is the first change amount, and c is the second change amount.

[0116] The change of vector index will lead to the change of torque and power. This change is a corresponding relationship. Therefore, when the torque and power change, the vector index will also change accordingly, and then the torque contribution coefficient and the power contribution coefficient can be determined accordingly. The torque contribution coefficient and the power contribution coefficient can be used to calculate the value that the vector index should be set to achieve the torque and power according to the torque and power. It should be noted that the vector index has a corresponding relationship with the torque contribution coefficient and the power contribution coefficient. The torque contribution coefficient and the power contribution coefficient of different vector indexes are different.

[0117] When obtaining the torque contribution coefficient and the power contribution coefficient, it should be noted that the vector index does not necessarily affect the torque and power. Therefore, it is necessary to distinguish between them, and then classify the different situations as mentioned above, and calculate the torque contribution coefficient and the power contribution coefficient under the existing circumstances.

[0118] Reference Figure 3 As shown, obtaining at least one aging feature of the servo motor and forming an aging recognition mechanism of the aging feature includes the following steps:

[0119] Based on the historical data, obtaining data of at least one sample servo motor, and obtaining at least one usage quality indicator of the sample servo motor;

[0120] Based on historical data, obtain the baseline parameters of the quality indicators of the sample servo motor when it is operating normally, and obtain the aging parameters of the quality indicators of the sample servo motor when it is operating after aging;

[0121] Taking an average value of at least one baseline parameter to obtain a baseline average parameter, taking an average value of at least one aging parameter to obtain an aging average parameter;

[0122] The aging average parameter is divided by the baseline average parameter to obtain the baseline value;

[0123] The aging parameter of the usage quality indicator is divided by the reference parameter of the usage quality indicator to obtain a value to be identified;

[0124] When the value to be identified is less than the reference value, the quality indicator is used as the aging feature, and the value to be identified using the quality indicator is paired with the aging feature;

[0125] The reference parameters of the quality indicators used are paired with the aging characteristics to obtain the actual parameters of the aging characteristics when the servo motor is operating;

[0126] The actual parameter of the aging feature is divided by the reference parameter corresponding to the aging feature to obtain the recognition ratio;

[0127] When the recognition ratio is less than the reference value, it is determined that the aging feature has aging phenomenon.

[0128] Here, it should be noted that the baseline parameters of the usage quality indicators of the sample servo motor when operating normally and the aging parameters of the usage quality indicators of the sample servo motor when operating after aging are obtained when the values ​​of the vector indicators of the servo drive module are the same. Aging is identified through proportion, and the usage quality indicators with aging conditions higher than the average are selected as aging features, which can reduce the number of features involved in the judgment. Thereby, the efficiency of the algorithm can be improved. The principle is that during aging, the value to be identified will inevitably be less than 1. When the effect of the aging feature is more obvious, the value to be identified will be smaller.

[0129] Reference Figure 4 As shown, the aging coefficient of the aging characteristic is formed, and based on the aging coefficient, the aging degree of the servo motor is calculated, including the following steps:

[0130] Accumulate the to-be-recognized values ​​corresponding to the aging characteristics to obtain a total recognition value;

[0131] The value to be identified corresponding to the aging feature is divided by the total identification value to obtain the aging coefficient of the aging feature;

[0132] The aging characteristics that show aging phenomena are used as characteristic aging characteristics;

[0133] Use the aging formula to calculate the aging degree of the servo motor;

[0134] The aging formula is as follows:

[0135]

[0136] Where C is the aging degree of the servo motor, n is the total number of characteristic aging features, i is the subscript, d i is the actual parameter of the ith characteristic aging feature, e i is the aging coefficient of the i-th characteristic aging feature.

[0137] Each aging feature has a different impact on the aging degree of the servo motor. Therefore, when calculating the aging degree of the servo motor, it is necessary to determine the aging coefficient of the aging feature. Only in this way can all situations be summarized. However, it should be noted that aging features that do not show aging phenomena are not taken into consideration.

[0138] Reference Figure 5 As shown, establishing the influence model of aging degree on vector index includes the following steps:

[0139] Obtaining a value range of the aging degree, dividing the value range of the aging degree at equal intervals, and obtaining at least one aging point;

[0140] When the aging degree is 0, obtaining the first conditional torque and the first conditional power of the servo motor;

[0141] When the aging degree is the value at the aging point, obtaining the second conditional torque and the second conditional power of the servo motor;

[0142] The result of multiplying the first condition torque by the torque contribution coefficient corresponding to the vector index and the result of multiplying the first condition power by the power contribution coefficient corresponding to the vector index are superimposed to obtain a total parameter of the vector index;

[0143] The result of multiplying the torque contribution coefficient corresponding to the second condition torque and the vector index and the result of multiplying the power contribution coefficient corresponding to the second condition power and the vector index are superimposed to obtain the effective parameter of the vector index;

[0144] The total parameter of the vector indicator minus the effective parameter of the vector indicator is used to obtain the loss parameter of the vector indicator;

[0145] The value at the aging point is paired and fitted with the loss parameter of the vector index to obtain a vector loss fitting function, wherein the value at the aging point is an independent variable, the loss parameter of the vector index is a dependent variable, and the vector loss fitting function corresponds to the vector index one by one;

[0146] At least one vector loss fitting function is summarized as a model of the effect of aging degree on the vector index.

[0147] The establishment of the model of the impact of aging degree on vector indicators is to estimate the loss of vector indicators due to aging. When there is no aging, the vector indicators will not be affected, but when aging exists, part of the vector indicators will be offset due to aging. Therefore, errors will occur in the control. In order to avoid errors, it is necessary to calculate the value of the part of the vector indicator that is offset due to aging and make corresponding compensation.

[0148] Reference Figure 6 As shown, obtaining the expansion resistance function of the drive shaft of the servo motor to the temperature includes the following steps:

[0149] Obtaining a value range of the working temperature of the sample servo motor, dividing the value range of the working temperature into equal intervals, and obtaining at least one temperature point;

[0150] Under the condition of the value at the temperature point, the resistance of the bearing after the driving shaft of the sample servo motor expands is obtained as the characteristic force;

[0151] The values ​​at the temperature points are paired and fitted with the characteristic forces to obtain the expansion resistance function, in which the values ​​at the temperature points are independent variables and the characteristic forces are dependent variables.

[0152] Temperature will cause the drive shaft to expand. The drive shaft is connected to the bearing, which will increase the friction of the connection. The expansion resistance function is an estimate of the increased friction. Since the friction extends in the tangential direction of the drive shaft, the torque generated by the friction is equal to the product of the friction and the radius of the drive shaft. Based on this, the resisted torque of the servo motor can be obtained. However, since the resisted torque acts on the drive shaft, but the actual torque required acts on the turntable driven by the drive shaft, it is necessary to estimate the effect of the resisted torque on the turntable. Since the torque is proportional to the radius, and the other factors of the drive shaft and the turntable are the same, the ratio of the amplified torque to the resisted torque is equal to the ratio of the radius of the turntable to the drive shaft. Therefore, the amplified torque can be calculated, which is also the origin of the torque amplification formula. The amplified torque can be used to compensate for the target torque.

[0153] Reference Figure 7 As shown, based on the expansion resistance function, obtaining the resistance torque of the servo motor includes the following steps:

[0154] Substitute the real-time temperature into the expansion resistance function to obtain the actual resistance of the drive shaft of the servo motor;

[0155] The actual resistance is multiplied by the radius of the drive shaft to obtain the resisting torque of the servo motor.

[0156] Based on the influence model of aging degree on vector index, obtaining the compensation value of the vector index of the servo motor includes the following steps:

[0157] Substitute the aging degree of the servo motor into the vector loss fitting function corresponding to the vector index to obtain the compensation value of the vector index.

[0158] Reference Figure 8 As shown, based on the blocked torque, the target torque is compensated to obtain the target compensation torque, which includes the following steps:

[0159] Obtain the radius of the driving shaft of the servo motor, and obtain the radius of the turntable driven by the driving shaft of the servo motor;

[0160] Based on the torque amplification formula, the amplified torque of the blocked torque is calculated;

[0161] The amplified torque is superimposed on the target torque to obtain the target compensation torque;

[0162] The torque amplification formula is as follows:

[0163]

[0164] Among them, D is the amplified torque, g is the radius of the drive shaft, f is the radius of the turntable, and E is the blocked torque.

[0165] Reference Fig. 9As shown, based on the torque contribution coefficient and the power contribution coefficient, calculating the characteristic value of the vector index includes the following steps:

[0166] The target operating power is multiplied by the power contribution coefficient corresponding to the vector index to obtain the power contribution value;

[0167] The target compensation torque is multiplied by the torque contribution coefficient corresponding to the vector index to obtain the torque contribution value;

[0168] The power contribution value is added to the torque contribution value to obtain the characteristic value of the vector index.

[0169] The target compensation torque is the result of compensating for the influence of temperature. Therefore, the characteristic value of the vector index calculated is the parameter that enables the servo motor to reach the target operating power and target compensation torque. However, the parameter also needs to be compensated for aging, so as to complete the final compensation.

[0170] Furthermore, the present solution also proposes a storage medium on which a computer-readable program is stored. When the computer-readable program is called, the multi-vector synchronous control method of the servo drive module is executed.

[0171] It is understandable that the storage medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a DVD; or a semiconductor medium, such as a solid state drive (SSD).

[0172] To sum up, the advantages of the present invention are: by calculating the aging degree of the servo motor, establishing a model for the influence of the aging degree on the vector index, obtaining the expansion resistance function of the temperature on the driving shaft of the servo motor, and compensating for the vector index, when the servo driver module performs vector control on the servo motor, the parameters of the vector index used to control the servo motor can be adjusted in time according to the aging condition of the servo motor and the temperature of the current working environment, thereby eliminating the influence of temperature and servo motor aging on the vector index, thereby ensuring that the operation control accuracy of the servo motor meets the requirements.

[0173] The above shows and describes the basic principles, main features and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The above embodiments and descriptions only describe the principles of the present invention. The present invention may be subject to various changes and improvements without departing from the spirit and scope of the present invention. These changes and improvements fall within the scope of the present invention. The scope of protection claimed by the present invention is defined by the attached claims and their equivalents.

Claims

1. A multi-vector synchronous control method for a servo drive module, characterized in that: include: Obtaining at least one vector index of a servo motor controlled by a servo drive module; Obtain the torque contribution coefficient of the servo motor's torque to the vector index, and obtain the power contribution coefficient of the servo motor's power to the vector index; Acquire at least one aging feature of the servo motor and form an aging recognition mechanism of the aging feature; obtaining an actual parameter of at least one aging characteristic; An aging coefficient that forms an aging characteristic, based on which the aging degree of the servo motor is calculated; Establish a model for the impact of aging degree on vector indicators; Obtain the real-time temperature of the working environment of the servo motor, and obtain the expansion resistance function of the temperature on the driving shaft of the servo motor; Based on the expansion resistance function, the resistance torque of the servo motor is obtained; Based on the influence model of aging degree on vector index, the compensation value of the vector index of the servo motor is obtained; The target operating power and target torque of the servo motor are obtained, and the target torque is compensated based on the blocked torque to obtain the target compensation torque; Based on the torque contribution coefficient and the power contribution coefficient, the characteristic value of the vector index is calculated; The characteristic value of the vector indicator is superimposed with the compensation value to obtain the target value of the vector indicator; The servo drive module controls the servo motor according to the target value of the vector indicator.

2. The multi-vector synchronous control method of a servo drive module according to claim 1, characterized in that: The step of obtaining the torque contribution coefficient of the servo motor's torque to the vector index and obtaining the power contribution coefficient of the servo motor's power to the vector index comprises the following steps: Acquire a first change in the torque of the servo motor when the vector index variation amplitude is a preset value; Acquire a second change in the power of the servo motor when the vector index variation amplitude is a preset value; When the first change amount and the second change amount are both 0, the torque contribution coefficient is 0 and the power contribution coefficient is 0; When the first change amount is 0 and the second change amount is not 0, the torque contribution coefficient is 0, and the power contribution coefficient is equal to the preset value divided by the second change amount; When the second change amount is 0 and the first change amount is not 0, the power contribution coefficient is 0, and the torque contribution coefficient is the preset value divided by the first change amount; When both the first change amount and the second change amount are not 0, the torque contribution coefficient and the power contribution coefficient are calculated using the proportional distribution formula; The proportional allocation formula is as follows: Among them, A is the torque contribution coefficient, B is the power contribution coefficient, a is the preset value, b is the first change amount, and c is the second change amount.

3. The multi-vector synchronous control method of a servo drive module according to claim 2, characterized in that: The step of obtaining at least one aging feature of the servo motor and forming an aging recognition mechanism of the aging feature comprises the following steps: Based on the historical data, obtaining data of at least one sample servo motor, and obtaining at least one usage quality indicator of the sample servo motor; Based on historical data, obtain the baseline parameters of the quality indicators of the sample servo motor when it is operating normally, and obtain the aging parameters of the quality indicators of the sample servo motor when it is operating after aging; Taking an average value of at least one baseline parameter to obtain a baseline average parameter, taking an average value of at least one aging parameter to obtain an aging average parameter; The aging average parameter is divided by the baseline average parameter to obtain the baseline value; The aging parameter of the usage quality indicator is divided by the reference parameter of the usage quality indicator to obtain a value to be identified; When the value to be identified is less than the reference value, the quality indicator is used as the aging feature, and the value to be identified using the quality indicator is paired with the aging feature; The reference parameters of the quality indicators used are paired with the aging characteristics to obtain the actual parameters of the aging characteristics when the servo motor is operating; The actual parameter of the aging feature is divided by the reference parameter corresponding to the aging feature to obtain the recognition ratio; When the recognition ratio is less than the reference value, it is determined that the aging feature has aging phenomenon.

4. The multi-vector synchronous control method of a servo drive module according to claim 3, characterized in that: The aging coefficient forming the aging characteristic, based on the aging coefficient, calculating the aging degree of the servo motor comprises the following steps: Accumulate the to-be-recognized values ​​corresponding to the aging characteristics to obtain a total recognition value; The value to be identified corresponding to the aging feature is divided by the total identification value to obtain the aging coefficient of the aging feature; The aging characteristics that show aging phenomena are used as characteristic aging characteristics; Use the aging formula to calculate the aging degree of the servo motor; The aging formula is as follows: Where C is the aging degree of the servo motor, n is the total number of characteristic aging features, i is the subscript, d i is the actual parameter of the ith characteristic aging feature, e i is the aging coefficient of the i-th characteristic aging feature.

5. The multi-vector synchronous control method of a servo drive module according to claim 4, characterized in that: The establishment of the influence model of aging degree on vector index comprises the following steps: Obtaining a value range of the aging degree, dividing the value range of the aging degree at equal intervals, and obtaining at least one aging point; When the aging degree is 0, obtaining the first conditional torque and the first conditional power of the servo motor; When the aging degree is the value at the aging point, obtaining the second conditional torque and the second conditional power of the servo motor; The result of multiplying the first condition torque by the torque contribution coefficient corresponding to the vector index and the result of multiplying the first condition power by the power contribution coefficient corresponding to the vector index are superimposed to obtain a total parameter of the vector index; The result of multiplying the torque contribution coefficient corresponding to the second condition torque and the vector index and the result of multiplying the power contribution coefficient corresponding to the second condition power and the vector index are superimposed to obtain the effective parameter of the vector index; The total parameter of the vector indicator minus the effective parameter of the vector indicator is used to obtain the loss parameter of the vector indicator; The value at the aging point is paired and fitted with the loss parameter of the vector index to obtain a vector loss fitting function, wherein the value at the aging point is an independent variable, the loss parameter of the vector index is a dependent variable, and the vector loss fitting function corresponds to the vector index one by one; At least one vector loss fitting function is summarized into a model of the effect of aging degree on the vector index.

6. The multi-vector synchronous control method of a servo drive module according to claim 5, characterized in that: The method of obtaining the expansion resistance function of the driving shaft of the servo motor to the temperature comprises the following steps: Obtaining a value range of the working temperature of the sample servo motor, dividing the value range of the working temperature into equal intervals, and obtaining at least one temperature point; Under the condition of the value at the temperature point, the resistance of the bearing after the driving shaft of the sample servo motor expands is obtained as the characteristic force; The values ​​at the temperature points are paired and fitted with the characteristic forces to obtain the expansion resistance function, in which the values ​​at the temperature points are independent variables and the characteristic forces are dependent variables.

7. The multi-vector synchronous control method of a servo drive module according to claim 6, characterized in that: The method of obtaining the hindered torque of the servo motor based on the expansion resistance function comprises the following steps: Substitute the real-time temperature into the expansion resistance function to obtain the actual resistance of the drive shaft of the servo motor; The actual resistance is multiplied by the radius of the drive shaft to obtain the resisting torque of the servo motor.

8. The multi-vector synchronous control method of a servo drive module according to claim 7, characterized in that: The method of obtaining the compensation value of the vector index of the servo motor based on the influence model of the aging degree on the vector index comprises the following steps: Substitute the aging degree of the servo motor into the vector loss fitting function corresponding to the vector index to obtain the compensation value of the vector index.

9. The multi-vector synchronous control method of a servo drive module according to claim 8, characterized in that: The method of compensating the target torque based on the blocked torque to obtain the target compensation torque comprises the following steps: Obtain the radius of the driving shaft of the servo motor, and obtain the radius of the turntable driven by the driving shaft of the servo motor; Based on the torque amplification formula, the amplified torque of the blocked torque is calculated; The amplified torque is superimposed on the target torque to obtain the target compensation torque; The torque amplification formula is as follows: Among them, D is the amplified torque, g is the radius of the drive shaft, f is the radius of the turntable, and E is the blocked torque.

10. The multi-vector synchronous control method of a servo drive module according to claim 9, characterized in that: The step of calculating the characteristic value of the vector index based on the torque contribution coefficient and the power contribution coefficient comprises the following steps: The target operating power is multiplied by the power contribution coefficient corresponding to the vector index to obtain the power contribution value; The target compensation torque is multiplied by the torque contribution coefficient corresponding to the vector index to obtain the torque contribution value; The power contribution value is added to the torque contribution value to obtain the characteristic value of the vector index.

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