Servo control system and method based on data analysis

Abstract

The invention discloses a servo control system and method based on data analysis, and relates to the technical field of servo control, and the system comprises a data collection unit which achieves the communication between a characteristic analysis system and a real object servo system platform through a storage and display mode based on different data sources, and a data analysis unit which carries out the data analysis of the real object servo system platform. The data analysis unit is used for analyzing time-domain characteristics and frequency-domain characteristics of the system and carrying out historical data analysis and real-time data monitoring on stored data, and the data processing unit is used for carrying out related processing on the received data based on a Mallat algorithm. According to the invention, real-time observation and control of speed and position are realized, time-domain characteristic analysis and frequency-domain characteristic analysis can be carried out on response of the servo system, data processing is realized by adopting a Mallat algorithm, and designed PI controller parameters are sent to a servo system controller to realize real-time control of the servo system.

Description

Technical Field

[0001] The present invention relates to the technical field of servo control, and in particular to a servo control system and method based on data analysis. Background Art

[0002] The servo control system is a feedback control system used to accurately follow or reproduce a process. In many cases, the servo system specifically refers to a feedback control system in which the controlled quantity is a mechanical displacement or displacement velocity or acceleration. Its function is to make the output mechanical displacement accurately track the input displacement. The Chinese patent application number 202310691468.9 discloses "a servo motor control method based on big data analysis, which relates to the field of servo control technology. The method includes obtaining the operation requirement data of the target servo motor, and determining the collection conditions based on the operation requirement data to collect big data to form a servo motor operation analysis database; obtaining the operation deviation information of the target servo motor, and establishing a deviation analysis model in combination with the servo motor operation analysis database, analyzing and judging the operation deviation of the target servo motor according to the deviation analysis model, and determining the deviation control processing scheme; and re-controlling the target servo motor according to the deviation control processing scheme."

[0003] The above-mentioned document completes the real-time control adjustment of the servo motor's running deviation based on the historical adaptation data of the servo motor. The adjustment is efficient and effectively ensures the stability of the servo motor's continuous operation. In fact, the speed loop is an indispensable part for realizing the dynamic tracking of the servo system. For the current loop, the output of the speed loop is used as the current given by the current loop. Load disturbance suppression and effective control of speed fluctuations can effectively control the fluctuation of the input current. For the position loop, the input of the speed loop is the output of the position loop. The fast dynamic speed tracking response and wide speed adjustment range of the speed loop are the basis and conditions for realizing timely tracking and accurate positioning of the position. The control performance of the speed loop directly affects the performance of the servo system. The dynamic characteristics analysis of the servo system is a necessary condition for designing a high-performance servo system. The dynamic characteristics analysis systems on the market now have the defects of large size, high cost, inconvenient operation and limited real-time processing capabilities. Summary of the invention

[0004] The object of the present invention is to provide a servo control system and method based on data analysis to solve the problems raised in the above background technology.

[0005] To achieve the above-mentioned object, the present invention provides the following technical solutions: a servo control system based on data analysis, comprising a data acquisition unit, wherein the data acquisition unit realizes communication between a characteristic analysis system and a physical servo system platform by means of storage and display based on different data sources;

[0006] A data analysis unit, which realizes time domain characteristic analysis and frequency domain characteristic analysis of the system, and performs historical data analysis and real-time data monitoring on the stored data;

[0007] A data processing unit, which performs relevant processing on the received data based on the Mallat algorithm. For frequency domain characteristic analysis, the received data and the test signal are first subjected to FFT transformation and then corresponding calculations are performed;

[0008] A database unit, which displays the received position or speed information in real time, observes the operation of the control system in real time and performs corresponding analysis on the real-time data, uses the database to save the received data, and then performs historical analysis and response characteristic analysis;

[0009] A servo model simulation unit, which realizes the results of the system performance analysis, performs simulation of the servo system according to the given parameters of the analysis, and verifies the feasibility of the control parameter design;

[0010] A fault diagnosis and detection unit proposes a servo system sensitive parameter selection method based on fault mode, impact and hazard analysis based on analysis of the working principle and composition of the servo system, the type, characteristics and selection method of the measuring points.

[0011] Preferably, the data acquisition unit includes a dual serial port communication thread module and a data packet parsing module. The dual serial port communication thread module collects and sends data through the dual serial ports, stores the received data in real time, and displays it on the main display interface in a timely manner. At the same time, the useful data is saved in a database file. The data packet parsing module is responsible for extracting the length and arrival time interval characteristics of each packet, and providing a packet-by-packet feature sequence, so that the controller of the servo control system receives real-time and accurate data.

[0012] Preferably, the data analysis unit includes a time domain characteristic analysis module and a frequency domain characteristic analysis module. The time domain characteristic analysis module inputs a step signal with a multiple of the rotational speed into the servo system as the input signal of the servo system, and uses a filter to process the harmonic interference signal in the output speed signal and the interference caused by some accidental factors. The input signal of the frequency domain characteristic analysis module is a signal based on the step signal set based on the rotational speed and a Chirp signal added. The Chirp signal is input into the servo control system, and the Chirp signal is a set of sinusoidal wave function signals with an amplitude of 1 and a gradually increasing frequency. Since the bandwidth of the speed loop of the servo system is in the frequency range of 100Hz to 200Hz, considering a certain margin, the frequency range of the Chirp signal is set to 1Hz to 600Hz, thereby performing frequency domain characteristic analysis of the characteristic analysis system of the servo control system.

[0013] Preferably, the data analysis unit also includes a historical data analysis module and a real-time data monitoring module. The historical data analysis module compares the currently acquired signal data with the signal data stored in the database, and quickly locates and accurately tracks to ensure good dynamic response speed, a wide speed regulation range and excellent anti-interference characteristics. The real-time data monitoring module is responsible for recording corresponding logs and data operation trajectories, thereby accurately controlling the servo system.

[0014] Preferably, the data processing unit includes an FFT data processing module and a high- and low-frequency data processing module. The FFT data processing module converts the data step by step. The more data there is, the more times the FFT algorithm performs parity decomposition. When performing program design, a sufficiently large data linked list or array space is set to define the corresponding data structure to implement the corresponding functional function. The high- and low-frequency data processing module sets the high-frequency or low-frequency parameters in the servo controller and selects the appropriate frequency value according to the needs to cope with different loads and different control requirements.

[0015] Preferably, the database unit includes a real-time data management module and a data analysis database module. The real-time data management module acquires and processes data in real time and classifies data to meet the needs of real-time data processing. The data analysis database module improves the magnitude and performance of database data processing through the collaboration of large-scale parallel relational databases.

[0016] Preferably, the database unit also includes a parameter management database module, which makes parameter management more orderly, selects a relational database model and Access database software to design a parameter management database conceptual model and a relational model, and performs 3NF normalization processing to improve program operation efficiency.

[0017] Preferably, the servo model simulation unit includes an RTW module and a VC program interface module. The RTW module is a function supplement module provided to expand the online debugging of the graphical simulation, which converts the graphical function design into the corresponding control code to realize the required function. The VC program interface module designs a micro data linked list library based on Excel to store the parameters of different types of wavelet basis functions. When using wavelet transform, the wavelet basis function is constructed by calling the parameters of different wavelet basis function types in the data linked list library through the program to realize wavelet analysis of the data.

[0018] Preferably, the fault diagnosis and detection unit includes a measuring point selection module and a fault prediction module. The measuring point selection module selects measuring points corresponding to those that are most harmful to the servo system and prone to failure, and uses the voltage, current, etc. collected by these measuring points as sensitive parameters of the servo system. The fault prediction module constructs a state vector based on the extracted signal features, and uses this as input to input into the network for feature fusion, thereby obtaining a fault prediction result.

[0019] A servo control method based on data analysis comprises the following steps:

[0020] S1: Data transmission and reception: Data communication between the servo control system and the characteristic analysis system is realized by collecting data. The RS-485 full-duplex protocol is adopted to realize the transmission and reception of data of the speed loop and the position loop through two serial ports respectively.

[0021] S2: Data preservation and characteristic analysis: define the display interface, realize the real-time display of the received position or speed information, observe the operation of the control system in real time and perform corresponding analysis on the real-time data, and use the database to save the received data for historical analysis and response characteristic analysis;

[0022] S3: Real-time modification of controller parameters: Use the serial port to send time-domain and frequency-domain test signals and receive response signals, realize the time-domain characteristic analysis and frequency-domain characteristic analysis of the servo control system, modify the control parameters of the controller according to the analysis results, use the dual serial ports to send the set PI controller parameters to the DSP control chip, and realize the real-time modification of the controller parameters of the servo control system;

[0023] S4: Simulation and intelligent analysis: A model simulation system of the servo system was designed to verify the feasibility of the control parameter design, the code was refactored and implemented in the embedded control system, and an embedded characteristic analysis control system was designed to be fixed to the servo control system to realize the intelligent analysis and control functions of the servo system. According to the speed loop characteristic analysis system, the controller parameters of the control servo system were automatically adjusted to achieve rapid response and zero-difference speed tracking of the speed loop, improve the position tracking accuracy, and realize accurate and rapid tracking and positioning of the position servo system.

[0024] The Mallat algorithm includes a fast algorithm for signal decomposition, which stretches and translates the two-scale difference equation in time, assuming that any function And decompose and project to V j , W j , the two spaces get the expansion coefficients on scale j:

[0025]

[0026] Wavelet coefficient d at scale j j,k The expression is:

[0027]

[0028] By gradually increasing the scale j from 0, we can achieve the step-by-step implementation of multi-resolution analysis. j,k and wavelet coefficient d j,k The recursive process reflects the implementation process of multi-resolution analysis.

[0029] Compared with the prior art, the present invention has the following beneficial effects:

[0030] The present invention realizes real-time observation and control of speed and position, can analyze the time domain characteristics and frequency domain characteristics of the response of the servo system, adopts the Mallat algorithm to realize the method of processing data, and designs the control parameters of the corresponding PI controller according to the analysis results, and uses the designed PI controller parameters through a real-time simulation system to simulate the model of the servo system to verify the rationality and feasibility of the parameter design, and sends the designed PI controller parameters to the servo system controller to realize real-time control of the servo system, and designs real-time data storage and historical data storage according to requirements to perform related analysis and processing. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] Figure 1 A block diagram of a servo control system based on data analysis provided by an embodiment of the present invention;

[0032] Figure 2 A block diagram of a data acquisition unit and a data analysis unit provided in an embodiment of the present invention;

[0033] Figure 3 A block diagram of a data processing unit and a database unit provided in an embodiment of the present invention;

[0034] Figure 4 A block diagram of a servo model simulation unit and a fault diagnosis and detection unit provided in an embodiment of the present invention;

[0035] In the figure: 1. Data acquisition unit; 101. Dual serial port communication thread module; 102. Data packet parsing module; 2. Data analysis unit; 201. Time domain characteristic analysis module; 202. Frequency domain characteristic analysis module; 203. Historical data analysis module; 204. Real-time data monitoring module; 3. Data processing unit; 301. FFT data processing module; 302. High and low frequency data processing module; 4. Database unit; 401. Real-time data management module; 402. Data analysis database module; 403. Parameter management database module; 5. Servo model simulation unit; 501. RTW module; 502. VC program interface module; 6. Fault diagnosis and detection unit; 601. Measurement point selection module; 602. Fault prediction module. DETAILED DESCRIPTION

[0036] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0037] See also Figure 1-4 ,The present invention provides a technical solution: a servo control system based on data analysis, comprising a data acquisition unit 1, the data acquisition unit 1 adopts storage and display methods based on different data sources to realize the communication between the characteristic analysis system and the physical servo system platform;

[0038] Data analysis unit 2, data analysis unit 2 realizes time domain characteristic analysis and frequency domain characteristic analysis of the system, and performs historical data analysis and real-time data monitoring on the stored data;

[0039] Data processing unit 3, data processing unit 3 performs relevant processing on the received data based on Mallat algorithm, and for frequency domain characteristic analysis, first performs FFT transformation on the received data and test signal and then performs corresponding calculations;

[0040] Database unit 4, database unit 4 displays the received position or speed information in real time, observes the operation of the control system in real time and performs corresponding analysis on the real-time data, uses the database to save the received data, and then performs historical analysis and response characteristic analysis;

[0041] The servo model simulation unit 5 realizes the result of the performance analysis of the system, performs simulation of the servo system according to the given parameters of the analysis, and verifies the feasibility of the control parameter design;

[0042] Fault diagnosis and detection unit 6, based on the analysis of the working principle and composition of the servo system, the type, characteristics and selection method of the measuring points, proposes a method for selecting sensitive parameters of the servo system based on fault mode, impact and hazard analysis.

[0043] The data acquisition unit 1 includes a dual serial port communication thread module 101 and a data packet analysis module 102. The dual serial port communication thread module 101 collects and sends data through the dual serial ports, stores the received data in real time, and displays it on the main display interface in a timely manner, and saves the useful data in a database file. The data packet analysis module 102 is responsible for extracting the length and arrival time interval characteristics of each packet, and provides a packet-by-packet feature sequence, so that the controller of the servo control system receives real-time and accurate data;

[0044] The data analysis unit 2 includes a time domain characteristic analysis module 201 and a frequency domain characteristic analysis module 202. The time domain characteristic analysis module 201 inputs a step signal with a speed as a multiple into the servo system as the input signal of the servo system. The interference caused by harmonic interference signals and some accidental factors in the output speed signal are processed by using a filter. The input signal of the frequency domain characteristic analysis module 202 is a signal based on the step signal set by the speed and a Chirp signal added. The Chirp signal is a set of sinusoidal wave function signals with an amplitude of 1 and a gradually increasing frequency, and since the bandwidth of the speed loop of the servo system is in the frequency range of 100Hz to 200Hz, considering a certain margin, the frequency range of the Chirp signal is set to 1Hz to 600Hz, thereby performing a frequency domain characteristic analysis of the characteristic analysis system of the servo control system;

[0045] The data analysis unit 2 also includes a historical data analysis module 203 and a real-time data monitoring module 204. The historical data analysis module 203 compares the currently acquired signal data with the signal data stored in the database, and quickly locates and accurately tracks to ensure good dynamic response speed, a wide speed regulation range and excellent anti-interference characteristics. The real-time data monitoring module 204 is responsible for recording corresponding logs and data operation trajectories, thereby accurately controlling the servo system.

[0046] The data processing unit 3 includes an FFT data processing module 301 and a high- and low-frequency data processing module 302. The FFT data processing module 301 converts the data step by step. The more data there is, the more times the FFT algorithm performs parity decomposition. When designing a program, a sufficiently large data linked list or array space is set to define the corresponding data structure to implement the corresponding function. The high- and low-frequency data processing module 302 sets the high-frequency or low-frequency parameters in the servo controller and selects the appropriate frequency value according to the requirements to cope with different loads and different control requirements.

[0047] The database unit 4 includes a real-time data management module 401 and a data analysis database module 402. The real-time data management module 401 acquires and processes data in real time and classifies data to meet the needs of real-time data processing. The data analysis database module 402 improves the magnitude and performance of database data processing through the collaboration of large-scale parallel relational databases.

[0048] The database unit 4 also includes a parameter management database module 403. The parameter management database module 403 makes parameter management more orderly, selects a relational database model and Access database software to design a parameter management database conceptual model and a relational model, and performs 3NF normalization processing to improve program operation efficiency;

[0049] The servo model simulation unit 5 includes an RTW module 501 and a VC program interface module 502. The RTW module 501 is a function supplement module provided for expanding the online debugging of the graphical simulation, which converts the graphical function design into the corresponding control code to realize the required function. The VC program interface module 502 designs a micro data linked table library based on Excel to store the parameters of different types of wavelet basis functions. When using wavelet transform, the program calls the parameters of different types of wavelet basis functions in the data linked table library to construct the wavelet basis function to realize the wavelet analysis of the data.

[0050] The fault diagnosis and detection unit 6 includes a measuring point selection module 601 and a fault prediction module 602. The measuring point selection module 601 selects measuring points corresponding to those that are most harmful to the servo system and prone to faults, and uses the voltage and current collected by these measuring points as sensitive parameters of the servo system. The fault prediction module 602 constructs a state vector based on the extracted signal features, and uses this as input to input into the network for feature fusion, thereby obtaining a fault prediction result.

[0051] A servo control method based on data analysis comprises the following steps:

[0052] S1: Data transmission and reception: Data communication between the servo control system and the characteristic analysis system is realized by collecting data. The RS-485 full-duplex protocol is adopted to realize the transmission and reception of data of the speed loop and the position loop through two serial ports respectively.

[0053] S2: Data preservation and characteristic analysis: define the display interface, realize the real-time display of the received position or speed information, observe the operation of the control system in real time and perform corresponding analysis on the real-time data, and use the database to save the received data for historical analysis and response characteristic analysis;

[0054] S3: Real-time modification of controller parameters: Use the serial port to send time-domain and frequency-domain test signals and receive response signals, realize the time-domain characteristic analysis and frequency-domain characteristic analysis of the servo control system, modify the control parameters of the controller according to the analysis results, use the dual serial ports to send the set PI controller parameters to the DSP control chip, and realize the real-time modification of the controller parameters of the servo control system;

[0055] S4: Simulation and intelligent analysis: A model simulation system of the servo system was designed to verify the feasibility of the control parameter design, the code was refactored and implemented in the embedded control system, and an embedded characteristic analysis control system was designed to be fixed to the servo control system to realize the intelligent analysis and control functions of the servo system. According to the speed loop characteristic analysis system, the controller parameters of the control servo system were automatically adjusted to achieve rapid response and zero-difference speed tracking of the speed loop, improve the position tracking accuracy, and realize accurate and rapid tracking and positioning of the position servo system.

[0056] The Mallat algorithm includes a fast algorithm for signal decomposition, which stretches and translates the two-scale difference equation in time, assuming that any function And decompose and project to V j , W j , the two spaces get the expansion coefficients on scale j:

[0057]

[0058] Wavelet coefficient d at scale j j,k The expression is:

[0059]

[0060] By gradually increasing the scale j from 0, we can achieve the step-by-step implementation of multi-resolution analysis. j,k and wavelet coefficient d j,k The recursive process reflects the implementation process of multi-resolution analysis;

[0061] The Mallat algorithm also includes a fast signal reconstruction algorithm. According to the orthogonality of the scale function at different scales, that is, the orthogonality between the wavelet function and the scale function, the reconstruction formula of the wavelet transform coefficients can be obtained:

[0062]

[0063] It should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device.

[0064] Although embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the appended claims and their equivalents.

Claims

1. A servo control system based on data analysis, Features: The invention comprises a data acquisition unit (1), wherein the data acquisition unit (1) realizes communication between a characteristic analysis system and a servo system platform of a physical object by adopting a storage and display method based on different data sources; A data analysis unit (2), wherein the data analysis unit (2) transmits the collected data to a host computer data structure via a serial port according to a transmission format set by a communication protocol, selects data required for system characteristic analysis, and displays the data in a timely manner via a main interface; A data processing unit (3), wherein the data processing unit (3) performs relevant processing on the received data based on the Mallat algorithm, and for frequency domain characteristic analysis, first performs FFT transformation on the received data and the test signal and then performs corresponding calculations; A database unit (4), wherein the database unit (4) displays the received position or speed information in real time, observes the operation of the control system in real time and performs corresponding analysis on the real-time data, uses the database to store the received data, and then performs historical analysis and response characteristic analysis; A servo model simulation unit (5), wherein the servo model simulation unit (5) realizes the result of the system performance analysis, performs simulation of the servo system according to the parameters given by the analysis, and verifies the feasibility of the control parameter design; A fault diagnosis and detection unit (6) proposes a servo system sensitive parameter selection method based on fault mode, impact and hazard analysis based on analysis of the working principle and composition of the servo system, the type, characteristics and selection method of the measuring points.

2. A servo control system based on data analysis according to claim 1, Features: The data acquisition unit (1) comprises a dual serial port communication thread module (101) and a data packet analysis module (102). The dual serial port communication thread module (101) acquires and sends data via the dual serial ports, stores the received data in real time, and displays the data on the main display interface in a timely manner, while saving the useful data in a database file. The data packet analysis module (102) is responsible for extracting the length and arrival time interval characteristics of each packet, and providing a packet-by-packet characteristic sequence, so that the controller of the servo control system receives real-time and accurate data.

3. A servo control system based on data analysis according to claim 1, Features: The data analysis unit (2) comprises a time domain characteristic analysis module (201) and a frequency domain characteristic analysis module (202). The time domain characteristic analysis module (201) inputs a step signal with a rotation speed as a multiple into the servo system as the input signal of the servo system. The harmonic interference signal and interference caused by some accidental factors in the output speed signal are processed by using a filter. The input signal of the frequency domain characteristic analysis module (202) is a signal obtained by adding a step signal set based on the rotation speed and a Chirp signal. The Chirp signal is a set of sinusoidal wave function signals with an amplitude of 1 and a gradually increasing frequency. Since the bandwidth of the speed loop of the servo system is in the frequency range of 100 Hz to 200 Hz, the frequency range of the Chirp signal is set to 1 Hz to 600 Hz in consideration of a certain margin, thereby performing a frequency domain characteristic analysis of the characteristic analysis system of the servo control system.

4. A servo control system based on data analysis according to claim 3, Features: The data analysis unit (2) further comprises a historical data analysis module (203) and a real-time data monitoring module (204); the historical data analysis module (203) compares currently acquired signal data with signal data stored in a database, quickly locates and accurately tracks to ensure good dynamic response speed, a wide speed regulation range and excellent anti-interference characteristics; the real-time data monitoring module (204) is responsible for recording corresponding logs and data operation trajectories, thereby accurately controlling the servo system.

5. A servo control system based on data analysis according to claim 1, Features: The data processing unit (3) comprises an FFT data processing module (301) and a high- and low-frequency data processing module (302). The FFT data processing module (301) performs step-by-step conversion on data. The more data there is, the more times the FFT algorithm performs parity decomposition. When programming, a sufficiently large data linked list or array space is set to define a corresponding data structure to implement a corresponding function. The high- and low-frequency data processing module (302) sets high-frequency or low-frequency parameters in a servo controller and selects a suitable frequency value according to demand to cope with different loads and different control requirements.

6. A servo control system based on data analysis according to claim 1, Features: The database unit (4) comprises a real-time data management module (401) and a data analysis database module (402). The real-time data management module (401) acquires and processes data in real time and classifies data to meet the needs of real-time data processing. The data analysis database module (402) improves the magnitude and performance of database data processing through the collaboration of large-scale parallel relational databases.

7. A servo control system based on data analysis according to claim 6, Features: The database unit (4) also includes a parameter management database module (403). The parameter management database module (403) makes parameter management more orderly, selects a relational database model and Access database software to design a parameter management database conceptual model and a relational model, and performs 3NF normalization processing.

8. A servo control system based on data analysis according to claim 1, Features: The servo model simulation unit (5) comprises an RTW module (501) and a VC program interface module (502). The RTW module (501) is a function supplement module provided for expanding the online debugging of the graphical simulation, and converts the graphical function design into corresponding control codes to realize the required functions. The VC program interface module (502) designs a micro data linked table library based on Excel, which is used to store parameters of different types of wavelet basis functions. When using wavelet transform, the wavelet basis function is constructed by calling the parameters of different types of wavelet basis functions in the data linked table library through the program to realize wavelet analysis of data.

9. A servo control system based on data analysis according to claim 1, Features: The fault diagnosis and detection unit (6) comprises a measuring point selection module (601) and a fault prediction module (602). The measuring point selection module (601) selects measuring points corresponding to those which are most harmful to the servo system and prone to faults, and uses the voltages, currents, etc. collected at these measuring points as sensitive parameters of the servo system. The fault prediction module (602) constructs a state vector based on extracted signal features, and uses this as input to input into a network for feature fusion, thereby obtaining a fault prediction result.

10. A servo control method based on data analysis according to any one of claims 1 to 9, Features The following steps are involved: S1: Data transmission and reception: Data communication between the servo control system and the characteristic analysis system is realized by collecting data. The RS-485 full-duplex protocol is adopted to realize the transmission and reception of data of the speed loop and the position loop through two serial ports respectively. S2: Data preservation and characteristic analysis: define the display interface, realize the real-time display of the received position or speed information, observe the operation of the control system in real time and perform corresponding analysis on the real-time data, and use the database to save the received data for historical analysis and response characteristic analysis; S3: Real-time modification of controller parameters: Use the serial port to send time-domain and frequency-domain test signals and receive response signals, realize the time-domain characteristic analysis and frequency-domain characteristic analysis of the servo control system, modify the control parameters of the controller according to the analysis results, use the dual serial ports to send the set PI controller parameters to the DSP control chip, and realize the real-time modification of the controller parameters of the servo control system; S4: Simulation and intelligent analysis: A model simulation system of the servo system was designed to verify the feasibility of the control parameter design, the code was refactored and implemented in the embedded control system, and an embedded characteristic analysis control system was designed to be fixed to the servo control system to realize the intelligent analysis and control functions of the servo system. According to the speed loop characteristic analysis system, the controller parameters of the control servo system were automatically adjusted to achieve rapid response and zero-difference speed tracking of the speed loop, improve the position tracking accuracy, and realize accurate and rapid tracking and positioning of the position servo system.

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