Intelligent servo electric screwdriver torsion compensation control processing method, system and platform

Abstract

The invention discloses an intelligent servo electric screwdriver torsion compensation control processing method, system and platform, and the method comprises the steps: generating and obtaining first data corresponding to a to-be-compensated servo electric screwdriver, and generating corresponding second data based on the first data; the first data is output torque data; the second data is motor locked-rotor angle data corresponding to the torque data; analyzing and processing the first data and the second data in combination with an FFT data analysis method, and generating corresponding third data; fourth data corresponding to the servo electric screwdriver is generated and obtained in real time, and the output torque precision of the servo electric screwdriver is intelligently controlled by combining the third data; and the fourth data is calibration data of the data acquisition board, so that torque output harmonics are tested by performing FFT analysis on torques output by the electric screwdriver at different angles, harmonic amplitudes and phases of different frequencies are obtained, and then harmonic compensation is performed, so that the precision of the torque output by the servo electric screwdriver is improved.

Description

Technical Field

[0001] The present invention belongs to the technical field of servo electric screwdriver torque compensation control processing, and particularly relates to an intelligent servo electric screwdriver torque compensation control processing method, system and platform. Background Art

[0002] In modern industrial production, the accuracy of screw locking tools directly affects product quality and production efficiency. Traditional electric screwdrivers control the output torque by means of clutch separation, while intelligent servo electric screwdrivers use servo motors and transmission mechanisms to achieve torque control by controlling the output current of the motor. However, due to factors such as uneven magnetization of the motor magnetic field and encoder installation errors, the output torque is inconsistent under the same current, affecting the control accuracy.

[0003] In addition, in the prior art, servo electric screwdrivers usually adopt a current control scheme, but this method cannot effectively solve the problem of inconsistent torque caused by motor magnetic field and encoder errors.

[0004] Therefore, in view of the above technical problems and deficiencies, it is urgent to design and develop an intelligent servo electric screwdriver torque compensation control processing method, system and platform. Summary of the Invention

[0005] To overcome the deficiencies and difficulties existing in the above prior art, the present invention provides an intelligent servo electric screwdriver torque compensation control processing method, system and platform, which perform FFT analysis on the torque output at different angles of the electric screwdriver, test the torque output harmonics, obtain the harmonic amplitudes and phases of different frequencies, and then perform harmonic compensation, thereby improving the accuracy of the servo electric screwdriver output torque.

[0006] The first object of the present invention is to provide an intelligent servo electric screwdriver torque compensation control processing method; the second object of the present invention is to provide an intelligent servo electric screwdriver torque compensation control processing system; the third object of the present invention is to provide an intelligent servo electric screwdriver torque compensation control processing platform; The first object of the present invention is achieved as follows: The method includes the following steps: Generate and obtain first data corresponding to the servo electric screwdriver to be compensated, and generate corresponding second data based on the first data; wherein, the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; Combined with the FFT data analysis method, analyze and process the first data and the second data, and generate corresponding third data; wherein, the third data is compensation data; Generate and obtain the fourth data corresponding to the servo electric screwdriver in real time, and combine with the third data to intelligently control the output torque accuracy of the servo electric screwdriver; wherein, the fourth data is the calibration data of the data acquisition board.

[0007] Further, the generating and obtaining the first data corresponding to the servo electric screwdriver to be compensated and generating the corresponding second data based on the first data further includes: Generate and obtain the fifth data corresponding to the servo electric screwdriver to be compensated, and generate the corresponding first control data based on the fifth data; wherein, the fifth data is the output current data of the servo electric screwdriver; the first control data is the control signal data for starting the servo electric screwdriver; Based on the first control data and in combination with the fifth data, create the corresponding relationship between the second data and the first data.

[0008] Further, the combining the FFT data analysis method to analyze and process the first data and the second data and generate the corresponding third data further includes: Perform harmonic analysis on the first data and the second data and generate the corresponding sixth data with different frequencies; wherein, the sixth data is the current harmonic data, including amplitude data and phase angle data; Write and process the sixth data into the data acquisition board of the servo electric screwdriver.

[0009] Further, the combining the FFT data analysis method to analyze and process the first data and the second data and generate the corresponding third data further includes: Generate and obtain the second control data corresponding to the servo electric screwdriver; wherein, the second control data is the control signal data for starting the servo electric screwdriver; Based on the second control data, test at least thirty-six groups of data, and combine with the FFT data analysis method to generate the corresponding third data.

[0010] Further, the real-time generating and obtaining the fourth data corresponding to the servo electric screwdriver and combining with the third data to intelligently control the output torque accuracy of the servo electric screwdriver further includes: Based on the third data, generate and obtain at least six groups of corresponding sixth data, and calculate and generate the corresponding seventh data according to the sixth data; wherein, the seventh data is the calculated compensation amount data; Based on the fifth data, superimpose and process the seventh data, and perform real-time feedforward compensation on the servo electric screwdriver.

[0011] Further, in the calculating and generating the corresponding seventh data, the calculation formula is: (1) Wherein, A1 to A6 are amplitude data, D1 to D6 are phase angle data, Ca is compensation amount data, and D is motor electrical angle data.

[0012] The second object of the present invention is achieved as follows: The system is used to implement the intelligent servo electric screwdriver torque compensation control processing method, and the system includes: A first data generation unit, configured to generate and obtain first data corresponding to the servo electric screwdriver to be compensated, and generate corresponding second data based on the first data; wherein, the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; A first data processing unit, configured to analyze and process the first data and the second data by combining the FFT data analysis method, and generate corresponding third data; wherein, the third data is compensation data; A servo electric screwdriver control unit, configured to generate and obtain fourth data corresponding to the servo electric screwdriver in real time, and combine the third data to intelligently control the output torque accuracy of the servo electric screwdriver; wherein, the fourth data is calibration data of the data acquisition board.

[0013] Further, the first data generation unit further includes: A first generation module, configured to generate and obtain fifth data corresponding to the servo electric screwdriver to be compensated, and generate corresponding first control data based on the fifth data; wherein, the fifth data is output current data of the servo electric screwdriver; the first control data is control signal data for starting the servo electric screwdriver; A first creation module, configured to create a correspondence between the second data and the first data based on the first control data and in combination with the fifth data; And / or, the first data processing unit further includes: A second generation module, configured to perform harmonic analysis on the first data and the second data, and generate corresponding sixth data with different frequencies; wherein, the sixth data is current harmonic data, including amplitude data and phase angle data; A first processing module, configured to write and process the sixth data into the data acquisition board of the servo electric screwdriver; A third generation module, configured to generate and obtain second control data corresponding to the servo electric screwdriver; wherein, the second control data is control signal data for starting the servo electric screwdriver; A fourth generation module, configured to test at least thirty-six groups of data based on the second control data, and generate corresponding third data by combining the FFT data analysis method; And / or, the servo electric screwdriver control unit further includes: A fifth generation module, configured to generate and obtain at least six sets of corresponding sixth data based on the third data, and calculate and generate corresponding seventh data according to the sixth data; wherein the seventh data is calculation compensation amount data; A second processing module, configured to superpose and process the seventh data based on the fifth data, and perform real-time feedforward compensation processing on the servo electric screwdriver.

[0014] Further, in the fifth generation module, the calculation formula for calculating and generating the seventh data is: (1) In the formula, A1 to A6 are amplitude data, D1 to D6 are phase angle data, Ca is compensation amount data, and D is the electrical angle data of the motor.

[0015] The third object of the present invention is achieved as follows: It includes a processor, a memory, and an intelligent servo electric screwdriver torque compensation control processing platform control program; wherein the processor executes the intelligent servo electric screwdriver torque compensation control processing platform control program, the intelligent servo electric screwdriver torque compensation control processing platform control program is stored in the memory, and the intelligent servo electric screwdriver torque compensation control processing platform control program realizes the intelligent servo electric screwdriver torque compensation control processing method.

[0016] The present invention generates and obtains first data corresponding to the servo electric screwdriver to be compensated through a method, and generates corresponding second data based on the first data; wherein the first data is output torque data; the second data is the motor stall angle data corresponding to the torque data; combining the FFT data analysis method, analyzing and processing the first data and the second data, and generating corresponding third data; wherein the third data is compensation data; generating and obtaining fourth data corresponding to the servo electric screwdriver in real time, and combining the third data, intelligently controlling the output torque accuracy of the servo electric screwdriver; wherein the fourth data is the calibration data of the data acquisition board, so as to test the torque output harmonics by performing FFT analysis on the torque output at different angles of the electric screwdriver, obtain the harmonic amplitudes and phases of different frequencies, and then perform harmonic compensation, thereby improving the output torque accuracy of the servo electric screwdriver.

[0017] That is to say, an intelligent servo electric screwdriver torque compensation method proposed by the solution of the present invention includes a host computer software for compensating data recording and analysis, a data acquisition board for storing compensation data, and a servo control board for real-time compensation; it can optimize and solve the problem that the output torques are inconsistent when the same current is output due to factors such as uneven magnetization of the motor magnetic field and encoder installation error; moreover, the engineering implementation of this method is simple, and since the compensation data is stored in the data acquisition board inside the electric screwdriver, the independence of the electric screwdriver and the servo control board can be ensured, reducing the coupling between different components of the product; in other words, through the solution of the present invention, the torque output accuracy of the servo electric screwdriver can be improved, the consistency of the output torque can be ensured, and the engineering implementation is simple. The present invention can effectively solve the problem of inconsistent torque caused by factors such as uneven magnetization of the motor magnetic field and encoder installation error, and improve the control accuracy and stability of the servo electric screwdriver. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following will briefly introduce the drawings required for the description of the embodiments. Obviously, the following drawings are only some embodiments of the present invention. For those of ordinary skill in the art, without creative efforts, other drawings can be obtained based on these drawings.

[0019] Figure 1 Schematic diagram of the flow steps of an intelligent servo electric screwdriver torque compensation control processing method of the present invention; Figure 2 Exploded view of the structure of an intelligent servo electric screwdriver of the present invention; Figure 3 Schematic diagram of the flow of an embodiment of an intelligent servo electric screwdriver torque compensation control processing method of the present invention; Figure 4 Schematic diagram of the display of the test record module of an embodiment of an intelligent servo electric screwdriver torque compensation control processing method of the present invention; Figure 5 Schematic diagram of the system architecture of an intelligent servo electric screwdriver torque compensation control processing system of the present invention; Figure 6 Schematic diagram of the platform architecture of an intelligent servo electric screwdriver torque compensation control processing platform of the present invention; In the figure: 1 - transmission mechanism; 2 - reduction gearbox; 3 - motor; 4 - encoder; 5 - data acquisition board. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0020] To better understand the purpose, technical solutions and advantages of the present invention more clearly, the following further illustrates the present invention in conjunction with the drawings and specific embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification.

[0021] The present invention can also be implemented or applied through other different specific examples, and various details in this specification can also be modified and changed based on different viewpoints and applications without departing from the spirit of the present invention.

[0022] It should be noted that if there are directional indications (such as up, down, left, right, front, back...) involved in the embodiments of the present invention, then such directional indications are only used to explain the relative positional relationship, movement conditions, etc. between components in a specific posture (as shown in the drawings). If this specific posture changes, then the directional indications will also change accordingly.

[0023] In addition, if there are descriptions involving "first", "second", etc. in the embodiments of the present invention, then such descriptions of "first", "second", etc. are only for descriptive purposes and cannot be understood as indicating or implying their relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first" and "second" can explicitly or implicitly include at least one such feature. Secondly, the technical solutions between various embodiments can be combined with each other, but it must be based on the ability of those of ordinary skill in the art to implement. When the combination of technical solutions results in contradictions or cannot be implemented, it should be considered that such a combination of technical solutions does not exist and is not within the scope of protection required by the present invention.

[0024] Preferably, an intelligent servo electric screwdriver torque compensation control processing method of the present invention is applied in one or more terminals or servers. The terminal is a device that can automatically perform numerical calculations and / or information processing according to pre-set or stored instructions, and its hardware includes but is not limited to microprocessors, application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), digital signal processors (DSPs), embedded devices, etc.

[0025] The terminal can be a computing device such as a desktop computer, a notebook, a palm computer, and a cloud server. The terminal can interact with the customer through means such as a keyboard, a mouse, a remote control, a touchpad, or a voice control device.

[0026] The present invention aims to implement an intelligent servo electric screwdriver torque compensation control processing method, system, and platform.

[0027] As Figure 1 shown, it is a flowchart of the intelligent servo electric screwdriver torque compensation control processing method provided by the embodiments of the present invention.

[0028] In this embodiment, the intelligent servo electric screwdriver torque compensation control processing method can be applied to a terminal with a display function or a fixed terminal. The terminal is not limited to a personal computer, a smart phone, a tablet computer, a desktop computer or an all-in-one computer equipped with a camera, etc.

[0029] The intelligent servo electric screwdriver torque compensation control processing method can also be applied to a hardware environment composed of a terminal and a server connected to the terminal through a network. The network includes but is not limited to: a wide area network, a metropolitan area network or a local area network. The intelligent servo electric screwdriver torque compensation control processing method of the embodiment of the present invention can be executed by the server, can also be executed by the terminal, or can be jointly executed by the server and the terminal.

[0030] For example, for a terminal that needs to perform intelligent servo electric screwdriver torque compensation control processing, the intelligent servo electric screwdriver torque compensation control processing function provided by the method of the present invention can be directly integrated on the terminal, or a client for implementing the method of the present invention can be installed. Again, the method provided by the present invention can also run on devices such as servers in the form of a software development kit (SDK), provide an interface for the intelligent servo electric screwdriver torque compensation control processing function in the form of the SDK, and the terminal or other devices can implement the intelligent servo electric screwdriver torque compensation control processing function through the provided interface. The present invention will be further described below with reference to the accompanying drawings.

[0031] As Figures 1-4 shown, the present invention provides an intelligent servo electric screwdriver torque compensation control processing method, and the method includes the following steps: S1. Generate and obtain first data corresponding to the servo electric screwdriver to be compensated, and generate corresponding second data based on the first data; wherein, the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; S2. Analyze and process the first data and the second data in combination with the FFT data analysis method, and generate corresponding third data; wherein, the third data is compensation data; S3. Generate and obtain fourth data corresponding to the servo electric screwdriver in real time, and intelligently control the output torque accuracy of the servo electric screwdriver in combination with the third data; wherein, the fourth data is calibration data of the data acquisition board.

[0032] The generating and obtaining the first data corresponding to the servo electric screwdriver to be compensated, and generating the corresponding second data based on the first data further includes: S11. Generate and obtain the fifth data corresponding to the servo electric screwdriver to be compensated, and generate the corresponding first control data based on the fifth data; wherein, the fifth data is the output current data of the servo electric screwdriver; the first control data is the control signal data for starting the servo electric screwdriver. S12. Based on the first control data and in combination with the fifth data, create the corresponding relationship between the second data and the first data.

[0033] The method of combining the FFT data analysis method to analyze and process the first data and the second data and generate the corresponding third data further includes: S21. Perform harmonic analysis on the first data and the second data and generate the corresponding sixth data with different frequencies; wherein, the sixth data is the current harmonic data, including amplitude data and phase angle data. S22. Write and process the sixth data into the data acquisition board of the servo electric screwdriver.

[0034] The method of combining the FFT data analysis method to analyze and process the first data and the second data and generate the corresponding third data further includes: S23. Generate and obtain the second control data corresponding to the servo electric screwdriver; wherein, the second control data is the control signal data for starting the servo electric screwdriver. S24. Based on the second control data, test at least thirty-six groups of data, and in combination with the FFT data analysis method, generate the corresponding third data.

[0035] The method of generating and obtaining the fourth data corresponding to the servo electric screwdriver in real time and in combination with the third data to intelligently control the output torque accuracy of the servo electric screwdriver further includes: S31. Based on the third data, generate and obtain at least six groups of corresponding sixth data, and calculate and generate the corresponding seventh data according to the sixth data; wherein, the seventh data is the calculated compensation amount data. S32. Based on the fifth data, superimpose and process the seventh data, and perform real-time feedforward compensation on the servo electric screwdriver.

[0036] In the calculation of generating the corresponding seventh data, the calculation formula is: (1) In the formula, A1~A6 are amplitude data, D1~D6 are phase angle data, Ca is the compensation amount data, and D is the electrical angle data of the motor.

[0037] Specifically, in the embodiments of the present invention, an intelligent servo electric screwdriver torque compensation method is provided, including the following steps: Assemble the electric screwdriver to the fixed bracket; Connect the electric screwdriver and the controller, set the output current and start running; Test the actual output torque through a torque tester, and read the motor stall angle through an encoder; Input the torque and stall angle data into the host computer software; Rotate the electric screwdriver bit to adjust the stall angle, and start running again; Test 36 groups of data, start FFT calculation, and obtain compensation data; Send the compensation data to the data acquisition board inside the electric screwdriver through communication for storage; The servo control board reads the calibration data of the data acquisition board and performs harmonic compensation.

[0038] Among them, the host computer software includes a test data recording module, a calculation compensation module, and an output result module. The test data recording module is used to record 36 groups of torque and angle data of the test. The calculation compensation module is used to call the FFT module to perform fast Fourier analysis on the recorded 36 groups of data to obtain the harmonic data of the current. The output result module is used to display the calculation result and store the result data in the data acquisition board inside the electric screwdriver. The data acquisition board is used to read the encoder data and communicate it to the servo control board in real time, and save the compensation result data. The servo control board is used to read the compensation data in the data acquisition board and perform real-time compensation control.

[0039] The servo control board reads the data of the 6th harmonic, including the amplitudes A1~A6 and the phase angles D1~D6, and calculates the compensation amount Ca, where D is the electrical angle of the motor: (1) And superimpose the compensation amount on the current given instruction for feedforward compensation.

[0040] That is to say, in the solution of the present invention, as Figure 2 shown, the servo electric screwdriver mainly consists of a data acquisition board 5, an encoder 4, a motor 3, a reduction gearbox 2, a transmission mechanism 1, etc. Among them, the transmission mechanism, the reduction gearbox, the motor, and the encoder are axially combined together by screws. The data acquisition board is installed on the housing by screws. The data acquisition board collects the encoder data and forwards it to the servo control board. At the same time, the data acquisition board will also save the calibration data of the electric screwdriver; The encoder collects the current magnetic field angle of the motor; The motor outputs torque; The reduction gearbox amplifies the magnitude of the motor output torque; The transmission mechanism plays the functions of transmitting torque, connecting the bit, and driving screws. The encoder uses a magnetic encoder. By rotating the magnet installed on the output shaft at the end of the motor, the magnetic field intensity is sensed to detect the angle of the motor. Due to certain deviations in the installation of the magnet, there will be certain non-linear harmonics in the collected angle data; And factors such as the non-linearity of the motor magnetization will cause inconsistencies in the final output torque of the electric screwdriver, affecting the control accuracy; A servo electric screwdriver torque compensation method proposed by the present invention uses a torque testing instrument to respectively test the stall torque of the electric screwdriver at different output angles. Then, the tested angles and torque values are input into the calibration host computer software. The host computer software will use the FFT data analysis method to perform harmonic analysis on the tested data to obtain current harmonic data of different frequencies, including amplitude and phase angle. Then, this data is written into the data acquisition board of the electric screwdriver. After the servo control board is connected to the electric screwdriver, it will actively read the calibration data stored in the data acquisition board and perform harmonic compensation on the output current through this data to improve the control accuracy of the output torque. The control flow chart is as Figure 3 shown.

[0041] The present invention mainly includes a host computer software responsible for data acquisition and FFT calculation, a data acquisition board for storing compensation results, and a servo control board for real-time compensation; The host computer software, as shown in the appendix Figure 3 shown. The host computer software mainly includes a test data recording module, a calculation compensation module, and an output result module. The test data recording module: records 36 groups of torque and angle data of the test. The calculation compensation module: after double-clicking the compensation button, the host computer software will automatically call the FFT module to perform fast Fourier analysis on the 36 groups of recorded data to obtain harmonic data of the current, including a total of 6th harmonic data, which are the amplitudes A1 to A6 of the 1st to 6th harmonics and the phase angles D1 to D6 of the 1st to 6th harmonics. The output result module: will display the calculated results and call the communication interface to store the result data into the data acquisition board inside the electric screwdriver.

[0042] The data acquisition board is used to read the data of the encoder and communicate it to the servo control board in real time; save the compensation result data. Since the data acquisition board is integrated inside the electric screwdriver, it can ensure the uniqueness and independence of the compensation data for each electric screwdriver; send the compensation data to the servo control board in real time; The servo control board is used to read the corresponding compensation data in the data acquisition board and then perform compensation control. The specific compensation method is as follows: read the data of the 6th harmonic, the amplitudes A1 to A6 and the phase angles D1 to D6; calculate the compensation amount Ca, where D is the electrical angle of the motor. (1) Superimpose the compensation amount on the current given command for feedforward compensation.

[0043] To achieve the above object, the present invention also provides an intelligent servo electric screwdriver torque compensation control processing system, as Figure 5 shown. The system specifically includes: The first data generation unit is configured to generate and obtain first data corresponding to the servo electric screwdriver to be compensated, and generate corresponding second data based on the first data; wherein, the first data is output torque data; the second data is motor stall angle data corresponding to the torque data. The first data processing unit is configured to analyze and process the first data and the second data by combining the FFT data analysis method, and generate corresponding third data; wherein, the third data is compensation data. The servo electric screwdriver control unit is configured to generate and obtain fourth data corresponding to the servo electric screwdriver in real time, and intelligently control the output torque accuracy of the servo electric screwdriver in combination with the third data; wherein, the fourth data is calibration data of the data acquisition board.

[0044] The first data generation unit further includes: The first generation module is configured to generate and obtain fifth data corresponding to the servo electric screwdriver to be compensated, and generate corresponding first control data based on the fifth data; wherein, the fifth data is output current data of the servo electric screwdriver; the first control data is control signal data for starting the servo electric screwdriver. The first creation module is configured to create a correspondence between the second data and the first data based on the first control data and in combination with the fifth data. And / or, the first data processing unit further includes: The second generation module is configured to perform harmonic analysis on the first data and the second data, and generate corresponding sixth data with different frequencies; wherein, the sixth data is current harmonic data, including amplitude data and phase angle data. The first processing module is configured to write and process the sixth data into the data acquisition board of the servo electric screwdriver. The third generation module is configured to generate and obtain second control data corresponding to the servo electric screwdriver; wherein, the second control data is control signal data for starting the servo electric screwdriver. The fourth generation module is configured to test at least thirty-six groups of data based on the second control data, and generate corresponding third data by combining the FFT data analysis method. And / or, the servo electric screwdriver control unit further includes: The fifth generation module is configured to generate and obtain at least six groups of corresponding sixth data based on the third data, and calculate and generate corresponding seventh data according to the sixth data; wherein, the seventh data is calculated compensation amount data. The second processing module is configured to superimpose and process the seventh data based on the fifth data, and perform real-time feedforward compensation on the servo electric screwdriver.

[0045] In the fifth generation module, the calculation formula for generating the seventh data is as follows: (1) Wherein, A1 to A6 are amplitude data, D1 to D6 are phase angle data, Ca is compensation amount data, and D is the electrical angle data of the motor.

[0046] That is to say, in the system embodiment of the present invention, an intelligent servo electric screwdriver torque compensation system is provided, which includes: a host computer software for recording test data, calculating compensation data, and outputting results; a data acquisition board for reading encoder data and saving compensation result data; and a servo control board for reading compensation data and performing real-time compensation control. The host computer software, the data acquisition board, and the servo control board are connected through a communication interface to achieve real-time data transmission and compensation control.

[0047] In the system solution embodiment of the present invention, the method steps involved in the intelligent servo electric screwdriver torque compensation control processing have been described in detail above. That is to say, the functional modules in the system are used to implement the steps or sub-steps in the above method embodiment, which will not be elaborated here.

[0048] To achieve the above object, the present invention also provides an intelligent servo electric screwdriver torque compensation control processing platform, as Figure 6 shown, including a processor, a memory, and an intelligent servo electric screwdriver torque compensation control processing platform control program; wherein, in the processor, the intelligent servo electric screwdriver torque compensation control processing platform control program is executed, and the intelligent servo electric screwdriver torque compensation control processing platform control program is stored in the memory, and the intelligent servo electric screwdriver torque compensation control processing platform control program realizes the method steps of the intelligent servo electric screwdriver torque compensation control processing. For example: S1. Generate and obtain first data corresponding to the servo electric screwdriver to be compensated, and generate corresponding second data based on the first data; wherein, the first data is output torque data; the second data is the motor stall angle data corresponding to the torque data; S2. Analyze and process the first data and the second data in combination with the FFT data analysis method, and generate corresponding third data; wherein, the third data is compensation data; S3. Real-time generate and obtain fourth data corresponding to the servo electric screwdriver, and in combination with the third data, intelligently control the output torque accuracy of the servo electric screwdriver; wherein, the fourth data is the calibration data of the data acquisition board.

[0049] The specific details of the steps have been described in detail above and will not be elaborated here.

[0050] In the embodiments of the present invention, the intelligent servo electric screwdriver torque compensation control processing platform is built with a processor, which can be composed of integrated circuits. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions, including one or more central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and combinations of various control chips. The processor uses various interfaces and circuits to connect to each component, and by running or executing programs or units stored in the memory, as well as calling data stored in the memory, to perform various functions of intelligent servo electric screwdriver torque compensation control and process data; The memory is used to store program codes and various data, installed in the intelligent servo electric screwdriver torque compensation control processing platform, and realizes high-speed and automatic access to programs or data during operation.

[0051] The memory includes read-only memory (ROM), random access memory (RAM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), one-time programmable read-only memory (OTPROM), electrically-erasable programmable read-only memory (EEPROM), compact disc read-only memory (CD-ROM), or other optical disc memories, magnetic disk memories, tape memories, or any other computer-readable medium capable of carrying or storing data.

[0052] The present invention generates and obtains first data corresponding to a servo electric screwdriver to be compensated, and generates corresponding second data based on the first data; wherein, the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; combining the FFT data analysis method, analyzing and processing the first data and the second data, and generating corresponding third data; wherein, the third data is compensation data; generating and obtaining fourth data corresponding to the servo electric screwdriver in real time, and combining the third data to intelligently control the output torque accuracy of the servo electric screwdriver; wherein, the fourth data is calibration data of a data acquisition board, so as to test the torque output harmonics by performing FFT analysis on the torque output at different angles of the electric screwdriver, obtain the harmonic amplitudes and phases of different frequencies, and then perform harmonic compensation, thereby improving the output torque accuracy of the servo electric screwdriver.

[0053] That is to say, an intelligent servo electric screwdriver torque compensation method proposed by the present invention includes a host computer software for recording and analyzing compensation data, a data acquisition board for storing compensation data, and a servo control board for performing real-time compensation; it can optimize and solve the problem that the output torque is inconsistent when the same current is output due to factors such as uneven motor magnetic field magnetization and encoder installation error; moreover, the engineering implementation of this method is simple, and since the compensation data is stored in the data acquisition board inside the electric screwdriver, the independence of the electric screwdriver and the servo control board can be ensured, and the coupling between different components of the product can be reduced; in other words, the output torque accuracy of the servo electric screwdriver can be improved, the consistency of the output torque can be ensured, and the engineering implementation is simple by the present invention. The present invention can effectively solve the problem of inconsistent torque caused by factors such as uneven motor magnetic field magnetization and encoder installation error, and improve the control accuracy and stability of the servo electric screwdriver.

[0054] The above embodiments only represent several implementation manners of the present invention, and their descriptions are relatively specific and detailed, but they should not be construed as limiting the scope of the present invention patent. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present invention, several deformations and improvements can still be made, and these all belong to the protection scope of the present invention. Therefore, the protection scope of the present invention patent shall be subject to the appended claims.

Claims

1. An intelligent servo electric screwdriver torque compensation control processing method, characterized in that: The method comprises the steps of: Generate and obtain first data corresponding to the servo motor to be compensated, and generate corresponding second data based on the first data; wherein the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; In combination with the FFT data analysis method, the first data and the second data are analyzed and processed, and corresponding third data are generated; wherein the third data is compensation data; Generate and acquire the fourth data corresponding to the servo electric screwdriver in real time, and combine with the third data to intelligently control the output torque accuracy of the servo electric screwdriver; wherein the fourth data is the calibration data of the data acquisition board.

2. According to claim 1, the intelligent servo electric screwdriver torque compensation control processing method is characterized in that: The generating and acquiring first data corresponding to the servo motor batch to be compensated, and generating corresponding second data based on the first data, further includes: Generate and obtain fifth data corresponding to the servo electric batch to be compensated, and generate corresponding first control data based on the fifth data; wherein the fifth data is the output current data of the servo electric batch; and the first control data is the control signal data for starting the servo electric batch; Based on the first control data and in combination with the fifth data, a corresponding relationship between the second data and the first data is created.

3. According to claim 1, the intelligent servo electric screwdriver torque compensation control processing method is characterized in that: The method of analyzing and processing the first data and the second data in combination with the FFT data analysis method and generating corresponding third data further includes: Harmonic analysis processes the first data and the second data, and generates corresponding sixth data with different frequencies; wherein the sixth data is current harmonic data, including amplitude data and phase angle data; The sixth data is written and processed into a data acquisition board of the servo motor batch.

4. According to the intelligent servo electric screwdriver torque compensation control processing method of claim 1 or 3, it is characterized in that: The method of analyzing and processing the first data and the second data in combination with the FFT data analysis method and generating corresponding third data further includes: Generate and obtain second control data corresponding to the servo electric batch; wherein the second control data is control signal data for starting the servo electric batch; Based on the second control data, at least thirty-six groups of data are tested, and combined with the FFT data analysis method, corresponding third data are generated.

5. According to claim 1, the intelligent servo electric screwdriver torque compensation control processing method is characterized in that: The method of generating and acquiring the fourth data corresponding to the servo electric screwdriver in real time and combining the third data to intelligently control the output torque accuracy of the servo electric screwdriver also includes: Based on the third data, at least six groups of corresponding sixth data are generated and acquired, and corresponding seventh data are calculated and generated according to the sixth data; wherein the seventh data is the calculation compensation amount data; Based on the fifth data, the seventh data is superimposed and processed, and the servo motor is processed by real-time feedforward compensation.

6. According to claim 5, the intelligent servo electric screwdriver torque compensation control processing method is characterized in that: In the calculation to generate the corresponding seventh data, the calculation formula is: （1） In the formula, A1~A6 are amplitude data, D1~D6 are phase angle data, Ca is compensation data, and D is the motor electrical angle data.

7. An intelligent servo electric screwdriver torque compensation control processing system, characterized in that: The system is used to implement the intelligent servo electric screwdriver torque compensation control processing method as claimed in any one of claims 1 to 6, and the system includes: A first data generating unit is used to generate and obtain first data corresponding to the servo motor to be compensated, and generate corresponding second data based on the first data; wherein the first data is output torque data; the second data is motor stall angle data corresponding to the torque data; A first data processing unit, used to analyze and process the first data and the second data in combination with an FFT data analysis method, and generate corresponding third data; wherein the third data is compensation data; The servo electric screwdriver control unit is used to generate and obtain fourth data corresponding to the servo electric screwdriver in real time, and combine the third data to intelligently control the output torque accuracy of the servo electric screwdriver; wherein the fourth data is the calibration data of the data acquisition board.

8. According to claim 7, the intelligent servo electric screwdriver torque compensation control processing system is characterized in that: The first data generating unit further includes: A first generating module is used to generate and obtain fifth data corresponding to the servo electric batch to be compensated, and generate corresponding first control data based on the fifth data; wherein the fifth data is the output current data of the servo electric batch; and the first control data is the control signal data for starting the servo electric batch; a first creation module, configured to create a corresponding relationship between the second data and the first data based on the first control data and in combination with the fifth data; And / or, the first data processing unit further includes: A second generating module, configured to perform harmonic analysis on the first data and the second data, and generate corresponding sixth data having a different frequency; wherein the sixth data is current harmonic data, including amplitude data and phase angle data; A first processing module, used for writing and processing the sixth data into a data acquisition board of the servo electric batch; The third generating module is used to generate and obtain second control data corresponding to the servo electric screwdriver; wherein the second control data is control signal data for starting the servo electric screwdriver; a fourth generating module, configured to test at least thirty-six groups of data based on the second control data, and generate corresponding third data in combination with an FFT data analysis method; And / or, the servo electric batch control unit further includes: A fifth generating module, used to generate and obtain at least six groups of corresponding sixth data based on the third data, and calculate and generate corresponding seventh data according to the sixth data; wherein the seventh data is calculated compensation amount data; The second processing module is used for superimposing and processing the seventh data based on the fifth data, and performing real-time feedforward compensation processing on the servo motor batch.

9. According to claim 8, the intelligent servo electric screwdriver torque compensation control processing system is characterized in that: In the fifth generation module, the calculation formula for calculating and generating the seventh data is: （1） In the formula, A1~A6 are amplitude data, D1~D6 are phase angle data, Ca is compensation data, and D is the motor electrical angle data.

10. An intelligent servo electric screwdriver torque compensation control processing platform, characterized in that: It includes a processor, a memory and an intelligent servo electric screwdriver torque compensation control processing platform control program; wherein, the intelligent servo electric screwdriver torque compensation control processing platform control program is executed in the processor, and the intelligent servo electric screwdriver torque compensation control processing platform control program is stored in the memory, and the intelligent servo electric screwdriver torque compensation control processing platform control program implements the intelligent servo electric screwdriver torque compensation control processing method as described in any one of claims 1 to 6.

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