Servo motor control method, device and equipment and storage medium

Abstract

The invention relates to the technical field of servo motor control, in particular to a servo motor control method and device, equipment and a storage medium. Acquiring three paths of information, and analyzing the three paths of information to obtain an analysis result; when the analysis result is a zero-point signal, initial single-circle position data is generated according to the zero-point signal; performing state analysis on the initial single-circle position data, and performing correction processing on the initial single-circle position data according to a state analysis result to obtain corrected single-circle position data; generating a servo motor parameter adjusting instruction according to the corrected single-circle position data; the working state of the servo motor is controlled according to the servo motor parameter adjusting instruction; capturing single-circle position information and zero point information by monitoring and analyzing three paths of signals of the angular displacement magnetic grid sensor in real time; single-loop position data generation is optimized for a zero signal, control errors of the servo motor are avoided, part abrasion, current fluctuation and false alarm are reduced, anti-interference performance is improved, and stable control over a servo system is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motor control, and particularly relates to a servo motor control method, device, equipment and storage medium. Background Art

[0002] In the field of servo motor control, the precise control of servo motors is crucial for improving production efficiency and product quality. As a widely used communication protocol, the Tamagawa protocol can provide high-precision position information for servo motor control systems due to its absolute position feedback feature. When the Tamagawa protocol is applied to an incremental angular displacement magnetic grating sensor, the incremental angular displacement magnetic grating sensor relies on relative position counting for position feedback, which has an inherent adaptation conflict with the absolute position feedback mechanism of the Tamagawa protocol. During actual operation, when the incremental angular displacement magnetic grating sensor first passes through the encoder zero point, the angle of the single-turn position data transmitted according to the Tamagawa protocol suddenly becomes 0. This sudden change in angle causes the angle information received by the servo motor to jump, and the servo motor adjusts its control strategy based on the incorrect position feedback, resulting in abnormal output current of the servo motor, and further causing the servo system to report an error. This abnormality not only affects the stability and reliability of the servo motor operation, but may also lead to wear of the mechanical components of the servo motor, a decrease in production efficiency, and even safety accidents. The prior art has not effectively solved the problem of sudden angle change when the Tamagawa protocol is combined with an incremental angular displacement magnetic grating sensor. There is an urgent need for an optimized servo motor control method to ensure the stable operation of the servo motor under complex working conditions. Summary of the Invention

[0003] To solve the above-mentioned drawbacks in the prior art, the present invention proposes a servo motor control method.

[0004] To solve the above technical problems, the technical solutions adopted by the present invention are as follows: Acquire three channels of information and analyze the three channels of information to obtain analysis results; the three channels of information include a zero-point signal, a first-channel signal and a second-channel signal; the zero-point signal is a zero-position reference signal, which is used to determine the mechanical origin or calibration position of the servo motor; the first-channel signal is a non-zero-point signal, which is used to determine the rotation direction, signal period and corresponding encoder resolution of the servo motor before crossing the zero point; the second-channel signal is a non-zero-point signal, which is used to determine the rotation direction, signal period and corresponding encoder resolution of the servo motor after crossing the zero point; when the analysis result is a zero-point signal, generate initial single-turn position data according to the zero-point signal; perform state analysis on the initial single-turn position data, and perform correction processing on the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; generate a servo motor parameter adjustment instruction according to the corrected single-turn position data; and control the working state of the servo motor according to the servo motor parameter adjustment instruction. By real-time monitoring and analysis of the three signals output by the angular displacement magnetic grating sensor, the position information and zero point mark of the magnetic grating code disk can be accurately captured, providing a reliable basis for the precise calculation of the subsequent single-turn position data; for the zero point signal, by capturing its triggering single-turn position data generation mechanism, the instantaneous angle jump at the zero point is converted into an orderly and accurate position update, effectively avoiding the control error of the servo motor caused by the sudden change of the angle. This processing method not only reduces the abnormal response of the servo motor due to the wrong angle information, but also reduces the wear of the servo motor transmission components, prevents the drastic fluctuation of the servo motor output current and false alarms, and significantly improves the servo motor's anti-interference ability and fault tolerance. The generated servo motor parameter adjustment instructions enable the servo motor to adjust the working state in real time to achieve precise position control and stable operation.

[0005] Further, the state analysis is performed on the initial single-turn position data, and the correction processing is performed on the initial single-turn position data according to the state analysis result to obtain the corrected single-turn position data, including: performing state analysis on the initial single-turn position data to obtain the state analysis result; when the state analysis result is a high level state at the zero crossing point, generating the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point according to the initial single-turn position data; and calculating the corrected single-turn position data according to the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point.

[0006] Further, when the state analysis result is a high-level state at the zero crossing point, generating the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point based on the initial single-turn position data includes: when the state analysis result is a high-level state at the zero crossing point, obtaining the low-level state before the zero crossing point based on the initial single-turn position data and a preset first time; generating a first control field according to the low-level state before the zero crossing point; generating a first data request instruction according to the first control field; obtaining the angular displacement magnetic grating sensing data according to the first data request instruction to obtain the single-turn position data before the zero crossing point; obtaining the low-level state after the zero crossing point based on the initial single-turn position data and a preset second time; generating the single-turn position data after the zero crossing point according to the low-level state after the zero crossing point.

[0007] Further, generating the single-turn position data after the zero crossing point according to the low-level state after the zero crossing point includes: generating a second control field according to the low-level state after the zero crossing point; generating a second data request instruction according to the second control field; obtaining the angular displacement magnetic grating sensing data according to the second data request instruction to obtain the single-turn position data after the zero crossing point.

[0008] Further, calculating the corrected single-turn position data according to the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point includes: generating a first control field according to the high-level state at the zero crossing point; generating a correction parameter acquisition instruction according to the first control field; obtaining the motor rotor pole data according to the correction parameter acquisition instruction; calculating the corrected single-turn position data according to the single-turn position data before the zero crossing point, the single-turn position data after the zero crossing point, and the motor rotor pole data.

[0009] Further, the servo motor control method further includes: when the analysis result is a single-channel signal, generating a first control field; generating a third data request instruction according to the first control field; obtaining the angular displacement magnetic grating sensing data according to the third data request instruction to obtain the first single-turn position data; generating a servo motor parameter adjustment instruction according to the first single-turn position data.

[0010] Further, the servo motor control method further includes: when the analysis result is a two-channel signal, generating a second control field; generating a fourth data request instruction according to the second control field; obtaining the angular displacement magnetic grating sensing data according to the fourth data request instruction to obtain the second single-turn position data; generating a servo motor parameter adjustment instruction according to the second single-turn position data.

[0011] Furthermore, a servo motor control device includes: an analysis module, which is used to obtain three-way information and analyze the three-way information to obtain an analysis result; a first data generation module, which is used to generate initial single-turn position data according to the zero-point signal when the analysis result is a zero-point signal; a second data generation module, which is used to perform state analysis on the initial single-turn position data and perform correction processing on the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; an instruction generation module, which is used to generate a servo motor parameter adjustment instruction according to the corrected single-turn position data; and an instruction control module, which is used to control the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0012] Furthermore, a servo motor control device comprises: a memory and at least one processor, wherein the memory stores instructions; at least one of the processors calls the instructions in the memory so that the servo motor control method executes the various steps of the servo motor control method as described in any one of the above.

[0013] Furthermore, a computer-readable storage medium is provided, on which instructions are stored, and when the instructions are executed by a processor, the steps of a servo motor control method as described in any one of the above are implemented.

[0014] The beneficial effects of a servo motor control method of the present invention are: By real-time monitoring and analysis of the three signals output by the angular displacement magnetic grating sensor, the position information and zero point mark of the magnetic grating code disk can be accurately captured, providing a reliable basis for the precise calculation of the subsequent single-turn position data; for the zero point signal, by capturing its triggering single-turn position data generation mechanism, the instantaneous angle jump at the zero point is converted into an orderly and accurate position update, effectively avoiding the control error of the servo motor caused by the sudden change of the angle. This processing method not only reduces the abnormal response of the servo motor due to the wrong angle information, but also reduces the wear of the servo motor transmission components, prevents the drastic fluctuation of the servo motor output current and false alarms, and significantly improves the servo motor's anti-interference ability and fault tolerance. The generated servo motor parameter adjustment instructions enable the servo motor to adjust the working state in real time to achieve precise position control and stable operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1 A first flow chart of a servo motor control method provided by an embodiment of the present invention; Figure 2 A second flow chart of a servo motor control method provided by an embodiment of the present invention; Figure 3 The third flowchart of a servo motor control method provided by an embodiment of the present invention; Figure 4 The fourth flowchart of a servo motor control method provided by an embodiment of the present invention; Figure 5 The fifth flowchart of a servo motor control method provided by an embodiment of the present invention; Figure 6 The sixth flowchart of a servo motor control method provided by an embodiment of the present invention; Figure 7 The seventh flowchart of a servo motor control method provided by an embodiment of the present invention; Figure 8 The structural schematic diagram of a servo motor control device provided by an embodiment of the present invention; Figure 9 The structural schematic diagram of a servo motor control device provided by an embodiment of the present invention. Detailed implementation manners

[0016] Next, the technical solutions of the present invention will be described clearly and completely in conjunction with the accompanying drawings. Obviously, the described embodiments are part of the embodiments of the present invention, rather than all of them. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0017] The terms "first", "second", "third", "fourth", etc. (if any) in the specification, claims and drawings of the present invention are used to distinguish similar objects, and do not necessarily need to describe a specific order or sequence. It should be understood that such data can be interchanged under appropriate circumstances so that the embodiments described here can be implemented in an order different from that shown or described here. In addition, the terms "include" or "have" and any variations thereof are intended to cover non-exclusive inclusion. For example, a process, method, system, product or device that includes a series of steps or units does not necessarily need to be limited to those clearly listed steps or units, but may include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0018] For ease of understanding, the specific processes of the embodiments of the present invention will be described below. Please refer to Figure 1 , an embodiment of a servo motor control method in an embodiment of the present invention, including: 101. Obtain three-way information and analyze the three-way information to obtain an analysis result; The three-way information includes a zero point signal, a first-way signal, and a second-way signal; The zero-point signal is the zero-reference signal, which is used to determine the mechanical origin or calibration position of the servo motor; One signal is a non-zero-point signal, which is used to judge the rotation direction, signal period and corresponding encoder resolution of the servo motor before passing through the zero point: The two-way signal is a non-zero-point signal, which is used to judge the rotation direction, signal period and corresponding encoder resolution of the servo motor after passing through the zero point; In this embodiment, the angular displacement magnetic grating sensor consists of a magnetic grating code disk and a read head. First, three signals output by the angular displacement magnetic grating sensor are obtained. These three signals contain the position information and zero-point identification of the magnetic grating code disk. By real-time monitoring and analyzing the three signals, it lays a foundation for the accurate calculation of the single-turn position data later. The three signals are generated by one signal (A-phase signal), two signals (B-phase signal) or zero-point signal (Z-phase signal); 102. When the analysis result is the zero-point signal (Z-phase signal), the initial single-turn position data is generated according to the zero-point signal; 103. Perform a state analysis on the initial single-turn position data, and perform a correction process on the initial single-turn position data according to the state analysis result to obtain the corrected single-turn position data; In this embodiment, the single-turn position data generation mechanism is triggered by capturing the zero-point signal. The single-turn position data is recalibrated based on the zero-point signal, and the angle jump at the moment of passing through the zero point is converted into an orderly and accurate position update, ensuring the smooth transition of the position data, reducing the control error caused by the angle mutation, and the stable position feedback effectively avoids the abnormal response of the servo motor due to incorrect angle information, reduces the wear of the transmission components such as the bearings and gears of the servo motor, prevents the servo motor output current from fluctuating violently and the servo motor from false alarming. The zero-point signal (Z-phase signal) is the zero-reference signal, and the servo motor outputs a pulse per revolution, which is used to determine the mechanical origin or calibration position. The single-turn position data (i.e., the initial single-turn position data) generated based on the zero-point signal can still maintain the stable operation of the servo motor, significantly improving the anti-interference ability and fault tolerance of the servo motor; 104. Generate a servo motor parameter adjustment instruction according to the corrected single-turn position data; 105. Control the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0019] In this embodiment, the servo motor parameter adjustment instruction includes the adjustment information of key control parameters such as each single-turn position data, control field, status field, data field (DF), CRC-8 checksum, encoder ID, speed, torque, etc. After receiving this instruction, the servo motor adjusts its working state in real time to achieve precise position control and stable operation; In this embodiment, by real-time monitoring and analysis of the three signals output by the angular displacement magnetic grating sensor, the position information and zero point mark of the magnetic grating code disk can be accurately captured, providing a reliable basis for the precise calculation of the subsequent single-turn position data; for the zero point signal, by capturing its triggering single-turn position data generation mechanism, the instantaneous angle jump at the zero point is converted into an orderly and accurate position update, effectively avoiding the control error of the servo motor caused by the sudden change of the angle. This processing method not only reduces the abnormal response of the servo motor due to the wrong angle information, but also reduces the wear of the servo motor transmission components, prevents the drastic fluctuation of the servo motor output current and false alarm phenomenon, and significantly improves the anti-interference ability and fault tolerance of the servo motor. The generated servo motor parameter adjustment instruction enables the servo motor to adjust the working state in real time to achieve precise position control and stable operation.

[0020] See also Figure 2 A second embodiment of a servo motor control method in an embodiment of the present invention includes: 201. Performing state analysis on the initial single-circle position data to obtain a state analysis result; In this embodiment, the initial single-turn position data is subjected to state analysis to determine its specific state, providing an initial judgment basis for the generation of single-turn position data before and after the zero-crossing point, and laying a foundation for subsequent correction of single-turn position data calculation; 202. When the state analysis result is a high level state at the zero crossing point, the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point are generated according to the initial single-turn position data; In this embodiment, the positioning of the zero point is realized, and the key time node judgment is provided to solve the problem that the angle jump received by the servo driver causes the servo motor control to be abnormal, and when the state analysis result shows a high level state at the zero point, the single-turn position data before the zero point and the single-turn position data after the zero point are generated according to the initial single-turn position data. At this time, the single-turn position data before the zero point and the single-turn position data after the zero point are used as the reference to recalibrate the position angle offset of the servo motor at the zero point, and convert the angle jump at the zero point into an orderly position update, so as to ensure the smooth transition of the position data; The single-turn position data before the zero point is the position information obtained based on the measurement of the incremental angular displacement magnetic grating sensor before the zero point, which ensures the accuracy of the incremental angular displacement magnetic grating sensor's position feedback on the servo motor at this stage, and controls the working state of the servo motor before the zero point based on the single-turn position data before the zero point; the single-turn position data after the zero point is the position information obtained based on the measurement of the incremental angular displacement magnetic grating sensor after the zero point, which ensures the accuracy of the incremental angular displacement magnetic grating sensor's position feedback on the servo motor at this stage, and controls the working state of the servo motor after the zero point based on the single-turn position data after the zero point; 203. Calculate the corrected single-turn position data based on the single-turn position data before the zero crossing and the single-turn position data after the zero crossing; In this embodiment, by adjusting the electrical angle offset of the servo motor in the control according to the single-turn position data before the zero crossing and the single-turn position data after the zero crossing, the servo driver controls the operation of the servo motor with the corrected electrical angle, eliminates the control error caused by the angle jump, effectively avoids the abnormal current of the servo motor caused by the sudden change of the angle information received by the servo driver, reduces the error reporting frequency of the servo driver, and ensures the stable operation of the servo system; In this embodiment, through the state analysis and phased processing of the initial single-turn position data, the problem of angle jump when the incremental angular displacement magnetic grating sensor passes through the zero crossing is effectively solved. First, the state of the initial single-turn position data is analyzed to identify the high-level state at the zero crossing. Based on this, the single-turn position data before the zero crossing and the single-turn position data after the zero crossing are generated respectively to ensure the accuracy of the position feedback in each stage and provide reliable data support for the stable operation of the servo motor in different stages. Subsequently, the corrected single-turn position data is calculated based on the front and rear position data. By adjusting the electrical angle offset of the servo motor, the angle jump difference is reasonably allocated to eliminate the control error caused by the angle mutation. This processing method effectively avoids the abnormal motor current caused by the servo driver receiving incorrect angle information, significantly reduces the error reporting frequency of the driver, improves the stability and reliability of the servo system. At the same time, the precise position control reduces the wear of mechanical components, extends the service life of the equipment, meets the strict requirements of the industrial automation field for high-precision and high-stability control, and has significant technical value and application benefits.

[0021] Please refer to Figure 3 , the third embodiment of a servo motor control method in the embodiment of the present invention, includes: 301. When the state analysis result is the high-level state at the zero crossing, obtain the low-level state before the zero crossing according to the initial single-turn position data and the preset first time; In this embodiment, the first time is preset and used to define the time node before the zero crossing, so as to obtain the low-level state before the zero crossing in this time state; 302. Generate a first control field according to the low-level state before the zero crossing; 303. Generate a first data request instruction according to the first control field; In this embodiment, before the zero crossing, the servo motor sends a control field (CF) 0x1A to request the single-turn position data of the angular displacement magnetic grating sensor. The control field CF is a specific instruction for the communication between the servo motor and the angular displacement magnetic grating sensor. The control field CF is used to request the single-turn position data from the sensor to ensure that the intention of requesting the single-turn position data can be accurately conveyed to the angular displacement magnetic grating sensor; 304. Obtain the angular displacement magnetic grating sensing data according to the first data request instruction to obtain the single-turn position data before the zero-crossing point; In this embodiment, the single-turn position data before the zero-crossing point includes the single-turn position information measured by the angular displacement magnetic grating sensor before the zero-crossing point; 305. Obtain the low-level state after the zero-crossing point according to the initial single-turn position data and the preset second time; In this embodiment, the second time is preset and used to define the time node after the zero-crossing point, so as to obtain the low-level state after the zero-crossing point in this time state; 306. Generate the single-turn position data after the zero-crossing point according to the low-level state after the zero-crossing point; In this embodiment, by combining the preset time and state analysis, the acquisition of the position data before and after the zero-crossing point is realized; by generating the first control field before the zero-crossing point and requesting the single-turn position data from the angular displacement magnetic grating sensor, the accuracy of communication and the conveyance of intention are ensured, effectively improving the accuracy and stability of servo motor control; taking the high-level state at the zero-crossing point as the trigger point, generating a specific control field and converting it into the first data request instruction, and obtaining the single-turn position data before the zero-crossing point of the angular displacement magnetic grating sensor through the first data request instruction. The single-turn position data before the zero-crossing point can reflect the angular position state of the servo motor in this stage, enabling the servo motor to operate stably before the zero-crossing point. By generating the single-turn position data after the zero-crossing point through the low-level state after the zero-crossing point, the continuity of the position feedback of the incremental angular displacement magnetic grating sensor is realized. This not only improves the working efficiency and performance of the servo motor, but also reduces the risk of equipment wear, extends the service life, and provides a strong guarantee for the reliable operation of the servo system in industrial automation scenarios.

[0022] Please refer to Figure 4 , the fourth embodiment of a servo motor control method in the embodiments of the present invention, includes: 401. Generate a second control field according to the low-level state after the zero-crossing point; In this embodiment, after the zero-crossing point, the servo motor sends a control field (CF) 0x02 (i.e., the second control field) in the low-level state after the zero-crossing point to request the single-turn data of the angular displacement magnetic grating sensor; 402. Generate a second data request instruction according to the second control field; 403. Obtain the angular displacement magnetic grating sensing data according to the second data request instruction to obtain the single-turn position data after the zero-crossing point; In this embodiment, the data returned by the angular displacement magnetic grating sensor includes: control field (CF) 0x02, status field (SF) 0x00, data field (DF), single-turn position data after passing through the zero point, and CRC-8 checksum. This data reflects the position status of the incremental angular displacement magnetic grating sensor after passing through the zero point, provides a key basis for servo system control, realizes the effective connection of position data before and after passing through the zero point, and ensures the continuity and integrity of servo system position feedback; In this embodiment, by capturing and processing the low-level state after passing through the zero point, the continuity of the position feedback of the incremental angular displacement magnetic grating sensor is realized. When the system is in the low-level state after passing through the zero point, the servo driver immediately sends a second control field to request the single-turn position data after passing through the zero point. After command conversion and data acquisition, based on the structured data returned by the incremental angular displacement magnetic grating sensor, the single-turn position data after passing through the zero point is obtained. This data reflects the position status of the incremental angular displacement magnetic grating sensor after passing through the zero point, ensures seamless connection of position feedback data before and after passing through the zero point, improves the stability of the servo system, avoids problems such as servo motor jitter, current fluctuation, and servo driver error reporting caused by position data discontinuity, and reduces the risk of equipment abnormality; by ensuring the integrity of position feedback, mechanical component wear is effectively reduced, and the service life of the equipment is extended; at the same time, continuous and accurate position data supports the servo motor to achieve high-precision positioning and fast response, meets the strict requirements of industrial automation production for control accuracy and efficiency, and provides a reliable guarantee for improving production quality and efficiency. Please refer to Figure 5 , the fifth embodiment of a servo motor control method in the embodiments of the present invention, includes: 501. Generate a first control field according to the high-level state at the zero crossing; 502. Generate a correction parameter acquisition instruction according to the first control field; 503. Obtain the motor rotor pole data according to the correction parameter acquisition instruction; 504. Calculate the corrected single-turn position data according to the single-turn position data before passing through the zero point, the single-turn position data after passing through the zero point, and the motor rotor pole data; In this embodiment, by adjusting the electrical angle offset of the servo motor in control based on the single-turn position data before the zero crossing and the single-turn position data after the zero crossing, the servo driver controls the operation of the servo motor with the electrical angle. The specific adjustment strategy is as follows: the corrected single-turn position data = the single-turn position data before the zero crossing + (the single-turn position data after the zero crossing - the single-turn position data before the zero crossing) / the number of pole pairs of the motor rotor. Through this calculation method, the angular difference of the zero crossing mutation is reasonably allocated to the electrical angle, eliminating the control error caused by the angular jump, effectively avoiding the abnormal current of the servo motor caused by the mutation of the angle information received by the servo driver, reducing the error reporting frequency of the servo driver, and ensuring the stable operation of the servo system; through the adjustment of the electrical angle offset, it is ensured that the control strategy of the servo motor smoothly transitions at the zero crossing, reducing the wear of mechanical components caused by control mutations, extending the service life of the equipment, improving the adaptability of the servo motor under complex working conditions, making the control of the servo motor more accurate and efficient, and meeting the requirements of high precision and high stability in the field of industrial automation; In this embodiment, when the high-level state at the zero crossing is detected, a specific control field is obtained to acquire the number of pole pairs of the motor rotor. Combining the single-turn position data before the zero crossing and the single-turn position data after the zero crossing, the corrected single-turn position data is calculated by an algorithm, and the angular mutation difference is reasonably allocated to the electrical angle, eliminating the control error caused by the angular jump. This processing method effectively avoids the wrong information received by the servo driver due to the angular mutation, prevents abnormal fluctuations in the current of the servo motor, reduces the error reporting frequency of the servo system, and ensures the stable operation of the servo system; at the same time, through the adjustment of the electrical angle offset of the servo driver, it is ensured that the control strategy of the servo motor smoothly transitions at the zero crossing, reducing the wear of mechanical components caused by control mutations, extending the service life of the equipment, making the servo motor more adaptable under complex working conditions, significantly improving the control accuracy and efficiency, meeting the stringent requirements of high precision and high stability in industrial automation, and having practical value and promotion significance.

[0023] Please refer to Figure 6 , the sixth embodiment of a servo motor control method in the embodiment of the present invention, includes: 601. When the analysis result is a single path of signal, generate a first control field; In this embodiment, the servo driver communicates with the angular displacement magnetic grating sensor through the RS485 interface. The first control field, as the key instruction for the communication between the servo driver and the angular displacement magnetic grating sensor, clearly conveys the intention of the data request. Subsequently, the first control field is converted into a third data request instruction that conforms to the communication protocol, laying a foundation for data interaction; a single path of signal (A-phase signal) is a non-zero point signal, and the rotation direction, signal period, and corresponding encoder resolution of the servo motor can be judged through the leading relationship indicated by the A-phase signal [1]; 602. Generate a third data request instruction according to the first control field; 603. Obtain the angular displacement magnetic grating sensing data according to the third data request instruction to obtain the first single-turn position data; 604. Generate a servo motor parameter adjustment instruction according to the first single-turn position data; In this embodiment, in the system where the angular displacement magnetic grating sensor represents the 0 - 360 degree angle with 24-bit binary data, it is ensured that when the angular displacement magnetic grating sensor is in the signal state of one path of non-zero point special signal, the effective first single-turn position data can still be actively and timely obtained, the interaction between the servo driver and the angular displacement magnetic grating sensor is maintained, and the operating state of the servo motor can always be monitored and controlled; In this embodiment, for the non-zero point signal state of the angular displacement magnetic grating sensor, a data interaction and processing mechanism is constructed. The data request intention is clarified through the first control field, and it is converted into a standard instruction to obtain the first single-turn position data, and the working state of the servo motor is controlled according to the first single-turn position data. It effectively fills the position feedback blank in the non-zero point signal state, ensures the continuous interaction between the servo driver and the sensor, enables the operating state of the servo motor to be monitored and controlled throughout the process, not only solves the problem of inaccurate control under non-conventional signals, improves the stability of the servo system under complex working conditions, but also provides a reliable basis for the driver to optimize the motor control parameters, enhances the anti-interference ability of the system, and promotes the precision and reliability of industrial automation control.

[0024] Please refer to Figure 7 , the seventh embodiment of a servo motor control method in the embodiments of the present invention, includes: 701. When the analysis result is a two-path signal, generate a second control field; In this embodiment, the two-path signal (B-phase signal) and the one-path signal (A-phase signal) respectively correspond to the non-zero point signals triggered when the angular displacement magnetic grating sensor measures different angular displacement intervals. The two-path signal (B-phase signal) and the one-path signal (A-phase signal) are two orthogonal (phase difference 90°) sine wave signals, which are used to detect the rotation speed and position of the servo motor and trigger different data acquisition logics. When the two-path signal is triggered, a second control field is generated, and the corresponding sensing data (i.e., the second single-turn position data) is obtained according to the data request and processing mechanism. The two-path signal (B-phase signal) is a non-zero point signal, and the rotation direction, signal period, and corresponding encoder resolution of the servo motor can be judged through the lag relationship marked by the B-phase signal; 702. Generate a fourth data request instruction according to the second control field; 703. Obtain the angular displacement magnetic grating sensing data according to the fourth data request instruction to obtain the second single-turn position data; 704. Generate a servo motor parameter adjustment instruction according to the second single-turn position data; In this embodiment, for the non-zero two-channel signal state of the diagonal displacement magnetic grating sensor, a data interaction and processing mechanism is constructed. The intention of the data request is clarified through the second control field and converted into a standard instruction to obtain sensing data, effectively filling the gap in position feedback under the non-zero signal state, ensuring continuous interaction between the servo driver and the sensor, enabling the operating state of the servo motor to be monitored and controlled throughout the process. It not only solves the problem of inaccurate control under unconventional signals, improves the stability of the servo system under complex working conditions, but also provides a reliable basis for the driver to optimize the motor control parameters, enhances the anti-interference ability of the system, and promotes the accuracy and reliability of industrial automation control.

[0025] The above describes a servo motor control method in an embodiment of the present invention. Next, a servo motor control device in an embodiment of the present invention will be described. Please refer to Figure 8 , an embodiment of a servo motor control device in an embodiment of the present invention includes: Analysis module 1, configured to obtain three-channel information and analyze the three-channel information to obtain an analysis result; First data generation module 2, configured to generate initial single-turn position data according to the zero-point signal when the analysis result is the zero-point signal; Second data generation module 3, configured to perform state analysis on the initial single-turn position data and perform correction processing on the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; Instruction generation module 4, configured to generate a servo motor parameter adjustment instruction according to the corrected single-turn position data; Instruction control module 5, configured to control the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0026] In this embodiment, by real-time monitoring and analyzing the three-channel signals output by the diagonal displacement magnetic grating sensor, the position information and zero-point identification of the magnetic grating code disk can be accurately captured, providing a reliable basis for the accurate calculation of subsequent single-turn position data; for the zero-point signal, by capturing its trigger mechanism for generating single-turn position data, the angle jump at the moment of passing through the zero point is converted into an orderly and accurate position update, effectively avoiding the control error of the servo motor caused by the sudden change of the angle. This processing method not only reduces the abnormal response of the servo motor caused by incorrect angle information, but also reduces the wear of the transmission components of the servo motor, prevents the sudden fluctuation of the output current of the servo motor and false alarm phenomena, significantly improves the anti-interference ability and fault tolerance of the servo motor, and the generated servo motor parameter adjustment instruction enables the servo motor to adjust the working state in real time, achieving precise position control and stable operation.

[0027] Figure 9It is a schematic structural diagram of a servo motor control device provided by an embodiment of the present invention. This servo motor control device 900 can vary greatly due to configuration or performance differences, and may include one or more processors (central processing units, CPUs) 913 (for example, one or more processors) and a memory 920, and one or more media 930 for storing application programs 933 or data 932 (for example, one or more mass storage devices). Among them, the memory 920 and the media 930 can be transient storage or persistent storage. The program stored in the media 930 may include one or more modules (not shown in the figure), and each module may include a series of instruction operations for a servo motor control device 900. Further, the processor 913 can be configured to communicate with the media 930 and execute a series of instruction operations in the media 930 on a servo motor control device 900 to implement the steps of a servo motor control method provided by each of the above method embodiments.

[0028] A servo motor control device 900 may further include one or more power supplies 940, one or more wired or wireless network interfaces 950, one or more input / output interfaces 960, and / or one or more operating systems 931, such as Windows Serve, Mac OS X, Unix, Linux, FreeBSD, and so on. Those skilled in the art can understand that Figure 9 The shown structural diagram of a servo motor control device does not limit a servo motor control device 900, and it may include more or fewer components than shown in the figure, or combine certain components, or have different component arrangements.

[0029] A computer-readable medium, on which instructions are stored, and when the instructions are executed by a processor, the steps of a servo motor control method as described above are implemented.

[0030] The above describes the present invention and its embodiments. Such a description is not restrictive. What is shown in the drawings is only one of the embodiments of the present invention, and the actual content is not limited thereto. Generally speaking, if those of ordinary skill in the art are inspired by it and, without departing from the spirit of the present invention, creatively design a structural manner and an embodiment similar to the technical solution, they shall fall within the protection scope of the present invention.

Claims

1. A servo motor control method, characterized in that: include: Acquire three-way information, and analyze the three-way information to obtain analysis results; The three-way information includes a zero-point signal, a first-way signal, and a second-way signal; The zero point signal is a zero position reference signal used to determine the mechanical origin or calibration position of the servo motor; One signal is a non-zero point signal, which is used to determine the rotation direction, signal period and corresponding encoder resolution of the servo motor before crossing the zero point; The second signal is a non-zero point signal, which is used to determine the rotation direction, signal period and corresponding encoder resolution of the servo motor after passing the zero point; When the analysis result is a zero-point signal, the initial single-turn position data is generated according to the zero-point signal; Performing state analysis on the initial single-turn position data, and performing correction processing on the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; Generate servo motor parameter adjustment instructions based on the corrected single-turn position data; The working state of the servo motor is controlled according to the servo motor parameter adjustment instruction.

2. A servo motor control method as claimed in claim 1, characterized in that: The performing of state analysis on the initial single-turn position data and performing correction processing on the initial single-turn position data according to the state analysis result to obtain the corrected single-turn position data includes: Performing state analysis on the initial single-turn position data to obtain a state analysis result; When the state analysis result is a high level state at the zero crossing point, the single-turn position data before the zero crossing point and the single-turn position data after the zero crossing point are generated according to the initial single-turn position data; The corrected single-turn position data is calculated based on the single-turn position data before the zero point and the single-turn position data after the zero point.

3. A servo motor control method as claimed in claim 2, characterized in that: When the state analysis result is a high level state at the zero crossing point, generating single-turn position data before the zero crossing point and single-turn position data after the zero crossing point according to the initial single-turn position data includes: When the state analysis result is a high level state at the zero crossing point, a low level state before the zero crossing point is obtained according to the initial single-turn position data and the preset first time; Generate a first control field according to the low level state before the zero crossing point; generating a first data request instruction according to the first control field; Acquire angular displacement magnetic grid sensing data according to the first data request instruction to obtain single-turn position data before the zero crossing point; Obtaining a low level state after the zero crossing point according to the initial single-turn position data and the preset second time; Generate single-turn position data after zero crossing according to the low level state after zero crossing.

4. A servo motor control method as claimed in claim 3, characterized in that: The generating of single-turn position data after the zero-crossing point according to the low-level state after the zero-crossing point comprises: Generate a second control field according to the low level state after the zero crossing point; generating a second data request instruction according to the second control field; The angular displacement magnetic grid sensing data is acquired according to the second data request instruction to obtain the single-turn position data after the zero point.

5. A servo motor control method as claimed in claim 2, characterized in that: The method of calculating the corrected single-turn position data according to the single-turn position data before the zero-crossing point and the single-turn position data after the zero-crossing point includes: Generate a first control field according to the high level state at the zero crossing point; generating a correction parameter acquisition instruction according to the first control field; The motor rotor pole data is obtained according to the correction parameter acquisition instruction; The corrected single-turn position data is calculated based on the single-turn position data before the zero point, the single-turn position data after the zero point and the motor rotor pole data.

6. A servo motor control method as claimed in claim 1, characterized in that: The servo motor control method further comprises: When the analysis result is a signal, a first control field is generated; generating a third data request instruction according to the first control field; Acquire angular displacement magnetic grid sensing data according to a third data request instruction to obtain first single-turn position data; A servo motor parameter adjustment instruction is generated according to the first single-turn position data.

7. A servo motor control method as claimed in claim 1, characterized in that: The servo motor control method further comprises: When the analysis result is a two-way signal, a second control field is generated; generating a fourth data request instruction according to the second control field; Acquire angular displacement magnetic grid sensing data according to a fourth data request instruction to obtain second single-turn position data; A servo motor parameter adjustment instruction is generated according to the second single-turn position data.

8. A servo motor control device, characterized in that: include: An analysis module, used for acquiring three-way information and analyzing the three-way information to obtain analysis results; A first data generating module, used for generating initial single-turn position data according to the zero-point signal when the analysis result is a zero-point signal; A second data generating module is used to perform a state analysis on the initial single-turn position data, and perform correction processing on the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; An instruction generation module, used for generating servo motor parameter adjustment instructions according to the corrected single-turn position data; The command control module is used to control the working state of the servo motor according to the servo motor parameter adjustment command.

9. A servo motor control device, characterized in that: include: A memory and at least one processor, wherein instructions are stored in the memory; At least one of the processors calls the instructions in the memory so that the servo motor control method executes each step of the servo motor control method as described in any one of claims 1-7.

10. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the steps of a servo motor control method as described in any one of claims 1 to 7 are implemented.

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