Servo motor control method, device, equipment and storage medium

Abstract

The present invention relates to the technical field of servo motor control, and more particularly to a servo motor control method, device, equipment, and storage medium. Three-way information is acquired and analyzed to obtain an analysis result; when the analysis result is a zero-point signal, initial single-turn position data is generated based on the zero-point signal; state analysis is performed on the initial single-turn position data, and correction processing is performed on the initial single-turn position data based on the state analysis result to obtain corrected single-turn position data; a servo motor parameter adjustment instruction is generated based on the corrected single-turn position data; the operating state of the servo motor is controlled based on the servo motor parameter adjustment instruction; single-turn position information and zero-point information are captured by real-time monitoring and analysis of three-way signals from an angular displacement magnetic grating sensor; and single-turn position data generation is optimized based on the zero-point signal to avoid servo motor control errors, reduce component wear, current fluctuations, and false alarms, improve anti-interference performance, and achieve stable control of the servo system.

Description

Technical Field

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

[0002] In the field of servo motor control, precise control of servo motors is crucial to 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 characteristics. When the Tamagawa protocol is applied to incremental angular displacement magnetic grating sensors, the incremental angular displacement magnetic grating sensors rely on relative position counting to achieve position feedback, which has an inherent adaptation contradiction with the absolute position feedback mechanism of the Tamagawa protocol. In actual operation, when the incremental angular displacement magnetic grating sensor passes through the zero point of the code disk for the first time, the single-turn position data angle transmitted according to the Tamagawa protocol is The angle will suddenly change to 0. This sudden change in angle causes the angle information received by the servo motor to jump. The servo motor adjusts its control strategy based on the erroneous position feedback, causing the servo motor output current to be abnormal, which in turn causes the servo system to report an error. This abnormality not only affects the stability and reliability of the servo motor operation, but may also cause wear of the servo motor mechanical parts, reduced production efficiency, and even cause safety accidents. The existing technology has not effectively solved the problem of angle mutation when the Tamagawa protocol is combined with the 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] In order to solve the above-mentioned shortcomings in the prior art, the present invention proposes a servo motor control method.

[0004] In order to solve the above technical problems, the technical solutions adopted by the present invention are as follows:

[0005] Acquire three channels of information and analyze them 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 used to determine the mechanical origin or calibration position of the servo motor; the first-channel signal is a non-zero-point signal 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 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 it to trigger the single-turn position data generation mechanism, the instantaneous angle jump across 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 incorrect 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.

[0006] Furthermore, the state analysis of the initial single-turn position data and the correction processing of the initial single-turn position data according to the state analysis result to obtain the corrected single-turn position data include: 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 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; 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.

[0007] Furthermore, when the state analysis result is a high-level state at the time of crossing the zero point, the single-circle position data before the zero point and the single-circle position data after the zero point are generated according to the initial single-circle position data, including: when the state analysis result is a high-level state at the time of crossing the zero point, the low-level state before the zero point is obtained according to the initial single-circle position data and the preset first time; a first control field is generated according to the low-level state before the zero point; a first data request instruction is generated according to the first control field; angular displacement magnetic grating sensor data is obtained according to the first data request instruction to obtain the single-circle position data before the zero point; the low-level state after the zero point is obtained according to the initial single-circle position data and the preset second time; and the single-circle position data after the zero point is generated according to the low-level state after the zero point.

[0008] Furthermore, the generating of single-turn position data after the zero point according to the low-level state after the zero point includes: generating a second control field according to the low-level state after the zero point; generating a second data request instruction according to the second control field; and acquiring angular displacement magnetic grating sensing data according to the second data request instruction to obtain single-turn position data after the zero point.

[0009] Furthermore, the method of calculating 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 includes: generating a first control field based on the high-level state at the zero crossing; generating a correction parameter acquisition instruction based on the first control field; acquiring the motor rotor pole data according to the correction parameter acquisition instruction; and calculating the corrected single-turn position data based on the single-turn position data before the zero crossing, the single-turn position data after the zero crossing, and the motor rotor pole data.

[0010] Furthermore, the servo motor control method also includes: when the analysis result is a signal, generating a first control field; generating a third data request instruction based on the first control field; obtaining angular displacement magnetic grating sensor data according to the third data request instruction to obtain first single-turn position data; and generating a servo motor parameter adjustment instruction based on the first single-turn position data.

[0011] Furthermore, the servo motor control method also includes: when the analysis result is a two-way signal, generating a second control field; generating a fourth data request instruction based on the second control field; obtaining angular displacement magnetic grating sensor data according to the fourth data request instruction to obtain second single-turn position data; and generating a servo motor parameter adjustment instruction based on the second single-turn position data.

[0012] Furthermore, a servo motor control device includes: an analysis module for acquiring three-way information and analyzing the three-way information to obtain an analysis result; a first data generation module 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 generation module for performing state analysis on the initial single-turn position data and correcting the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data; an instruction generation module for generating a servo motor parameter adjustment instruction according to the corrected single-turn position data; and an instruction control module for controlling the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0013] Furthermore, a servo motor control device includes: 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.

[0014] Furthermore, a computer-readable storage medium is provided, wherein instructions are stored on the computer-readable storage medium, and when the instructions are executed by a processor, the steps of any one of the servo motor control methods described above are implemented.

[0015] The beneficial effects of the servo motor control method of the present invention are:

[0016] 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 it to trigger the single-turn position data generation mechanism, the instantaneous angle jump across 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 incorrect 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

[0017] The above and / or additional aspects and advantages of the present invention will become apparent and readily understood from the following description of the embodiments with reference to the accompanying drawings, in which:

[0018] Figure 1 A first flow chart of a servo motor control method provided by an embodiment of the present invention;

[0019] Figure 2 A second flow chart of a servo motor control method provided by an embodiment of the present invention;

[0020] Figure 3 A third flow chart of a servo motor control method provided by an embodiment of the present invention;

[0021] Figure 4 A fourth flow chart of a servo motor control method provided by an embodiment of the present invention;

[0022] Figure 5 A fifth flow chart of a servo motor control method provided by an embodiment of the present invention;

[0023] Figure 6 A sixth flow chart of a servo motor control method provided by an embodiment of the present invention;

[0024] Figure 7 A seventh flow chart of a servo motor control method provided by an embodiment of the present invention;

[0025] Figure 8 A schematic structural diagram of a servo motor control device provided by an embodiment of the present invention;

[0026] Figure 9 A schematic structural diagram of a servo motor control device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0027] The technical solution of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.

[0028] The terms "first," "second," "third," "fourth," and so on (if any) in the description and claims of the present invention and in the accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a particular order or precedence. It should be understood that the terms used in this manner are interchangeable where appropriate, so that the embodiments described herein can be implemented in an order other than that shown or described herein. In addition, the terms "including" or "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product, or apparatus that includes a series of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, product, or apparatus.

[0029] For ease of understanding, the specific process of the embodiment of the present invention is described below. Figure 1 , an embodiment of a servo motor control method in an embodiment of the present invention includes:

[0030] 101. Obtain three pieces of information and analyze the three pieces of information to obtain analysis results;

[0031] The three-way information includes a zero-point signal, a first-way signal, and a second-way signal;

[0032] The zero point signal is a zero position reference signal used to determine the mechanical origin or calibration position of the servo motor;

[0033] One signal is a non-zero signal, which is used to determine the rotation direction of the servo motor, signal period, and corresponding encoder resolution before crossing the zero point:

[0034] The second signal is a non-zero point signal, which is used to determine the rotation direction of the servo motor, the signal period and the corresponding encoder resolution after crossing the zero point;

[0035] In this embodiment, the angular displacement magnetic grating sensor consists of a magnetic grating code disk and a reader. First, three signals are obtained from the angular displacement magnetic grating sensor. These three signals contain the position information and zero point mark of the magnetic grating code disk. Real-time monitoring and analysis of the three signals lay the foundation for the accurate calculation of subsequent single-turn position data. The three signals are generated by one signal (A phase signal), two signals (B phase signal), or a zero point signal (Z phase signal).

[0036] 102. When the analysis result is a zero-point signal (Z-phase signal), the initial single-turn position data is generated according to the zero-point signal;

[0037] 103. Performing a 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;

[0038] In this embodiment, the single-turn position data generation mechanism is triggered by capturing the zero-point signal, and the single-turn position data is recalibrated based on the zero-point signal. The angle jump at the moment of crossing the zero point is converted into an orderly and accurate position update, ensuring a smooth transition of the position data and reducing the control error caused by the sudden change in angle. The stable position feedback effectively avoids the abnormal response of the servo motor due to incorrect angle information, reduces the wear of the servo motor bearings, gears and other transmission components, and prevents the servo motor output current from fluctuating violently and the servo motor from false alarms. The zero-point signal (Z-phase signal) is a zero-position reference signal. The servo motor outputs a pulse for each revolution, which is used to determine the mechanical origin or calibrate the position. The single-turn position data generated based on the zero-point signal (i.e., the initial single-turn position data) can still maintain the stable operation of the servo motor, significantly improving the anti-interference ability and fault tolerance of the servo motor.

[0039] 104. Generate servo motor parameter adjustment instructions based on the corrected single-turn position data;

[0040] 105. Control the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0041] In this embodiment, the servo motor parameter adjustment instruction includes adjustment information for key control parameters such as the position data of each single turn, the control field, the status field, the data field (DF), the CRC-8 checksum, the encoder ID, the speed, and the torque. After receiving the instruction, the servo motor adjusts its working state in real time to achieve precise position control and stable operation.

[0042] 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 it to trigger the single-turn position data generation mechanism, the angle jump at the moment of crossing 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 incorrect 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 anti-interference ability and fault tolerance of the servo motor. 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.

[0043] See also Figure 2 A second embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0044] 201. Performing state analysis on the initial single-circle position data to obtain a state analysis result;

[0045] 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 generating the single-turn position data before and after the zero-crossing point, and laying the foundation for subsequent calculation of the corrected single-turn position data.

[0046] 202. When the state analysis result is a high level state at the time of zero crossing, the single-turn position data before the zero crossing and the single-turn position data after the zero crossing are generated according to the initial single-turn position data;

[0047] In this embodiment, positioning at the zero point is achieved, and in order to solve the problem of abnormal servo motor control caused by the angle jump received by the servo driver, a key time node judgment is provided. When the state analysis result shows a high-level state at the zero point, the single-circle position data before the zero point and the single-circle position data after the zero point are generated according to the initial single-circle position data. At this time, the single-circle position data before the zero point and the single-circle position data after the zero point are used as a reference to recalibrate the position angle offset of the servo motor at the zero point, and convert the instantaneous angle jump of the zero point into an orderly position update to ensure a smooth transition of the position data. The single-turn position data before zero crossing is the position information obtained based on the measurement of the incremental angular displacement magnetic grating sensor before zero crossing, 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 zero crossing based on the single-turn position data before zero crossing; the single-turn position data after zero crossing is the position information obtained based on the measurement of the incremental angular displacement magnetic grating sensor after zero crossing, 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 zero crossing based on the single-turn position data after zero crossing;

[0048] 203. Calculate the corrected single-turn position data based on the single-turn position data before and after the zero-crossing point;

[0049] In this embodiment, the electrical angle offset of the servo motor under control is adjusted based on the single-turn position data before and after the zero-crossing point, so that the servo driver controls the operation of the servo motor with the corrected electrical angle, eliminating the control error caused by the angle jump, effectively avoiding the abnormal current of the servo motor caused by the sudden change of the angle information received by the servo driver, reducing the error frequency of the servo driver, and ensuring the stable operation of the servo system;

[0050] In this embodiment, the problem of angle jump when the incremental angular displacement magnetic grating sensor passes through the zero point is effectively overcome by state analysis and phased processing of the initial single-turn position data. First, the state analysis of the initial single-turn position data is performed to identify the high-level state when passing through the zero point. Based on this, the single-turn position data before and after the zero point are generated respectively to ensure the accuracy of position feedback in each stage and provide reliable data support for the stable operation of the servo motor in different stages. Subsequently, the single-turn position data is calculated and corrected based on the previous and next position data. By adjusting the electrical angle offset of the servo motor, the angle jump difference is reasonably distributed, eliminating the control error caused by the sudden change in angle. This processing method effectively avoids the abnormal motor current caused by the servo driver receiving incorrect angle information, significantly reduces the error frequency of the driver, and improves the stability and reliability of the servo system. At the same time, precise position control reduces the wear of mechanical components, extends the service life of the equipment, meets the stringent requirements of the industrial automation field for high-precision and high-stability control, and has significant technical value and application benefits.

[0051] See also Figure 3 A third embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0052] 301. 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;

[0053] In this embodiment, the first time is pre-set and is used to define the time node before the zero crossing point, so that the low level state before the zero crossing point under the time state;

[0054] 302. Generate a first control field according to the low level state before the zero crossing point;

[0055] 303. Generate a first data request instruction according to the first control field;

[0056] In this embodiment, before crossing zero, the servo motor sends a control field (CF) 0x1A to request single-turn position data from the angular displacement magnetic sensor. The control field CF is a specific instruction for communication between the servo motor and the angular displacement magnetic sensor. The control field CF is used to request single-turn position data from the sensor, ensuring that the intention of requesting single-turn position data can be accurately conveyed to the angular displacement magnetic sensor.

[0057] 304. Acquire angular displacement magnetic grid sensing data according to the first data request instruction to obtain single-turn position data before zero crossing;

[0058] 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;

[0059] 305. Obtaining a low-level state after zero crossing according to the initial single-circle position data and a preset second time;

[0060] In this embodiment, the second time is pre-set and is used to define the time node after the zero point, so that the low level state after the zero point under the time state;

[0061] 306. Generate single-turn position data after zero crossing according to the low-level state after zero crossing;

[0062] In this embodiment, by combining preset time and state analysis, the acquisition of position data before and after the zero point is realized; by generating a first control field before the zero point, requesting single-turn position data from the angular displacement magnetic grating sensor, the accuracy of communication and the intention of conveying are ensured, and the precision and stability of the servo motor control are effectively improved; with the high-level state at the zero point as the trigger point, a specific control field is generated and converted into a first data request instruction, and the single-turn position data before the zero point of the angular displacement magnetic grating sensor is obtained through the first data request instruction. The single-turn position data before the zero point can reflect the angular position state of the servo motor at this stage, so that the servo motor maintains stable operation before the zero point, and the single-turn position data after the zero point is generated by the low-level state after the zero point, the continuity of the position feedback of the incremental angular displacement magnetic grating sensor is realized, which not only improves the working efficiency and performance of the servo motor, but also reduces the risk of equipment wear and extends the service life, providing a strong guarantee for the reliable operation of the servo system in the industrial automation scenario.

[0063] See also Figure 4 A fourth embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0064] 401. Generate a second control field according to the low level state after the zero crossing point;

[0065] In this embodiment, after crossing the zero point, the servo motor sends a control field (CF) 0x02 (i.e., the second control field) in a low level state after crossing the zero point to request single-turn data of the angular displacement magnetic grating sensor;

[0066] 402. Generate a second data request instruction according to the second control field;

[0067] 403. Acquire angular displacement magnetic grid sensing data according to the second data request instruction to obtain single-turn position data after zero crossing.

[0068] In this embodiment, the data returned by the angular displacement magnetic grating sensor includes: a control field (CF) of 0x02, a status field (SF) of 0x00, a data field (DF), single-turn position data after zero crossing, and a CRC-8 checksum. This data reflects the position status of the incremental angular displacement magnetic grating sensor after zero crossing, providing a key basis for servo system control, achieving effective connection between position data before and after zero crossing, and ensuring the continuity and integrity of the servo system's position feedback.

[0069] In this embodiment, the continuity of the position feedback of the incremental angular displacement magnetic grating sensor is achieved by capturing and processing the low-level state after crossing the zero point. When the system is in a low-level state after crossing the zero point, the servo driver immediately sends a second control field to request single-turn position data after crossing the zero point. After instruction conversion and data acquisition, the structured data returned by the incremental angular displacement magnetic grating sensor is used to obtain the single-turn position data after crossing the zero point. This data reflects the position state of the incremental angular displacement magnetic grating sensor after crossing the zero point, ensuring that the position feedback data is seamlessly connected before and after crossing the zero point, thereby improving the stability of the servo system and avoiding problems such as servo motor jitter, current fluctuation and servo driver error caused by position data faults, thereby reducing the risk of equipment abnormality; by ensuring the integrity of position feedback, the wear of mechanical components 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 rapid response, meeting the stringent requirements of industrial automation production on control accuracy and efficiency, and providing reliable guarantee for improving production quality and benefits.

[0070] See also Figure 5 A fifth embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0071] 501. Generate a first control field according to a high level state at a zero-crossing point;

[0072] 502. Generate a correction parameter acquisition instruction according to the first control field;

[0073] 503. Obtain motor rotor pole data according to the correction parameter acquisition instruction;

[0074] 504. Calculate the corrected single-turn position data based on 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;

[0075] In this embodiment, the electrical angle offset of the servo motor under control is adjusted based on the single-turn position data before and after the zero point, so that the servo driver controls the operation of the servo motor with the electrical angle. The specific adjustment strategy is: corrected single-turn position data = single-turn position data before zero point + (single-turn position data after zero point - single-turn position data before zero point) / motor rotor pole data. Through this calculation method, the angle difference caused by the zero point mutation is reasonably allocated to the electrical angle, eliminating the control error caused by the angle jump, effectively avoiding the abnormal current of the servo motor caused by the sudden change of the angle information received by the servo driver, reducing the error frequency of the servo driver, and ensuring the stable operation of the servo system; by adjusting the electrical angle offset, it is ensured that the control strategy of the servo motor transitions smoothly when the servo motor crosses the zero point, reducing the wear of mechanical components caused by the control mutation, extending the service life of the equipment, improving the adaptability of the servo motor under complex working conditions, making the servo motor control more accurate and efficient, and meeting the requirements of the industrial automation field for high precision and high stability;

[0076] In this embodiment, when a high-level state is detected when crossing the zero point, a specific control field is used to obtain the motor rotor pole data, and the single-turn position data before crossing the zero point and the single-turn position data after crossing the zero point are combined to obtain the corrected single-turn position data by algorithm calculation, and the angle mutation difference is reasonably distributed to the electrical angle to eliminate the control error caused by the angle jump. This processing method effectively avoids the servo driver receiving erroneous information due to angle mutation, avoids abnormal fluctuations in the servo motor current, reduces the error frequency of the servo system, and ensures the stable operation of the servo system; at the same time, by adjusting the electrical angle bias of the servo driver, it ensures that the control strategy of the servo motor transitions smoothly when crossing the zero point, reduces the wear of mechanical parts due to control mutations, extends the service life of the equipment, makes the servo motor more adaptable under complex working conditions, and significantly improves the control accuracy and efficiency, meets the stringent requirements of industrial automation for high precision and high stability, and has practical value and promotion significance.

[0077] See also Figure 6 A sixth embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0078] 601. When the analysis result is one signal, generate a first control field;

[0079] In this embodiment, the servo driver and the angular displacement magnetic grating sensor communicate through the RS485 interface. The first control field serves as the key instruction for the communication between the servo driver and the angular displacement magnetic grating sensor, which clearly conveys the data request intention. Subsequently, the first control field is converted into a third data request instruction that complies with the communication protocol, laying the foundation for data interaction. One signal (A phase signal) is a non-zero point signal, and the leading relationship of the A phase signal identifier can be used to determine the rotation direction of the servo motor, the signal period, and the corresponding encoder resolution [1].

[0080] 602. Generate a third data request instruction according to the first control field;

[0081] 603. Acquire angular displacement magnetic grating sensing data according to a third data request instruction to obtain first single-turn position data;

[0082] 604. Generate a servo motor parameter adjustment instruction according to the first single-turn position data;

[0083] In this embodiment, in a system where the angular displacement magnetic grating sensor represents angles from 0 to 360 degrees using 24-bit binary data, it is ensured that even when the angular displacement magnetic grating sensor is in a non-zero point special signal state, valid first single-turn position data can still be actively and promptly acquired, maintaining interaction between the servo drive and the angular displacement magnetic grating sensor, and ensuring that the operating status of the servo motor can always be monitored and controlled.

[0084] In this embodiment, a data interaction and processing mechanism is constructed for the non-zero signal state of the angular displacement magnetic grating sensor. The data request intention is clarified through the first control field and converted into a standard instruction to obtain the first single-turn position data. The working state of the servo motor is controlled based on the first single-turn position data, which effectively fills the position feedback gap in the non-zero signal state, ensures continuous interaction between the servo drive and the sensor, and makes the operating state of the servo motor monitorable and controllable throughout the process. It not only solves the control inaccuracy problem under unconventional signals and 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 system's anti-interference ability, and promotes the accuracy and reliability of industrial automation control.

[0085] See also Figure 7 A seventh embodiment of a servo motor control method according to an embodiment of the present invention includes:

[0086] 701. When the analysis result is a two-way signal, generate a second control field;

[0087] In this embodiment, the two signals (B-phase signals) and one signal (A-phase signal) correspond to non-zero-point signals triggered when the angular displacement magnetic grating sensor measures different angular displacement intervals. The two signals (B-phase signals) and one signal (A-phase signal) are two orthogonal (90° phase difference) sinusoidal wave signals used to detect the servo motor speed and position and trigger different data acquisition logic. When the two signals are triggered, a second control field is generated, and the corresponding sensor data (i.e., the second single-turn position data) is acquired according to the data request and processing mechanism. The two signals (B-phase signals) are non-zero-point signals, and the hysteresis relationship of the B-phase signal identifier can be used to determine the rotation direction of the servo motor, the signal period, and the corresponding encoder resolution.

[0088] 702. Generate a fourth data request instruction according to the second control field;

[0089] 703. Acquire angular displacement magnetic grid sensing data according to the fourth data request instruction to obtain second single-turn position data;

[0090] 704. Generate a servo motor parameter adjustment instruction based on the second single-turn position data;

[0091] In this embodiment, a data interaction and processing mechanism is constructed for the non-zero point two-way signal state of the angular displacement magnetic grating sensor. The data request intention is clarified through the second control field and converted into standard instructions to obtain sensor data, effectively filling the position feedback gap in the non-zero point signal state, ensuring continuous interaction between the servo drive and the sensor, and making the servo motor operation status monitorable and controllable throughout the process. It not only solves the control inaccuracy problem under unconventional signals and 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 system's anti-interference ability, and promotes the accuracy and reliability of industrial automation control.

[0092] The above describes a servo motor control method according to an embodiment of the present invention. The following describes a servo motor control device according to an embodiment of the present invention. Figure 8 , an embodiment of a servo motor control device in an embodiment of the present invention includes:

[0093] Analysis module 1, used to obtain three-way information and analyze the three-way information to obtain analysis results;

[0094] The first data generating module 2 is configured to generate initial single-turn position data according to the zero-point signal when the analysis result is a zero-point signal;

[0095] The second data generating module 3 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;

[0096] The instruction generation module 4 is used to generate the servo motor parameter adjustment instruction according to the corrected single-turn position data;

[0097] The instruction control module 5 is used to control the working state of the servo motor according to the servo motor parameter adjustment instruction.

[0098] 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 it to trigger the single-turn position data generation mechanism, the angle jump at the moment of crossing 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 incorrect 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 anti-interference ability and fault tolerance of the servo motor. 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.

[0099] Figure 9 FIG2 is a schematic diagram of the structure of a servo motor control device provided in an embodiment of the present invention. The servo motor control device 900 may vary significantly depending on configuration or performance. The servo motor control device 900 may include one or more central processing units (CPUs) 913 (e.g., one or more processors), a memory 920, and one or more media 930 (e.g., one or more mass storage devices) storing application programs 933 or data 932. The memory 920 and the media 930 may be either transient or persistent storage. The program stored in the media 930 may include one or more modules (not shown), each of which may include a series of instructions for operating on the servo motor control device 900. Furthermore, the processor 913 may be configured to communicate with the media 930, executing the series of instructions stored in the media 930 on the servo motor control device 900 to implement the steps of the servo motor control method provided in the aforementioned method embodiments.

[0100] 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 and output interfaces 960, and / or one or more operating systems 931, such as Windows Server, Mac OS X, Unix, Linux, FreeBSD, etc. It will be understood by those skilled in the art that Figure 9 The structure of a servo motor control device shown does not constitute a limitation on a servo motor control device 900 , and may include more or fewer components than shown in the figure, or combine certain components, or arrange components differently.

[0101] A computer-readable medium stores instructions, and when the instructions are executed by a processor, the steps of the servo motor control method described above are implemented.

[0102] The present invention and its embodiments are described above. This description is not restrictive. What is shown in the accompanying drawings is only one of the embodiments of the present invention, and the actual content is not limited to this. In short, if ordinary technicians in this field are inspired by it and do not depart from the purpose of the invention, they can creatively design structural methods and embodiments similar to the technical solution, which should all fall within the scope of protection of the present invention.

Claims

1. A servo motor control method, characterized in that: include: Acquire three pieces of information and analyze the three pieces of 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 of the servo motor, signal period and corresponding encoder resolution before crossing the zero point; The second signal is a non-zero point signal, which is used to determine the rotation direction of the servo motor, the signal period and the corresponding encoder resolution after crossing the zero point; When the analysis result is a zero-point signal, the initial single-turn position data is generated based on the zero-point signal; Performing a 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; Control the working state of the servo motor according to the servo motor parameter adjustment instruction; The performing of state analysis on the initial single-turn position data and correcting the initial single-turn position data according to the state analysis result to obtain corrected single-turn position data includes: Performing state analysis on the initial single-circle 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-circle position data before the zero crossing point and the single-circle position data after the zero crossing point are generated according to the initial single-circle 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.

2. A servo motor control method according to claim 1, characterized in that: When the state analysis result is a high level state at the zero crossing point, generating single-circle position data before the zero crossing point and single-circle position data after the zero crossing point according to the initial single-circle position data includes: When the state analysis result is a high level state at the zero crossing point, the 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 grating sensing data according to the first data request instruction to obtain single-turn position data before zero crossing; 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 based on the low-level state after zero crossing.

3. A servo motor control method according to claim 2, characterized in that: The generating of single-turn position data after the zero crossing according to the low-level state after the zero crossing includes: 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 grating sensing data is acquired according to the second data request instruction to obtain the single-turn position data after the zero point.

4. A servo motor control method according to claim 1, characterized in that: The method of calculating the corrected single-turn position data based on the single-turn position data before and 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; Obtain the motor rotor pole data 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.

5. A servo motor control method according to claim 1, characterized in that: The servo motor control method further includes: 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 grating 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.

6. A servo motor control method according to claim 1, characterized in that: The servo motor control method further includes: 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 grating 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.

7. 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; 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 of the servo motor, signal period and corresponding encoder resolution before crossing the zero point; The second signal is a non-zero point signal, which is used to determine the rotation direction of the servo motor, the signal period and the corresponding encoder resolution after crossing the zero point; A first data generating module is configured to generate initial single-turn position data according to the zero-point signal when the analysis result is a zero-point signal; The second data generation module 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, specifically including: Performing state analysis on the initial single-circle 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-circle position data before the zero crossing point and the single-circle position data after the zero crossing point are generated according to the initial single-circle position data; The corrected single-turn position data is calculated based on the single-turn position data before and after the zero-crossing point; An instruction generation module is used to generate servo motor parameter adjustment instructions based on the corrected single-turn position data; The instruction control module is used to control the working state of the servo motor according to the servo motor parameter adjustment instruction.

8. 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 to enable the servo motor control device to execute each step of the servo motor control method according to any one of claims 1 to 6.

9. A computer-readable storage medium having instructions stored thereon, characterized in that: When the instructions are executed by the processor, the steps of the servo motor control method according to any one of claims 1 to 6 are implemented.

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