Servo self-control parameter adjusting method and device, storage medium and electronic equipment

Abstract

The invention discloses a servo self-control parameter adjusting method and device, a storage medium and electronic equipment. The method comprises the steps that a user configuration page is provided; generating and storing a servo self-control parameter configuration table based on the configuration information received by the user configuration page; providing a user execution page; and sending the servo self-control parameter configuration table to the servo driver based on execution information received by the user execution page so as to update the current servo self-control parameters. A user can configure the servo self-control parameters of the target axis through the user configuration page to generate the servo self-control parameter configuration table, the servo self-control parameter configuration table is stored in the configuration file, and the servo self-control parameter configuration table in the configuration file can be selected for execution through the user execution page. Therefore, efficient and rapid adjustment of the servo self-control parameters can be realized, real-time adjustment of the servo self-control parameters is facilitated, and improvement of the working effect and performance of a servo system is facilitated.

Description

Technical Field

[0001] This application belongs to the technical field of servo control, and particularly relates to a method, device, storage medium and electronic device for adjusting servo self-control parameters. Background Technique

[0002] At present, advanced manufacturing equipment such as industrial robots and high-end CNC machine tools has developed extremely rapidly, which makes the application of servo systems more popular. A typical servo system consists of the following parts: a controller, a servo driver, a servo motor, a transmission device, and a feedback unit. In the field of motion control, servo parameters can precisely control the adjustment of mechanical position and speed, and can achieve more accurate and stable motion control; in order to optimize the performance of the servo system, the servo driver generally provides several servo self-control parameters for users to adjust.

[0003] At present, there are mainly two methods for modifying servo self-control parameters. One is to directly modify the parameters from the upper computer to the servo driver, and the other is to connect the upper computer to the PLC and then modify the servo driver parameters through PLC communication. Both of these modification methods are relatively complex and cumbersome, and have relatively high requirements for the debugging experience and ability of operators, which is not conducive to real-time modification of servo self-control parameters to achieve better control effects and performance. Summary of the Invention

[0004] The purpose of this application is to provide a method, device, storage medium and electronic device for adjusting servo self-control parameters, so as to solve the technical problems in the prior art that the methods for modifying servo self-control parameters are complex and cumbersome, have relatively high requirements for the debugging experience and ability of operators, and are not conducive to real-time modification of servo self-control parameters to achieve better control effects and performance.

[0005] To achieve the above purpose, the first aspect of this application provides a method for adjusting servo self-control parameters, including:

[0006] Provide a user configuration page, where the user configuration page is used to receive the configuration information of the user for the servo self-control parameters;

[0007] Generate and store a servo self-control parameter configuration table based on the configuration information received by the user configuration page;

[0008] Provide a user execution page, and the user execution page is used to display the servo self-control parameter configuration table and receive the execution information for the servo self-control parameter table;

[0009] Send the servo self-control parameter configuration table to the servo driver based on the execution information received by the user execution page to update the current servo self-control parameters.

[0010] In one or more embodiments, the user configuration page includes an axis object specifying control and a parameter modification window. The axis object specifying control is used for the user to specify the target axis for which the servo automatic control parameters are to be configured, and the parameter modification window is used to receive the configuration information of the servo automatic control parameters of the target axis from the user.

[0011] In one or more embodiments, it further includes:

[0012] Traverse the internal memory of the servo drive to obtain the current servo automatic control parameters of the servo drive;

[0013] The parameter modification window is further used to display the current servo automatic control parameters of the target axis when the user does not configure information.

[0014] In one or more embodiments, the user configuration page further includes a configuration generation control;

[0015] The method for generating the servo automatic control parameter configuration table includes:

[0016] When the configuration generation control is triggered, capture the current axis information of the axis object specifying control and the current parameters of the parameter modification window, and generate a servo automatic control parameter configuration table.

[0017] In one or more embodiments, the user configuration page further includes a configuration display area and a configuration deletion control. The configuration display area is used to display the servo automatic control parameter configuration table, and the configuration deletion control is used to delete the selected servo automatic control parameter configuration table in the configuration display area when triggered.

[0018] In one or more embodiments, the user configuration page further includes a configuration storage control;

[0019] The method for storing the servo automatic control parameter configuration table includes:

[0020] When the configuration storage control is triggered, write the servo automatic control parameter configuration table displayed in the configuration display area into a configuration file for storage.

[0021] In one or more embodiments, the user execution page includes a configuration specifying control, a text box, and a configuration execution control. The configuration specifying control is used for the user to specify the servo automatic control parameter configuration table in the configuration file. The text box is used to display the servo automatic control parameter configuration table specified by the user, and the configuration execution control is used to receive the execution information of the user;

[0022] The step of sending the servo automatic control parameter configuration table to the servo drive based on the execution information received by the user execution page is specifically:

[0023] When the configuration execution control is triggered, the servo self-control parameter configuration table displayed in the text box is sent to the servo driver.

[0024] In one or more embodiments, the user execution page further includes a storage deletion control, which is used to delete the servo self-control parameter configuration table displayed in the text box from the memory when triggered.

[0025] In one or more embodiments, the servo self-control parameters include one or more combinations of speed loop gain, speed loop integral time parameter, position loop gain, and inertia ratio.

[0026] To achieve the above object, a second aspect of the present application provides an adjustment device for servo self-control parameters, including:

[0027] A configuration information acquisition module, which is used to provide a user configuration page, where the user configuration page is used to receive the configuration information of the user for the servo self-control parameters;

[0028] A configuration information storage module, which is used to generate and store a servo self-control parameter configuration table based on the configuration information received by the user configuration page;

[0029] An execution information acquisition module, which is used to provide a user execution page, and the user execution page is used to display the servo self-control parameter configuration table and receive the execution information for the servo self-control parameter table;

[0030] A parameter adjustment module, which is used to send the servo self-control parameter configuration table to the servo driver based on the execution information received by the user execution page to update the current servo self-control parameters.

[0031] To achieve the above object, a third aspect of the present application provides an electronic device, including:

[0032] At least one processor; and

[0033] A memory, where the memory stores instructions, and when the instructions are executed by the at least one processor, the at least one processor executes the adjustment method for servo self-control parameters as described in any of the above embodiments.

[0034] To achieve the above object, a fourth aspect of the present application provides a machine-readable storage medium, which stores executable instructions, and when the instructions are executed, the machine executes the adjustment method for servo self-control parameters as described in any of the above embodiments.

[0035] Different from the prior art, the beneficial effects of the present application are:

[0036] In the method for adjusting the servo self-control parameters of the present application, the user can configure the servo self-control parameters of the target axis through the user configuration page, generate a servo self-control parameter configuration table, and store the servo self-control parameter configuration table in the configuration file; the user can select the servo self-control parameter configuration table in the configuration file through the user execution page for execution, so as to realize the efficient and quick adjustment of the servo self-control parameters, facilitate the real-time adjustment of the servo self-control parameters, and help improve the working effect and performance of the servo system. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings described below are only some embodiments recorded in the present application. For those of ordinary skill in the art, without creative efforts, other drawings can also be obtained based on these drawings.

[0038] Figure 1 is a schematic flowchart of an embodiment of the method for adjusting the servo self-control parameters of the present application;

[0039] Figure 2 is a schematic structural diagram of the speed loop;

[0040] Figure 3 is a schematic structural diagram of the position loop;

[0041] Figure 4 is a schematic diagram of an embodiment of the user configuration page of the present application;

[0042] Figure 5 is a schematic diagram of an embodiment of the user execution page of the present application;

[0043] Figure 6 is a schematic structural diagram of an embodiment of the device for adjusting the servo self-control parameters of the present application;

[0044] Figure 7 is a hardware structure diagram of the electronic device of the present application. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0045] In order to enable those skilled in the art to better understand the technical solutions in the present application, the following will clearly and completely describe the technical solutions in the embodiments of the present application in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present application.

[0046] Currently, the method for modifying servo automatic control parameters is complex and cumbersome, requiring relatively high debugging experience and capabilities of operators, which is not conducive to real-time modification of servo automatic control parameters to achieve better control effects and performance.

[0047] To solve the above problems, the applicant has developed an adjustment method for servo automatic control parameters. This method is simple and efficient in operation, facilitating operators to modify servo automatic control parameters in real time, and helping the servo system achieve better control effects and performance.

[0048] Specifically, please refer to Figure 1 , Figure 1 which is a schematic flow diagram of an implementation manner of the adjustment method for servo automatic control parameters of this application.

[0049] As Figure 1 shown, the adjustment method includes:

[0050] S100. Provide a user configuration page.

[0051] Among them, the user configuration page is used to receive the configuration information of the user for the servo automatic control parameters; the user can configure the servo automatic control parameters through the user configuration page.

[0052] In one implementation manner, the servo automatic control parameters may include one or a combination of a speed loop gain, a speed loop integral time parameter, a position loop gain, and a moment of inertia ratio.

[0053] Generally, a servo is composed of three feedback systems: a position loop, a speed loop, and a current loop. The innermost loop requires higher responsiveness. If this principle is not followed, deviations and vibrations will occur. Since the current loop is the innermost loop and its sufficient responsiveness has been ensured, only the position loop and the speed loop need to be adjusted.

[0054] Please refer to Figure 2 , Figure 2 which is a schematic diagram of the structure of the speed loop. The speed loop receives the "speed set value" input from the outside, then receives the actual speed of the motor transmitted by the motor encoder, and then subtracts the actual speed of the motor from the speed set value to obtain the error value of the motor speed. This error value is calculated by a PI controller to obtain a current set value. This current set value is sent to the current loop, and then the current loop makes the motor pass a specific current in the way we introduced before. Finally, the motor reaches our speed set value under the drive of this current.

[0055] The speed loop is mainly controlled by PI, so appropriate adjustment of the speed gain and speed integration time constant is required to achieve the ideal effect. Among them, increasing the proportional gain of the speed loop can reduce the variation of rotational speed pulsation, improve the stiffness of the servo drive system, and ensure the performance of the system during steady-state and transient operation. However, in an actual system, the proportional gain of the speed loop cannot be too large, otherwise it will cause oscillation of the entire servo drive system. The relationship between the adjustment of speed loop parameters and the load inertia is as follows: when the ratio of the moment of inertia of the load object to that of the motor is large and the frictional torque of the load is large, it is advisable to increase the proportional gain of the speed loop and the speed loop integration time constant to meet the requirements of operation stability. When the ratio of the moment of inertia of the load object to that of the motor is small and the frictional torque of the load is small, it is advisable to reduce the proportional gain of the speed loop and the speed loop integration time constant to ensure the speed control accuracy during low-speed operation.

[0056] The speed loop integration time constant can effectively eliminate the speed steady-state error and quickly respond to subtle speed changes. Without resonance or noise in the mechanical system, reducing the speed loop integration time constant can increase the system rigidity and reduce the steady-state error. If the load inertia ratio is very large or there are resonance factors in the mechanical system, the speed loop integration time constant must be increased to reduce the effect of integration, otherwise the mechanical system is prone to resonance. If the inertia ratio parameter G is set as JL / JM, the speed loop integration time constant is: Speed loop integration time constant (ms) = 4000 / (2 * pi * speed loop gain (Hz)) where: pi is the circumference ratio.

[0057] Please refer to Figure 3 , Figure 3 which is the structural schematic diagram of the position loop. The position loop receives the externally input position command, then subtracts the actual position of the motor fed back by the encoder from the position command to obtain the position error. Then, this error is calculated by the PI controller to obtain the speed set value, and then the internal speed loop is controlled to make the motor generate the corresponding speed. Finally, the generated speed makes the motor approach the set position.

[0058] Among them, the position loop gain is closely related to the servo motor and the mechanical load. When the position loop gain of the servo system is higher, the delay of the motor speed in responding to the position command is reduced, the position tracking error is smaller, and the positioning time is shorter. However, it requires a higher rigidity and natural frequency of the corresponding mechanical system. Moreover, when the input position changes suddenly, its output changes violently, and the mechanical load has to bear a large impact. At this time, the driver must perform acceleration and deceleration processing or use programming measures through the host computer to buffer this change. When the position loop gain of the servo system is relatively small, it is more convenient to adjust because the position loop gain is small, the servo system is easy to stabilize, and the adjustment of the load object is simpler. At the same time, the servo system with a low position loop gain has a narrow frequency band and is not sensitive to noise. Therefore, when used as servo feed, the micro change of the position is small, but the position tracking error of the servo system with a small position loop gain is large. When performing contour machining, machining errors will be formed on the trajectory.

[0059] The moment of inertia is a measure of the inertia (the property of a rotating object to maintain its uniform circular motion or rest) when a rigid body rotates around an axis, denoted by the letter I or J. The role of the moment of inertia in rotational dynamics is equivalent to that of mass in linear dynamics, and it can be vividly understood as the inertia of an object for rotational motion. The moment of inertia is only related to the radius of rotation and the mass of the object. Generally, when the load inertia exceeds 10 times the inertia of the motor rotor, it can be considered that the inertia is large.

[0060] The formula for calculating the moment of inertia is: j = ∑m i *r i 2

[0061] Among them, j is the moment of inertia, mi represents the mass of a certain particle of the rigid body, and ri represents the perpendicular distance from the particle to the axis of rotation.

[0062] It should be understood that there are no fixed values for the parameter adjustment of the position loop and the speed loop. It needs to be determined according to many conditions such as the mechanical transmission connection method of the external load, the motion mode of the load, the load inertia, the requirements for speed and acceleration, and the rotor inertia and output inertia of the motor itself. The simple method of adjustment is to adjust the gain parameter from small to large and the integral time constant from large to small within the general experience range according to the situation of the external load, and set the optimal value as the steady-state value without vibration overshoot. Therefore, ensuring the real-time adjustment of the servo automatic control parameters helps to improve the working performance of the servo system.

[0063] The user configuration page of the present application will be introduced in detail below. Please refer to Figure 4 , Figure 4 which is a schematic diagram of an embodiment of the user configuration page of the present application.

[0064] As Figure 4As shown, the user configuration page 10 includes an axis object specifying control 100 and a parameter modification window 101. The axis object specifying control 100 is used for the user to specify the target axis for which the servo automatic control parameters are to be configured.

[0065] The selectable axes of the axis object specifying control 100 can be set based on actual requirements. Exemplarily, the selectable axes can include the X, Y, and Z axes. After the user clicks on the axis object specifying control 100, a drop-down box can be popped up. The user can click on the configuration target in the drop-down box to select the target axis, thus ensuring that other axes are not affected.

[0066] The parameter modification window 101 is used to receive the configuration information of the servo automatic control parameters of the target axis from the user.

[0067] Specifically, in this embodiment, the parameter modification window 101 includes four parameter sub-windows 1011, namely the speed loop gain, speed loop integral time parameter, position loop gain, and inertia ratio. After the user selects the target axis in the axis object specifying control 100, the user can configure the servo automatic control parameters of the target axis in the parameter modification window 101.

[0068] To facilitate the user to mark the servo automatic control parameters they have configured, the parameter modification window 101 further includes a name sub-window 1012. The user can name the servo automatic control parameter configuration table they have configured through the name sub-window 1012.

[0069] In one embodiment, the adjustment method further includes:

[0070] Traverse the internal memory of the servo drive to obtain the current servo automatic control parameters of the servo drive.

[0071] Furthermore, the parameter modification window 101 is also used to display the current servo automatic control parameters of the target axis when the user has not configured the information, so as to facilitate the user to adjust the servo automatic control parameters based on the current servo automatic control parameters.

[0072] S200. Generate and store a servo automatic control parameter configuration table based on the configuration information received by the user configuration page 10.

[0073] It can be understood that when the user configures the servo automatic control parameters of the target axis on the user configuration page 10, a servo automatic control parameter configuration table can be generated based on the configuration information.

[0074] Specifically, as Figure 4 shown, the user configuration page 10 further includes a configuration generation control 102. The method for generating the servo automatic control parameter configuration table includes:

[0075] When the configuration generation control 102 is triggered, the current axis information of the axis object designated control 100 and the current parameters of the parameter modification window 101 are captured to generate a servo automatic control parameter configuration table.

[0076] Among them, the servo automatic control parameter configuration table consists of the associated data of the axis object and the servo automatic control parameters of this axis.

[0077] To facilitate the user to check all the servo automatic control parameter configuration tables configured by him / her, the user configuration page 10 further includes a configuration display area 103, and the configuration display area 103 is used to display all the servo automatic control parameter configuration tables configured by the user.

[0078] Furthermore, the user configuration page 10 further includes a configuration deletion control 104, and the configuration deletion control 104 is used to delete the selected servo automatic control parameter configuration table in the configuration display area 103 when triggered, so as to facilitate the user to manage the servo automatic control parameter configuration table.

[0079] After the user completes the configuration of the servo automatic control parameters, a storage instruction can be sent to store the servo automatic control parameter configuration table configured by him / her in the memory.

[0080] Specifically, the user configuration page 10 includes a configuration storage control 105, and when the configuration storage control 105 is triggered, the servo automatic control parameter configuration table displayed in the configuration display area 103 can be written into a configuration file for storage.

[0081] S300. Provide a user execution page 20.

[0082] Among them, the user execution page 20 is used to display the servo automatic control parameter configuration table and receive execution information for the servo automatic control parameter table.

[0083] After the storage of the servo automatic control parameter configuration table configured by the user is completed in S200, the user execution page 20 can be further provided for the user to select a servo automatic control parameter configuration table for execution.

[0084] Specifically, as Figure 4 shown, the user configuration page 10 may include an execution switching control 106. When the execution switching control 106 is triggered, the user interface can be switched to the user execution page 20, and then the configuration of execution information can be directly performed.

[0085] Please refer to Figure 5 , Figure 5 which is a schematic diagram of an embodiment of the user execution page 20 of the present application. As Figure 5 shown, the user execution page 20 includes a configuration designation control 201, a text box 202, and a configuration execution control 203.

[0086] Among them, the configuration specifying control 201 is used for the user to specify the servo automatic control parameter configuration table in the configuration file. Specifically, when the configuration specifying control 201 is triggered, a drop-down box can be popped up, and the names of the servo automatic control parameter configuration tables in the configuration file can be displayed in the drop-down box. After the user selects the target servo automatic control parameter configuration table and triggers the data generation control 206, the specification of the target servo automatic control parameter configuration table can be completed.

[0087] Of course, in other embodiments, other parameters of the servo automatic parameter configuration table can also be directly displayed in the drop-down box of the configuration specifying control 201, such as directly displaying one or a combination of the speed loop gain, speed loop integral time parameter, position loop gain, and inertia ratio, which can also achieve the effects of this embodiment.

[0088] The text box 202 is used to display the servo automatic control parameter configuration table specified by the user. When the user completes the specification of the servo automatic control parameter configuration table through the configuration specifying control 201, the text box 202 directly displays the servo automatic control parameter configuration table for the user to check.

[0089] The configuration execution control 203 is used to complete the configuration of the execution information of the servo automatic control parameter configuration table displayed in the text box 202 when triggered.

[0090] Furthermore, the user execution page 20 further includes a storage deletion control 204, which is used to delete the servo automatic control parameter configuration table displayed in the text box 202 in the memory when triggered, so as to facilitate the user to manage the servo automatic control parameter configuration table in the configuration file.

[0091] Furthermore, the user execution page 20 further includes a configuration switching control 205. When the configuration switching control 205 is triggered, the user interface can be switched to the user configuration page 10 to facilitate the user to add or adjust the servo automatic control parameter configuration table.

[0092] S400. Based on the execution information received by the user execution page 20, the servo automatic control parameter configuration table is sent to the servo driver to update the current servo automatic control parameters.

[0093] Specifically, when the configuration execution control 203 is used and triggered, the servo automatic control parameter configuration table displayed in the text box 202 can be sent to the servo driver, thereby completing the adjustment and update of the parameters.

[0094] Based on the adjustment methods of the above embodiments, the user can configure the servo self-control parameters of the target axis through the user configuration page 10, generate a servo self-control parameter configuration table, and store the servo self-control parameter configuration table in a configuration file; the user can select the servo self-control parameter configuration table in the configuration file through the user execution page 20 for execution, so as to achieve efficient and fast adjustment of the servo self-control parameters, facilitate real-time adjustment of the servo self-control parameters, and help improve the working effect and performance of the servo system.

[0095] The present application also provides an adjustment device for servo self-control parameters. Please refer to Figure 6 , Figure 6 which is a schematic structural diagram of an embodiment of the adjustment device for servo self-control parameters of the present application.

[0096] As Figure 6 shown, the adjustment device includes a configuration information acquisition module 21, a configuration information storage module 22, an execution information acquisition module 23, and a parameter adjustment module 24.

[0097] Among them, the configuration information acquisition module 21 is used to provide the user configuration page 10, where the user configuration page 10 is used to receive the configuration information of the user for the servo self-control parameters;

[0098] The configuration information storage module 22 is used to generate and store a servo self-control parameter configuration table based on the configuration information received by the user configuration page 10;

[0099] The execution information acquisition module 23 is used to provide the user execution page 20, and the user execution page 20 is used to display the servo self-control parameter configuration table and receive the execution information for the servo self-control parameter table;

[0100] The parameter adjustment module 24 is used to send the servo self-control parameter configuration table to the servo driver based on the execution information received by the user execution page 20 to update the current servo self-control parameters.

[0101] As described above with reference to Figures 1 to 5 , the adjustment method for servo self-control parameters according to the embodiments of the present specification has been described. The details mentioned in the above description of the method embodiments also apply to the adjustment device for servo self-control parameters of the embodiments of the present specification. The above adjustment device for servo self-control parameters can be implemented by hardware, or can be implemented by software or a combination of hardware and software.

[0102] Please refer to Figure 7 , Figure 7 which is the hardware structure diagram of the electronic device of the present application. As Figure 7As shown, the electronic device 30 may include at least one processor 31, a memory 32 (such as a non-volatile memory), a memory 33, and a communication interface 34, and the at least one processor 31, the memory 32, the memory 33, and the communication interface 34 are connected together via a bus 35. The at least one processor 31 executes at least one computer-readable instruction stored or encoded in the memory 32.

[0103] It should be understood that the computer-executable instructions stored in the memory 32, when executed, cause the at least one processor 31 to perform the various operations and functions described above in the respective embodiments of this specification in conjunction with Figures 1 - 5 the descriptions.

[0104] In the embodiments of this specification, the electronic device 30 may include, but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and so on.

[0105] According to one embodiment, a program product such as a machine-readable medium is provided. The machine-readable medium may have instructions (i.e., the elements implemented in software as described above), which when executed by the machine, cause the machine to perform the various operations and functions described above in the respective embodiments of this specification in conjunction with Figures 1 - 5 the descriptions. Specifically, a system or device equipped with a readable storage medium may be provided, on which software program code for implementing the functions of any one of the above embodiments is stored, and the computer or processor of the system or device reads and executes the instructions stored in the readable storage medium.

[0106] In this case, the program code read from the readable medium itself can implement the functions of any one of the above embodiments, so the machine-readable code and the readable storage medium storing the machine-readable code constitute a part of this specification.

[0107] Examples of the readable storage medium include a floppy disk, a hard disk, a magneto-optical disk, an optical disk (such as a CD-ROM, CD-R, CD-RW, DVD-ROM, DVD-RAM, DVD-RW, DVD-RW), a magnetic tape, a non-volatile memory card, and a ROM. Alternatively, the program code may be downloaded from a server computer or a cloud via a communication network.

[0108] Those skilled in the art should understand that the various embodiments disclosed above can be variously deformed and modified without departing from the essence of the invention. Therefore, the protection scope of this specification should be defined by the appended claims.

[0109] It should be noted that not all steps and units in the above-mentioned processes and system structure diagrams are necessary, and some steps or units can be ignored according to actual needs. The execution order of each step is not fixed and can be determined as required. The device structures described in the above embodiments can be physical structures or logical structures. That is, some units may be implemented by the same physical entity, or some units may be implemented separately by multiple physical entities, or some components in multiple independent devices may be jointly implemented.

[0110] In the above embodiments, the hardware units or modules can be implemented mechanically or electrically. For example, a hardware unit, module, or processor can include permanent dedicated circuits or logic (such as a dedicated processor, FPGA, or ASIC) to perform corresponding operations. The hardware unit or processor can also include programmable logic or circuits (such as a general-purpose processor or other programmable processors), which can be temporarily configured by software to perform corresponding operations. The specific implementation method (mechanical method, or dedicated permanent circuit, or temporarily configured circuit) can be determined based on cost and time considerations.

[0111] The specific embodiments described above in conjunction with the accompanying drawings describe exemplary embodiments, but do not represent all embodiments that can be implemented or fall within the scope of the claims. The term "exemplary" used throughout this specification means "serving as an example, instance, or illustration" and does not mean "preferred" or "advantageous" compared to other embodiments. For the purpose of providing an understanding of the described technology, the specific embodiments include specific details. However, these technologies can be implemented without these specific details. In some instances, well-known structures and devices are shown in block diagram form to avoid obscuring the concepts of the described embodiments.

[0112] The above description of the present disclosure is provided to enable any ordinary person skilled in the art to implement or use the present disclosure. Various modifications to the present disclosure are obvious to those of ordinary skill in the art, and the general principles corresponding herein can also be applied to other variations without departing from the scope of the present disclosure. Therefore, the present disclosure is not limited to the examples and designs described herein, but is consistent with the broadest scope that conforms to the principles and novel features disclosed herein.

Claims

1. A method for adjusting servo automatic control parameters, characterized in that: include: Providing a user configuration page, wherein the user configuration page is used to receive user configuration information for servo automatic control parameters; Generate and store a servo automatic control parameter configuration table based on the configuration information received by the user configuration page; Providing a user execution page, wherein the user execution page is used to display the servo automatic control parameter configuration table and receive execution information for the servo automatic control parameter table; Based on the execution information received by the user execution page, the servo automatic control parameter configuration table is sent to the servo driver to update the current servo automatic control parameters.

2. The adjustment method according to claim 1, characterized in that: The user configuration page includes an axis object specifying control and a parameter modification window. The axis object specifying control is used for the user to specify the target axis for which the servo automatic control parameters are to be configured, and the parameter modification window is used to receive the user's configuration information of the servo automatic control parameters for the target axis.

3. The adjustment method according to claim 2, characterized in that: Also includes: Traverse the internal memory of the servo drive to obtain the current servo automatic control parameters of the servo drive; The parameter modification window is also used to display the current servo automatic control parameters of the target axis when the user has not configured the information.

4. The adjustment method according to claim 2, characterized in that: The user configuration page also includes a configuration generation control; The method for generating the servo automatic control parameter configuration table includes: When the configuration generation control is triggered, the current axis information of the axis object designated control and the current parameters of the parameter modification window are captured to generate a servo automatic control parameter configuration table.

5. The adjustment method according to claim 4, characterized in that: The user configuration page also includes a configuration display area and a configuration deletion control, wherein the configuration display area is used to display the servo automatic control parameter configuration table, and the configuration deletion control is used to delete the servo automatic control parameter configuration table selected in the configuration display area when triggered.

6. The adjustment method according to claim 5, characterized in that: The user configuration page also includes a configuration storage control; The storage method of the servo automatic control parameter configuration table includes: When the configuration storage control is triggered, the servo automatic control parameter configuration table displayed in the configuration display area is written into a configuration file for storage.

7. The adjustment method according to claim 1, characterized in that: The user execution page includes a configuration specifying control, a text box and a configuration execution control, wherein the configuration specifying control is used for the user to specify the servo automatic control parameter configuration table in the configuration file, the text box is used to display the servo automatic control parameter configuration table specified by the user, and the configuration execution control is used to receive the user's execution information; The step of sending the servo automatic control parameter configuration table to the servo driver based on the execution information received by the user execution page is specifically: When the configuration execution control is triggered, the servo automatic control parameter configuration table displayed in the text box is sent to the servo driver.

8. The adjustment method according to claim 7, characterized in that: The user execution page also includes a storage deletion control, and the storage deletion control is used to delete the servo automatic control parameter configuration table displayed in the text box in the memory when triggered.

9. The adjustment method according to claim 1, characterized in that: The servo self-control parameters include one or more combinations of a speed loop gain, a speed loop integral time parameter, a position loop gain, and a rotational inertia ratio.

10. A device for adjusting servo automatic control parameters, characterized in that: include: A configuration information acquisition module, used to provide a user configuration page, wherein the user configuration page is used to receive user configuration information for servo automatic control parameters; A configuration information storage module, used to generate and store a servo automatic control parameter configuration table based on the configuration information received from the user configuration page; An execution information acquisition module, used for providing a user execution page, wherein the user execution page is used for displaying the servo automatic control parameter configuration table and receiving execution information for the servo automatic control parameter table; The parameter adjustment module is used to send the servo automatic control parameter configuration table to the servo driver based on the execution information received by the user execution page to update the current servo automatic control parameters.

11. An electronic device, comprising: at least one processor; as well as A memory storing instructions, wherein when the instructions are executed by the at least one processor, the at least one processor executes the method for adjusting the servo automatic control parameters as described in any one of claims 1 to 9. 12 . A machine-readable storage medium storing executable instructions, wherein when the instructions are executed, the machine executes the method for adjusting the servo automatic control parameters according to claim 1 .

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