Waterproof high-torque servo motor

Abstract

The invention relates to the technical field of case resource matching, in particular to a waterproof high-torque servo motor which comprises a servo motor body and a motor controller connected to the motor body, and the motor controller comprises a controller shell. The external display is arranged on the controller shell, and the controller shell is also provided with a motor winding interface, a control port and a power supply interface. The monitoring module is reasonably constructed, the servo motor is monitored in real time in the operation process of the servo motor, real-time adjustment is achieved, and normal operation of the motor is helped.

Description

Technical Field

[0001] The present invention relates to the technical field of motor monitoring, and in particular to a waterproof high-torque servo motor. Background Art

[0002] As a high-precision and high-response actuator, servo motors are widely used in industrial automation, robotics, precision manufacturing and other fields.

[0003] When applied underwater, for single data, the existing method mostly relies on the feedback information of a single sensor (such as an encoder), and uses PID control to correct errors.

[0004] Although the PID control method and sensors can achieve the regulation of waterproof servo motors, they lack real-time monitoring. In the face of sudden load changes, they cannot achieve fault warning and adaptive compensation. Moreover, traditional PID control is difficult to quickly suppress disturbances due to fixed parameters, and is prone to oscillation or overshoot. Therefore, how to reasonably construct a monitoring module to realize real-time monitoring of the servo motor during operation and make real-time adjustments to help the motor operate normally is an urgent problem to be solved. Summary of the Invention

[0005] The present invention provides a waterproof high-torque servo motor, and its main purpose is to reasonably construct a monitoring module to realize real-time monitoring of the servo motor during operation and make real-time adjustments to help the motor operate normally.

[0006] To achieve the above object, a waterproof high-torque servo motor provided by the present invention includes:

[0007] A servo motor, which includes a motor body and a motor controller connected to the motor body.

[0008] The motor controller includes a controller housing, an external display provided on the controller housing, and a motor winding interface, a control port and a power supply interface are also provided on the controller housing.

[0009] To achieve the above object, the present invention also provides a method for monitoring a waterproof high-torque servo motor, including:

[0010] Receiving a control instruction based on the control port, parsing the control instruction to obtain target parameters, generating a motor control signal based on the target parameters, and amplifying the motor control signal by using a pre-constructed power drive module to obtain an amplified signal, and driving the motor body to operate by using the amplified signal;

[0011] Monitoring the real-time operation information of the operating motor body by using a pre-constructed monitoring module, wherein the real-time operation information includes a plurality of target information;

[0012] Extract target information from the real-time operation information in sequence, obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set;

[0013] Summarize the deviation values to obtain a deviation value set, generate an optimized control signal according to the deviation value set and the motor control signal, use the optimized control signal as the motor control signal, and return to the step of amplifying the motor control signal by using a pre-built power drive module until the motor body stops running, completing the monitoring of the waterproof high-torque servo motor.

[0014] Optionally, the use of a pre-built monitoring module to monitor the real-time operation information of the running motor body includes:

[0015] Perform the following operations on each of the multiple target information:

[0016] Obtain the monitoring method set of the target information, extract the monitoring methods from the monitoring method set in sequence, and obtain the unit monitoring element set based on the extracted monitoring methods;

[0017] Summarize the unit monitoring element sets to obtain the to-be-screened monitoring element set corresponding to multiple target information, and screen the to-be-screened monitoring element set to obtain the monitoring element set;

[0018] Construct a monitoring module based on the monitoring element set and the multiple target information, and use the monitoring module to monitor the real-time operation information of the running motor body.

[0019] Optionally, the screening of the to-be-screened monitoring element set to obtain the monitoring element set includes:

[0020] Perform a deduplication operation on the screening monitoring element set to obtain a monitoring element sequence, extract target elements from the monitoring element sequence in sequence, and obtain all the target information corresponding to the target elements to obtain a measurable parameter group, count the number of target information in the measurable parameter group to obtain the number of measurable parameters, and associate the number of measurable parameters, the measurable parameter group and the target element to obtain a target parameter group, where the target parameter group includes the number of measurable parameters, the measurable parameter group and the target element;

[0021] Summarize the target parameter groups in descending order of the number of measurable parameters to obtain a target parameter group set, and screen out the monitoring element set based on the target parameter group set.

[0022] Optionally, the screening out of the monitoring element set based on the target parameter group set includes:

[0023] Extract the target parameter groups from the target parameter group set in sequence, and perform the following operations on the extracted target parameter groups:

[0024] If the number of measurable parameters in the extracted target parameter group is not 1, identify the target parameter group with the same number of measurable parameters as the extracted target parameter group from the target parameter group set to obtain a comparison parameter group set;

[0025] If the comparison parameter group set is an empty set, confirm the target component corresponding to the extracted target parameter group as a monitoring component;

[0026] If the comparison parameter group set is not an empty set, summarize all the target components corresponding to the comparison parameter group set and the extracted target parameter group to obtain a set of components to be estimated, use the pre-constructed analytic hierarchy process to screen out optimized components from the set of components to be estimated, and confirm the optimized components as monitoring components;

[0027] If the number of measurable parameters in the extracted target parameter group is 1, obtain the set of already measurable target information, and determine whether the target information in the extracted target parameter group exists in the set of already measurable target information. If not, confirm the target component corresponding to the extracted target parameter group as a monitoring component; otherwise, skip the extracted target parameter group;

[0028] Summarize the monitoring components to obtain a monitoring component set.

[0029] Optionally, constructing the monitoring module based on the monitoring component set and the multiple target information includes:

[0030] Extract target information from the multiple target information in sequence to obtain verification information, and perform the following operations on the verification information:

[0031] Obtain all the unit monitoring components corresponding to the verification information to obtain an initial component set,

[0032] Determine whether there are monitoring components in the monitoring component set that are the same as the initial components in the initial component set;

[0033] If there are, skip the verification information; otherwise, use the pre-constructed analytic hierarchy process, the pre-constructed component evaluation index set, and the initial component set to obtain the optimal unit components, summarize the optimal unit components and the monitoring component set to obtain an updated monitoring component set;

[0034] Use the updated monitoring component set as the monitoring component set, and return to the step of extracting target information from the multiple target information in sequence until there are monitoring components in the monitoring component set that are the unit monitoring components in the corresponding unit monitoring component set for each target information in the multiple target information, obtain a monitoring module component set, and construct a monitoring module based on the monitoring module component set.

[0035] Optionally, obtaining the preset standard information and the actual value set corresponding to the target information, and calculating the deviation value based on the preset standard information and the actual value set includes:

[0036] If there is an actual value in the set of actual values, calculate the deviation value based on a preset single-component error calculation formula and the set of actual values. The single-component error calculation formula is as follows:

[0037] ε 1 = N re1 - N st1

[0038] Where ε 1 is the deviation value when there is an actual value in the set of actual values, N re1 represents the set of actual values, and N st1 represents the preset standard information;

[0039] If there are multiple actual values in the set of actual values, calculate the deviation value using the preset standard information, the multi-component error calculation formula, and the set of actual values. The multi-component error calculation formula is as follows:

[0040]

[0041] Where ε 2 is the deviation value when there are multiple actual values in the set of actual values, represents the i-th actual value among multiple actual values, and n represents the total number of multiple actual values.

[0042] Optionally, generate an optimized control signal according to the set of deviation values and the motor control signal, including:

[0043] Obtain multiple groups of safety control intervals based on multiple target information and a pre-constructed fuzzy control algorithm. Among them, each group of safety control intervals corresponds to the target information one by one, and each group of safety control intervals includes multiple safety control intervals. Each safety control interval in the multiple safety control intervals corresponds to a fuzzy optimization signal;

[0044] Extract the deviation values from the set of deviation values in sequence, and perform the following operations on each of the extracted deviation values:

[0045] Identify the target information corresponding to the deviation value based on the multiple target control information, and identify the group of safety control intervals corresponding to the deviation value based on the target information;

[0046] If the deviation value is not within the group of safety control intervals, generate an abnormal signal and send the abnormal signal to an external display. Otherwise, based on a pre-constructed user terminal receiving a modulation instruction, identify the control interval boundary with the smallest Euclidean distance between the group of safety control intervals and the deviation value according to the modulation instruction, generate an initial modulation signal based on the deviation value and the control interval boundary, obtain the fuzzy optimization signal corresponding to the control interval boundary, and generate an optimized control signal based on the fuzzy optimization signal and the initial modulation signal. The calculation formula of the initial modulation signal is as follows:

[0047]

[0048] Among them, u(t) represents the initial modulation signal, w(t) represents the deviation value and the error signal generated by the boundary of the control interval, and k 1 represents the proportionality coefficient, and k 2 represents the integral coefficient, and k 3 represents the differential coefficient, and t represents the time variable;

[0049] If the deviation value is within the safety control interval group, identify the safety control interval corresponding to the deviation value, extract the fuzzy optimization signal of the safety control interval, and obtain the optimized control signal.

[0050] Optionally, before receiving the control instruction based on the control port, it further includes:

[0051] Obtain a waterproof test instruction, and confirm a waterproof test device based on the waterproof test instruction. Among them, the waterproof test device includes: a spraying mechanism, a motor placement station, and a waterproof test device housing;

[0052] Import the pre-built initial motor into the motor placement station in the waterproof test device housing to obtain the motor to be tested. Use the preset spraying pressure sequence to construct a spraying parameter group, set the spraying mechanism based on the spraying parameter group, and start the set spraying mechanism to monitor the electrical performance parameters of the motor to be tested in real time;

[0053] When monitoring the electrical performance parameters of the motor to be tested in real time, if the electrical performance parameters of the motor to be tested show preset abnormal parameters, stop the set spraying mechanism, and obtain the initial waterproof performance parameters of the motor to be tested based on the stopped set spraying mechanism;

[0054] Obtain the waterproof performance parameters of the motor to be tested based on the preset number of experiments and the initial waterproof performance parameters. If the waterproof performance parameters meet the preset target waterproof parameters, confirm the motor to be tested as a servo motor.

[0055] To achieve the above object, the present invention also provides a waterproof high-torque servo motor monitoring system, including:

[0056] A signal receiving module, configured to receive a control instruction based on a control port, parse the control instruction to obtain target parameters, generate a motor control signal based on the target parameters, and amplify the motor control signal using a pre-built power driving module to obtain an amplified signal, and drive the motor body to operate using the amplified signal;

[0057] A deviation value calculation module is used to monitor the real-time operation information of the motor body in operation by using a pre-built monitoring module. Among them, the real-time operation information includes multiple target information. The target information is sequentially extracted from the real-time operation information, and the preset standard information and the actual value set corresponding to the target information are obtained. The deviation value is calculated based on the preset standard information and the actual value set;

[0058] An optimization signal generation module is used to summarize the deviation values to obtain a deviation value set, and generate an optimized control signal according to the deviation value set and the motor control signal;

[0059] An adjustment module is used to use the optimized control signal as the motor control signal, return the step of amplifying the motor control signal by using a pre-built power drive module until the motor body stops operating, and complete the monitoring of the waterproof high-torque servo motor.

[0060] To solve the above problems, the present invention also provides an electronic device, and the electronic device includes:

[0061] A memory that stores at least one instruction;

[0062] A processor that executes the instructions stored in the memory to implement the above-mentioned waterproof high-torque servo motor monitoring method.

[0063] To solve the above problems, the present invention also provides a computer-readable storage medium, and at least one instruction is stored in the computer-readable storage medium. The at least one instruction is executed by a processor in an electronic device to implement the above-mentioned waterproof high-torque servo motor monitoring method.

[0064] To solve the problems described in the background art, the present invention receives a control instruction based on a control port, parses the control instruction to obtain target parameters, generates a motor control signal based on the target parameters, and uses a pre-constructed power drive module to amplify the motor control signal to obtain an amplified signal, and uses the amplified signal to drive the operation of the motor body. For monitoring the real-time operation information of the operating motor body using a pre-constructed monitoring module, when constructing the monitoring module, the present invention preferentially considers target components that can simultaneously monitor multiple target information, thereby simplifying the structure of the monitoring module for monitoring the servo motor, and attempting to improve the accuracy of monitoring multiple target information on the premise of adding as few components as possible in the monitoring module. The present invention also verifies the monitoring components in the monitoring component set to ensure that the monitoring component set can completely detect each target information in the multiple target information. Guided by multiple target information, the monitoring module components used in the final monitoring module are preliminarily confirmed, so that it is not necessary for a person to screen one by one from a large number of components, nor is it necessary for too much expert experience, and the monitoring module component set can be screened out, providing an effective reference for the construction of the monitoring module and saving human resources. The present invention sequentially extracts target information from the real-time operation information, obtains the preset standard information and the actual value set corresponding to the target information, calculates the deviation value based on the preset standard information and the actual value set, summarizes the deviation values to obtain a deviation value set, and generates an optimized control signal according to the deviation value set and the motor control signal. Taking the optimized control signal as the motor control signal, return to the step of using the pre-constructed power drive module to amplify the motor control signal until the motor body stops operating, completing the monitoring of the waterproof high-torque servo motor. The present invention uses the fuzzy PID control method to construct a safety control interval group. When the error value is within the safety control interval group, directly apply the fuzzy control rules corresponding to the safety control interval group to extract the fuzzy optimization signal for adjusting the servo motor, thereby increasing the response speed of the servo motor. When the error value is not within the safety control interval, identify the control interval boundary, find the interval boundary of the safety control interval closest to the error value, generate an initial modulation signal based on the deviation value and the control interval boundary, so that the error value is adjusted to within the safety control interval group, and then use the fuzzy PID control method combined with the initial modulation signal to generate an optimized control signal. Therefore, the present invention can realize real-time monitoring of the servo motor during the operation of the servo motor and real-time adjustment to help the motor operate normally. Description of the Drawings

[0065] Figure 1 It is a schematic flow chart of a method for monitoring a waterproof high-torque servo motor provided by an embodiment of the present invention;

[0066] Figure 2 It is a schematic external structure diagram of a waterproof high-torque servo motor provided by an embodiment of the present invention;

[0067] Figure 3 It is a functional module diagram of a waterproof high-torque servo motor system provided by an embodiment of the present invention;

[0068] Figure 4 It is a schematic structural diagram of an electronic device for implementing the waterproof high-torque servo motor monitoring method provided by an embodiment of the present invention.

[0069] Description of reference numerals:

[0070] 1. Electronic device; 10. Processor; 11. Memory; 12. Bus;

[0071] 200. Motor controller;

[0072] 201. Controller housing; 202. External display; 203. Motor winding interface; 204. Control port; 205. Power supply interface;

[0073] The realization, functional features and advantages of the object of the present invention will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0074] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not used to limit the present invention.

[0075] The embodiments of the present application provide a waterproof high-torque servo motor monitoring method. The execution subject of the waterproof high-torque servo motor monitoring method includes, but is not limited to, at least one of electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiments of the present application. In other words, the waterproof high-torque servo motor monitoring method can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes, but is not limited to: a single server, a server cluster, a cloud server, or a cloud server cluster, etc.

[0076] Refer to Figure 1 As shown, it is a schematic flowchart of a waterproof high-torque servo motor monitoring method provided by an embodiment of the present invention. In this embodiment, the waterproof high-torque servo motor monitoring method includes:

[0077] S1. Receive a control instruction based on a control port, parse the control instruction to obtain target parameters, generate a motor control signal based on the target parameters, and amplify the motor control signal by using a pre-built power drive module to obtain an amplified signal, and drive the operation of the motor body by using the amplified signal.

[0078] Specifically, for the servo motor, the servo motor includes a motor body and a motor controller 200 connected to and provided on the motor body;

[0079] The motor controller 200 includes a controller housing 201, an external display 202 provided on the controller housing 201, a motor winding interface 203, a control port 204, and a power supply interface 205 also provided on the controller housing 201.

[0080] It should be noted that the motor controller is a controller for controlling the operation of a motor, such as a servo driver, a stepper driver, etc. The controller housing is the outer shell of the motor controller. The external display is a display screen installed on the motor controller. The motor winding interface is an interface for connecting the internal stator winding of the motor to the driver. The control port is an interface for the motor controller to receive external control instructions and send signals. The power supply interface is an interface for the motor controller to connect to the power supply. The motor body is a waterproof high-torque servo motor. The specific structure of the motor controller is as Figure 3 shown.

[0081] Further, before receiving the control instruction based on the control port, it further includes:

[0082] Obtain a waterproof test instruction, and confirm a waterproof test device based on the waterproof test instruction. Among them, the waterproof test device includes: a spraying mechanism, a motor placement station, and a waterproof test device housing;

[0083] Import a pre-built initial motor into the motor placement station in the waterproof test device housing to obtain a motor to be tested. Use a preset spraying pressure sequence to construct a spraying parameter group, set the spraying mechanism based on the spraying parameter group, and start the set spraying mechanism, and monitor the electrical performance parameters of the motor to be tested in real time;

[0084] When the electrical performance parameters of the motor to be tested are monitored in real time, if the electrical performance parameters of the motor to be tested show preset abnormal parameters, stop the set spraying mechanism, and obtain the initial waterproof performance parameters of the motor to be tested based on stopping the set spraying mechanism;

[0085] Obtain the waterproof performance parameters of the motor to be tested based on the preset number of experiments and the initial waterproof performance parameters. If the waterproof performance parameters meet the preset target waterproof parameters, confirm the motor to be tested as a servo motor.

[0086] It should be noted that the waterproof test device housing is the outer shell of the waterproof test device. The spraying mechanism and the motor placement station are both inside the waterproof test device housing. The initial motor is a motor of the same type and model as the servo motor in the embodiment of the present invention, and is used for waterproof testing. The motor placement station is a position for placing the initial motor during waterproof performance testing. The spraying mechanism is a mechanism that can set the spraying pressure of the nozzle and can rotate 360 degrees. The spraying pressure sequence is a sequence composed of multiple spraying pressures, and the spraying pressures are sorted in ascending order.

[0087] It should be noted that constructing the spray parameter group by using the preset spray pressure sequence and spray pressure angle includes:

[0088] Obtain the rotation speed of the nozzle of the spray mechanism, sequentially extract the spray pressure from the spray pressure sequence, associate the rotation speed and the extracted spray pressure by using the preset number of rotation circles, obtain the spray parameters, and summarize the spray parameters to obtain the spray parameter group.

[0089] Specifically, setting the spray mechanism by using the spray parameter group is prior art. For example, if the existing spray parameter groups are [a, b, c] and [e, f, g], then first operate the spray mechanism according to the spray pressure a (Mpa), rotation speed b (rad / s), and number of rotation circles c, and then operate the spray mechanism according to the spray pressure e (Mpa), rotation speed f (rad / s), and number of rotation circles g. During the operation process, monitor the electrical performance parameters of the motor under test at a preset fixed frequency, such as insulation resistance, winding resistance, leakage current, motor temperature rise, etc. When a certain parameter in the electrical performance parameters is abnormal, the electrical performance parameters at this time are confirmed as abnormal parameters. For example, when the leakage current exceeds the preset current value, it indicates that the motor under test has a fault and there may be water ingress, so the electrical performance parameters at this time are confirmed as abnormal parameters. The initial waterproof performance parameter is the waterproof performance parameter of the motor under test after stopping the set spray mechanism, such as the maximum spray pressure of the spray mechanism that the motor under test can withstand.

[0090] Furthermore, the number of experiments is the number of times of performing the waterproof test by repeatedly executing the waterproof test instruction, and the target waterproof parameter is the desired waterproof performance parameter of the motor under test set artificially. In the embodiment of the present invention, the waterproof performance of the motor is tested by the spray test method, and multiple experiments are carried out to reduce accidental errors and improve the accuracy of the measured waterproof performance parameters.

[0091] It should be noted that the control instruction is an instruction for controlling the motor controller, including the target speed, steering, acceleration, etc. Therefore, by analyzing the control instruction in the embodiment of the present invention, the target parameters can be obtained, and at this time, the target parameters include the target speed, steering, acceleration, etc. The motor control signal is a signal for controlling the operation of the servo motor, and the power drive module is a module for amplifying the motor control signal, which is used to convert the motor control signal into an amplified signal capable of driving the motor to rotate. Driving the motor body to operate by using the amplified signal is prior art and will not be elaborated here.

[0092] S2. Use the pre-constructed monitoring module to monitor the real-time operation information of the operating motor body, where the real-time operation information includes multiple target information.

[0093] Specifically, the multiple target information includes, but is not limited to: current value, voltage value, output torque value, motor position information, load value, etc., which are mainly the information obtained when monitoring the operation of the motor body.

[0094] Further, the use of a pre-constructed monitoring module to monitor the real-time operation information of the operating motor body includes:

[0095] Perform the following operations on each of the multiple target information:

[0096] Obtain a set of monitoring methods for the target information, sequentially extract monitoring methods from the set of monitoring methods, and obtain a set of unit monitoring components based on the extracted monitoring methods;

[0097] Summarize the set of unit monitoring components to obtain a set of to-be-screened monitoring components corresponding to the multiple target information, and screen the set of to-be-screened monitoring components to obtain a set of monitoring components;

[0098] Construct a monitoring module based on the set of monitoring components and the multiple target information, and use the monitoring module to monitor the real-time operation information of the operating motor body.

[0099] It should be noted that the set of monitoring methods is a set composed of methods capable of detecting target information. And the monitoring methods can be realized through various existing technologies. For example, if the target information is motor position information, an incremental encoder or an absolute encoder can be used to monitor the motor position information, a position observer can also be used to monitor the motor position information, or a magnet and a Hall sensor can be used to detect the angle, and a digital signal is output through the detected angle, and the digital signal is used to calculate the motor position information. If the target information is voltage value, a Hall sensor can be used for monitoring, the voltage can be obtained by using the signal fed back by the control port, and a voltage sensor can also be used to detect the voltage. Then the set of monitoring methods corresponding to the motor position information is measurement using an incremental encoder or an absolute encoder, measurement using the digital signal of a Hall sensor, and measurement using a position observer. And so on, which will not be elaborated here.

[0100] Specifically, the set of unit monitoring components is a set composed of unit monitoring components that can be used in the extracted monitoring methods. For example, an incremental encoder or an absolute encoder can be used to monitor the motor position information. Therefore, in this monitoring method, the corresponding set of unit monitoring components is an incremental encoder and an absolute encoder. If a magnet and a Hall sensor are used to detect the angle, a digital signal is output through the detected angle, and the digital signal is used to calculate the motor position information, then there is only one unit monitoring component in the corresponding set of unit monitoring components, and the one unit monitoring component is a Hall sensor.

[0101] Further, screening the set of monitoring components to be screened to obtain a set of monitoring components includes:

[0102] Performing a duplicate removal operation on the set of screening monitoring components to obtain a sequence of monitoring components, sequentially extracting target components from the sequence of monitoring components, and obtaining all target information corresponding to the target components to obtain a set of measurable parameters, counting the number of target information in the set of measurable parameters to obtain the number of measurable parameters, and associating the number of measurable parameters, the set of measurable parameters, and the target components to obtain a set of target parameters, where the set of target parameters includes the number of measurable parameters, the set of measurable parameters, and the target components;

[0103] Summarizing the set of target parameters in descending order of the number of measurable parameters to obtain a set of target parameter groups, and screening out a set of monitoring components based on the set of target parameter groups.

[0104] Exemplarily, if there is the following data:

[0105] All unit monitoring components corresponding to target information A are: component a, component b, component c;

[0106] All unit monitoring components corresponding to target information B are: component a, component b, component c;

[0107] All unit monitoring components corresponding to target information C are: component b, component d;

[0108] All unit monitoring components corresponding to target information D are: component e;

[0109] Then the set of monitoring components to be screened includes: component a, component b, component c, component a, component b, component c, component b, component d, and component e. Removing the duplicate components in the set of monitoring components to be screened, the obtained sequence of monitoring components is: component a, component b, component c, component d, component e. Sequentially extracting target components from the sequence of monitoring components, assuming the target component is component a, then since in the above data, component a can measure target information A and target information B, all target information corresponding to the target component is obtained as target information A and target information B, so the set of measurable parameters is target information A and target information B. Further, at this time, the number of measurable parameters is 2, so the number of measurable parameters, the set of measurable parameters, and the target component are associated to obtain the set of target parameters as: [2-(target information A, target information B)-component a], and so on, the set of target parameters can be obtained as: [2-(target information A, target information B)-component a], [3-(target information A, target information B, target information C)-component b], [2-(target information A, target information B)-component c], [1-(target information C)-component d], [1-(target information D)-component e], summarizing the set of target parameters in descending order of the number of measurable parameters, for the sake of illustration, assuming the obtained set of target parameter groups is represented as:

[0110] The first set of target parameters [3 - (Target Information A, Target Information B, Target Information C) - Component b],

[0111] The second set of target parameters [2 - (Target Information A, Target Information B) - Component a],

[0112] The third set of target parameters [2 - (Target Information A, Target Information B) - Component c]

[0113] The fourth set of target parameters [1 - (Target Information C) - Component d],

[0114] The fifth set of target parameters [1 - (Target Information D) - Component e].

[0115] Furthermore, the set of monitoring components screened based on the set of target parameter groups includes:

[0116] Extract the target parameter groups from the set of target parameter groups in sequence, and perform the following operations on the extracted target parameter groups:

[0117] If the number of measurable parameters of the extracted target parameter group is not 1, identify the target parameter groups in the set of target parameter groups that have the same number of measurable parameters as the extracted target parameter group to obtain a set of comparison parameter groups;

[0118] If the set of comparison parameter groups is an empty set, confirm the target component corresponding to the extracted target parameter group as a monitoring component;

[0119] If the set of comparison parameter groups is not an empty set, summarize all the target components corresponding to the set of comparison parameter groups and the extracted target parameter group to obtain a set of components to be estimated, and use the pre - constructed analytic hierarchy process to screen out the optimized components from the set of components to be estimated, and confirm the optimized components as monitoring components;

[0120] If the number of measurable parameters of the extracted target parameter group is 1, obtain the set of already measurable target information, and judge whether the target information in the extracted target parameter group exists in the set of already measurable target information. If not, confirm the target component corresponding to the extracted target parameter group as a monitoring component; otherwise, skip the extracted target parameter group;

[0121] Summarize the monitoring components to obtain a set of monitoring components.

[0122] It should be noted that the comparison parameter group set is a set composed of other target parameter groups in the target parameter group set that have the same number of measurable parameters as the extracted target parameter group and exclude the extracted target parameter group. Since the target parameter group set of the present invention is sorted according to the number of measurable parameters, when extracting the target parameter group from the target parameter group set in sequence, the number of measurable parameters of the first extracted target parameter group is the largest. That is to say, the target information that the corresponding target component can monitor accounts for the largest proportion in the target information set. At this time, it is preferred to consider using this target component in the servo motor, which can monitor multiple target information at the same time, thereby simplifying the structure of the monitoring module for monitoring the servo motor.

[0123] Exemplarily, for the convenience of explanation, continuing with the example according to the target parameter group set in the previous example, if the extracted target parameter group is the first target parameter group, the number of measurable parameters of the first target parameter group is 3. If no other target parameter groups in the target parameter group set have the same number of measurable parameters as the extracted target parameter group and exclude the extracted target parameter group, it is considered that the comparison parameter group set is an empty set. At this time, it indicates that the target component in the first target parameter group can monitor the most target information among multiple target information. Therefore, the component b corresponding to the first target parameter group is confirmed as the monitoring component.

[0124] Furthermore, after extracting the first target parameter group and then extracting the second target parameter group, the comparison parameter group set of the second target parameter group can be obtained as the third target parameter group. At this time, the comparison parameter group set is not an empty set. Therefore, all the target components in the second target parameter group and the third target parameter group are extracted to obtain the set of components to be estimated, and the analytic hierarchy process is used to screen out the optimized components from the set of components to be estimated. The analytic hierarchy process is a prior art. When using the analytic hierarchy process to analyze the set of components to be estimated, multiple evaluation criteria can be set, such as: the price of the component, the accuracy of the component in testing the target information, etc. The specific evaluation criteria can be set by humans, so as to be able to screen out the optimized components from the set of components to be estimated. Therefore, when the comparison parameter group set is not an empty set, the embodiment of the present invention aims to use the analytic hierarchy process to extract an optimized component that best meets the human expectation from the second target parameter group and the comparison parameter group set, and use the optimized component as the monitoring component.

[0125] It should be noted that in the embodiments of the present invention, the measurable target information set is a set composed of all the target information that can be monitored by all the monitoring components corresponding to the parsed target parameter groups after successively extracting the target parameter groups from the target parameter group set and successively parsing the target parameter groups. For example, in the previous example, if the optimization component is confirmed as component a, then in the first target parameter group, target information A, target information B, and target information C can be monitored, and in the second target parameter group, target information A and target information B can be monitored. In the fourth target parameter group, the number of measurable parameters is 1. At this time, it is necessary to obtain the measurable target information set, and the measurable target information set is: target information A, target information B, and target information C.

[0126] It can be understood that in the embodiments of the present invention, when parsing the target parameter group set, it is expected that a target component can monitor as many target information as possible. Therefore, component b corresponding to the first target parameter group in the above embodiments is retained. In the second target parameter group and the third target parameter group, even though the target information they correspond to can be monitored by component b, an optimization component is still selected from them. This is because, since the optimization component still has the function of testing multiple target information, it can be used to verify all the target information measured by component b, so as to improve the accuracy of monitoring multiple target information on the premise of adding as few components as possible in the monitoring module. However, when the number of measurable parameters of the extracted target parameter group is 1, it means that the corresponding target component can only measure one target information. If this target information has been measured by other target components that can measure multiple target information, then retaining the target component corresponding to the target parameter group is redundant. Therefore, only when the target information in the extracted target parameter does not exist in the measurable target information set, the corresponding target component is retained. And the target component corresponding to the extracted target parameter group is confirmed as the monitoring component.

[0127] Exemplarily, after the steps in the previous text of the embodiments of the present invention, the target component corresponding to the fourth target parameter group is d, and the target information that can be monitored is target information c. However, target information c can already be measured by component b. Therefore, the target component corresponding to the fourth target parameter group is skipped. So far, the monitoring component set in the embodiments of the present invention is component b, component a, and component d.

[0128] Further, constructing the monitoring module based on the monitoring component set and the multiple target information includes:

[0129] Successively extract target information from the multiple target information to obtain verification information, and perform the following operations on the verification information:

[0130] Obtain all the unit monitoring components corresponding to the verification information to obtain the initial component set,

[0131] Determine whether there is a monitoring component in the monitoring component set that is the same as the initial component in the initial component set;

[0132] If there is, skip the verification information; otherwise, obtain the optimal unit component by using the pre - constructed analytic hierarchy process, the pre - constructed component evaluation index set, and the initial component set, summarize the optimal unit component and the monitoring component set to obtain an updated monitoring component set;

[0133] Use the updated monitoring component set as the monitoring component set, and return to the step of sequentially extracting target information from multiple target information until there is a unit monitoring component in the corresponding unit monitoring component set for each target information in the multiple target information in the monitoring component set, obtain a monitoring module component set, and construct a monitoring module based on the monitoring module component set.

[0134] It should be noted that the initial component set is a set composed of all unit monitoring components corresponding to the verification information. This step aims to verify the monitoring components in the monitoring component set to determine whether the monitoring component set can completely detect each target information in the multiple target information. Therefore, in the embodiment of the present invention, it is determined whether there is a monitoring component in the monitoring component set that is the same as the initial component in the initial component set. If there is, the extracted verification information is skipped. If not, it means that after the screening in the previous text of the embodiment of the present invention, all unit monitoring components that can measure the verification information have been eliminated. Therefore, components that can detect the verification information need to be additionally supplemented here.

[0135] It can be understood that the component evaluation index set is a set of evaluation indexes constructed for all the to - be - supplemented component sets for the verification information, which can be set manually. The optimal unit component is the unit monitoring component selected from the initial component set for measuring the verification information. The constructing the monitoring module based on the monitoring module component set is: assembling all the monitoring module components screened in the embodiment of the present invention, and evaluating through experts, and finally obtaining the monitoring module.

[0136] It should be understood that, it should also be noted that when the embodiments of the present invention obtain the monitoring method and the unit monitoring element set, they do not endlessly obtain all monitoring methods and unit monitoring elements. Exemplarily, it can be obtained from sources such as papers, websites, books and periodicals. For example, after Xiao Zhang searches several papers, he finds that these papers all illustrate the use of common elements E, element P, element K, element L, and element F to detect the motor position, and the papers show that these elements have good effects on monitoring the motor position. Substantially, through methods such as database retrieval, there must be other elements that can monitor the motor position, but at this time, it is no longer necessary for Xiao Zhang to conduct excessive searches to find all the elements that can monitor the motor position. At the same time, Xiao Zhang does not have a deep understanding of elements E, element P, element K, element L, and element F. Therefore, the embodiments of the present invention use the foregoing steps to preliminarily confirm the monitoring module elements used in the final monitoring module based on multiple target information, so that it is not necessary for people to screen one by one from a large number of elements, nor is it necessary for excessive expert experience, and the monitoring module element set can be screened out, providing an effective reference for the construction of the monitoring module and saving human resources.

[0137] S3. Sequentially extract target information from the real-time operation information, obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set.

[0138] It should be noted that for one target information, there should only be one preset standard information, and the preset standard information is the ideal information obtained through precise calculation. For example, when the servo motor rotates for 30s, the ideal motor position information of the servo motor. However, during the actual operation of the servo motor, due to various reasons (such as dust, stones, response delay) or errors, the actual position information of the motor may deviate from the preset standard information. Therefore, it is necessary to adjust this deviation as much as possible to ensure the normal operation of the servo motor.

[0139] Furthermore, the step of obtaining the preset standard information and the actual value set corresponding to the target information and calculating the deviation value based on the preset standard information and the actual value set includes:

[0140] If there is one actual value in the actual value set, calculate the deviation value based on the preset single-element error calculation formula and the actual value set, where the single-element error calculation formula is as follows:

[0141] ε 1 =N re1 -N st1

[0142] where ε 1 is the deviation value when there is one actual value in the actual value set, and N re1 represents the actual value set, Nst1 Represents preset standard information;

[0143] If there are multiple actual values in the actual value set, the deviation value is calculated using the preset standard information, the multi-component error calculation formula, and the actual value set. The multi-component error calculation formula is as follows:

[0144]

[0145] Where ε 2 Is the deviation value when there are multiple actual values in the actual value set, Represents the i-th actual value among multiple actual values, and n represents the total number of multiple actual values.

[0146] It should be noted that the actual value set is a set composed of all actual numerical values corresponding to the target information monitored by the monitoring components in the monitoring component set. If there are multiple actual values in the actual value set, it means that there are multiple ways to monitor the target information in the monitoring module. For example, in the previous example of the present invention, both component a and component b can monitor the target information A. For the target information A, the actual value detected by component a can be obtained, and the actual value detected by component b can also be obtained.

[0147] S4. Aggregate the deviation values to obtain a deviation value set, and generate an optimized control signal according to the deviation value set and the motor control signal.

[0148] Further, generating an optimized control signal according to the deviation value set and the motor control signal includes:

[0149] Obtain multiple safety control interval groups based on multiple target information and a pre-constructed fuzzy control algorithm. Among them, the safety control interval groups correspond to the target information one by one, and each safety control interval group includes multiple safety control intervals. Each safety control interval in the multiple safety control intervals corresponds to a fuzzy optimization signal;

[0150] Extract the deviation values from the deviation value set in sequence, and perform the following operations on each of the extracted deviation values:

[0151] Identify the target information corresponding to the deviation value based on the multiple target control information, and identify the safety control interval group corresponding to the deviation value based on the target information;

[0152] If the deviation value is not within the safety control interval group, an abnormal signal is generated and sent to an external display. Otherwise, based on a pre-constructed client receiving modulation instructions, the control interval boundary with the smallest Euclidean distance between the safety control interval group and the deviation value is identified according to the modulation instructions. An initial modulation signal is generated based on the deviation value and the control interval boundary, a fuzzy optimization signal corresponding to the control interval boundary is obtained, and an optimized control signal is generated based on the fuzzy optimization signal and the initial modulation signal. The calculation formula for the initial modulation signal is as follows:

[0153]

[0154] where u(t) represents the initial modulation signal, w(t) represents the error signal generated by the deviation value and the control interval boundary, and k 1 represents the proportional coefficient, k 2 represents the integral coefficient, k 3 represents the differential coefficient, and t represents the time variable;

[0155] If the deviation value is within the safety control interval group, the safety control interval corresponding to the deviation value is identified, and the fuzzy optimization signal of the safety control interval is extracted to obtain the optimized control signal.

[0156] It can be understood that the safety control interval group is a combination composed of safety control intervals constructed by using the fuzzy PID control method. The fuzzy PID control method is a prior art. The process is to summarize expert experience through a pre-constructed membership function, establish fuzzy control rules between the proportional coefficient, integral coefficient, and differential coefficient according to the relationship between them, and generate a signal directly applied to the servo motor, thereby increasing the response speed of the servo motor. Therefore, when the error value is within the safety control interval group, the fuzzy control rules corresponding to the safety control interval group can be directly applied to extract the fuzzy optimization signal for adjusting the servo motor. When the error value is not within the safety control interval group, it may be that the servo motor has a fault, so an abnormal signal needs to be generated first.

[0157] It is understandable that the modulation instruction is issued by the user side to directly adjust the parameters of the servo motor. If the user initiates the modulation instruction, it means that although the motor is not within the safety control interval group, the servo motor is still available, so the user side initiates the modulation instruction. However, since the error value is not within the safety control interval at this time, it is impossible to directly find a fuzzy optimization signal to directly control the servo motor. Therefore, the embodiment of the present invention identifies the control interval boundary, finds the interval boundary of the safety control interval closest to the error value, generates an initial modulation signal based on the deviation value and the control interval boundary, so as to adjust the error value into the safety control interval group, and then uses the fuzzy PID control method to generate an optimized control signal in combination with the initial modulation signal.

[0158] It should be noted that the optimized control signal is a signal used to adjust the error of the servo motor.

[0159] S5. Take the optimized control signal as the motor control signal, return the step of amplifying the motor control signal by using the pre-built power drive module until the motor body stops running, and complete the monitoring of the waterproof high-torque servo motor.

[0160] It should be noted that the embodiment of the present invention aims to realize real-time monitoring of the servo motor during the operation of the servo motor and make real-time adjustments to help the motor operate normally.

[0161] To solve the problems described in the background art, the present invention receives a control instruction based on a control port, parses the control instruction to obtain target parameters, generates a motor control signal based on the target parameters, and uses a pre-constructed power drive module to amplify the motor control signal to obtain an amplified signal. The amplified signal is used to drive the operation of the motor body. For the purpose of using a pre-constructed monitoring module to monitor the real-time operation information of the operating motor body, when constructing the monitoring module, the present invention preferentially considers target components that can simultaneously monitor multiple target information, thereby simplifying the structure of the monitoring module for the servo motor, and attempting to improve the accuracy of monitoring multiple target information on the premise of adding as few components as possible to the monitoring module. The present invention also verifies the monitoring components in the monitoring component set to ensure that the monitoring component set can completely detect each target information in the multiple target information. Guided by multiple target information, a preliminary confirmation is made on the monitoring module components used in the final monitoring module, so that it is not necessary for a person to screen one by one from a large number of components, nor is it necessary for too much expert experience, and the monitoring module component set can be screened out, providing an effective reference for the construction of the monitoring module and saving human resources. The present invention sequentially extracts target information from the real-time operation information, obtains the preset standard information and the actual value set corresponding to the target information, calculates the deviation value based on the preset standard information and the actual value set, summarizes the deviation values to obtain a deviation value set, and generates an optimized control signal according to the deviation value set and the motor control signal. Taking the optimized control signal as the motor control signal, return to the step of using the pre-constructed power drive module to amplify the motor control signal until the motor body stops operating, completing the monitoring of the waterproof high-torque servo motor. The present invention uses the fuzzy PID control method to construct a safety control interval group. When the error value is within the safety control interval group, the fuzzy control rules corresponding to the safety control interval group are directly applied to extract the fuzzy optimization signal for adjusting the servo motor, thereby increasing the response speed of the servo motor. When the error value is not within the safety control interval, the control interval boundary is identified, the interval boundary of the safety control interval closest to the error value is found, and an initial modulation signal is generated based on the deviation value and the control interval boundary, so that the error value is adjusted to within the safety control interval group, and then the fuzzy PID control method is combined with the initial modulation signal to generate an optimized control signal. Therefore, the present invention can realize real-time monitoring of the servo motor during the operation of the servo motor and real-time adjustment to help the motor achieve normal operation.

[0162] As Figure 3 shown, it is a functional module diagram of a waterproof high-torque servo motor system provided by an embodiment of the present invention.

[0163] The waterproof high-torque servo motor system 100 according to the present invention can be installed in an electronic device. According to the functions achieved, the waterproof high-torque servo motor system 100 can include a signal receiving module 101, a deviation value calculation module 102, an optimized signal generation module 103, and an adjustment module 104. The modules in the present invention can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete fixed functions, and are stored in the memory of the electronic device.

[0164] The signal receiving module 101 is configured to receive a control instruction based on a control port, parse the control instruction to obtain target parameters, generate a motor control signal based on the target parameters, and amplify the motor control signal by using a pre-constructed power drive module to obtain an amplified signal, and drive the operation of the motor body by using the amplified signal;

[0165] The deviation value calculation module 102 is configured to monitor the real-time operation information of the operating motor body by using a pre-constructed monitoring module, where the real-time operation information includes a plurality of target information, sequentially extract the target information from the real-time operation information, and obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set;

[0166] The optimized signal generation module 103 is configured to summarize the deviation values to obtain a deviation value set, and generate an optimized control signal according to the deviation value set and the motor control signal;

[0167] The adjustment module 104 is configured to use the optimized control signal as the motor control signal, return to the step of amplifying the motor control signal by using the pre-constructed power drive module until the motor body stops operating, and complete the monitoring of the waterproof high-torque servo motor.

[0168] Specifically, each module in the waterproof high-torque servo motor system 100 in the embodiment of the present invention uses the same technical means as those in the Figure 1 described waterproof high-torque servo motor monitoring method, and can produce the same technical effects, which will not be elaborated here.

[0169] As Figure 4 shown, it is a schematic structural diagram of an electronic device for implementing the waterproof high-torque servo motor monitoring method provided by an embodiment of the present invention.

[0170] The electronic device 1 may include a processor 10, a memory 11, and a bus 12, and may further include a computer program stored in the memory 11 and executable on the processor 10, such as a waterproof high-torque servo motor monitoring method program.

[0171] Among them, the memory 11 includes at least one type of readable storage medium, and the readable storage medium includes flash memory, mobile hard disk, multimedia card, card-type memory (such as SD or DX memory, etc.), magnetic memory, magnetic disk, optical disc, etc. The memory 11 can be an internal storage unit of the electronic device 1 in some embodiments, such as the mobile hard disk of the electronic device 1. The memory 11 can also be an external storage device of the electronic device 1 in some other embodiments, such as a plug-in mobile hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a Flash Card, etc. equipped on the electronic device 1. Further, the memory 11 also includes the internal storage unit of the electronic device 1 and also includes an external storage device. The memory 11 can be used not only to store application software installed on the electronic device 1 and various types of data, such as the code of the waterproof high-torque servo motor monitoring method program, etc., but also to temporarily store data that has been output or will be output.

[0172] The processor 10 can be composed of integrated circuits in some embodiments. For example, it can be composed of a single packaged integrated circuit, or can be composed of multiple integrated circuits with the same or different functions packaged, including a combination of one or more Central Processing Units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips, etc. The processor 10 is the control core (Control Unit) of the electronic device, connecting various components of the entire electronic device through various interfaces and lines, and by running or executing programs or modules stored in the memory 11 (such as the waterproof high-torque servo motor monitoring method program, etc.), and calling the data stored in the memory 11, to perform various functions of the electronic device 1 and process data.

[0173] The bus 12 can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. This bus 12 can be divided into an address bus, a data bus, a control bus, etc. The bus 12 is set to achieve connection and communication between the memory 11 and at least one processor 10, etc.

[0174] Figure 4 Only the electronic device with components is shown. Those skilled in the art can understand that, Figure 4The structure shown does not constitute a limitation on the electronic device 1, and may include fewer or more components than shown, or combine certain components, or have a different component arrangement.

[0175] For example, although not shown, the electronic device 1 may further include a power source (such as a battery) for powering each component. Preferably, the power source may be logically connected to the at least one processor 10 through a power management system, so as to implement functions such as charge management, discharge management, and power consumption management through the power management system. The power source may also include any components such as one or more DC or AC power sources, a recharge system, a power failure detection circuit, a power converter or inverter, and a power status indicator. The electronic device 1 may also include a variety of sensors, a Bluetooth module, a Wi-Fi module, etc., which will not be elaborated here.

[0176] Furthermore, the electronic device 1 may further include a network interface. Optionally, the network interface may include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is generally used to establish a communication connection between the electronic device 1 and other electronic devices.

[0177] Optionally, the electronic device 1 may further include a user interface. The user interface may be a display, an input unit (such as a keyboard), and optionally, the user interface may also be a standard wired interface or a wireless interface. Optionally, in some embodiments, the display may be an LED display, a liquid crystal display, a touch liquid crystal display, and an OLED (Organic Light-Emitting Diode) toucher, etc. Among them, the display may also be appropriately referred to as a display screen or a display unit, which is used to display the information processed in the electronic device 1 and to display a visual user interface.

[0178] The waterproof high-torque servo motor monitoring method program stored in the memory 11 of the electronic device 1 is a combination of multiple instructions. When running in the processor 10, it can implement:

[0179] Receiving a control instruction based on a control port, parsing the control instruction to obtain target parameters, generating a motor control signal based on the target parameters, and amplifying the motor control signal by using a pre-constructed power drive module to obtain an amplified signal, and driving the motor body to operate by using the amplified signal;

[0180] Monitoring the real-time operation information of the operating motor body by using a pre-constructed monitoring module, where the real-time operation information includes multiple target information;

[0181] Extract target information from the real-time operation information in sequence, obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set;

[0182] Summarize the deviation values to obtain a deviation value set, generate an optimized control signal according to the deviation value set and the motor control signal, use the optimized control signal as the motor control signal, return to the step of amplifying the motor control signal by using the pre-built power drive module, and stop the operation of the motor body until the motor body stops running, completing the monitoring of the waterproof high-torque servo motor.

[0183] Specifically, the specific implementation method of the above instructions by the processor 10 can refer to Figures 1 to 4 the description of the relevant steps in the corresponding embodiment, which will not be elaborated here.

[0184] Further, if the module / unit integrated in the electronic device 1 is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. The computer-readable storage medium can be volatile or non-volatile. For example, the computer-readable medium can include: any entity or system that can carry the computer program code, a recording medium, a USB flash drive, a mobile hard disk, a magnetic disk, an optical disc, a computer memory, a read-only memory (ROM, Read-Only Memory).

[0185] The present invention also provides a computer-readable storage medium, and the readable storage medium stores a computer program, and when the computer program is executed by a processor of an electronic device, it can implement:

[0186] Receive a control instruction based on a control port, parse the control instruction to obtain target parameters, generate a motor control signal based on the target parameters, and use a pre-built power drive module to amplify the motor control signal to obtain an amplified signal, and drive the motor body to operate by using the amplified signal;

[0187] Use a pre-built monitoring module to monitor the real-time operation information of the operating motor body, where the real-time operation information includes a plurality of target information;

[0188] Extract target information from the real-time operation information in sequence, obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set;

[0189] Summarize the deviation values to obtain a deviation value set, generate an optimized control signal according to the deviation value set and the motor control signal, use the optimized control signal as the motor control signal, return to the step of amplifying the motor control signal by using the pre-built power drive module, and stop the operation of the motor body until the motor body stops running, completing the monitoring of the waterproof high-torque servo motor.

[0190] In several embodiments provided by the present invention, it should be understood that the disclosed devices, systems, and methods can be implemented in other ways. For example, the system embodiments described above are merely illustrative, and there may be other partitioning methods in actual implementation.

[0191] The modules described as separate components may or may not be physically separated, and the components shown as modules may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0192] In addition, each functional module in various embodiments of the present invention can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above integrated units can be implemented in the form of hardware or in the form of a combination of hardware and software functional modules.

[0193] For those skilled in the art, it is obvious that the present invention is not limited to the details of the above-described exemplary embodiments, and without departing from the spirit or basic characteristics of the present invention, the present invention can be implemented in other specific forms.

[0194] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit them. Although the present invention has been described in detail with reference to the preferred embodiments, those of ordinary skill in the art should understand that the technical solutions of the present invention can be modified or equivalently replaced without departing from the spirit and scope of the technical solutions of the present invention.

Claims

1. A waterproof high torque servo motor, characterized in that: include: A servo motor, the servo motor comprising a motor body and a motor controller (200) connected to the motor body; The motor controller (200) comprises a controller housing (201), and an external display (202) arranged on the controller housing (201); the controller housing (201) is also provided with a motor winding interface (203), a control port (204) and a power supply interface (205).

2. A waterproof high-torque servo motor monitoring method, applied to a waterproof high-torque servo motor as claimed in claim 1, characterized in that: include: Receiving a control instruction based on a control port, parsing the control instruction, obtaining a target parameter, generating a motor control signal based on the target parameter, and amplifying the motor control signal using a pre-built power drive module to obtain an amplified signal, and using the amplified signal to drive the motor body to operate; Using a pre-built monitoring module to monitor real-time operation information of a motor body in operation, wherein the real-time operation information includes a plurality of target information; Extracting target information from the real-time operation information in sequence, obtaining preset standard information and an actual value set corresponding to the target information, and calculating a deviation value based on the preset standard information and the actual value set; The deviation values ​​are summarized to obtain a deviation value set, an optimized control signal is generated according to the deviation value set and the motor control signal, the optimized control signal is used as the motor control signal, and the step of returning to and using a pre-built power drive module to amplify the motor control signal is performed until the motor body stops running, thereby completing the monitoring of the waterproof high-torque servo motor.

3. The waterproof high torque servo motor monitoring method according to claim 2, characterized in that: The method of using the pre-built monitoring module to monitor the real-time operation information of the motor body in operation includes: The following operations are performed on each of the multiple target information: Acquire a monitoring method set of target information, extract monitoring methods from the monitoring method set in sequence, and acquire a unit monitoring element set based on the extracted monitoring methods; Summarizing the unit monitoring element sets to obtain a set of monitoring elements to be screened corresponding to a plurality of target information, and screening the set of monitoring elements to be screened to obtain a monitoring element set; A monitoring module is constructed based on the monitoring element set and the plurality of target information, and the monitoring module is used to monitor the real-time operation information of the motor body in operation.

4. The waterproof high torque servo motor monitoring method according to claim 3, characterized in that: The step of screening the monitoring element set to be screened to obtain the monitoring element set includes: Performing a deduplication operation on the screened monitoring element set to obtain a monitoring element sequence, extracting target elements from the monitoring element sequence in sequence, and obtaining all target information corresponding to the target elements to obtain a measurable parameter group, counting the number of target information in the measurable parameter group to obtain the number of measurable parameters, associating the number of measurable parameters, the measurable parameter group and the target element to obtain a target parameter group, wherein the target parameter group includes the number of measurable parameters, the measurable parameter group and the target element; The target parameter groups are summarized in descending order of the number of measurable parameters to obtain a target parameter group set, and the monitoring element set is screened out based on the target parameter group set.

5. The waterproof high torque servo motor monitoring method according to claim 4, characterized in that: The step of selecting a monitoring element set based on the target parameter set includes: Extract target parameter groups from the target parameter group set in sequence, and perform the following operations on the extracted target parameter groups: If the number of measurable parameters of the extracted target parameter group is not 1, identifying a target parameter group having the same number of measurable parameters as the extracted target parameter group from the target parameter group set to obtain a comparison parameter group set; If the comparison parameter set is an empty set, the target element corresponding to the extracted target parameter set is confirmed as the monitoring element; If the comparison parameter set is not an empty set, all target components corresponding to the comparison parameter set and the extracted target parameter set are summarized to obtain a component set to be estimated, and the optimized components are screened out from the component set to be estimated using a pre-built hierarchical analysis method, and the optimized components are confirmed as monitoring components; If the number of measurable parameters of the extracted target parameter group is 1, obtain a measurable target information set, and determine whether the target information in the extracted target parameter group exists in the measurable target information set; if not, confirm the target element corresponding to the extracted target parameter group as the monitoring element; otherwise, skip the extracted target parameter group; The monitoring elements are aggregated to obtain a monitoring element set.

6. The waterproof high torque servo motor monitoring method according to claim 5, characterized in that: The monitoring module is constructed based on the monitoring element set and the plurality of target information, including: Extract target information from multiple target information in sequence to obtain verification information, and perform the following operations on the verification information: Get all unit monitoring components corresponding to the verification information and get the initial component set. Determine whether there is a monitoring element in the monitoring element set that is the same as the initial element in the initial element set; If it exists, the verification information is skipped, otherwise, the optimal unit component is obtained by using the pre-constructed hierarchical analysis method, the pre-constructed component evaluation index set and the initial component set, and the optimal unit component and the monitoring component set are summarized to obtain the updated monitoring component set; With the updated monitoring element set as the monitoring element set, return to the step of extracting target information from multiple target information in sequence until the monitoring element set contains unit monitoring elements in the corresponding unit monitoring element set in each target information in the multiple target information, obtain the monitoring module element set, and construct the monitoring module based on the monitoring module element set.

7. The waterproof high torque servo motor monitoring method according to claim 6, characterized in that: The step of obtaining preset standard information and an actual value set corresponding to the target information, and calculating the deviation value based on the preset standard information and the actual value set includes: If there is an actual value in the actual value set, the deviation value is calculated based on the preset single component error calculation formula and the actual value set, where the single component error calculation formula is as follows: ε1=N re1 -N st1 Among them, ε1 is the deviation value when there is an actual value in the actual value set, N re1 represents the actual value set, N st1 Indicates preset standard information; If there are multiple actual values ​​in the actual value set, the deviation value is calculated using the preset standard information, the multi-component error calculation formula and the actual value set, where the multi-component error calculation formula is as follows: Among them, ε2 is the deviation value when there are multiple actual values ​​in the actual value set, represents the i-th actual value among multiple actual values, and n represents the total number of multiple actual values.

8. The waterproof high torque servo motor monitoring method according to claim 7, characterized in that: Generating an optimized control signal according to the deviation value set and the motor control signal, comprising: Acquire multiple safety control interval groups based on multiple target information and a pre-built fuzzy control algorithm, wherein the safety control interval groups correspond to the target information one by one, and the safety control interval groups include multiple safety control intervals, and each of the multiple safety control intervals corresponds to a fuzzy optimization signal; Extract deviation values ​​from the deviation value set in sequence, and perform the following operations on the extracted deviation values: identifying target information corresponding to the deviation value based on the plurality of target control information, and identifying a safety control interval group corresponding to the deviation value based on the target information; If the deviation value is not within the safety control interval group, an abnormal signal is generated and sent to an external display. Otherwise, a modulation instruction is received based on a pre-built user terminal, and a control interval boundary with the smallest Euclidean distance between the safety control interval group and the deviation value is identified according to the modulation instruction. An initial modulation signal is generated based on the deviation value and the control interval boundary, and a fuzzy optimization signal corresponding to the control interval boundary is obtained. An optimized control signal is generated based on the fuzzy optimization signal and the initial modulation signal, wherein the calculation formula of the initial modulation signal is as follows: Wherein, u(t) represents the initial modulation signal, w(t) represents the error signal generated by the deviation value and the boundary of the control interval, k1 represents the proportional coefficient, k2 represents the integral coefficient, k3 represents the differential coefficient, and t represents the time variable; If the deviation value is within the safety control interval group, the safety control interval corresponding to the deviation value is identified, and the fuzzy optimization signal of the safety control interval is extracted to obtain the optimized control signal.

9. The waterproof high torque servo motor monitoring method according to claim 8, characterized in that: The receiving of the control instruction based on the control port also includes: Obtaining a waterproof test instruction, and confirming a waterproof test device based on the waterproof test instruction, wherein the waterproof test device includes: a spray mechanism, a motor placement station, and a waterproof test device housing; The pre-built initial motor is introduced into the motor placement station in the housing of the waterproof testing device to obtain the motor to be tested, a spray parameter group is constructed using a preset spray pressure sequence, the spray mechanism is set based on the spray parameter group, and the set spray mechanism is started to monitor the electrical performance parameters of the motor to be tested in real time; If the electrical performance parameters of the motor to be tested show preset abnormal parameters during real-time monitoring of the electrical performance parameters of the motor to be tested, the set spray mechanism is stopped, and the initial waterproof performance parameters of the motor to be tested are obtained based on the stopped set spray mechanism; The waterproof performance parameters of the motor to be tested are obtained based on the preset number of experiments and the initial waterproof performance parameters. If the waterproof performance parameters meet the preset target waterproof parameters, the motor to be tested is confirmed as a servo motor.

10. A waterproof high-torque servo motor monitoring system, applied to a waterproof high-torque servo motor as claimed in claim 1, characterized in that: The system comprises: A signal receiving module, used for receiving a control instruction based on a control port, parsing the control instruction, obtaining a target parameter, generating a motor control signal based on the target parameter, and amplifying the motor control signal using a pre-built power driving module to obtain an amplified signal, and using the amplified signal to drive the motor body to operate; A deviation value calculation module, used to monitor the real-time operation information of the motor body in operation by using a pre-built monitoring module, wherein the real-time operation information includes a plurality of target information, extract the target information from the real-time operation information in sequence, obtain the preset standard information and the actual value set corresponding to the target information, and calculate the deviation value based on the preset standard information and the actual value set; An optimization signal generation module, used for summarizing the deviation values ​​to obtain a deviation value set, and generating an optimization control signal according to the deviation value set and the motor control signal; The adjustment module is used to use the optimized control signal as the motor control signal, return to the step of amplifying the motor control signal using a pre-built power drive module, until the motor body stops running, thereby completing the monitoring of the waterproof high-torque servo motor.

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