Electric actuator control method and system, electronic equipment and storage medium

Abstract

The invention discloses an electric actuator control method and system, electronic equipment and a storage medium, and relates to the technical field of automatic control. The method comprises the following steps: acquiring current position data and electromagnetic signal intensity data of the electric actuator; calculating a magnetic pole position offset according to the electromagnetic signal intensity data, and determining a compensation coefficient according to the magnetic pole position offset; calculating a compensation position based on the compensation coefficient and a reference position of the electric actuator, and determining a magnetic flux distribution parameter in combination with the current position data and the compensation position; generating a pulse control signal through the magnetic flux distribution parameter, and outputting the pulse control signal to the electric actuator; and adjusting the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal. By implementing the technical scheme provided by the invention, the effect of improving the control precision of the electric actuator is achieved.

Description

Technical Field

[0001] This application relates to the field of automation control technology, and particularly relates to a control method, system, electronic device and storage medium for an electric actuator. Background Art

[0002] In the fields of modern industrial automation and precision control, electric actuators are widely used in various mechanical and electronic systems to achieve precise motion control. These actuators usually play a key role in high-precision applications such as robotic arms, automated production lines, and aerospace. The performance of electric actuators directly affects the operating accuracy and efficiency of the entire system.

[0003] Currently, the control of electric actuators mainly relies on the position information feedback by sensors, and the control system generates corresponding drive signals according to the set target position. However, in practical applications, the interference of environmental factors will cause different degrees of position deviation of the electric actuator. This method of generating control signals based on a fixed target position is difficult to compensate for the position deviation in real time during operation, thereby reducing the control accuracy of the electric actuator. Summary of the Invention

[0004] This application provides a control method, system, electronic device and storage medium for an electric actuator, which has the effect of improving the control accuracy of the electric actuator.

[0005] In a first aspect, this application provides a control method for an electric actuator, including: Obtain the current position data and electromagnetic signal intensity data of the electric actuator; Calculate the magnetic pole position offset according to the electromagnetic signal intensity data, and determine the compensation coefficient according to the magnetic pole position offset; Calculate the compensation position based on the compensation coefficient and the reference position of the electric actuator, and determine the magnetic flux distribution parameter by combining the current position data and the compensation position; Generate a pulse control signal through the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator; Adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal.

[0006] In a second aspect of this application, a control system for an electric actuator is provided, and the system includes: A data acquisition module for obtaining the current position data and electromagnetic signal intensity data of the electric actuator; A compensation coefficient determination module for calculating the magnetic pole position offset according to the electromagnetic signal intensity data and determining the compensation coefficient according to the magnetic pole position offset; A control signal output module is configured to calculate a compensation position based on a compensation coefficient and a reference position of an electric actuator, and determine a magnetic flux distribution parameter by combining current position data with the compensation position; generate a pulse control signal based on the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator; An electric actuator control module is configured to adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal.

[0007] In a third aspect of the present application, an electronic device is provided, including a memory, a processor, and a program stored on the memory and executable on the processor. When the program is loaded and executed by the processor, it can implement an electric actuator control method.

[0008] In a fourth aspect of the present application, a computer-readable storage medium is provided. The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements an electric actuator control method.

[0009] In summary, one or more technical solutions provided by the present application have at least the following technical effects or advantages: By adopting the above technical solutions, by obtaining the current position data and electromagnetic signal intensity data of the electric actuator, the operating state of the actuator can be monitored in real time; calculating the magnetic pole position offset based on the electromagnetic signal intensity data and determining the compensation coefficient can accurately reflect the influence degree of environmental factors on the actuator position; further calculating the compensation position based on the compensation coefficient and the reference position, and determining the magnetic flux distribution parameter by combining the current position data, so as to generate a more accurate pulse control signal, and finally realizing the real-time compensation of the actuator position deviation by adjusting the magnetic pole position to the compensation position, improving the control accuracy of the electric actuator during actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a schematic flowchart of an electric actuator control method provided by an embodiment of the present application; Figure 2 is a schematic structural diagram of an electric actuator control system provided by an embodiment of the present application; Figure 3 is a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0011] Description of the reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0012] To enable those skilled in the art to better understand the technical solutions in this specification, the technical solutions in the embodiments of this specification will be clearly and completely described below in conjunction with the accompanying drawings in the embodiments of this specification. Obviously, the described embodiments are only a part of the embodiments of this application, rather than all of the embodiments.

[0013] In the description of the embodiments of this application, words such as "for example" or "for illustration" are used to give examples, illustrations, or explanations. Any embodiment or design solution described as "for example" or "for illustration" in the embodiments of this application should not be construed as being more preferred or having more advantages than other embodiments or design solutions. Rather, the use of words such as "for example" or "for illustration" is intended to present the relevant concepts in a specific manner.

[0014] In the description of the embodiments of this application, the meaning of the term "plurality" refers to two or more. For example, a plurality of systems refers to two or more systems, and a plurality of screen terminals refers to two or more screen terminals. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the technical features indicated. Thus, the features defined with "first" and "second" may explicitly or implicitly include one or more of such features. The terms "include", "comprise", "have" and their variants all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0015] The embodiments of this application provide a method for controlling an electric actuator. In one embodiment, please refer to Figure 1 , Figure 1 is a schematic flow chart of the method for controlling an electric actuator provided by the embodiments of this application. This method can be implemented depending on a computer program, which can be integrated into an application or run as an independent tool-like application. This method can also be implemented depending on a single-chip microcomputer and can also run on an electric actuator control system based on the von Neumann architecture. Specifically, this method may include the following steps: Step 101: Obtain the current position data and electromagnetic signal strength data of the electric actuator.

[0016] Among them, an electric actuator is a device that converts electrical energy into mechanical motion, and it realizes precise motion control of mechanical components through the principle of electromagnetic induction. This electric actuator is mainly used to achieve high-precision position control in industrial automation equipment, robot joints, precision instruments, etc. For example, it can be applied to occasions that require precise position control such as the feed system of machine tools, the joint drive of industrial robots, and the position adjustment of automated production lines. The electric actuator converts the electrical signal sent by the control system into precise mechanical motion, thereby achieving accurate control of the position of mechanical components, and its control accuracy directly affects the operating performance and processing quality of the entire system.

[0017] The current position data refers to the real-time angle or displacement information of the rotor of the electric actuator relative to the reference position during operation. The current position data is mainly used to reflect the actual motion state of the electric actuator. By comparing with the target position, the position error can be calculated. At the same time, combined with the historical position data, the motion trend of the actuator can be analyzed, providing a basis for the control system to adjust the control strategy in real time.

[0018] The electromagnetic signal intensity data refers to the measurement information reflecting the magnetic field distribution state inside the electric actuator. In the embodiments of the present application, the electromagnetic signal intensity data can be understood as the magnetic induction intensity signals collected by the magnetic sensors installed near the stator windings, including two components: the forward magnetic pole signal and the reverse magnetic pole signal. The electromagnetic signal intensity data is mainly used to detect the magnetic field distortion of the electric actuator during actual operation due to factors such as temperature change, mechanical stress, and external interference. By analyzing the difference between the forward and reverse magnetic pole signals, the actual offset of the magnetic pole position can be calculated, providing an important reference basis for subsequent compensation control.

[0019] Specifically, to achieve high-precision position control of the electric actuator, it is first necessary to obtain the real-time operation state information of the electric actuator. The current position data is collected through the position sensors set on the electric actuator. The position sensors can be optoelectronic encoders, Hall sensors, magnetic encoders, etc., which are used to monitor the rotor position of the electric actuator in real time. At the same time, the electromagnetic signal intensity data is collected through magnetic sensors, which can detect the change of the magnetic field intensity generated by the stator windings of the electric actuator. The control system of the electric actuator continuously collects these data through the data acquisition module at a preset sampling frequency (such as 1 kHz), and stores the collected data in the system buffer after analog-to-digital conversion. Among them, the current position data is used to characterize the actual angular position of the rotor of the electric actuator and can directly reflect the motion state of the actuator; while the electromagnetic signal intensity data contains the forward magnetic pole signal and the reverse magnetic pole signal, and these signals can reflect the magnetic field distortion of the electric actuator caused by external interference or internal mechanical stress and other factors during operation. By obtaining these two types of data simultaneously, the control system can comprehensively master the operation state of the electric actuator, providing a necessary data basis for subsequent position offset calculation and compensation control. This data acquisition method can not only monitor the position change of the electric actuator in real time, but also timely detect abnormal situations that may affect the control accuracy through the change of the electromagnetic signal intensity, thus laying a foundation for achieving high-precision position control. Actual tests show that this data acquisition scheme can accurately reflect the operation state of the electric actuator, and the collected data has a high signal-to-noise ratio and reliability, providing reliable data support for subsequent compensation control.

[0020] Step 102: Calculate the pole position offset based on the electromagnetic signal intensity data, and determine the compensation coefficient according to the pole position offset.

[0021] Among them, the pole position offset refers to the angular deviation between the actual pole position of the permanent magnet in the electric actuator and its ideal position. The pole position offset is mainly used to quantitatively characterize the degree of magnetic field distortion caused by factors such as temperature change, mechanical stress, and external interference during the operation of the electric actuator, and is an important basic data for calculating the compensation coefficient.

[0022] The compensation coefficient refers to the correction parameter used to correct the actual control amount of the electric actuator. The compensation coefficient is mainly used to correct the control amount of the electric actuator in real time during the position control process to offset the control errors caused by factors such as pole position offset and equipment aging, so that the actual output position of the electric actuator is closer to the target position.

[0023] Specifically, during the actual operation of the electric actuator, due to the influence of factors such as temperature change, mechanical stress, and external magnetic field interference, the pole position of the permanent magnet will deviate from its ideal position, and this deviation will directly affect the accuracy of position control. To accurately compensate for this deviation, in this embodiment, first, the forward pole signal and the reverse pole signal in the electromagnetic signal intensity data are obtained through a magnetic sensor, and these two signals respectively reflect the magnetic field intensities in the N - pole and S - pole directions. By calculating the signal difference between the forward pole signal and the reverse pole signal, an index reflecting the degree of magnetic field asymmetry can be obtained. The control system pre - stores a preset calibration curve established based on a large amount of experimental data, and this curve describes the mapping relationship between the signal difference and the pole position offset. According to the measured signal difference, the current pole position offset can be determined by querying this calibration curve. After obtaining the pole position offset, the control system further determines the compensation coefficient in combination with the actual operating state of the electric actuator. By reading the cumulative operating time and the start - stop times of the electric actuator, the basic compensation value corresponding to the current pole position offset is queried from a pre - established standard compensation data table. At the same time, the corresponding time correction value is obtained from the preset time comparison table according to the cumulative operating time, and the life attenuation value reflecting the equipment life state is calculated based on the ratio of the start - stop times to the rated start - stop times. Finally, the basic compensation value, the time correction value, and the life attenuation value are weighted and calculated to obtain the final compensation coefficient. This method of calculating the compensation coefficient considering multiple influencing factors can accurately reflect the performance characteristics of the electric actuator at different operating stages and provide a more accurate reference basis for subsequent position compensation control.

[0024] Based on the above - mentioned embodiment, as an optional embodiment, in step 102: The step of calculating the pole position offset according to the electromagnetic signal intensity data may further include the following steps: Step 201: Obtain the forward magnetic pole signal and the reverse magnetic pole signal from the electromagnetic signal intensity data; calculate the signal difference between the forward magnetic pole signal and the reverse magnetic pole signal.

[0025] Specifically, to accurately obtain the magnetic field distribution state of the permanent magnet in the electric actuator, the electromagnetic signal intensity data is collected in real time by a magnetic sensor installed near the stator winding. This electromagnetic signal intensity data includes a forward magnetic pole signal reflecting the magnetic field intensity in the N - pole direction and a reverse magnetic pole signal reflecting the magnetic field intensity in the S - pole direction. After being amplified, filtered, and analog - to - digital converted by the signal conditioning circuit, these two signals are converted into standardized digital signals for output. Then, the control system calculates the signal difference between the forward magnetic pole signal and the reverse magnetic pole signal. In an ideal state, the forward and reverse magnetic pole signals should be symmetrically distributed about the center line of the permanent magnet, and the signal difference should be close to zero. However, during actual operation, due to factors such as temperature changes and mechanical stress, the magnetic field distribution will be distorted, resulting in a deviation of the signal difference. The degree of deviation of this signal difference directly reflects the actual offset of the magnetic pole position.

[0026] Step 202: Determine the corresponding magnetic pole position offset according to the mapping relationship between the signal difference and the preset calibration curve.

[0027] Specifically, it is necessary to convert the calculated signal difference into the actual magnetic pole position offset. This conversion depends on a preset calibration curve established in advance through a large number of experiments. This curve describes the quantitative relationship between the signal difference and the magnetic pole position offset. During the establishment of the preset calibration curve, a high - precision position measurement device was used to record the actual position offset of the permanent magnet under different working conditions, and at the same time, the corresponding forward and reverse magnetic pole signal differences were recorded. An accurate mapping relationship curve was obtained through data fitting. During actual operation, the control system substitutes the measured signal difference into the mapping function of the preset calibration curve to obtain the magnetic pole position offset in the current state. This mapping relationship based on experimental data has high accuracy and reliability, can accurately reflect the magnetic pole position offset of the electric actuator under different working conditions, and provides a reliable data basis for subsequent compensation control.

[0028] Based on the above - mentioned embodiment, as an optional embodiment, in step 102: determining the compensation coefficient according to the magnetic pole position offset, this step may further include the following steps: Step 203: Obtain the cumulative operation time and the start - stop times of the electric actuator.

[0029] Specifically, to comprehensively evaluate the operating status of the electric actuator, key parameters reflecting the device usage need to be obtained. Among them, the cumulative operating time is accumulated and recorded in real time by a timer built into the system. This timer starts timing when the electric actuator is started each time and pauses when it stops, and stores the time data in a non-volatile memory. The start-stop count records the start and stop actions of the electric actuator through a dedicated counter. Each time a complete start-stop cycle is completed, the count value increases by 1, and the data is also saved in the non-volatile memory. These data will be used to evaluate the actual usage intensity and life status of the device in the future.

[0030] Step 204: Query the corresponding basic compensation value from the standard compensation data table according to the pole position offset; obtain the time correction value corresponding to the cumulative operating time data from the preset time comparison table; determine the life attenuation value based on the ratio between the start-stop count and the rated start-stop count of the electric actuator.

[0031] Specifically, first, according to the obtained pole position offset, query the corresponding basic compensation value from the pre-established standard compensation data table. This standard compensation data table stores the standard compensation parameters under different pole position offsets, and these parameters are the optimal compensation values obtained through a large number of experimental verifications. Then, query the time correction value corresponding to the current cumulative operating time from the preset time comparison table. This comparison table is established based on the aging characteristics of the electric actuator and reflects the performance attenuation degree of the device at different usage durations. At the same time, calculate the ratio between the current start-stop count and the rated start-stop count of the electric actuator. This ratio reflects the life consumption degree of the device. According to this ratio, calculate the life attenuation value through a preset attenuation function. This value increases as the start-stop count increases, reflecting the impact of frequent start-stop on the device performance.

[0032] Step 205: Perform a weighted calculation on the basic compensation value, time correction value, and life attenuation value to obtain a compensation coefficient.

[0033] Specifically, to obtain an accurate compensation coefficient, it is necessary to comprehensively consider the influence of three factors: the basic compensation value, the time correction value, and the life attenuation value. During specific calculations, corresponding weight coefficients are first assigned to these three values, and these weight coefficients reflect the influence degree of each factor on the device performance. Among them, the weight of the basic compensation value is the largest, set to 0.6 - 0.7, because it directly reflects the current magnetic pole position offset state; the weight of the time correction value is the second, 0.2 - 0.3, which is used to reflect the performance changes brought about by the cumulative operation time; the weight of the life attenuation value is the smallest, 0.1 - 0.2, mainly considering the influence of the start-stop times on the device. By multiplying these three values by their respective weight coefficients and summing them up, the comprehensive compensation coefficient is finally obtained. This multi-factor weighted calculation method can comprehensively reflect the actual operation state of the electric actuator, making the compensation effect more accurate and reliable, and effectively improving the accuracy of position control.

[0034] Step 103: Calculate the compensation position based on the compensation coefficient and the reference position of the electric actuator, and determine the magnetic flux distribution parameters by combining the current position data with the compensation position.

[0035] Among them, the reference position refers to the standard zero position or the initial reference position of the electric actuator. In the embodiments of the present application, the reference position can be understood as the initial zero position angle value of the rotor determined by a high-precision measuring device during the factory calibration of the electric actuator. This position corresponds to the ideal state when the magnetic pole center line of the permanent magnet coincides with the reference axis of the stator winding. The reference position is mainly used to provide a fixed reference benchmark for the position control of the electric actuator.

[0036] The compensation position refers to the actual zero position of the electric actuator after dynamic compensation and correction.

[0037] The magnetic flux distribution parameters refer to a set of physical quantities that reflect the magnetic field spatial distribution characteristics between the stator and the rotor of the electric actuator.

[0038] Specifically, since there is a magnetic pole position offset during the actual operation of the electric actuator, it is necessary to compensate and correct the reference position to improve the control accuracy. First, obtain the reference position of the electric actuator, which is the ideal zero position information determined during the factory calibration of the device. Multiply the reference position by the calculated compensation coefficient to obtain the compensation position that takes into account the influence of magnetic pole position offset, cumulative operation time, and start-stop times. The compensation position reflects the actual zero position of the electric actuator under the current operating state. Then, compare and analyze the currently collected position data with the compensation position to calculate the relative position relationship between the two. Based on this relative position relationship and combined with the magnetic field distribution characteristics of the permanent magnet, calculate the magnetic flux distribution parameters reflecting the current magnetic field spatial distribution state through a preset magnetic flux distribution model. The magnetic flux distribution parameters include key information such as magnetic flux density and magnetic flux direction, and can comprehensively reflect the magnetic field coupling state between the stator and rotor of the electric actuator. Through this method of calculating magnetic flux distribution parameters based on the compensation position, not only the influence of magnetic pole position offset is considered, but also the dynamic changes in the device operating state are incorporated, making the subsequent position control more accurate and reliable, and effectively improving the control performance and operating stability of the electric actuator.

[0039] Based on the above embodiments, as an optional embodiment, in step 103: calculating the compensation position based on the compensation coefficient and the reference position of the electric actuator, this step may further include the following steps: Step 301: Obtain the historical positions of the electric actuator within a preset sampling period; convert the historical positions into first mechanical angle values, and convert the reference position into second mechanical angle values.

[0040] Specifically, to accurately obtain the position change of the electric actuator during operation, the system continuously collects the historical position data of the electric actuator according to a preset sampling period (such as 2 ms). During the sampling process, the real-time position information of the rotor is collected by a position sensor, and the analog signal is converted into a digital signal by a high-precision A / D converter, and the sampled digital signal is temporarily stored in a data buffer. Then, the collected historical position data is converted into the first mechanical angle value through a preset angle conversion algorithm. Specifically, according to the signal characteristics and resolution of the position sensor (such as 12-bit resolution), the digital signal value is mapped to an angle value within the range of 0-2π according to a linear correspondence relationship, so as to obtain the first mechanical angle value in radians. Similarly, the reference position of the electric actuator is converted into the second mechanical angle value through the same angle conversion algorithm, that is, the reference position data stored in the non-volatile memory is also converted into the angle range of 0-2π, establishing a unified angle measurement reference.

[0041] Step 302: Calculate the angular difference between the first mechanical angle value and the second mechanical angle value; determine the angle correction amount according to the product of the compensation coefficient and the angular difference.

[0042] Specifically, the system calculates the angular difference between the first mechanical angle value and the second mechanical angle value. Specifically, the difference between the two angle values is obtained through subtraction operation, and this difference reflects the deviation degree between the actual operating position of the electric actuator and the reference position. Considering that the angle calculation may have a situation of cycle overrun, angle normalization processing is also required to ensure that the calculated angular difference is always within the range of -π to π. Then, multiply the obtained compensation coefficient (the value range is usually 0.8 - 1.2) by the angular difference to obtain the angle correction amount considering the influence of pole position offset, cumulative operating time, and start-stop times. For example, when the compensation coefficient is 1.1 and the angular difference is 0.2 radians, the obtained angle correction amount is 0.22 radians. This correction method based on the compensation coefficient makes the compensation effect more conform to the actual operating state of the electric actuator by dynamically adjusting the amplitude of angle compensation.

[0043] Step 303: Superimpose the angle correction amount on the second mechanical angle value to obtain the target angle value, and convert the target angle value into a position signal to obtain the compensated position of the electric actuator.

[0044] Specifically, the calculated angle correction amount is superimposed on the second mechanical angle value through addition operation to obtain the target angle value reflecting the actual operating state of the electric actuator. To ensure the validity of the calculation result, the range of the superimposed angle value is restricted to keep it within the effective range of 0 - 2π. Finally, the target angle value is converted into a standard position signal format through a preset signal conversion algorithm. Specifically, according to the system resolution requirement (such as 16 - bit resolution), the target angle value is proportionally mapped to the corresponding digital signal range (such as 0 - 65535) to obtain the compensated position of the electric actuator. This compensation method based on angle correction realizes the precise conversion of the position signal through high-precision data acquisition and processing, enabling the compensated position control accuracy to reach within 0.1 degree, significantly improving the control performance of the electric actuator.

[0045] Based on the above embodiments, as an alternative embodiment, in step 103: Combining the current position data with the compensated position to determine the magnetic flux distribution parameter, this step may further include the following steps: Step 304: Detect the stator current and rotor position signal of the electric actuator; calculate the position error between the current position data and the compensated position.

[0046] Specifically, to obtain the real-time operating state of the electric actuator, the system collects the stator three-phase current signals through a Hall current sensor, and the sampling frequency is set to 10 kHz to ensure that the dynamic change characteristics of the current can be accurately captured. At the same time, the rotor position signal is collected through a position sensor (such as a resolver or an encoder), and the sampling accuracy can reach 12 bits. The currently collected position data is compared with the previously calculated compensation position, and the position error is obtained through numerical subtraction operation. This position error reflects the deviation between the actual operating position and the desired position of the electric actuator, and its numerical range is usually controlled within ±0.5 degrees, providing an important basis for subsequent flux reconstruction.

[0047] Step 305: Determine the flux reconstruction instruction according to the position error; calculate the real-time flux vector through the stator current and the rotor position signal.

[0048] Specifically, the system determines the flux reconstruction instruction according to the magnitude and change trend of the position error. Specifically, when the position error exceeds a preset threshold (such as 0.2 degrees), the flux reconstruction process is triggered, and a flux reconstruction instruction including parameters such as the reconstruction method and the reconstruction gain is generated. At the same time, based on the collected stator three-phase current signals (ia, ib, ic) and the rotor position signal (θ), the three-phase current is transformed to the d-q coordinate system through Clark transformation and Park transformation to obtain the id and iq components. Then, according to the magnetic flux equation of the permanent magnet and the mathematical model of the electric actuator, the real-time flux vector reflecting the current magnetic field distribution state is calculated. The influence of key parameters such as the remanence of the permanent magnet (for example, 1.2 T) and the stator inductance parameters (such as the d-axis inductance Ld = 2 mH and the q-axis inductance Lq = 3 mH) is considered in the calculation process.

[0049] Step 306: Correct the real-time flux vector according to the flux reconstruction instruction to obtain the flux distribution parameters.

[0050] Specifically, the system corrects the real-time flux vector according to the flux reconstruction instruction. First, select the corresponding correction algorithm according to the reconstruction method in the flux reconstruction instruction, such as the least squares method or the Kalman filter. Then, apply the reconstruction gain (typical value is 0.8 - 1.2) to the real-time flux vector to dynamically adjust its amplitude and phase. Specifically, the amplitude of the flux is corrected by multiplying the reconstruction gain with each component of the flux vector; the phase of the flux is corrected by introducing phase compensation through the position error. The finally obtained flux distribution parameters include the corrected flux density value (usually in the range of 0.8 - 1.5 T), the flux direction angle (0 - 360 degrees), and the harmonic coefficient reflecting the magnetic field uniformity, etc. This flux reconstruction method based on real-time data can accurately reflect the magnetic field distribution state of the electric actuator, making the calculation accuracy of the flux distribution parameters reach more than 95%, providing a reliable technical support for realizing high-performance position control.

[0051] Step 104: Generate a pulse control signal based on the magnetic flux distribution parameters and output the pulse control signal to the electric actuator.

[0052] Among them, the pulse control signal refers to a high-low level sequence used to control the switching state of the power module of the electric actuator. The pulse control signal is mainly used to precisely adjust the three-phase current waveforms flowing through the stator windings of the electric actuator. By controlling the on and off times of the power devices in the power module, the continuous switching of voltage vectors is achieved, thereby generating the required magnetic field distribution to ensure that the electric actuator operates along the desired trajectory.

[0053] Specifically, to achieve precise position control of the electric actuator, the calculated magnetic flux distribution parameters need to be converted into specific control instructions. First, based on the magnetic flux density value and magnetic flux direction angle in the magnetic flux distribution parameters, the system generates a basic switching sequence through the space vector pulse width modulation algorithm. Specifically, the magnetic flux vector is projected onto the α-β coordinate system, and the action time and switching timing of the basic voltage vector are calculated. At the same time, considering the harmonic coefficient in the magnetic flux distribution parameters, harmonic compensation is performed on the basic switching sequence. By adjusting the action time ratio of adjacent switching vectors, the low-order harmonic components in the output voltage are suppressed. Then, according to the switching frequency requirement of the electric actuator (usually 5 - 20 kHz), the corrected switching sequence is converted into a standard pulse width modulation waveform to generate a pulse control signal with precise duty cycle and phase information. Finally, through a dedicated drive circuit, the pulse control signal is amplified and output to the power module of the electric actuator to achieve precise control of the energization state of the stator windings. This control method based on magnetic flux distribution parameters can not only achieve smooth switching of voltage vectors but also effectively suppress the torque ripple caused by magnetic field distortion, improving the position control accuracy of the electric actuator to within 0.05 degrees and significantly improving the dynamic response characteristics and steady-state control performance of the system.

[0054] Based on the above embodiments, as an alternative embodiment, in step 104: generating a pulse control signal based on the magnetic flux distribution parameters and outputting the pulse control signal to the electric actuator, this step may further include the following steps: Step 401: Collect the bus voltage and phase current of the electric actuator; determine the stator voltage command value for each phase based on the magnetic flux distribution parameters.

[0055] Specifically, to accurately control the output characteristics of the electric actuator, the system collects the bus voltage value in real time through a voltage sensor with a sampling accuracy of 16 bits and a sampling frequency set at 20 kHz to ensure that voltage fluctuations can be captured in a timely manner. At the same time, the three-phase current signals are collected through a Hall current sensor with a current sampling accuracy of 12 bits. Based on the obtained magnetic flux distribution parameters, including the magnetic flux density value (0.8 - 1.5 T) and the magnetic flux direction angle (0 - 360 degrees), the stator voltage command values of each phase are calculated through coordinate transformation. Specifically, first, the magnetic flux distribution parameters are decomposed in the d-q coordinate system to obtain the voltage components on the d-axis and q-axis, and then they are converted into three-phase voltage command values (ua, ub, uc) through the inverse Park transformation. The amplitude of the voltage command value is usually controlled within 85% of the bus voltage to reserve sufficient modulation margin.

[0056] Step 402: Calculate the PWM duty cycle according to the ratio of the stator voltage command value to the bus voltage.

[0057] Specifically, the system performs a ratio operation on the stator voltage command value of each phase and the measured bus voltage to obtain the initial PWM duty cycle. To ensure calculation accuracy, both the bus voltage and the voltage command value are calculated using 32-bit floating-point numbers. When the bus voltage is 600 V, if the voltage command value of a certain phase is 400 V, the corresponding initial PWM duty cycle is 0.667. Considering the dead-time requirement of the power device (such as 2 μs), the system performs dead-time compensation on the calculated duty cycle to ensure that there is no through-conduction phenomenon during the switching process of the upper and lower bridge arms. At the same time, the change range of the duty cycle is limited between 0.05 - 0.95 to avoid over-modulation state.

[0058] Step 403: Dynamically compensate the PWM duty cycle based on the current of each phase and convert the compensated PWM duty cycle into a pulse control signal.

[0059] Specifically, the system dynamically compensates the PWM duty cycle according to the collected phase current values. First, by performing spectral analysis on each phase current, the fundamental component and the main harmonic components are extracted. When significant low-order harmonics (such as 5th and 7th harmonics) are detected in the phase current, the system calculates the harmonic compensation amount according to the preset compensation algorithm. Specifically, by adjusting the edge position of the PWM waveform and introducing selective harmonic elimination technology, the compensated PWM duty cycle can effectively suppress current harmonics. For example, when the amplitude of the 5th harmonic is detected to exceed 5% of the fundamental wave, a compensation amount of ±0.02 is superimposed on the original duty cycle. Finally, the compensated PWM duty cycle is converted into a standard pulse control signal according to the requirements of the switching frequency (such as 10 kHz), including six-way complementary gate drive signals. This dynamic compensation method based on current feedback can achieve precise regulation of voltage output, reduce the total harmonic distortion of the phase current to less than 3%, and significantly improve the control performance of the electric actuator.

[0060] Step 105: Adjust the pole position of the electric actuator to the compensation position according to the pulse control signal.

[0061] Among them, the pole position refers to the spatial angle of the center line of the N pole of the permanent magnet on the rotor of the electric actuator relative to the stator reference position. In the embodiment of the present application, the pole position can be understood as a spatial position parameter that reflects the magnetic field direction of the permanent magnet detected in real time by the position sensor. This parameter is represented by an angle value (0 - 360 degrees) and reflects the instantaneous position state of the rotor relative to the stator. The pole position is mainly used to achieve precise position control of the electric actuator. By comparing the measured pole position with the desired compensation position, the system can calculate the required position adjustment amount and generate corresponding control instructions accordingly.

[0062] Specifically, to achieve precise adjustment of the magnetic pole position of the electric actuator, the system first outputs the generated pulse control signal to each switching tube of the power module through the drive circuit. The drive circuit adopts an opto-isolation method to ensure reliable transmission of the control signal, and the drive capacity is designed to be above 2A, which can meet the switching requirements of IGBT or MOSFET. After receiving the pulse control signal, the power module conducts the corresponding power devices according to the preset switching timing, generating a rotating magnetic field in the stator winding. The three-phase currents in the stator winding form a specific space vector under the modulation of the pulse control signal, and the amplitude and phase of this vector are dynamically adjusted with the change of the PWM waveform. The permanent magnet generates an electromagnetic torque under the action of the rotating magnetic field, driving the rotor to move towards the compensation position. During the process of approaching the compensation position, the system realizes smooth change of the torque by adjusting the duty cycle and phase of the pulse control signal in real time, avoiding position overshoot or oscillation. When the deviation between the magnetic pole position and the compensation position is less than 0.02 degrees, the system switches the pulse control signal to the position holding mode, and makes the electric actuator stable at the compensation position by generating an appropriate damping torque. This closed-loop adjustment method based on the pulse control signal not only achieves high-precision control of the magnetic pole position, but also ensures the smoothness of the adjustment process.

[0063] Based on the above embodiments, as an optional embodiment, in step 105: Adjusting the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal, this step may further include the following steps: Step 501: Convert the pulse control signal into a three-phase current command; collect the rotor angle and magnetic pole position of the electric actuator in real time.

[0064] Specifically, to achieve precise control of the magnetic pole position of the electric actuator, the system first needs to convert the pulse control signal into a specific current control quantity. By analyzing the duty cycle and phase information of the pulse control signal, the three-phase current command values (ia_ref, ib_ref, ic_ref) are obtained through space vector inverse transformation. At the same time, the system collects the rotor angle in real time through a high-precision resolver, with the sampling frequency set to 10kHz and the angle resolution reaching 12 bits; the real-time position information of the permanent magnet is collected through a magnetic pole position sensor (such as a Hall sensor array), with the position detection accuracy better than 0.01 degrees and the sampling period of 100μs, ensuring that the motion state of the electric actuator can be accurately captured.

[0065] Step 502: Calculate the position deviation between the position corresponding to the rotor angle and the compensation position.

[0066] Specifically, the system converts the collected rotor angle value into an angle value in the coordinate system that is the same as the compensation position through coordinate transformation. Since the compensation position is usually represented by an absolute angle value (such as 178.5 degrees), the system needs to consider the influence of the coordinate system zero offset to ensure the consistency of angle calculation. Specifically, when the rotor angle is 175.2 degrees and the compensation position is 178.5 degrees, the position deviation is obtained as 3.3 degrees through subtraction operation. The system also performs low-pass filtering on the calculated position deviation, and the cut-off frequency of the filter is set to 200 Hz to eliminate the influence of high-frequency interference on position control.

[0067] Step 503: Adjust the amplitude and phase of the three-phase current command according to the position deviation, and gradually adjust the magnetic pole position of the electric actuator in accordance with the adjusted three-phase current command by a preset step size until the magnetic pole position converges to the compensation position.

[0068] Specifically, the system dynamically adjusts the three-phase current command according to the position deviation value. When the position deviation is greater than a preset threshold (such as 1 degree), the system uses a proportional-integral control algorithm to calculate the current adjustment amount. Specifically, the position deviation value is multiplied by the position loop proportional coefficient (such as 2 A / degree) to obtain the basic adjustment amount, and at the same time, an integral term is introduced to compensate for the cumulative error. For example, for a position deviation of 3.3 degrees, the initial current adjustment amount is 6.6 A. The system decomposes this adjustment amount into two components of amplitude and phase, and modulates the three-phase current command respectively. The adjustment process is carried out step by step with a preset step size (such as 0.5 A / step), and after each step of adjustment, it waits for 50 ms to make the system reach a steady state. When the position deviation is less than 0.05 degrees, the system switches the current command to the position holding mode, and maintains the stability of the magnetic pole position by generating a small amplitude directional current (such as 0.2 A). This progressive adjustment method based on position feedback can not only achieve the smooth convergence of the magnetic pole position, but also effectively suppress overshoot and oscillation phenomena.

[0069] Refer to Figure 2 , a control system for an electric actuator provided by an embodiment of the present application, the system includes: a data acquisition module, a compensation coefficient determination module, a control signal output module, and an electric actuator control module, wherein: The data acquisition module is used to acquire the current position data and electromagnetic signal intensity data of the electric actuator; The compensation coefficient determination module is used to calculate the magnetic pole position offset according to the electromagnetic signal intensity data, and determine the compensation coefficient according to the magnetic pole position offset; The control signal output module is used to calculate the compensation position based on the compensation coefficient and the reference position of the electric actuator, and determine the magnetic flux distribution parameter by combining the current position data and the compensation position; generate a pulse control signal through the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator; An electric actuator control module is used to adjust the magnetic pole position of the electric actuator to the compensation position according to a pulse control signal.

[0070] Based on the above embodiments, the compensation coefficient determination module is further configured to obtain the forward magnetic pole signal and the reverse magnetic pole signal in the electromagnetic signal intensity data; calculate the signal difference between the forward magnetic pole signal and the reverse magnetic pole signal; and determine the corresponding magnetic pole position offset according to the mapping relationship between the signal difference and the preset calibration curve.

[0071] Based on the above embodiments, the compensation coefficient determination module is further configured to obtain the cumulative operation time and the start-stop times of the electric actuator; query the corresponding basic compensation value from the standard compensation data table according to the magnetic pole position offset; obtain the time correction value corresponding to the cumulative operation time data from the preset time comparison table; determine the life attenuation value based on the ratio between the start-stop times and the rated start-stop times of the electric actuator; and perform weighted calculation on the basic compensation value, the time correction value, and the life attenuation value to obtain the compensation coefficient.

[0072] Based on the above embodiments, the control signal output module is further configured to obtain the historical position of the electric actuator within a preset sampling period; convert the historical position into a first mechanical angle value, and convert the reference position into a second mechanical angle value; calculate the angle difference between the first mechanical angle value and the second mechanical angle value; determine the angle correction amount according to the product of the compensation coefficient and the angle difference; superimpose the angle correction amount on the second mechanical angle value to obtain the target angle value, and convert the target angle value into a position signal to obtain the compensation position of the electric actuator.

[0073] Based on the above embodiments, the control signal output module is further configured to detect the stator current and the rotor position signal of the electric actuator; calculate the position error between the current position data and the compensation position; determine the flux reconstruction instruction according to the position error; calculate the real-time flux vector through the stator current and the rotor position signal; and correct the real-time flux vector according to the flux reconstruction instruction to obtain the flux distribution parameter.

[0074] Based on the above embodiments, the control signal output module is further configured to collect the bus voltage and the phase current of the electric actuator; determine the stator voltage command value of each phase based on the flux distribution parameter; calculate the PWM duty ratio according to the ratio between the stator voltage command value and the bus voltage; perform dynamic compensation on the PWM duty ratio based on each phase current, and convert the compensated PWM duty ratio into a pulse control signal.

[0075] Based on the above embodiments, the electric actuator control module is further configured to convert the pulse control signal into a three-phase current command; collect the rotor angle and pole position of the electric actuator in real time; calculate the position deviation between the position corresponding to the rotor angle and the compensation position; adjust the amplitude and phase of the three-phase current command according to the position deviation, and gradually adjust the pole position of the electric actuator by the adjusted three-phase current command in a preset step until the pole position converges to the compensation position.

[0076] It should be noted that: when the device provided in the above embodiments realizes its functions, only the above-mentioned division of each functional module is used for illustration. In actual applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the functions described above. In addition, the device and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process can be seen in the method embodiments, which will not be elaborated here.

[0077] This application also discloses an electronic device. Refer to Figure 3 , Figure 3 is a schematic structural diagram of an electronic device disclosed in an embodiment of this application. The electronic device 300 may include: at least one processor 301, at least one network interface 304, a user interface 303, a memory 305, and at least one communication bus 302.

[0078] Among them, the communication bus 302 is used to realize the connection and communication between these components.

[0079] Among them, the user interface 303 may include a display (Display) interface and a camera (Camera) interface. Optionally, the user interface 303 may further include a standard wired interface and a wireless interface.

[0080] Among them, the network interface 304 may optionally include a standard wired interface and a wireless interface (such as a Wi-Fi interface).

[0081] Among them, the processor 301 may include one or more processing cores. The processor 301 connects various parts within the entire server through various interfaces and lines. By running or executing instructions, programs, code sets, or instruction sets stored in the memory 305, and by calling the data stored in the memory 305, it executes various functions of the server and processes data. Optionally, the processor 301 may be implemented in at least one hardware form of digital signal processing (DSP), field-programmable gate array (FPGA), or programmable logic array (PLA). The processor 301 may integrate a combination of one or several of a central processing unit (CPU), a graphics processing unit (GPU), and a modem, etc. Among them, the CPU mainly processes the operating system, user interface graphics, and application programs, etc.; the GPU is responsible for rendering and drawing the content to be displayed on the display screen; the modem is used to process wireless communications. It can be understood that the above-mentioned modem may not be integrated into the processor 301 and may be implemented separately by a single chip.

[0082] Among them, the memory 305 may include random access memory (RAM) and may also include read-only memory. Optionally, the memory 305 includes a non-transitory computer-readable storage medium. The memory 305 can be used to store instructions, programs, code, code sets, or instruction sets. The memory 305 may include a program storage area and a data storage area. Among them, the program storage area may store instructions for implementing the operating system, instructions for at least one function (such as touch function, sound playback function, image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store the data involved in the above-mentioned various method embodiments. Optionally, the memory 305 may also be at least one storage device located far from the aforementioned processor 301. Refer to Figure 3 , in the memory 305 as a computer storage medium, there may be included an operating system, a network communication module, a user interface module, and an application program of an electric actuator control method.

[0083] In Figure 3In the electronic device 300 shown, the user interface 303 is mainly used to provide an interface for the user to input and obtain the data input by the user; while the processor 301 can be used to call the application program stored in the memory 305 that stores a method for controlling an electric actuator. When executed by one or more processors 301, the electronic device 300 is caused to execute the method of one or more of the above-described embodiments. It should be noted that for the foregoing method embodiments, for simplicity of description, they are all expressed as a series of action combinations. However, those skilled in the art should know that the present application is not limited by the described order of actions, because according to the present application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily essential to the present application.

[0084] In the above embodiments, the descriptions of the respective embodiments have their own emphases. For the parts not detailed in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0085] In several implementation manners provided by the present application, it should be understood that the disclosed device can be implemented in other ways. For example, the device embodiments described above are merely illustrative. For example, the division of units is only a logical function division. In actual implementation, there may be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some service interfaces. The indirect couplings or communication connections of the devices or units can be in electrical or other forms.

[0086] The units described as separate components may or may not be physically separated. The components shown as units may or may not be physical units, that is, they can be located in one place, or they can be distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0087] In addition, in each embodiment of the present application, the functional units 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 software functional units.

[0088] When an integrated unit 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 memory. Based on this understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a memory and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods of the various embodiments of the present application. The aforementioned memory includes various media that can store program codes, such as USB flash drives, mobile hard disks, magnetic disks, or optical discs.

[0089] The above are only exemplary embodiments of the present disclosure and should not be used to limit the scope of the present disclosure. That is, any equivalent changes and modifications made in accordance with the teachings of the present disclosure still fall within the scope covered by the present disclosure. Those skilled in the art will readily think of other embodiments of the present disclosure after considering the specification and the practice of the disclosure.

[0090] The present application aims to cover any variations, uses, or adaptive changes of the present disclosure that follow the general principles of the present disclosure and include common general knowledge or conventional technical means in the technical field not recorded in the present disclosure. The specification and the embodiments are only regarded as exemplary.

Claims

1. A method for controlling an electric actuator, characterized in that: include: Obtain current position data and electromagnetic signal strength data of the electric actuator; Calculating the magnetic pole position offset according to the electromagnetic signal strength data, and determining the compensation coefficient according to the magnetic pole position offset; Calculate the compensation position based on the compensation coefficient and the reference position of the electric actuator, and determine the magnetic flux distribution parameters in combination with the current position data and the compensation position; Generate a pulse control signal through the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator; The magnetic pole position of the electric actuator is adjusted to a compensation position according to the pulse control signal.

2. The electric actuator control method according to claim 1, characterized in that: Calculate the magnetic pole position offset based on the electromagnetic signal strength data, including: Acquire the positive magnetic pole signal and the reverse magnetic pole signal in the electromagnetic signal strength data; Calculate the signal difference between the positive magnetic pole signal and the reverse magnetic pole signal; The corresponding magnetic pole position offset is determined according to the mapping relationship between the signal difference and the preset calibration curve.

3. The electric actuator control method according to claim 1, characterized in that: The compensation coefficient is determined according to the magnetic pole position offset, including: Get the cumulative running time and start and stop times of the electric actuator; According to the magnetic pole position offset, query the corresponding basic compensation value from the standard compensation data table; Obtaining a time correction value corresponding to the accumulated running time data from a preset time comparison table; Determine the life attenuation value based on the ratio between the number of starts and stops and the rated number of starts and stops of the electric actuator; The basic compensation value, time correction value and life attenuation value are weighted to obtain the compensation coefficient.

4. The electric actuator control method according to claim 1, characterized in that: The compensation position is calculated based on the compensation coefficient and the reference position of the electric actuator, including: Obtain the historical position of the electric actuator within a preset sampling period; Converting the historical position into a first mechanical angle value and converting the reference position into a second mechanical angle value; Calculating an angle difference between a first mechanical angle value and a second mechanical angle value; Determine the angle correction amount according to the product of the compensation coefficient and the angle difference; The angle correction amount is added to the second mechanical angle value to obtain a target angle value, and the target angle value is converted into a position signal to obtain a compensation position of the electric actuator.

5. The electric actuator control method according to claim 1, characterized in that: Combine the current position data with the compensation position to determine the magnetic flux distribution parameters, including: Detect stator current and rotor position signals of electric actuators; Calculate the position error between the current position data and the compensated position; determining a flux reconstruction instruction based on the position error; Calculate the real-time flux vector through stator current and rotor position signals; The real-time flux vector is corrected according to the flux reconstruction instruction to obtain the flux distribution parameters.

6. The electric actuator control method according to claim 1, characterized in that: Generate pulse control signals based on magnetic flux distribution parameters, including: Collect bus voltage and phase current of electric actuator; Determining a stator voltage command value of each phase based on a magnetic flux distribution parameter; Calculate the PWM duty cycle based on the ratio of the stator voltage command value to the bus voltage; The PWM duty cycle is dynamically compensated based on each phase current, and the compensated PWM duty cycle is converted into a pulse control signal.

7. The electric actuator control method according to claim 1, characterized in that: Adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal, including: Convert pulse control signals into three-phase current instructions; Real-time acquisition of the rotor angle and magnetic pole position of the electric actuator; Calculate the position deviation between the position corresponding to the rotor angle and the compensation position; The amplitude and phase of the three-phase current command are adjusted according to the position deviation, and the magnetic pole position of the electric actuator is gradually adjusted according to the preset step size through the adjusted three-phase current command until the magnetic pole position converges to the compensation position.

8. An electric actuator control system, characterized in that: The system comprises: A data acquisition module, used to acquire current position data and electromagnetic signal strength data of the electric actuator; A compensation coefficient determination module, used to calculate the magnetic pole position offset according to the electromagnetic signal strength data, and determine the compensation coefficient according to the magnetic pole position offset; A control signal output module is used to calculate the compensation position based on the compensation coefficient and the reference position of the electric actuator, and determine the magnetic flux distribution parameter in combination with the current position data and the compensation position; generate a pulse control signal through the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator; The electric actuator control module is used for adjusting the magnetic pole position of the electric actuator to a compensation position according to a pulse control signal.

9. An electronic device, characterized in that: It includes a processor, a memory, a user interface and a network interface, the memory is used to store instructions, the user interface and the network interface are used to communicate with other devices, and the processor is used to execute the instructions stored in the memory so that the electronic device executes the electric actuator control method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed, the electric actuator control method according to any one of claims 1 to 7 is executed.

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