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

Abstract

A method, system, electronic device, and storage medium for controlling an electric actuator relate to the field of automated control technology. The method includes: obtaining the current position data and electromagnetic signal strength data of the electric actuator; calculating the magnetic pole position offset based on the electromagnetic signal strength data, and determining a compensation coefficient based on 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 based on 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 based on the pulse control signal. Implementing the technical solution provided in this application improves the control accuracy of the electric actuator.

Description

Technical Field

[0001] The present application relates to the field of automation control technology, and in particular to an electric actuator control method, system, electronic device and storage medium. Background Art

[0002] In modern industrial automation and precision control, electric actuators are widely used in various mechanical and electronic systems to achieve precise motion control. These actuators often 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 operational accuracy and efficiency of the entire system.

[0003] Currently, the control of electric actuators primarily relies on position information fed back by sensors, with the control system generating drive signals based on the set target position. However, in practical applications, environmental interference can cause varying degrees of position deviation in electric actuators. This method of generating control signals based on a fixed target position makes it difficult to compensate for position deviations in real time during operation, thereby reducing the control accuracy of the electric actuator. Summary of the Invention

[0004] The present application provides an electric actuator control method, system, electronic device and storage medium, which have the effect of improving the control accuracy of the electric actuator.

[0005] In a first aspect, the present application provides a method for controlling an electric actuator, comprising:

[0006] Obtain current position data and electromagnetic signal strength data of the electric actuator;

[0007] Calculating a magnetic pole position offset according to the electromagnetic signal strength data, and determining a compensation coefficient according to the magnetic pole position offset;

[0008] 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;

[0009] generating a pulse control signal according to the magnetic flux distribution parameter, and outputting the pulse control signal to the electric actuator;

[0010] The magnetic pole position of the electric actuator is adjusted to the compensation position according to the pulse control signal.

[0011] In a second aspect of the present application, an electric actuator control system is provided, the system comprising:

[0012] A data acquisition module is used to obtain the current position data and electromagnetic signal strength data of the electric actuator;

[0013] a compensation coefficient determination module, configured to calculate a magnetic pole position offset according to the electromagnetic signal strength data, and determine a compensation coefficient according to the magnetic pole position offset;

[0014] a control signal output module, configured to calculate a compensation position based on the compensation coefficient and a reference position of the electric actuator, and determine a magnetic flux distribution parameter in combination with the current position data and 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;

[0015] The electric actuator control module is used to adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal.

[0016] In a third aspect of the present application, an electronic device is provided, comprising a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program can implement an electric actuator control method when loaded and executed by the processor.

[0017] In a fourth aspect of the present application, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the processor implements a method for controlling an electric actuator.

[0018] In summary, one or more technical solutions provided by this application have at least the following technical effects or advantages:

[0019] By adopting the above technical solution, the operating status of the actuator can be monitored in real time by obtaining the current position data and electromagnetic signal strength data of the electric actuator; the magnetic pole position offset is calculated and the compensation coefficient is determined based on the electromagnetic signal strength data, which can accurately reflect the degree of influence of environmental factors on the actuator position; the compensation position is further calculated based on the compensation coefficient and the reference position, and the magnetic flux distribution parameters are determined in combination with the current position data, thereby generating a more accurate pulse control signal, and finally by adjusting the magnetic pole position to the compensation position, real-time compensation of the actuator position deviation is achieved, thereby improving the control accuracy of the electric actuator during actual operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 This is a flow chart of a method for controlling an electric actuator provided in an embodiment of the present application;

[0021] Figure 2 This is a structural diagram of an electric actuator control system provided in an embodiment of the present application;

[0022] Figure 3 This is a structural diagram of an electronic device provided in an embodiment of the present application.

[0023] Description of reference numerals: 300, electronic device; 301, processor; 302, communication bus; 303, user interface; 304, network interface; 305, memory. DETAILED DESCRIPTION

[0024] In order 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 drawings in the embodiments of this specification. Obviously, the described embodiments are only part of the embodiments of this application, not all of the embodiments.

[0025] In the description of the embodiments of this application, words such as "for example" or "for instance" are used to indicate examples, illustrations, or explanations. Any embodiment or design described as "for example" or "for instance" in the embodiments of this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "for example" or "for instance" is intended to present the relevant concepts in a concrete manner.

[0026] In the description of the embodiments of the present application, the term "multiple" means two or more. For example, multiple systems refer to two or more systems, and multiple screen terminals refer to two or more screen terminals. In addition, the terms "first" and "second" are used for descriptive purposes only and are not to be understood as indicating or implying relative importance or implicitly indicating the indicated technical features. Thus, the features defined as "first" and "second" may explicitly or implicitly include one or more of the features. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized.

[0027] The present application embodiment provides a method for controlling an electric actuator. In one embodiment, please refer to Figure 1 , Figure 1 This is a flow chart of an electric actuator control method provided in an embodiment of the present application. This method can be implemented using a computer program, which can be integrated into an application or run as a standalone tool application. This method can also be implemented using a single-chip microcomputer or run in an electric actuator control system based on a von Neumann architecture. Specifically, this method can include the following steps:

[0028] Step 101: Acquire current position data and electromagnetic signal strength data of the electric actuator.

[0029] An electric actuator is a device that converts electrical energy into mechanical motion, achieving precise motion control of mechanical components through the principle of electromagnetic induction. These actuators are primarily used for high-precision position control in industrial automation equipment, robotic joints, and precision instruments. For example, they can be applied to machine tool feed systems, industrial robot joint drives, and position adjustment in automated production lines, where precise position control is required. Electric actuators accurately control the position of mechanical components by converting electrical signals from the control system into precise mechanical motion. The accuracy of these controls directly impacts the overall system's performance and processing quality.

[0030] Current position data refers to the real-time angle or displacement of the electric actuator's rotor relative to its reference position during operation. This data primarily reflects the actuator's actual motion state. By comparing it with the target position, position error can be calculated. Combined with historical position data, this data can be used to analyze the actuator's motion trends, providing a basis for real-time control strategy adjustments.

[0031] Electromagnetic signal strength data refers to measurement information that reflects the distribution state of the magnetic field inside the electric actuator. In the embodiment of the present application, the electromagnetic signal strength data can be understood as the magnetic induction intensity signal collected by the magnetic sensor installed near the stator winding, including two components: the forward magnetic pole signal and the reverse magnetic pole signal. The electromagnetic signal strength data is mainly used to detect the magnetic field distortion caused by factors such as temperature changes, mechanical stress, and external interference during the actual operation of the electric actuator. 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 for subsequent compensation control.

[0032] Specifically, to achieve high-precision position control of an electric actuator, it is first necessary to obtain real-time operating status information of the electric actuator. Current position data is collected by a position sensor installed on the electric actuator. This position sensor can be a photoelectric encoder, Hall effect sensor, or magnetic encoder, and is used to monitor the electric actuator's rotor position in real time. Simultaneously, electromagnetic signal strength data is collected by a magnetic sensor, which can detect changes in the magnetic field strength generated by the electric actuator's stator windings. The electric actuator's control system continuously collects this data at a preset sampling frequency (e.g., 1kHz) through a data acquisition module and stores it in the system cache after analog-to-digital conversion. The current position data represents the actual angular position of the electric actuator's rotor and directly reflects the actuator's motion state. The electromagnetic signal strength data includes both forward and reverse magnetic pole signals, which reflect magnetic field distortion caused by external interference or internal mechanical stress during the electric actuator's operation. By simultaneously acquiring these two types of data, the control system can fully understand the electric actuator's operating status, providing the necessary data foundation for subsequent position offset calculation and compensation control. This data acquisition method not only monitors the position changes of the electric actuator in real time, but also promptly detects abnormal conditions that may affect control accuracy through changes in electromagnetic signal strength, laying the foundation for high-precision position control. Actual tests have shown that this data acquisition solution can accurately reflect the operating status of the electric actuator. The collected data has a high signal-to-noise ratio and reliability, providing reliable data support for subsequent compensation control.

[0033] Step 102: Calculate the magnetic pole position offset according to the electromagnetic signal strength data, and determine a compensation coefficient according to the magnetic pole position offset.

[0034] Magnetic pole position offset refers to the angular deviation between the actual magnetic pole position of the permanent magnet in an electric actuator and its ideal position. This quantifies the degree of magnetic field distortion caused by factors such as temperature changes, mechanical stress, and external interference during operation. It serves as a crucial basis for calculating compensation coefficients.

[0035] The compensation factor is a correction parameter used to modify the actual control variable of an electric actuator. It is primarily used to make real-time corrections to the actuator's control variable during position control to offset control errors caused by factors such as magnetic pole position offset and equipment aging, bringing the actuator's actual output position closer to the target position.

[0036] Specifically, during the actual operation of an electric actuator, the magnetic pole position of the permanent magnet may deviate from its ideal position due to factors such as temperature fluctuations, mechanical stress, and external magnetic field interference. This deviation directly affects the accuracy of position control. To accurately compensate for this deviation, this embodiment first uses a magnetic sensor to obtain the forward and reverse magnetic pole signals from electromagnetic signal strength data. These signals reflect the magnetic field strength in the north and south pole directions, respectively. By calculating the signal difference between the forward and reverse magnetic pole signals, an indicator reflecting the degree of magnetic field asymmetry can be obtained. The control system pre-stores a preset calibration curve based on extensive experimental data. This curve describes the mapping between the signal difference and the magnetic pole position offset. Based on the measured signal difference, the current magnetic pole position offset can be determined by querying this calibration curve. After obtaining the magnetic pole position offset, the control system further determines a compensation coefficient based on the actual operating status of the electric actuator. By reading the electric actuator's cumulative operating time and number of starts and stops, the control system retrieves the basic compensation value corresponding to the current magnetic pole position offset from a pre-established standard compensation data table. At the same time, a time correction value is retrieved from a preset time comparison table based on the accumulated operating time. A life decay value, reflecting the equipment's lifespan, is calculated based on the ratio of the number of starts and stops to the rated number of starts and stops. Finally, a weighted calculation is performed on the basic compensation value, the time correction value, and the life decay value to determine the final compensation coefficient. This compensation coefficient calculation method, which considers multiple influencing factors, accurately reflects the performance characteristics of the electric actuator at different operating stages, providing a more accurate reference for subsequent position compensation control.

[0037] Based on the above embodiment, as an optional embodiment, in step 102: calculating the magnetic pole position offset according to the electromagnetic signal strength data, this step may further include the following steps:

[0038] Step 201: Obtain a positive magnetic pole signal and a negative magnetic pole signal from electromagnetic signal strength data; and calculate a signal difference between the positive magnetic pole signal and the negative magnetic pole signal.

[0039] Specifically, to accurately determine the magnetic field distribution of the permanent magnet in the electric actuator, a magnetic sensor installed near the stator winding collects electromagnetic signal strength data in real time. This electromagnetic signal strength data includes a positive magnetic pole signal reflecting the magnetic field strength in the north pole direction and a negative magnetic pole signal reflecting the magnetic field strength in the south pole direction. These two signals are amplified, filtered, and processed by the signal conditioning circuitry for analog-to-digital conversion before being converted into standardized digital output signals. The control system then calculates the signal difference between the positive and negative magnetic pole signals. Ideally, the positive and negative magnetic pole signals should be symmetrically distributed about the centerline of the permanent magnet, and the signal difference should be close to zero. However, in actual operation, the magnetic field distribution can be distorted due to factors such as temperature fluctuations and mechanical stress, resulting in deviations in the signal difference. The degree of deviation in this signal difference directly reflects the actual offset of the magnetic pole position.

[0040] Step 202: Determine the corresponding magnetic pole position offset according to the mapping relationship between the signal difference and a preset calibration curve.

[0041] Specifically, the calculated signal difference needs to be converted into the actual magnetic pole position offset. This conversion relies on a preset calibration curve established in advance through a large number of experiments, which describes the quantitative relationship between the signal difference and the magnetic pole position offset. In the process of establishing the preset calibration curve, high-precision position measurement equipment is used to record the actual position offset of the permanent magnet under different working conditions, and the corresponding positive and reverse magnetic pole signal differences are recorded at the same time, and an accurate mapping relationship curve is 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 established based on experimental data has high accuracy and reliability, and can accurately reflect the magnetic pole position offset of the electric actuator under different working conditions, providing a reliable data basis for subsequent compensation control.

[0042] Based on the above 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:

[0043] Step 203: Obtain the cumulative operating time and start and stop times of the electric actuator.

[0044] Specifically, to comprehensively evaluate the operating status of electric actuators, key parameters reflecting device usage are required. Accumulated operating time is recorded in real time using a built-in timer. This timer starts each time the actuator starts and pauses each time it stops, storing the time data in non-volatile memory. A dedicated counter records the number of starts and stops of the actuator. Each complete start-stop cycle increments the counter by 1 and is also stored in non-volatile memory. This data will be used to subsequently evaluate the actual usage intensity and lifespan of the device.

[0045] Step 204: 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 accumulated operating time data from the preset time comparison table; and 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.

[0046] Specifically, first, based on the obtained magnetic pole position offset, the corresponding basic compensation value is queried from the pre-established standard compensation data table. The standard compensation data table stores the standard compensation parameters under different magnetic pole position offsets. These parameters are the optimal compensation values ​​obtained through a large number of experimental verifications. Next, the time correction value corresponding to the current cumulative running time is queried from the preset time comparison table. The comparison table is established based on the aging characteristics of the electric actuator and reflects the degree of performance degradation of the equipment under different usage times. At the same time, the ratio between the current number of starts and stops and the rated number of starts and stops of the electric actuator is calculated. This ratio reflects the degree of life consumption of the equipment. Based on this ratio, the life attenuation value is calculated by the preset attenuation function. This value increases with the increase in the number of starts and stops, reflecting the impact of frequent starts and stops on equipment performance.

[0047] Step 205: Perform weighted calculation on the basic compensation value, the time correction value, and the life attenuation value to obtain a compensation coefficient.

[0048] Specifically, to obtain an accurate compensation coefficient, it is necessary to comprehensively consider the impact of three factors: the basic compensation value, the time correction value, and the life decay value. During the calculation, each of these three values ​​is first assigned a corresponding weight coefficient. These weight coefficients reflect the degree of influence of each factor on the device's performance. The basic compensation value has the largest weight, set at 0.6-0.7, because it directly reflects the current magnetic pole position offset state. The time correction value has the second largest weight, set at 0.2-0.3, to reflect performance changes caused by accumulated operating time. The life decay value has the smallest weight, set at 0.1-0.2, primarily considering the impact of the number of starts and stops on the device. By multiplying these three values ​​with their respective weight coefficients and summing them, a comprehensive compensation coefficient is ultimately obtained. This multi-factor weighted calculation method can fully reflect the actual operating status of the electric actuator, making the compensation effect more accurate and reliable, and effectively improving the precision of position control.

[0049] 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 parameter in combination with the current position data and the compensation position.

[0050] The reference position refers to the standard zero position or initial reference position of the electric actuator. In the embodiments of this application, the reference position can be understood as the initial zero-position angle of the rotor, determined by high-precision measurement equipment during the factory calibration of the electric actuator. This position corresponds to the ideal state where the magnetic pole centerline of the permanent magnet coincides with the reference axis of the stator winding. The reference position is primarily used to provide a fixed reference for position control of the electric actuator.

[0051] The compensation position refers to the actual zero position of the electric actuator after dynamic compensation correction.

[0052] Magnetic flux distribution parameters refer to a set of physical quantities that reflect the spatial distribution characteristics of the magnetic field between the stator and rotor of an electric actuator.

[0053] Specifically, because electric actuators experience magnetic pole position offset during actual operation, a reference position compensation correction is required to improve control accuracy. First, the electric actuator's reference position is obtained. This reference position is the ideal zero position information determined during factory calibration. This reference position is multiplied by a calculated compensation coefficient to obtain a compensated position that accounts for the effects of magnetic pole position offset, accumulated operating time, and the number of starts and stops. The compensated position reflects the actual zero position of the electric actuator in its current operating state. Next, the current position data collected in real time is compared and analyzed with the compensated position to calculate the relative positional relationship between the two. Based on this relative positional relationship and the magnetic field distribution characteristics of the permanent magnet, a pre-set magnetic flux distribution model is used to calculate the magnetic flux distribution parameters that reflect the current spatial distribution of the magnetic field. These magnetic flux distribution parameters, which include key information such as magnetic flux density and magnetic flux direction, comprehensively reflect the magnetic field coupling between the stator and rotor of the electric actuator. This method of calculating magnetic flux distribution parameters based on the compensated position not only accounts for the effects of magnetic pole position offset but also incorporates dynamic changes in the device's operating state, making subsequent position control more accurate and reliable, effectively improving the control performance and operational stability of the electric actuator.

[0054] Based on the above embodiment, 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:

[0055] Step 301: Acquire a 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.

[0056] Specifically, in order to accurately obtain the position changes of the electric actuator during operation, the system continuously collects the historical position data of the electric actuator according to a preset sampling period (e.g., 2ms). During the sampling process, the real-time position information of the rotor is collected by the 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. Next, the collected historical position data is converted into a first mechanical angle value using a preset angle conversion algorithm. Specifically, based on the signal characteristics and resolution of the position sensor (e.g., 12-bit resolution), the digital signal value is mapped to an angle value in the range of 0-2π according to a linear correspondence, thereby obtaining a first mechanical angle value in radians. Similarly, the reference position of the electric actuator is converted into a second mechanical angle value using the same angle conversion algorithm, that is, the reference position data stored in the non-volatile memory is also converted into an angle range of 0-2π, thereby establishing a unified angle measurement benchmark.

[0057] Step 302: Calculate the angle difference between the first mechanical angle value and the second mechanical angle value; and determine the angle correction amount according to the product of the compensation coefficient and the angle difference.

[0058] Specifically, the system calculates the angle difference between the first mechanical angle value and the second mechanical angle value. Specifically, the difference between the two angle values ​​is obtained by subtraction, which reflects the degree of deviation between the actual operating position of the electric actuator and the reference position. Taking into account the possibility of periodic out-of-bounds in the angle calculation, angle normalization processing is also required to ensure that the calculated angle difference is always within the range of -π to π. Then, the obtained compensation coefficient (the value range is usually 0.8-1.2) is multiplied by the angle difference to obtain an angle correction that takes into account the influence of magnetic pole position offset, cumulative operating time and number of starts and stops. For example, when the compensation coefficient is 1.1 and the angle difference is 0.2 radians, the obtained angle correction is 0.22 radians. This correction method based on the compensation coefficient dynamically adjusts the amplitude of the angle compensation so that the compensation effect is more in line with the actual operating state of the electric actuator.

[0059] Step 303: Add the angle correction value to the second mechanical angle value to obtain a target angle value, and convert the target angle value into a position signal to obtain a compensated position of the electric actuator.

[0060] 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 results, the superimposed angle value is range-limited so that it remains 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 requirements (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 position signals through high-precision data acquisition and processing, so that the position control accuracy after compensation can reach within 0.1 degrees, significantly improving the control performance of the electric actuator.

[0061] Based on the above embodiment, as an optional embodiment, in step 103: combining the current position data with the compensation position to determine the magnetic flux distribution parameter, this step may further include the following steps:

[0062] 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 compensation position.

[0063] Specifically, to obtain the real-time operating status of the electric actuator, the system collects the stator three-phase current signal through a Hall current sensor, and the sampling frequency is set to 10kHz 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 encoder), and the sampling accuracy can reach 12 bits. The collected current position data is compared with the previously calculated compensation position, and the position error is obtained through numerical subtraction. This position error reflects the deviation between the actual operating position of the electric actuator and the expected position. Its numerical range is usually controlled within ±0.5 degrees, providing an important basis for subsequent flux reconstruction.

[0064] Step 305: Determine a flux reconstruction instruction according to the position error; calculate a real-time flux vector using the stator current and the rotor position signal.

[0065] Specifically, the system determines the flux reconstruction command based on the magnitude and trend of the position error. Specifically, when the position error exceeds a preset threshold (e.g., 0.2 degrees), the flux reconstruction process is triggered, generating a flux reconstruction command containing parameters such as the reconstruction method and reconstruction gain. Simultaneously, based on the acquired stator three-phase current signals (ia, ib, ic) and rotor position signal (θ), the three-phase currents are converted to the dq coordinate system using Clark and Park transforms to obtain the id and iq components. Then, based on the permanent magnet flux equation and the mathematical model of the electric actuator, a real-time flux vector is calculated to reflect the current magnetic field distribution. The calculation process takes into account the influence of key parameters such as the permanent magnet remanence (e.g., 1.2T) and stator inductance parameters (e.g., d-axis inductance Ld = 2mH and q-axis inductance Lq = 3mH).

[0066] Step 306: Correct the real-time magnetic flux vector according to the magnetic flux reconstruction instruction to obtain magnetic flux distribution parameters.

[0067] Specifically, the system corrects the real-time flux vector according to the flux reconstruction instruction. First, the corresponding correction algorithm is selected according to the reconstruction method in the flux reconstruction instruction, such as the least squares method or the Kalman filter. Then, the reconstruction gain (typical value is 0.8-1.2) is applied to the real-time flux vector to dynamically adjust its amplitude and phase. Specifically, the flux amplitude is corrected by multiplying the reconstruction gain with the components of the flux vector; the flux direction is corrected by introducing phase compensation through the position error. The final flux distribution parameters include the corrected flux density value (usually in the range of 0.8-1.5T), the flux direction angle (0-360 degrees), and the harmonic coefficient reflecting the uniformity of the magnetic field. This flux reconstruction method based on real-time data can accurately reflect the magnetic field distribution state of the electric actuator, so that the calculation accuracy of the flux distribution parameters reaches more than 95%, providing reliable technical support for achieving high-performance position control.

[0068] Step 104: Generate a pulse control signal according to the magnetic flux distribution parameter, and output the pulse control signal to the electric actuator.

[0069] The pulse control signal is a sequence of high and low voltage levels used to control the on / off state of the electric actuator's power module. This signal precisely regulates the three-phase current waveform flowing through the actuator's stator windings. By controlling the on / off timing of the power devices in the power module, the voltage vector is continuously switched, generating the desired magnetic field distribution and ensuring the actuator operates according to the desired trajectory.

[0070] In step 104, a pulse control signal is generated by using the magnetic flux distribution parameter, and the pulse control signal is output to the electric actuator. This step specifically includes the following steps:

[0071] Step 401: collecting the bus voltage and phase current of the electric actuator; and determining the stator voltage command value of each phase based on the magnetic flux distribution parameter.

[0072] Specifically, in order to accurately control the output characteristics of the electric actuator, the system collects the bus voltage value in real time through the voltage sensor, with a sampling accuracy of 16 bits and a sampling frequency of 20kHz to ensure that voltage fluctuations can be captured in time. At the same time, the three-phase current signal is collected through the Hall current sensor, and the current sampling accuracy is 12 bits. Based on the obtained flux distribution parameters, including the flux density value (0.8-1.5T) and the flux direction angle (0-360 degrees), the stator voltage command value of each phase is obtained by coordinate transformation. Specifically, the flux distribution parameters are first decomposed in the dq coordinate system to obtain the voltage components of the d-axis and q-axis, and then converted into three-phase voltage command values ​​(ua, ub, uc) through the inverse Park transform. The amplitude of the voltage command value is usually controlled within 85% of the bus voltage to reserve sufficient modulation margin.

[0073] Step 402: Calculate the PWM duty cycle according to the ratio of the stator voltage command value to the bus voltage.

[0074] Specifically, the system calculates the ratio of each phase's stator voltage command value to 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 600V, if the voltage command value of a phase is 400V, the corresponding initial PWM duty cycle value is 0.667. Taking into account the dead time requirements of the power device (such as 2μs), the system performs dead-zone compensation on the calculated duty cycle to ensure that shoot-through does not occur during the switching of the upper and lower bridge arms. At the same time, the duty cycle variation range is limited to between 0.05 and 0.95 to avoid overmodulation.

[0075] Step 403: dynamically compensate the PWM duty cycle based on each phase current, and convert the compensated PWM duty cycle into a pulse control signal.

[0076] Specifically, the system dynamically compensates the PWM duty cycle based on the collected current values ​​of each phase. First, the fundamental component and major harmonic components are extracted by performing spectral analysis on the current of each phase. When significant low-order harmonics (such as the 5th and 7th harmonics) are detected in the phase current, the system calculates the harmonic compensation amount according to a 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, a compensation amount of ±0.02 is added to the original duty cycle. Finally, the compensated PWM duty cycle is converted into a standard pulse control signal, including six complementary gate drive signals, according to the switching frequency requirements (such as 10kHz). This dynamic compensation method based on current feedback can achieve precise regulation of the voltage output, reducing the total harmonic distortion of the phase current to below 3%, significantly improving the control performance of the electric actuator.

[0077] Step 105: Adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal.

[0078] Among them, the magnetic 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 magnetic pole position can be understood as a spatial position parameter reflecting the direction of the permanent magnet's magnetic field detected in real time by a position sensor. This parameter is expressed as an angle value (0-360 degrees) and reflects the instantaneous position state of the rotor relative to the stator. The magnetic pole position is mainly used to achieve precise position control of the electric actuator. By comparing the measured magnetic pole position with the desired compensation position, the system can calculate the required position adjustment amount and generate corresponding control instructions accordingly.

[0079] In step 105, the magnetic pole position of the electric actuator is adjusted to the compensation position according to the pulse control signal. This step specifically includes the following steps:

[0080] Step 501: Convert the pulse control signal into a three-phase current instruction; and collect the rotor angle and magnetic pole position of the electric actuator in real time.

[0081] 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 using space vector inverse transformation. At the same time, the system uses a high-precision rotary transformer to collect the rotor angle in real time, with a sampling frequency set to 10kHz and an angular resolution of 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). The position detection accuracy is better than 0.01 degrees, and the sampling period is 100μs, ensuring that the motion state of the electric actuator can be accurately captured.

[0082] Step 502: Calculate the position deviation between the position corresponding to the rotor angle and the compensation position.

[0083] Specifically, the system converts the collected rotor angle value into an angle value in the same coordinate system as the compensation position through coordinate transformation. Since the compensation position is usually expressed as an absolute angle value (such as 178.5 degrees), the system needs to consider the influence of the zero point offset of the coordinate system to ensure the consistency of the angle calculation. Specifically, when the rotor angle is 175.2 degrees and the compensation position is 178.5 degrees, the position deviation obtained by subtraction is 3.3 degrees. The system also performs low-pass filtering on the calculated position deviation, and the filter cutoff frequency is set to 200Hz to eliminate the influence of high-frequency interference on position control.

[0084] Step 503: adjusting the amplitude and phase of the three-phase current command according to the position deviation, and gradually adjusting the magnetic pole position of the electric actuator according to a preset step size using the adjusted three-phase current command until the magnetic pole position converges to the compensation position.

[0085] Specifically, the system dynamically adjusts the three-phase current commands based on the position deviation. When the position deviation exceeds a preset threshold (e.g., 1 degree), the system uses a proportional-integral control algorithm to calculate the current regulation. Specifically, the position deviation is multiplied by the position loop proportional coefficient (e.g., 2A / degree) to obtain the base regulation value, while an integral term is introduced to compensate for the accumulated error. For example, for a position deviation of 3.3 degrees, the initial current regulation value is 6.6A. The system decomposes this regulation value into two components, amplitude and phase, and modulates the three-phase current commands accordingly. The regulation process proceeds stepwise with a preset step size (e.g., 0.5A / step), waiting 50ms after each adjustment step for the system to reach steady state. When the position deviation is less than 0.05 degrees, the system switches the current command to position hold mode, generating a small directional current (e.g., 0.2A) to maintain the magnetic pole position. This progressive regulation method based on position feedback not only achieves smooth convergence of the magnetic pole position but also effectively suppresses overshoot and oscillation.

[0086] Reference Figure 2 , is an electric actuator control system provided by an embodiment of the present application, the system comprising: a data acquisition module, a compensation coefficient determination module, a control signal output module, and an electric actuator control module, wherein:

[0087] A data acquisition module is used to obtain the current position data and electromagnetic signal strength data of the electric actuator;

[0088] a compensation coefficient determination module, configured to calculate a magnetic pole position offset according to electromagnetic signal strength data, and determine a compensation coefficient according to the magnetic pole position offset;

[0089] a control signal output module for calculating a compensation position based on a compensation coefficient and a reference position of the electric actuator, and determining a magnetic flux distribution parameter in combination with current position data and the compensation position; generating a pulse control signal based on the magnetic flux distribution parameter, and outputting the pulse control signal to the electric actuator;

[0090] The electric actuator control module is used to adjust the magnetic pole position of the electric actuator to a compensation position according to a pulse control signal.

[0091] Based on the above embodiment, the compensation coefficient determination module is also used to obtain the forward magnetic pole signal and the reverse magnetic pole signal in the electromagnetic signal strength 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 based on the mapping relationship between the signal difference and the preset calibration curve.

[0092] Based on the above embodiment, the compensation coefficient determination module is also used to obtain the cumulative operating time and number of starts and stops 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 operating time data from the 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; and perform weighted calculation on the basic compensation value, time correction value and life attenuation value to obtain the compensation coefficient.

[0093] Based on the above embodiment, the control signal output module is also used 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 based on 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 compensated position of the electric actuator.

[0094] Based on the above embodiment, the control signal output module is also used to detect the stator current and 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 based on the position error; calculate the real-time flux vector through the stator current and rotor position signal; and correct the real-time flux vector according to the flux reconstruction instruction to obtain the flux distribution parameters.

[0095] Based on the above embodiment, the control signal output module is also used to collect the bus voltage and phase current of the electric actuator; determine the stator voltage command value of each phase based on the magnetic flux distribution parameters; calculate the PWM duty cycle according to the ratio of the stator voltage command value to the bus voltage; 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.

[0096] Based on the above embodiment, the electric actuator control module is also used to convert the pulse control signal into a three-phase current instruction; collect the rotor angle and magnetic 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 instruction according to the position deviation, and gradually adjust the magnetic pole position of the electric actuator according to a preset step size through the adjusted three-phase current instruction until the magnetic pole position converges to the compensation position.

[0097] It should be noted that the above embodiments provide devices that implement their functions using only the division of the above functional modules as examples. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be 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 are based on the same concept. The specific implementation process is detailed in the method embodiment and will not be repeated here.

[0098] This application also discloses an electronic device. Figure 3 , Figure 3 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 .

[0099] The communication bus 302 is used to implement the connection and communication between these components.

[0100] The user interface 303 may include a display interface and a camera interface. Optionally, the user interface 303 may also include a standard wired interface and a wireless interface.

[0101] The network interface 304 may optionally include a standard wired interface or a wireless interface (such as a Wi-Fi interface).

[0102] The processor 301 may include one or more processing cores. Using various interfaces and circuits, the processor 301 connects to various components within the server. It executes instructions, programs, code sets, or instruction sets stored in the memory 305, as well as accesses data stored in the memory 305, to perform various server functions and process data. Optionally, the processor 301 may be implemented using at least one of the following hardware forms: a digital signal processing (DSP), a field-programmable gate array (FPGA), or a programmable logic array (PLA). The processor 301 may integrate one or a combination of a central processing unit (CPU), a graphics processing unit (GPU), and a modem. The CPU primarily processes the operating system, user interface graphics, and application programs; the GPU is responsible for rendering and drawing content displayed on the display screen; and the modem handles wireless communications. It is understood that the modem may also be implemented as a separate chip, rather than integrated into the processor 301.

[0103] Among them, the memory 305 may include a random access memory (RAM) or a read-only memory (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, codes, code sets or instruction sets. The memory 305 may include a program storage area and a data storage area, wherein the program storage area may store instructions for implementing an operating system, instructions for at least one function (such as a touch function, a sound playback function, an image playback function, etc.), instructions for implementing the above-mentioned various method embodiments, etc.; the data storage area may store data involved in the above-mentioned various method embodiments, etc. The memory 305 may also optionally be at least one storage device located away from the aforementioned processor 301. Refer to Figure 3 , the memory 305 as a computer storage medium may include an operating system, a network communication module, a user interface module and an application program of an electric actuator control method.

[0104] exist Figure 3 In the electronic device 300 shown, the user interface 303 is mainly used to provide an input interface for the user and obtain the data input by the user; and the processor 301 can be used to call an application program for storing an electric actuator control method in the memory 305. When executed by one or more processors 301, the electronic device 300 executes one or more methods in the above-mentioned embodiments. It should be noted that for the aforementioned method embodiments, for the sake of simplicity of description, they are all expressed as a series of action combinations, but those skilled in the art should know that this application is not limited to the order of the actions described, because according to this 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 required for this application.

[0105] In the above embodiments, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0106] In the several embodiments provided in this application, it should be understood that the disclosed devices can be implemented in other ways. For example, the device embodiments described above are merely schematic, such as the division of units, which is only a logical function division. In actual implementation, there may be other division methods, such as 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 mutual coupling or direct coupling or communication connection shown or discussed can be through some service interface, and the indirect coupling or communication connection of devices or units can be electrical or other forms.

[0107] Units described as separate components may or may not be physically separate, and components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple network units. Some or all of these units may be selected to achieve the purpose of this embodiment according to actual needs.

[0108] In addition, the functional units in the various embodiments of the present application may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0109] If the integrated unit is implemented as 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 this application, or the portion that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a memory and includes several instructions for causing a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the various embodiments of the method of this application. The aforementioned memory includes various media that can store program code, such as USB flash drives, mobile hard drives, magnetic disks, or optical disks.

[0110] The above are merely exemplary embodiments of the present disclosure and are not intended to limit the scope of the present disclosure. In other words, any equivalent variations and modifications made in accordance with the teachings of the present disclosure are still within the scope of the present disclosure. Those skilled in the art will readily conceive of other embodiments of the present disclosure after considering the disclosure in this specification and practice.

[0111] This application is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art not described in this disclosure. The description and examples are to be considered as illustrative only.

Claims

1. A method for controlling an electric actuator, characterized in that: include: Obtaining the current position data and electromagnetic signal strength data of the electric actuator. The electromagnetic signal strength data is a magnetic induction intensity signal collected by a magnetic sensor installed near the stator winding, including two components: a forward magnetic pole signal and a reverse magnetic pole signal; Calculating a magnetic pole position offset according to the electromagnetic signal strength 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 magnetic flux distribution parameters in combination with the current position data and the compensation position, the magnetic flux distribution parameters including magnetic flux density and magnetic flux direction; generating a pulse control signal according to the magnetic flux distribution parameter, and outputting the pulse control signal to the electric actuator; adjusting the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal; Calculating the magnetic pole position offset according to the electromagnetic signal strength data includes: Acquire a positive magnetic pole signal and a negative magnetic pole signal from the electromagnetic signal strength data; Calculating a signal difference between the forward magnetic pole signal and the reverse magnetic pole signal; Determining a corresponding magnetic pole position offset according to a mapping relationship between the signal difference and a preset calibration curve; Generating a pulse control signal according to the magnetic flux distribution parameter includes: collecting the bus voltage and phase current of the electric actuator; determining a stator voltage command value for each phase based on the magnetic flux distribution parameter; Calculating a PWM duty cycle according to a ratio of the stator voltage command value to the bus voltage; The PWM duty cycle is dynamically compensated based on the currents of each phase, and the compensated PWM duty cycle is converted into a pulse control signal.

2. The electric actuator control method according to claim 1, characterized in that: Determining the compensation coefficient according to the magnetic pole position offset includes: Obtaining the cumulative operating time and start-stop times of the electric actuator; According to the magnetic pole position offset, a corresponding basic compensation value is searched from a standard compensation data table; Obtaining a time correction value corresponding to the accumulated running time data from a preset time comparison table; determining a life attenuation value based on a ratio between the number of starts and stops and a rated number of starts and stops of the electric actuator; The basic compensation value, the time correction value and the life attenuation value are weightedly calculated to obtain a compensation coefficient.

3. The electric actuator control method according to claim 1, characterized in that: The calculating of the compensation position based on the compensation coefficient and the reference position of the electric actuator includes: Obtaining a 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 the first mechanical angle value and the second mechanical angle value; determining an angle correction amount according to a 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 compensated position of the electric actuator.

4. The electric actuator control method according to claim 1, characterized in that: The determining of the magnetic flux distribution parameter by combining the current position data with the compensation position includes: detecting a stator current and a rotor position signal of the electric actuator; Calculating a position error between the current position data and the compensated position; determining a flux reconstruction instruction based on the position error; Calculating a real-time magnetic flux vector using the stator current and rotor position signals; The real-time magnetic flux vector is corrected according to the magnetic flux reconstruction instruction to obtain magnetic flux distribution parameters.

5. The electric actuator control method according to claim 1, characterized in that: The step of adjusting the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal includes: Converting the pulse control signal into a three-phase current instruction; Real-time acquisition of the rotor angle and magnetic pole position of the electric actuator; Calculating a position deviation between a 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 a preset step size using the adjusted three-phase current command until the magnetic pole position converges to the compensation position.

6. An electric actuator control system, characterized in that: The system comprises: A data acquisition module is used to obtain the current position data and electromagnetic signal strength data of the electric actuator. The electromagnetic signal strength data is a magnetic induction intensity signal collected by a magnetic sensor installed near the stator winding, including two components: a forward magnetic pole signal and a reverse magnetic pole signal; a compensation coefficient determination module, configured to calculate a magnetic pole position offset according to the electromagnetic signal strength data, and determine a compensation coefficient according to the magnetic pole position offset; a control signal output module, configured to calculate a compensation position based on the compensation coefficient and a reference position of the electric actuator, determine magnetic flux distribution parameters in combination with the current position data and the compensation position, the magnetic flux distribution parameters including magnetic flux density and magnetic flux direction; generate a pulse control signal based on the magnetic flux distribution parameters, and output the pulse control signal to the electric actuator; an electric actuator control module, configured to adjust the magnetic pole position of the electric actuator to the compensation position according to the pulse control signal; Calculating the magnetic pole position offset according to the electromagnetic signal strength data includes: Acquire a positive magnetic pole signal and a negative magnetic pole signal from the electromagnetic signal strength data; Calculating a signal difference between the forward magnetic pole signal and the reverse magnetic pole signal; Determining a corresponding magnetic pole position offset according to a mapping relationship between the signal difference and a preset calibration curve; Generating a pulse control signal according to the magnetic flux distribution parameter includes: collecting the bus voltage and phase current of the electric actuator; determining a stator voltage command value for each phase based on the magnetic flux distribution parameter; Calculating a PWM duty cycle according to a ratio of the stator voltage command value to the bus voltage; The PWM duty cycle is dynamically compensated based on the currents of each phase, and the compensated PWM duty cycle is converted into a pulse control signal.

7. 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 to 5.

8. 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 5 is executed.

Images