Multi-mode self-adaptive control method and system of low-voltage servo driving system

Abstract

The invention provides a multi-mode adaptive control method and system for a low-voltage servo driving system, and the method comprises the steps: obtaining the state parameters of the low-voltage servo driving system, and analyzing the mode switching conditions of the low-voltage servo driving system based on the working condition monitoring parameters and system state monitoring parameters in the state parameters; the mode switching condition comprises an event triggering condition and / or a performance triggering condition, judging whether the low-voltage servo driving system meets the mode switching condition or not according to an analysis result of the mode switching condition, and when the low-voltage servo driving system meets the mode switching condition, switching the low-voltage servo driving system to the mode switching condition. Configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system according to the state parameters, and dynamically configuring controller parameters of the low-voltage servo driving system on the basis of the configured basic control mode and the self-adaptive control mode, the requirements for precision and robustness can be met at the same time under different working conditions.

Description

Technical Field

[0001] The present invention relates to the technical field of automatic control, and particularly relates to a multi-modal adaptive control method and system for a low-voltage servo drive system. Background Art

[0002] With the technical advantages of high precision, low power consumption, and miniaturization, low-voltage servo drive systems are widely used in industrial robots, automated production lines, medical devices, and drones. Based on a mature power electronics topology and advanced motor control algorithms, low-voltage servo drive systems are adapted to common DC low-voltage power supplies such as 24V, 48V, and 60V. Through technologies such as pulse width modulation (PWM) and space vector modulation (SVM), the DC power supply is converted into a high-resolution drive signal to achieve high-precision control of the speed, position, and torque of the servo motor. Its closed-loop control architecture dynamically adjusts the motor operating state by real-time collecting feedback signals from sensors such as resolvers and encoders to ensure the stability and efficiency of the system under complex working conditions. PID control is a classic control strategy for low-voltage servo drive systems and occupies an important position in industrial control due to its simple structure, convenient debugging, and good robustness. However, traditional fixed-parameter PID control is difficult to balance high-precision tracking and strong robustness in complex systems, especially in strongly nonlinear and time-varying systems, where problems such as oscillation, overshoot, and response lag are likely to occur. Summary of the Invention

[0003] Based on the above problems, the present invention proposes a multi-modal adaptive control method and system for a low-voltage servo drive system, which can meet the requirements of both precision and robustness under different working conditions.

[0004] In view of this, the first aspect of the present invention proposes a multi-modal adaptive control method for a low-voltage servo drive system, including: Obtaining state parameters of the low-voltage servo drive system, where the state parameters include working condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system; Analyzing the mode switching conditions of the low-voltage servo drive system based on the state parameters, where the mode switching conditions include event trigger conditions and / or performance trigger conditions; Judging whether the low-voltage servo drive system meets the mode switching conditions according to the analysis result of the mode switching conditions; When the low-voltage servo drive system meets the mode switching conditions, configuring the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters; Based on the configured basic control mode and adaptive control mode, dynamically configuring the controller parameters of the low-voltage servo drive system.

[0005] Further, before the step of obtaining the state parameters of the low-voltage servo drive system, it further includes configuring a mode switching period. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes: Matching the state parameters to each mode switching period according to the acquisition time; The step of analyzing the mode switching conditions of the low-voltage servo drive system based on the state parameters specifically includes: At the beginning of each mode switching period, parsing the working condition monitoring parameters and system state monitoring parameters in the state parameters of the previous mode switching period; Identifying the working condition emergencies and performance index overrun events in the previous mode switching period; The step of configuring the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters specifically includes: When there are working condition emergencies and / or performance index overrun events in the previous mode switching period, configuring the basic control mode and adaptive control mode of the low-voltage servo drive system in the current mode switching period.

[0006] Further, the step of identifying the working condition emergencies and performance index overrun events in the previous mode switching period specifically includes: Identifying the working condition emergencies of the low-voltage servo drive system according to the changes in the working condition monitoring parameters; Extracting the performance indexes of the low-voltage servo drive system from the system state monitoring parameters; Identifying the performance index overrun events of the low-voltage servo drive system according to the changes in the performance indexes.

[0007] Further, after the step of parsing the working condition monitoring parameters and system state monitoring parameters in the state parameters of the previous mode switching period, it further includes: When there is a performance index overrun event, determining the overrun index in the performance index overrun event; Judging whether there are conflicting performance requirements for the overrun index under the current working condition constraints; When there are conflicting performance requirements for the overrun index under the current working condition, constructing an objective optimization function for solving multi-index performance optimization: , where is the decision variable, is the number of conflicting performance indexes including the overrun index, is a positive integer from 1 to , is the th normalized objective function of the conflicting performance indexes, is the weight coefficient of the th conflict performance index; Solve the minimum value of the target optimization function to obtain the constraint boundary corresponding to the conflict performance index.

[0008] Further, before the step of determining whether there are two or more conflicting performance requirements under the current working condition constraints, it further includes: Determine any two performance indicators of the low-voltage servo drive system as the first performance indicator and the second performance indicator respectively; Collect the first performance indicator and the second performance indicator within the same time window under the set working condition constraints group of sample data: ; Calculate the mean of the sample data of the first performance indicator and the second performance indicator respectively: ; Calculate the covariance of the first performance indicator and the second performance indicator : ; Calculate the standard deviation of the sample data of the first performance indicator and the second performance indicator respectively: ; where is a positive integer between 1 and ; Calculate the conflict coefficient of the first performance indicator and the second performance indicator : ; Compare the conflict coefficient of the first performance indicator and the second performance indicator with a preset conflict threshold to determine whether the first performance indicator and the second performance indicator are conflicting performance indicators with each other under the set working condition constraints.

[0009] Further, the steps of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters specifically include:​ Identify the working condition scenario of the current mode switching period according to the state parameter; Determine the basic control mode corresponding to the working condition scenario; Configure the basic control mode corresponding to the working condition scenario as the basic control mode of the low-voltage servo drive system in the current mode switching period.

[0010] Further, the steps of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameter further include: Determine the dynamic change factors in the working condition scenario according to the change of the state parameter in the previous mode switching period; Configure the adaptive control mode matching the dynamic change factors as the adaptive control mode of the low-voltage servo drive system in the current mode switching period.

[0011] Further, on the basis of the configured basic control mode and adaptive control mode, the steps of dynamically configuring the controller parameters of the low-voltage servo drive system specifically include: Generate the first controller parameters of the basic control mode and generate the second controller parameters of the adaptive control mode; Perform conflict detection and safety detection on the first controller parameters and the second controller parameters; Generate the third controller parameters according to the conflict detection and safety detection results; Input the third controller parameters into the controller of the low-voltage servo drive system to perform corresponding drive control.

[0012] Further, the steps of performing conflict detection and safety detection on the first controller parameters and the second controller parameters specifically include: Determine the safety boundary of the controller parameters in the basic control mode; Judge whether the second controller parameters fall within the safety boundary range; The steps of generating the third controller parameters according to the conflict detection and safety detection results specifically include: When the second controller parameters do not fall within the safety boundary range, determine the first controller parameters as the third controller parameters; When the second controller parameters fall within the safety boundary range, configure a smooth transition window; Within the smooth transition window, gradually transition from the first controller parameters to the second controller parameters.

[0013] The second aspect of the present invention proposes a low-voltage servo drive system, including: A state perception module, configured to perform working condition monitoring and system state monitoring; A controller parameter generation module, configured to generate first controller parameters corresponding to a basic control mode and second controller parameters corresponding to an adaptive mode; A safety and conflict detection module, configured to perform conflict detection and safety detection on the first controller parameters and the second controller parameters; A state analysis module, configured to perform event analysis to identify event trigger conditions in mode switching conditions, and perform performance analysis to identify performance trigger conditions in mode switching conditions; A mode management module, configured to perform module switching according to mode switching conditions, and perform multi-performance index optimization; A control module, configured to perform drive control according to the controller parameters output by the safety and conflict detection module; The low-voltage servo drive system is configured to implement the multi-mode adaptive control method according to any one of the first aspects of the present invention.

[0014] The present invention provides a multi-mode adaptive control method and system for a low-voltage servo drive system. By obtaining state parameters of the low-voltage servo drive system, analyzing mode switching conditions of the low-voltage servo drive system based on working condition monitoring parameters and system state monitoring parameters in the state parameters, where the mode switching conditions include event trigger conditions and / or performance trigger conditions, determining whether the low-voltage servo drive system meets the mode switching conditions according to the analysis result of the mode switching conditions, and when the low-voltage servo drive system meets the mode switching conditions, configuring a basic control mode and an adaptive control mode of the low-voltage servo drive system according to the state parameters, and dynamically configuring controller parameters of the low-voltage servo drive system on the basis of the configured basic control mode and adaptive control mode, it is possible to simultaneously meet accuracy and robustness requirements under different working conditions. Description of the Drawings

[0015] Figure 1 is a flowchart of a multi-mode adaptive control method for a low-voltage servo drive system provided by an embodiment of the present invention; Figure 2 is a schematic diagram of a low-voltage servo drive system provided by an embodiment of the present invention. Detailed Embodiments

[0016] In order to more clearly understand the above objects, features and advantages of the present invention, the present invention will be further described in detail below with reference to the drawings and specific embodiments. It should be noted that, without conflict, the embodiments of the present application and the features in the embodiments may be combined with each other.

[0017] In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention. However, the present invention may be practiced in other ways than those specifically described herein, and thus, the scope of the present invention is not limited by the specific embodiments disclosed below.

[0018] In the description of the present invention, the term "a plurality of" means two or more, unless otherwise clearly defined. The orientation or positional relationship indicated by terms such as "upper", "lower", etc. is based on the orientation or positional relationship shown in the drawings, and is only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as a limitation of the present invention. The terms "connection", "installation", "fixation", etc. should all be understood in a broad sense. For example, "connection" can be a fixed connection, a detachable connection, or an integral connection; it can be directly connected, or indirectly connected through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific circumstances. In addition, terms such as "first", "second", etc. are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the quantity of the indicated technical features. Thus, the features defined with "first", "second", etc. may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, the meaning of "a plurality of" is two or more.

[0019] In the description of this specification, the description of terms such as "an embodiment", "some embodiments", "specific embodiments", etc. means that the specific features, structures, materials, or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features, structures, materials, or characteristics described can be combined in a suitable manner in any one or more embodiments or examples.

[0020] Next, a multi-modal adaptive control method and system for a low-voltage servo drive system according to some embodiments of the present invention will be described with reference to the accompanying drawings.

[0021] As Figure 1 shown, a first aspect of the present invention proposes a multi-modal adaptive control method for a low-voltage servo drive system, including: Obtaining state parameters of the low-voltage servo drive system, where the state parameters include working condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system; Analyzing the mode switching conditions of the low-voltage servo drive system based on the state parameters, where the mode switching conditions include event trigger conditions and / or performance trigger conditions; Judge whether the low-voltage servo drive system meets the mode switching condition according to the analysis result of the mode switching condition; When the low-voltage servo drive system meets the mode switching condition, configure the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters; On the basis of the configured basic control mode and adaptive control mode, dynamically configure the controller parameters of the low-voltage servo drive system.

[0022] Specifically, the mode referred to in the present invention refers to the operating mode of the low-voltage servo drive system under specific working conditions, control objectives or constraint conditions. Among them, the specific working conditions may include the operating states of the low-voltage servo drive system such as no-load, light-load, heavy-load, acceleration and deceleration, etc., the control objectives may include different control tasks such as speed control, position control, torque control, etc., and the constraint conditions may include external environmental interference conditions such as voltage fluctuations, temperature changes, mechanical load disturbances, etc.

[0023] The working condition monitoring parameters in the state parameters include but are not limited to one or more of the load parameter, speed parameter, acceleration parameter, and torque parameter of the low-voltage servo drive system. The system state monitoring parameters in the state parameters include but are not limited to environmental temperature and humidity parameters (such as temperature and humidity, etc.), system stability parameters (such as the vibration amplitude and vibration frequency of the fuselage, etc.), and power supply state parameters (such as voltage and current fluctuation parameters, etc.).

[0024] The event trigger condition is a mode switching condition based on the event information corresponding to the discrete sensor signal. That is, when a specific sensor signal change event occurs, the low-voltage servo drive system immediately triggers a judgment on whether to perform mode switching to respond to the sudden working condition event corresponding to the sensor signal. Preferably, the sensor signal is the monitoring signal corresponding to the working condition monitoring parameter, and the sensor signals serving as the judgment basis for the event trigger condition include but are not limited to encoder pulse signals, torque sensor signals, force sensors, and Hall switch signals, etc.

[0025] The performance trigger condition is a mode switching condition based on the pre-configured continuous performance indicators. That is, when the specific performance indicators of the low-voltage servo drive system deviate from the expected range, automatically adjust its control mode to optimize the dynamic or steady-state characteristics of the low-voltage servo drive system. The performance indicators of the low-voltage servo drive system include but are not limited to tracking error, response time, temperature rise rate, and energy efficiency, etc.

[0026] The basic control mode is a standardized control mode preset for specific control objectives in the low-voltage servo drive system. It adopts fixed control logic and control algorithms and performs closed-loop feedback control within the set range of controller parameter adjustment. The specific control objectives include the position, speed, and torque of the motor output shaft of the low-voltage servo drive system. The basic control mode includes, but is not limited to, position control mode, speed control mode, and torque control mode. In the position control mode, three-loop control of position loop, speed loop, and current loop is adopted, where the position loop uses a PID controller for feedback control to handle position errors. In the speed control mode, a PI controller is used for feedback control, and the speed of the motor spindle is tracked through the pulse counting of the encoder to generate the speed command of the controller. In the torque control mode, the controller directly controls the current of the motor to control the output torque of the motor.

[0027] The adaptive control mode is a dynamic control mode in the low-voltage servo drive system based on real-time monitoring of working condition parameters and system state parameters. The adaptive control mode optimizes the control strategy based on the perception of changes in working condition monitoring parameters and system performance caused by external disturbances, automatically adapts to the changing operating conditions, and realizes the dynamic optimization of controller parameters. The adaptive control modes corresponding to various controller parameters can be configured according to actual application needs. For example, in a load-bearing application scenario, for a working condition scenario where the load size changes frequently, a load adaptive mode can be configured to maintain the stability of torque output. Another example is in a mobile application scenario, for a working condition scenario with complex ground environment and frequent changes in friction coefficient, a speed adaptive mode can be configured to maintain the stability of the moving speed. In the technical solutions of other embodiments, the adaptive control mode can also be configured as a position accuracy adaptive mode, a disturbance adaptive mode, a high-temperature adaptive mode, a multi-axis adaptive mode, or an energy-saving adaptive mode, etc.

[0028] Further, before the step of obtaining the state parameters of the low-voltage servo drive system, it further includes configuring a mode switching period. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes: Matching the state parameters to each mode switching period according to the acquisition time; The step of analyzing the mode switching conditions of the low-voltage servo drive system based on the state parameters specifically includes: At the beginning of each mode switching period, parse the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching period; Identify the working condition emergencies and performance index out-of-bounds events in the previous mode switching period; The steps of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters specifically include: When there are working condition emergencies and / or performance index out-of-bounds events in the previous mode switching period, configure the basic control mode and the adaptive control mode of the low-voltage servo drive system in the current mode switching period.

[0029] The mode switching period is a specific time length adaptively configured according to the application scenario of the low-voltage servo drive system. For the application of the low-voltage servo drive system in different fields, its mode switching period usually has different configuration requirements. For application scenarios with relatively fixed application environments and load sizes, such as logistics robots used for transporting specific medical supplies in a hospital, or numerically controlled machine tools used for producing a specific workpiece, their application environments and load sizes usually do not change much. In this case, its mode switching period can be configured as a relatively long time. For application scenarios with frequently and randomly changing application environments or load sizes, such as industrial robots used for outdoor operations, or outdoor transportation tools such as electric bicycles or cars, their application environments and load sizes usually have the characteristics of frequent and random changes, and their mode switching periods need to be configured as a shorter time.

[0030] Further, the steps of judging whether the low-voltage servo drive system meets the mode switching conditions according to the analysis result of the mode switching conditions specifically include: Judge whether there are working condition emergencies and / or performance index out-of-bounds events in the previous mode switching period; When there are working condition emergencies and / or performance index out-of-bounds events in the previous mode switching period, determine that the low-voltage servo drive system meets the mode switching conditions.

[0031] Further, the steps of identifying the working condition emergencies and performance index out-of-bounds events in the previous mode switching period specifically include: Identify the working condition emergencies of the low-voltage servo drive system according to the changes in the working condition monitoring parameters; Extract the performance indexes of the low-voltage servo drive system from the system state monitoring parameters; Identify the performance index out-of-bounds events of the low-voltage servo drive system according to the changes in the performance indexes.

[0032] The above-mentioned operating condition emergencies include events such as a sudden increase in the load of the low-voltage servo drive system or a sudden drop in the rotational speed and acceleration of the low-voltage servo drive system. By analyzing the change speed, change amplitude, and other data of one or more of the load parameter, speed parameter, acceleration parameter, and torque parameter in the operating condition monitoring parameters of the low-voltage servo drive system, it is possible to identify whether the low-voltage servo drive system has an operating condition emergency.

[0033] The performance indicators are pre-configured indicators reflecting the specific performance of the low-voltage servo drive system, such as the tracking error indicator, response time indicator, temperature rise rate indicator, and energy efficiency indicator of the low-voltage servo drive system. The performance indicator overrun event of the low-voltage servo drive system refers to an event in which the values of one or more performance indicators of the low-voltage servo drive system exceed the pre-configured safety range. By analyzing the parameter data such as tracking error, response time, temperature change, and energy efficiency in the system state monitoring parameters of the low-voltage servo drive system, it is possible to identify whether the low-voltage servo drive system has a performance indicator overrun event.

[0034] Further, after the step of analyzing the operating condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching cycle, it further includes: When there is a performance indicator overrun event, determine the overrun indicator in the performance indicator overrun event; Judge whether there is a conflicting performance requirement for the overrun indicator under the current operating condition constraints; When there is a conflicting performance requirement for the overrun indicator under the current operating condition, construct an objective optimization function for solving multi-index performance optimization: , where is the decision variable, is the number of conflicting performance indicators including the overrun indicator, is a positive integer between 1 and , is the th normalized objective function of the conflicting performance indicator, is the th weight coefficient of the conflicting performance indicator; Solve the minimum value of the objective optimization function to obtain the constraint boundary corresponding to the conflicting performance indicator.

[0035] The out-of-bounds index refers to the performance index whose value exceeds the pre-configured safe range in the performance index out-of-bounds event. Under specific working condition constraint conditions, a performance index usually conflicts with one or more other performance indices. For example, there are conflicts between tracking error and energy efficiency (high-precision control will cause high-frequency adjustment of the motor, resulting in increased energy consumption), and between response speed and stability (rapid response may cause overshoot or oscillation, reducing stability), etc. Under different working condition constraint conditions, the range of the conflicting values will be different.

[0036] The decision variable is the working condition monitoring parameter of the low-voltage servo drive system. In the technical solution of the present invention, the functional relationship between the th conflicting performance index and the working condition monitoring parameter is expressed as the objective function , and the normalized objective function is the objective function after removing the dimension influence of the th conflicting performance index. Since different objectives may have different dimensions, the above implementation method normalizes the objective function to avoid the dimensional objective function in the objective optimization function from directly weighting and causing the conflicting performance index with a larger dimension to dominate the optimization result.

[0037] In the technical solution of some embodiments of the present invention, the steps of constructing an objective optimization function for solving multi-index performance optimization specifically include: Obtain the safety range boundary of the th conflicting performance index, where is the lower bound of the safety range of the th conflicting performance index, and the upper bound of the safety range of the th conflicting performance index; Construct the normalized objective function of the th conflicting performance index: .

[0038] In the technical solution of other embodiments of the present invention, and can also be the measured minimum value and the measured maximum value of the th conflicting performance index in the laboratory environment or the actual application environment.

[0039] Preferably, the weight coefficient of the conflicting performance index satisfies the following conditions , and .

[0040] Preferably, non - normalized weights corresponding to each performance index are pre - configured in the database. The non - normalized weights are empirical values and also satisfy the condition of being greater than or equal to 0. According to the different conflict performance indices and their quantities, the non - normalized weights are normalized to determine the weight coefficients corresponding to each conflict performance index. Construct an objective optimization function for solving multi - index performance optimization The steps also include: Read the non - normalized weights of the conflict performance indices from the database ; Calculate the weight coefficient of each conflict performance index: .

[0041] Furthermore, in the step of dynamically configuring the controller parameters of the low - voltage servo drive system based on the configured basic control mode and adaptive control mode, generate the controller parameters of the basic control mode and the adaptive control mode according to the constraint boundaries of the conflict performance indices

[0042] Furthermore, before the step of determining whether there are two or more conflict performance requirements under the current working condition constraints, it also includes: Determine any two performance indices of the low - voltage servo drive system as the first performance index and the second performance index respectively; Collect the sample data of the first performance index and the second performance index within the same time window under the set working condition constraints: ; ; Calculate the mean values of the sample data of the first performance index and the second performance index respectively: ; Calculate the covariance of the first performance index and the second performance index : ; Calculate the standard deviations of the sample data of the first performance index and the second performance index respectively: ; wherein, is a positive integer between 1 and ; Calculate the first performance index and the second performance index conflict coefficient of: ; Compare the conflict coefficient of the first performance index and the second performance index with a preset conflict threshold to determine the first performance index and the second performance index and the second performance index Whether they are conflicting performance indicators under the set working condition constraint conditions.

[0043] Exemplarily, taking the first performance index as the tracking error The second performance index is the effective current value For example, within the same time window under the set working condition constraint conditions, collect the first performance index and the second performance index of The set of sample data is: .

[0044] In the technical solutions of some embodiments of the present invention, multiple working condition constraint conditions are preset, and sample data of each performance index is collected under the corresponding working condition constraint conditions to identify whether they are conflicting performance indicators under these working condition constraint conditions. That is, the performance indicators of the low-voltage servo drive system are combined in pairs and analyzed under various working condition constraint conditions to determine whether they are conflicting indicators.

[0045] It should be known that as well as are simplified representations in the formula for calculating the objective function symbols, means and sample values of the first performance index and the second performance index respectively.

[0046] Exemplarily, the conflict threshold can be configured to 0.5. When comparing the conflict coefficient of the first performance index and the second performance index with a preset conflict threshold to determine whether the first performance index and the second performance index and the second performance index Whether they are conflicting performance indicators under the set working condition constraint conditions, when the first performance index and the second performance index conflict coefficient of absolute value of When, then determine the first performance index and the second performance index are conflicting performance indices under the set working condition constraints.

[0047] Further, after the step of comparing the conflict coefficient of the first performance index and the second performance index with a preset conflict threshold to determine whether the first performance index and the second performance index are conflicting performance indices under the set working condition constraints, the method further includes: Saving the first performance index and the second performance index that are conflicting performance indices, together with the corresponding working condition constraints, to a database.

[0048] Further, the step of determining whether there is a conflicting performance requirement for the out-of-bounds index under the current working condition constraints specifically includes: Reading a list of conflicting performance indices under the current working condition constraints from the database; Determining whether the out-of-bounds index exists in the list of conflicting performance indices; When the out-of-bounds index exists in the list of conflicting performance indices, determining that there is a conflicting performance requirement for the out-of-bounds index under the current working condition constraints.

[0049] Further, the step of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters specifically includes: Identifying the working condition scenario of the current mode switching period according to the state parameters; Determining the basic control mode corresponding to the working condition scenario; Configuring the basic control mode corresponding to the working condition scenario as the basic control mode of the low-voltage servo drive system in the current mode switching period.

[0050] The working condition scenario is an application scenario that comprehensively reflects the application equipment type, environmental state, and equipment state of the low-voltage servo drive system. In some embodiments of the technical solution of the present invention, the state parameters can be combined with pre-configured working condition monitoring parameters and system state monitoring parameters for matching to identify various preset working condition scenarios. In other embodiments of the technical solution of the present invention, a dedicated machine learning model for working condition scenario recognition can also be trained. When it is necessary to perform working condition scenario recognition, the working condition monitoring parameters and system state monitoring parameters in the state parameters of the corresponding mode switching period are used as input parameters and input into the trained working condition scenario recognition model to identify the corresponding working condition scenario.

[0051] Under different working condition scenarios, the control objectives of the working condition monitoring parameters are all different. For example, in scenarios where the main shafts such as conveyor belts and fans operate at a constant speed, the control objective for the motor speed is to maintain a constant speed. In this case, the speed control mode is preferably selected as the basic mode of the low-voltage servo drive system. Another example is in scenarios such as robotic arm positioning, numerical control machine tool feeding, or robot joint control, where the control objective is to accurately reach the target position or track the trajectory. In this case, the position control mode is preferably selected as the basic mode of the low-voltage servo drive system. For assembly scenarios such as pressing and tightening or grinding and polishing scenarios, the control objective is to accurately control the contact force or load torque. In this case, the torque control mode is preferably selected as the basic mode of the low-voltage servo drive system.

[0052] Furthermore, the steps of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters further include: Determining the dynamic change factors in the working condition scenario according to the changes in the state parameters in the previous mode switching period; Configuring the adaptive control mode that matches the dynamic change factors as the adaptive control mode of the low-voltage servo drive system in the current mode switching period.

[0053] The dynamic change factors are the parameters in the working condition monitoring parameters or the system state monitoring parameters whose numerical change frequencies are greater than the preset change frequency threshold.

[0054] Furthermore, the steps of determining the dynamic change factors in the working condition scenario according to the changes in the state parameters in the previous mode switching period specifically include: Obtaining the state parameters in the previous mode switching period , where , is an integer from 1 to , is the number of state parameters of the low-voltage servo drive system, is the start time of the previous mode switching period, is the end time of the previous mode switching period; For each sampling moment in the previous mode switching period , calculating the change amplitude of the state parameters: , where is the sampling time interval of the state parameters; Counting the number of change events of each state parameter in the previous mode switching period : , wherein is the minimum change amplitude threshold of the th state parameter, is a preset change event statistical magnification factor, and the measurement error of the th state parameter can be used as the minimum change amplitude threshold ; Determine the state parameters that satisfy in the previous mode switching period as the dynamic change factors, or determine the state parameters that satisfy and are greater than a preset change event count threshold in the previous mode switching period as the dynamic change factors.

[0055] In the technical solutions of some embodiments of the present invention, independent change event statistical magnification factors can also be configured for each different state parameter.

[0056] Further, based on the configured basic control mode and adaptive control mode, the steps of dynamically configuring the controller parameters of the low-voltage servo drive system specifically include: Generate the first controller parameters of the basic control mode and the second controller parameters of the adaptive control mode; Perform conflict detection and safety detection on the first controller parameters and the second controller parameters; Generate third controller parameters according to the results of the conflict detection and safety detection; Input the third controller parameters into the controller of the low-voltage servo drive system to perform corresponding drive control.

[0057] The first controller parameters are the controller parameters output under the control logic of the basic control mode. For example, when the basic control mode is the position control mode, it uses the PID control logic to perform feedback control. In this embodiment, the first controller parameters are the PID controller parameters generated based on the position state determined by the pulse count of the encoder. The second controller parameters are the controller parameters output under the control logic of the adaptive control mode. For example, when the adaptive control mode is the load adaptive mode, the second controller parameters are the control current determined based on the load size.

[0058] Due to the different generation bases and control strategies of the first controller parameters and the second controller parameters, control logic conflicts may occur due to overlapping control objectives or execution logics, and safety issues such as overload, overcurrent, overheating, or limit switch triggering may arise. For example, in a low-voltage servo drive system during a mode switching cycle, its basic control mode is configured as a position control mode, and its adaptive control mode is configured as a load adaptive mode. When the system load suddenly increases, the load adaptive mode may overly limit the current upper limit, resulting in position tracking failure. Therefore, it is necessary to perform conflict detection and safety detection on the first controller parameters and the second controller parameters to ensure the reliability of the controller parameters finally input to the controller of the low-voltage servo drive system.

[0059] Furthermore, the steps of performing conflict detection and safety detection on the first controller parameters and the second controller parameters specifically include: Determine the safety boundary of the controller parameters in the basic control mode; Judge whether the second controller parameters fall within the safety boundary range; The steps of generating the third controller parameters according to the conflict detection and safety detection results specifically include: When the second controller parameters do not fall within the safety boundary range, determine the first controller parameters as the third controller parameters; When the second controller parameters fall within the safety boundary range, configure a smooth transition window; Within the smooth transition window, gradually transition from the first controller parameters to the second controller parameters with the first controller parameters as the starting parameters.

[0060] In the basic control mode, the safety boundary of the controller parameters of the controller of the low-voltage servo drive system is related to the constraint boundary of its performance indicators, that is, the safety boundary of the controller parameters in the basic control mode is calculated based on the constraint boundaries of multiple performance indicators.

[0061] The smooth transition window is a time window for ensuring output stability. It has a short specific duration for gradually transitioning the controller parameters of the controller from the first controller parameters to the second controller parameters to avoid control output jumps. That is, during the effective period of the smooth transition window, the third controller parameters are controller parameters that change dynamically with time, and their specific values gradually transition from the first controller parameters to the second controller parameters. The change process of the third controller parameters within the transition time window can be configured as a linear change process or a non-linear change process according to the actual implementation needs.

[0062] Such as Figure 2As shown in the figure, the second aspect of the present invention proposes a low-voltage servo drive system, including: A state perception module for performing working condition monitoring and system state monitoring; A controller parameter generation module for generating first controller parameters corresponding to a basic control mode and second controller parameters corresponding to an adaptive mode; A safety and conflict detection module for performing conflict detection and safety detection on the first controller parameters and the second controller parameters; A state analysis module for performing event analysis to identify event trigger conditions in mode switching conditions and performing performance analysis to identify performance trigger conditions in mode switching conditions; A mode management module for performing module switching according to mode switching conditions and performing multi-performance index optimization; A control module for performing drive control according to the controller parameters output by the safety and conflict detection module; The low-voltage servo drive system is configured to implement the multi-modal adaptive control method according to any one of the first aspects of the present invention.

[0063] Further, the control module specifically includes a cache module for storing controller parameters, and an analog-to-digital conversion module, a signal amplification module, and a feedback verification module for respectively performing analog-to-digital conversion, amplification, and verification on state perception data.

[0064] It should be noted that in this article, relational terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variant thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not expressly listed, or also includes elements inherent to such process, method, article or device. Without further limitation, an element defined by the statement "including one..." does not exclude the existence of additional identical elements in the process, method, article or device including the element.

[0065] According to the embodiments of the present invention as described above, these embodiments do not describe all the details in detail, nor limit the invention to the specific embodiments described. Obviously, according to the above description, many modifications and variations can be made. These embodiments are selected and specifically described in this specification to better explain the principles and practical applications of the present invention, so that those skilled in the art can make good use of the present invention and its modifications based on the present invention. The present invention is only limited by the claims and their full scope and equivalents.

Claims

1. A multimodal adaptive control method for a low-voltage servo drive system, characterized in that, Including: Obtain the state parameters of the low-voltage servo drive system, where the state parameters include the working condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system; Analyze the mode switching conditions of the low-voltage servo drive system based on the state parameters, where the mode switching conditions include event trigger conditions and / or performance trigger conditions; Judge whether the low-voltage servo drive system meets the mode switching conditions according to the analysis result of the mode switching conditions; When the low-voltage servo drive system meets the mode switching conditions, configure the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters; On the basis of the configured basic control mode and adaptive control mode, dynamically configure the controller parameters of the low-voltage servo drive system.

2. The multimodal adaptive control method for the low-voltage servo drive system according to claim 1, characterized in that Before the step of obtaining the state parameters of the low-voltage servo drive system, it further includes configuring a mode switching period. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes: Match the state parameters to each mode switching period according to the acquisition time; The step of analyzing the mode switching conditions of the low-voltage servo drive system based on the state parameters specifically includes: At the beginning of each mode switching period, parse the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching period; Identify the working condition emergencies and performance index overrun events in the previous mode switching period; The step of configuring the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters specifically includes: When there are working condition emergencies and / or performance index overrun events in the previous mode switching period, configure the basic control mode and adaptive control mode of the low-voltage servo drive system in the current mode switching period.

3. The multimodal adaptive control method for the low-voltage servo drive system according to claim 2, characterized in that, The step of identifying the working condition emergencies and performance index overrun events in the previous mode switching period specifically includes: Identify the working condition emergencies of the low-voltage servo drive system according to the changes in the working condition monitoring parameters; Extract the performance indexes of the low-voltage servo drive system from the system state monitoring parameters; Identify the performance index overrun events of the low-voltage servo drive system according to the changes in the performance indexes.

4. The multimodal adaptive control method for a low-voltage servo drive system according to claim 2, wherein After the step of parsing the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching period, it further includes: When there is a performance index overrun event, determine the overrun index in the performance index overrun event; Judge whether there are conflicting performance requirements for the overrun index under the current working condition constraints; When there are conflicting performance requirements for the overrun index under the current working condition, construct an objective optimization function for solving multi-index performance optimization: ， wherein is a decision variable, is the number of conflict performance indicators including the said out-of-bounds indicator, is a positive integer between 1 and ; is the normalized objective function of the th conflict performance indicator, is the weight coefficient of the th conflict performance indicator; Solve for the minimum value of the target optimization function Obtain the constraint boundaries for the corresponding conflict performance metrics.

5. The multimodal adaptive control method for the low-voltage servo drive system according to claim 4, characterized in that Before the step of judging whether there are two or more conflicting performance requirements under the current working condition constraints, it further includes: Respectively determine any two performance indexes of the low-voltage servo drive system as the first performance index and the second performance index; Collect the first performance index and the second performance index respectively within the same time window under the set working condition constraints and the second performance index of sets of sample data ； Calculate the mean of the sample data of the first performance indicator and the second performance indicator respectively: and the second performance indicator : ； Calculate the first performance metric and the second performance metric for covariance: ； Calculate the first performance indicator separately and the sample data standard deviation of the second performance indicator : ； Among them, is a positive integer between 1 and ; Calculate the first performance metric and the second performance metric for the conflict coefficient: ； Compare the conflict coefficient of the first performance index and the second performance index with a preset conflict threshold to determine whether the first performance index and the second performance index are conflicting performance indices under the set operating condition constraints. ​ 6. The multimodal adaptive control method for a low-voltage servo drive system according to any one of claims 2-5, characterized in that The step of configuring the basic control mode and adaptive control mode of the low-voltage servo drive system according to the state parameters specifically includes: Identify the working condition scenario of the current mode switching period according to the state parameters; Determine the basic control mode corresponding to the working condition scenario; Configure the basic control mode corresponding to the working condition scenario as the basic control mode of the low-voltage servo drive system in the current mode switching period.

7. The multimodal adaptive control method for the low-voltage servo drive system according to claim 6, characterized in that, The steps of configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters further include: Determine the dynamic change factors in the working condition scenario according to the change of state parameters in the previous mode switching period; Configure the adaptive control mode matching the dynamic change factors as the adaptive control mode of the low-voltage servo drive system in the current mode switching period.

8. The multimodal adaptive control method for a low-voltage servo drive system according to claim 1, characterized in that On the basis of the configured basic control mode and adaptive control mode, the steps of dynamically configuring the controller parameters of the low-voltage servo drive system specifically include: Generate the first controller parameters of the basic control mode and the second controller parameters of the adaptive control mode; Perform conflict detection and safety detection on the first controller parameters and the second controller parameters; Generate the third controller parameters according to the results of the conflict detection and safety detection; Input the third controller parameters into the controller of the low-voltage servo drive system to perform corresponding drive control.

9. The multimodal adaptive control method for a low-voltage servo drive system according to claim 8, wherein The steps of performing conflict detection and safety detection on the first controller parameters and the second controller parameters specifically include: Determine the safety boundary of the controller parameters in the basic control mode; Judge whether the second controller parameters fall within the safety boundary range; The steps of generating the third controller parameters according to the results of the conflict detection and safety detection specifically include: When the second controller parameters do not fall within the safety boundary range, determine the first controller parameters as the third controller parameters; When the second controller parameters fall within the safety boundary range, configure a smooth transition window; Within the smooth transition window, gradually transition from the first controller parameters to the second controller parameters.

10. A low-voltage servo drive system, characterized in that, Include: A state perception module for performing working condition monitoring and system state monitoring; A controller parameter generation module for generating the first controller parameters corresponding to the basic control mode and the second controller parameters corresponding to the adaptive mode; A safety and conflict detection module for performing conflict detection and safety detection on the first controller parameters and the second controller parameters; A state analysis module for performing event analysis to identify the event trigger conditions in the mode switching conditions and performing performance analysis to identify the performance trigger conditions in the mode switching conditions; A mode management module for performing module switching according to the mode switching conditions and performing multi-performance index optimization; A control module for performing drive control according to the controller parameters output by the safety and conflict detection module; The low-voltage servo drive system is configured to implement the multi-modal adaptive control method according to any one of claims 1-9.

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