A multi-mode adaptive control method and system for a low-voltage servo drive system

Abstract

The present invention proposes a multi-modal adaptive control method and system for a low-voltage servo drive system. By acquiring the state parameters of the low-voltage servo drive system, the modal switching conditions of the low-voltage servo drive system are analyzed based on the working condition monitoring parameters and system state monitoring parameters in the state parameters. The modal switching conditions include event triggering conditions and / or performance triggering conditions. According to the analysis results of the modal switching conditions, it is judged whether the low-voltage servo drive system meets the modal switching conditions. When the low-voltage servo drive system meets the modal switching conditions, the basic control mode and adaptive control mode of the low-voltage servo drive system are configured according to the state parameters. Based on the configured basic control mode and adaptive control mode, the controller parameters of the low-voltage servo drive system are dynamically configured, which can achieve the simultaneous satisfaction of accuracy and robustness requirements under different working conditions.

Description

Technical Field

[0001] The present invention relates to the field of automation control technology, and in particular to a multi-mode adaptive control method and system for a low-voltage servo drive system. Background Art

[0002] Low-voltage servo drive systems, with their technological advantages of high precision, low power consumption, and miniaturization, 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, these systems are compatible with common low-voltage DC power supplies such as 24V, 48V, and 60V. Using techniques such as pulse-width modulation (PWM) and space vector modulation (SVM), they convert the DC power supply into a high-resolution drive signal, achieving high-precision control of the servo motor's speed, position, and torque. Their closed-loop control architecture dynamically adjusts the motor's operating state by collecting real-time feedback signals from sensors such as resolvers and encoders, ensuring system stability and efficiency under complex operating conditions. PID control is a classic control strategy for low-voltage servo drive systems. Its simplicity, ease of debugging, and robustness make it a crucial component of industrial control. However, traditional fixed-parameter PID control struggles to achieve both high-precision tracking and robustness in complex systems. In particular, in highly nonlinear and time-varying systems, it is prone to oscillation, overshoot, and response lag. 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 simultaneously meet the accuracy and robustness requirements under different working conditions.

[0004] In view of this, a first aspect of the present invention provides a multi-mode adaptive control method for a low-voltage servo drive system, comprising:

[0005] Acquire state parameters of the low-voltage servo drive system, wherein the state parameters include operating condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system;

[0006] Analyzing a mode switching condition of the low-voltage servo drive system based on the state parameter, the mode switching condition including an event triggering condition and / or a performance triggering condition;

[0007] Determining whether the low-voltage servo drive system meets the mode switching condition according to the analysis result of the mode switching condition;

[0008] When the low-voltage servo drive system meets the mode switching condition, configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters;

[0009] Based on the configured basic control mode and adaptive control mode, controller parameters of the low-voltage servo drive system are dynamically configured.

[0010] Furthermore, before the step of obtaining the state parameters of the low-voltage servo drive system, the method further includes configuring a mode switching period. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes:

[0011] Matching the state parameters to each mode switching cycle according to the acquisition time;

[0012] The step of analyzing the modal switching condition of the low-voltage servo drive system based on the state parameters specifically includes:

[0013] At the beginning of each mode switching cycle, analyzing the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching cycle;

[0014] Identify operating condition emergencies and performance indicator out-of-bounds events in the previous mode switching cycle;

[0015] 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:

[0016] When there is an unexpected working condition event and / or a performance indicator out-of-bounds event in the previous mode switching cycle, the basic control mode and the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle are configured.

[0017] Furthermore, the steps of identifying the operating condition emergency events and performance indicator out-of-bounds events in the previous mode switching cycle specifically include:

[0018] Identifying an unexpected operating condition event of the low-voltage servo drive system according to a change in the operating condition monitoring parameter;

[0019] Extracting performance indicators of the low-voltage servo drive system from the system status monitoring parameters;

[0020] A performance indicator out-of-bounds event of the low-voltage servo drive system is identified according to a change in the performance indicator.

[0021] Furthermore, after the step of parsing the working condition monitoring parameters and the system state monitoring parameters in the state parameters in the previous mode switching cycle, the method further includes:

[0022] When a performance indicator out-of-bounds event occurs, determining an out-of-bounds indicator in the performance indicator out-of-bounds event;

[0023] Determine whether there is a conflicting performance requirement of the out-of-bounds indicator under the current operating condition constraints;

[0024] When there are conflicting performance requirements of the out-of-bounds indicators under the current operating conditions, a target optimization function for solving multi-indicator performance optimization is constructed:

[0025] ,

[0026] in is the decision variable, is the number of conflicting performance indicators including the cross-boundary indicator, 1 to A positive integer between For the The normalized objective function of the conflicting performance indicators, For the The weight coefficients of the conflicting performance indicators;

[0027] Solve the minimum value of the objective optimization function Obtain the constraint boundaries corresponding to the conflicting performance indicators.

[0028] Furthermore, before determining whether there are two or more conflicting performance requirements under the current operating condition constraints, the method further includes:

[0029] Determining any two performance indicators of the low-voltage servo drive system as a first performance indicator and a second performance indicator respectively;

[0030] The first performance index is collected respectively within the same time window under the set working condition constraint condition And the second performance index of Group sample data:

[0031] ;

[0032] Calculate the first performance index respectively And the second performance index The sample data mean of :

[0033] ;

[0034] Calculate the first performance index And the second performance index Covariance of :

[0035] ;

[0036] Calculate the first performance index respectively And the second performance index The standard deviation of the sample data is:

[0037] ;

[0038] in, 1 to A positive integer between ;

[0039] Calculate the first performance indicator And the second performance index The conflict coefficient is:

[0040] ;

[0041] The first performance indicator And the second performance index The conflict coefficient Compare with the preset conflict threshold to determine the first performance indicator And the second performance index Whether there are conflicting performance indicators under the set working condition constraints.

[0042] Furthermore, 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:

[0043] Identifying the operating scenario of the current mode switching cycle according to the state parameters;

[0044] Determine the basic control mode corresponding to the working scenario;

[0045] The basic control mode corresponding to the working scenario is configured as the basic control mode of the low-voltage servo drive system in the current mode switching cycle.

[0046] Furthermore, 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 also includes:

[0047] Determining dynamic change factors under the working scenario according to changes in state parameters in the previous mode switching cycle;

[0048] An adaptive control mode that matches the dynamic change factor is configured as the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle.

[0049] Furthermore, based on the configured basic control mode and adaptive control mode, the step of dynamically configuring the controller parameters of the low-voltage servo drive system specifically includes:

[0050] generating first controller parameters of the basic control mode and generating second controller parameters of the adaptive control mode;

[0051] performing conflict detection and safety detection on the first controller parameter and the second controller parameter;

[0052] generating a third controller parameter according to the conflict detection and safety detection results;

[0053] The third controller parameter is input into the controller of the low-voltage servo drive system to perform corresponding drive control.

[0054] Furthermore, the step of performing conflict detection and safety detection on the first controller parameter and the second controller parameter specifically includes:

[0055] Determining the safety margins of controller parameters under the basic control mode;

[0056] determining whether the second controller parameter falls within the safety boundary;

[0057] The step of generating the third controller parameter according to the conflict detection and safety detection results specifically includes:

[0058] When the second controller parameter does not fall within the safety boundary range, determining the first controller parameter as the third controller parameter;

[0059] When the second controller parameter falls within the safety boundary range, configuring a smooth transition window;

[0060] In the smooth transition window, the first controller parameter is used as a starting parameter and gradually transitioned to the second controller parameter.

[0061] A second aspect of the present invention provides a low-voltage servo drive system, comprising:

[0062] State perception module, used to perform working condition monitoring and system status monitoring;

[0063] 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;

[0064] a safety and conflict detection module, configured to perform conflict detection and safety detection on the first controller parameter and the second controller parameter;

[0065] a state analysis module, configured to perform event analysis to identify event triggering conditions in the modal switching conditions, and to perform performance analysis to identify performance triggering conditions in the modal switching conditions;

[0066] Mode management module, used to switch modules according to mode switching conditions and perform multi-performance index optimization;

[0067] a control module, configured to execute drive control according to controller parameters output by the safety and conflict detection module;

[0068] The low-voltage servo drive system is configured to implement the multi-modal adaptive control method described in any one of the first aspects of the present invention.

[0069] The present invention proposes a multi-modal adaptive control method and system for a low-voltage servo drive system. By acquiring the state parameters of the low-voltage servo drive system, the modal switching conditions of the low-voltage servo drive system are analyzed based on the working condition monitoring parameters and system state monitoring parameters in the state parameters. The modal switching conditions include event triggering conditions and / or performance triggering conditions. According to the analysis results of the modal switching conditions, it is judged whether the low-voltage servo drive system meets the modal switching conditions. When the low-voltage servo drive system meets the modal switching conditions, the basic control mode and adaptive control mode of the low-voltage servo drive system are configured according to the state parameters. Based on the configured basic control mode and adaptive control mode, the controller parameters of the low-voltage servo drive system are dynamically configured, which can achieve the simultaneous satisfaction of accuracy and robustness requirements under different working conditions. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] Figure 1 This is a flow chart of a multi-mode adaptive control method for a low-voltage servo drive system provided by one embodiment of the present invention;

[0071] Figure 2 Schematic diagram of a low-voltage servo drive system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0072] In order to more clearly understand the above-mentioned objects, features and advantages of the present invention, the present invention is further described in detail below in conjunction with the accompanying drawings and specific embodiments. It should be noted that, in the absence of conflict, the embodiments of the present application and the features therein can be combined with each other.

[0073] In the following description, many specific details are set forth to facilitate a full understanding of the present invention. However, the present invention may also be implemented in other ways different from those described herein. Therefore, the scope of protection of the present invention is not limited to the specific embodiments disclosed below.

[0074] In the description of the present invention, the term "plurality" refers to two or more. Unless otherwise specified, the terms "upper" and "lower" are based on the orientations or positional relationships shown in the accompanying drawings and are intended solely to facilitate and simplify the description of the present invention. They are not intended to indicate or imply that the devices or components referred to must have a specific orientation, be constructed, or operate in a specific manner. Therefore, they should not be construed as limiting the present invention. The terms "connected," "mounted," and "fixed," etc., should be interpreted broadly. For example, "connected" can refer to fixed, removable, or integral connections; directly or indirectly through an intermediary. A person of ordinary skill in the art will understand the specific meanings of these terms in the present invention based on the specific circumstances. Furthermore, the terms "first," "second," etc., etc., are used for descriptive purposes only and should not be construed to indicate or imply relative importance or to implicitly specify the number of the technical features indicated. Therefore, a feature designated "first," "second," etc., may explicitly or implicitly include one or more of such features. In the description of the present invention, unless otherwise specified, "plurality" means two or more.

[0075] Throughout this specification, terms such as "one embodiment," "some implementations," and "specific examples" indicate that the specific features, structures, materials, or characteristics described in conjunction with that embodiment or example are included in at least one embodiment or example of the present invention. In this specification, schematic representations of these terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

[0076] A multi-mode adaptive control method and system for a low-voltage servo drive system provided according to some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0077] like Figure 1 As shown, the first aspect of the present invention provides a multi-mode adaptive control method for a low-voltage servo drive system, comprising:

[0078] Acquire state parameters of the low-voltage servo drive system, wherein the state parameters include operating condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system;

[0079] Analyzing a mode switching condition of the low-voltage servo drive system based on the state parameter, the mode switching condition including an event triggering condition and / or a performance triggering condition;

[0080] Determining whether the low-voltage servo drive system meets the mode switching condition according to the analysis result of the mode switching condition;

[0081] When the low-voltage servo drive system meets the mode switching condition, configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters;

[0082] Based on the configured basic control mode and adaptive control mode, controller parameters of the low-voltage servo drive system are dynamically configured.

[0083] 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 constraints, wherein the specific working conditions may include the low-voltage servo drive system being in no-load, light-load, heavy-load, acceleration and deceleration operating states, the control objectives may include different control tasks such as speed control, position control, torque control, etc., and the constraints may include interference conditions of the external environment such as voltage fluctuations, temperature changes, mechanical load disturbances, etc.

[0084] The working condition monitoring parameters in the state parameters include but are not limited to one or more of the load parameters, speed parameters, acceleration parameters, and torque parameters of the low-voltage servo drive system, and 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 body vibration amplitude and vibration frequency, etc.), and power supply state parameters (such as voltage and current fluctuation parameters, etc.).

[0085] The event trigger condition is a modal switching condition based on the event information corresponding to a 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 execute a modal switch in response to the sudden operating condition event corresponding to the sensor signal. Preferably, the sensor signal is a monitoring signal corresponding to an operating condition monitoring parameter. The sensor signals used as the basis for determining the event trigger condition include, but are not limited to, encoder pulse signals, torque sensor signals, force sensor signals, and Hall switch signals.

[0086] The performance trigger condition is a mode switching condition based on a pre-configured continuous performance indicator. Specifically, when a specific performance indicator of the low-voltage servo drive system deviates from an expected range, the control mode is automatically adjusted 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.

[0087] The basic control mode is a standardized control mode preset for a specific control target in the low-voltage servo drive system, which adopts fixed control logic and control algorithm to perform closed-loop feedback control within the set controller parameter adjustment range. The specific control target includes 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. Under the position control mode, three-loop control of position loop, speed loop and current loop is adopted, wherein the position loop adopts PID controller for feedback control to deal with position error. Under the speed control mode, PI controller is adopted for feedback control, and the speed of the motor spindle is tracked by counting the pulses of the encoder to generate the speed instruction of the controller. Under the torque control mode, the controller directly controls the current of the motor to control the output torque of the motor.

[0088] The adaptive control mode is a dynamic control mode based on real-time working condition parameter monitoring and system state parameter monitoring in the low-voltage servo drive system. The adaptive control mode is based on the perception optimization control strategy of the changes in working condition monitoring parameters and system performance caused by external disturbances, automatically adapts to the changing operating conditions, and realizes 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 working conditions where the load size changes frequently, a load adaptive mode can be configured to maintain the stability of the torque output. For another example, in a mobile application scenario, for a complex ground environment and a working condition where the friction coefficient changes frequently, 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.

[0089] Furthermore, before the step of obtaining the state parameters of the low-voltage servo drive system, the method further includes configuring a mode switching period. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes:

[0090] Matching the state parameters to each mode switching cycle according to the acquisition time;

[0091] The step of analyzing the modal switching condition of the low-voltage servo drive system based on the state parameters specifically includes:

[0092] At the beginning of each mode switching cycle, analyzing the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching cycle;

[0093] Identify operating condition emergencies and performance indicator out-of-bounds events in the previous mode switching cycle;

[0094] 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:

[0095] When there is an unexpected working condition event and / or a performance indicator out-of-bounds event in the previous mode switching cycle, the basic control mode and the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle are configured.

[0096] The modal switching period is a specific time length that is adaptively configured according to the application scenario of the low-voltage servo drive system. For the use of the low-voltage servo drive system in different fields, its modal 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 hospitals, or CNC machine tools used for producing certain specific workpieces, their application environments and load sizes usually do not change much. In this case, their modal switching period can be configured to be a relatively long time. For application scenarios with frequent and random changes in application environments or load sizes, such as industrial robots used for outdoor operations, or outdoor transportation vehicles such as electric bicycles or cars, their application environments and load sizes usually have the characteristics of frequent and random changes, and their modal switching period needs to be configured to be a shorter time.

[0097] Furthermore, the step of judging whether the low-voltage servo drive system meets the mode switching condition according to the analysis result of the mode switching condition specifically includes:

[0098] Determine whether there are any unexpected operating conditions and / or performance indicator out-of-bounds events in the previous mode switching cycle;

[0099] When there is an unexpected operating condition event and / or a performance indicator out-of-bounds event in the previous mode switching cycle, it is determined that the low-voltage servo drive system meets the mode switching condition.

[0100] Furthermore, the steps of identifying the operating condition emergency events and performance indicator out-of-bounds events in the previous mode switching cycle specifically include:

[0101] Identifying an unexpected operating condition event of the low-voltage servo drive system according to a change in the operating condition monitoring parameter;

[0102] Extracting performance indicators of the low-voltage servo drive system from the system status monitoring parameters;

[0103] A performance indicator out-of-bounds event of the low-voltage servo drive system is identified according to a change in the performance indicator.

[0104] The sudden operating condition events include a sudden increase in the load of the low-voltage servo drive system, or a sudden drop in the speed or 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 parameters, speed parameters, acceleration parameters and torque parameters in the operating condition monitoring parameters of the low-voltage servo drive system, it is possible to identify whether the sudden operating condition event has occurred in the low-voltage servo drive system.

[0105] The performance indicators are pre-configured indicators that reflect 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. A performance indicator out-of-bounds event of the low-voltage servo drive system refers to an event in which the value of one or more performance indicators of the low-voltage servo drive system exceeds a pre-configured safety range. By analyzing parameter data such as tracking error, response time, temperature change, and energy efficiency in the system status monitoring parameters of the low-voltage servo drive system, it is possible to identify whether the low-voltage servo drive system has experienced a performance indicator out-of-bounds event.

[0106] Furthermore, after the step of parsing the working condition monitoring parameters and the system state monitoring parameters in the state parameters in the previous mode switching cycle, the method further includes:

[0107] When a performance indicator out-of-bounds event occurs, determining an out-of-bounds indicator in the performance indicator out-of-bounds event;

[0108] Determine whether there is a conflicting performance requirement of the out-of-bounds indicator under the current operating condition constraints;

[0109] When there are conflicting performance requirements of the out-of-bounds indicators under the current operating conditions, a target optimization function for solving multi-indicator performance optimization is constructed:

[0110] ,

[0111] in is the decision variable, is the number of conflicting performance indicators including the cross-boundary indicator, 1 to A positive integer between For the The normalized objective function of the conflicting performance indicators, For the The weight coefficients of the conflicting performance indicators;

[0112] Solve the minimum value of the objective optimization function Obtain the constraint boundaries corresponding to the conflicting performance indicators.

[0113] An out-of-bounds indicator refers to a performance indicator whose value exceeds a pre-configured safety range during an out-of-bounds event. Under specific operating constraints, a performance indicator often conflicts with one or more other performance indicators. Examples include conflicts between tracking error and energy efficiency (high-precision control leads to high-frequency motor adjustments, increasing energy consumption) and between response speed and stability (rapid response can cause overshoot or oscillation, reducing stability). The range of conflicting values varies under different operating constraints.

[0114] The decision variables is the working condition monitoring parameter of the low voltage servo drive system. The functional relationship between the conflicting performance indicators and the working condition monitoring parameters is expressed as the objective function , the normalized objective function For the The objective function after removing the dimension effects of the conflicting performance indicators. Since different objectives may have different dimensions, the above implementation method normalizes the objective function to avoid the direct weighting of the dimensional objective function in the target optimization function, which may lead to the conflicting performance indicators with larger dimensions dominating the optimization results.

[0115] In the technical solutions of some embodiments of the present invention, a target optimization function for solving multi-index performance optimization is constructed. The steps specifically include:

[0116] Get the The safety range boundary of the conflict performance index ,in For the The lower bound of the safety range of the conflict performance index, No. The upper bound of the safety range of the conflict performance indicators;

[0117] Build the Normalized objective function of conflicting performance indicators:

[0118] .

[0119] In the technical solutions of other embodiments of the present invention, and It can also be The measured minimum and maximum values of the conflicting performance indicators in a laboratory environment or an actual application environment.

[0120] Preferably, the weight coefficient of the conflict performance index is Meet the following conditions ,and .

[0121] Preferably, a non-normalized weight corresponding to each performance indicator is pre-configured in the database. The non-normalized weight is an empirical value and also satisfies the condition of being greater than or equal to 0. According to the difference in conflicting performance indicators and their number, the non-normalized weight is normalized to determine the weight coefficient corresponding to each conflicting performance indicator. Constructing a target optimization function for solving multi-indicator performance optimization The steps also include:

[0122] Read the non-normalized weights of conflicting performance indicators from the database ;

[0123] Calculate the weight coefficient of each conflict performance indicator:

[0124] .

[0125] 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, the controller parameters of the basic control mode and the adaptive control mode are generated according to the constraint boundaries of the conflicting performance indicators.

[0126] Furthermore, before determining whether there are two or more conflicting performance requirements under the current operating condition constraints, the method further includes:

[0127] Determining any two performance indicators of the low-voltage servo drive system as a first performance indicator and a second performance indicator respectively;

[0128] The first performance index is collected respectively within the same time window under the set working condition constraint condition And the second performance index of Group sample data:

[0129] ;

[0130] Calculate the first performance index respectively And the second performance index The sample data mean of :

[0131] ;

[0132] Calculate the first performance indicator And the second performance index Covariance of :

[0133] ;

[0134] Calculate the first performance index respectively And the second performance index The standard deviation of the sample data is:

[0135] ;

[0136] in, 1 to A positive integer between ;

[0137] Calculate the first performance indicator And the second performance index The conflict coefficient is:

[0138] ;

[0139] The first performance indicator And the second performance index The conflict coefficient Compare with the preset conflict threshold to determine the first performance indicator And the second performance index Whether there are conflicting performance indicators under the set working condition constraints.

[0140] For example, the first performance indicator Tracking error The second performance indicator is the effective value of current For example, the first performance index is collected in the same time window under the set working condition constraint condition. And the second performance index of The sample data of the group is:

[0141] .

[0142] In some embodiments of the present invention, multiple operating condition constraints are pre-set, and sample data of various performance indicators is collected under the corresponding operating condition constraints to identify whether they conflict with each other under these operating condition constraints. Specifically, the performance indicators of the low-voltage servo drive system are paired and analyzed under various operating condition constraints to determine whether they conflict with each other.

[0143] It should be known that as well as To calculate the first performance index respectively And the second performance index The simplified representation of the objective function symbol, mean and sample value in the formula.

[0144] For example, the conflict threshold can be configured as 0.5. And the second performance index The conflict coefficient Compare with the preset conflict threshold to determine the first performance indicator And the second performance index In the step of setting whether there are conflicting performance indicators under the working condition constraint conditions, when the first performance indicator And the second performance index The conflict coefficient The absolute value of When the first performance index is determined And the second performance index Conflicting performance indicators under set working condition constraints.

[0145] Furthermore, when the first performance indicator And the second performance index The conflict coefficient Compare with the preset conflict threshold to determine the first performance indicator And the second performance index After the step of determining whether there are conflicting performance indicators under the working condition constraints, the following steps are also included:

[0146] The first performance indicator of the conflicting performance indicators and the second performance index The corresponding working condition constraints are saved in the database.

[0147] Furthermore, the step of determining whether there is a conflicting performance requirement of the out-of-bounds indicator under the current operating condition constraints specifically includes:

[0148] Read the list of conflicting performance indicators under the current working condition constraints from the database;

[0149] Determine whether the out-of-bounds indicator exists in the conflict performance indicator list;

[0150] When the out-of-bounds indicator exists in the conflicting performance indicator list, it is determined that there is a conflicting performance requirement for the out-of-bounds indicator under the current operating condition constraint.

[0151] Furthermore, 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:

[0152] Identifying the operating scenario of the current mode switching cycle according to the state parameters;

[0153] Determine the basic control mode corresponding to the working scenario;

[0154] The basic control mode corresponding to the working scenario is configured as the basic control mode of the low-voltage servo drive system in the current mode switching cycle.

[0155] The working condition scenario is an application scenario that comprehensively reflects the application equipment type, environmental status and equipment status of the low-voltage servo drive system. In the technical solutions of some embodiments of the present invention, the state parameters can be matched with pre-configured working condition monitoring parameters and system status monitoring parameters to identify various preset working condition scenarios. In the technical solutions of other embodiments of the present invention, a dedicated machine learning model can also be trained for working condition scenario recognition. When it is necessary to perform working condition scenario recognition, the working condition monitoring parameters and system status monitoring parameters in the state parameters of the corresponding modal switching cycle are used as input parameters, and the trained working condition scenario recognition model is input to identify the corresponding working condition scenario.

[0156] In different working condition scenarios, the control objectives of the working condition monitoring parameters are all different. For example, in scenarios where the main shaft, such as conveyor belts and fans, runs at a constant speed, the control objective of the motor speed is to maintain a constant speed. In this case, the speed control mode is preferentially selected as the basic mode of the low-voltage servo drive system. For another example, in scenarios of robot arm positioning, CNC machine tool feeding, or robot joint control, the control objective is to accurately reach the target position or track the trajectory. In this case, the position control mode is preferentially selected as the basic mode of the low-voltage servo drive system. For assembly scenarios such as pressing, 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 preferentially selected as the basic mode of the low-voltage servo drive system.

[0157] Furthermore, 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 also includes:

[0158] Determining dynamic change factors under the working scenario according to changes in state parameters in the previous mode switching cycle;

[0159] An adaptive control mode that matches the dynamic change factor is configured as the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle.

[0160] The dynamic change factor is a parameter in the operating condition monitoring parameter or the system state monitoring parameter, the frequency of which the value changes is greater than a preset change frequency threshold.

[0161] Furthermore, the step of determining the dynamic change factor under the working condition scenario according to the change of the state parameter in the previous mode switching cycle specifically includes:

[0162] Get the state parameters of the last mode switching cycle ,in , 1 to Integer between, is the number of state parameters of the low-voltage servo drive system, is the start time of the previous mode switching cycle, The end time of the previous mode switching cycle;

[0163] For the last mode switching cycle Each sampling moment within , calculate the variation range of the state parameter:

[0164] ,

[0165] in is the sampling time interval of the state parameter;

[0166] Statistics of each state parameter in the last mode switching cycle Number of change events within:

[0167] ,

[0168] in For the The minimum change threshold of the state parameter, To calculate the preset change event statistics rate, you can use The measurement error of the state parameter is used as the minimum change amplitude threshold ;

[0169] The last mode switching cycle satisfies The state parameter of is determined as the dynamic change factor, or the state parameter of the state parameter satisfied in the previous mode switching cycle is determined as the dynamic change factor. The state parameter whose number of change events is greater than a preset threshold is determined as the dynamic change factor.

[0170] In the technical solutions of some embodiments of the present invention, an independent change event statistical multiplier may also be configured for each different state parameter.

[0171] Furthermore, based on the configured basic control mode and adaptive control mode, the step of dynamically configuring the controller parameters of the low-voltage servo drive system specifically includes:

[0172] generating first controller parameters of the basic control mode and generating second controller parameters of the adaptive control mode;

[0173] performing conflict detection and safety detection on the first controller parameter and the second controller parameter;

[0174] generating a third controller parameter according to the conflict detection and safety detection results;

[0175] The third controller parameter is input into the controller of the low-voltage servo drive system to perform corresponding drive control.

[0176] The first controller parameter is a controller parameter output under the control logic of the basic control mode. For example, when the basic control mode is a position control mode, it uses PID control logic to perform feedback control. In this embodiment, the first controller parameter is a PID controller parameter generated based on the position state determined by the encoder pulse count. The second controller parameter is a controller parameter output under the control logic of the adaptive control mode. For example, when the adaptive control mode is a load adaptive mode, the second controller parameter is a control current determined based on the load size.

[0177] Because the generation basis and control strategy of the first controller parameters and the second controller parameters are different, they may cause control logic conflicts due to the overlap of control objectives or execution logic, and may cause safety issues such as overload, overcurrent, overtemperature, or limit switch triggering. For example, in a mode switching cycle of the low-voltage servo drive system, 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 over-limit the current upper limit and cause 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 ultimately input to the controller of the low-voltage servo drive system.

[0178] Furthermore, the step of performing conflict detection and safety detection on the first controller parameter and the second controller parameter specifically includes:

[0179] Determining the safety margins of controller parameters under the basic control mode;

[0180] determining whether the second controller parameter falls within the safety boundary;

[0181] The step of generating the third controller parameter according to the conflict detection and safety detection results specifically includes:

[0182] When the second controller parameter does not fall within the safety boundary range, determining the first controller parameter as the third controller parameter;

[0183] When the second controller parameter falls within the safety boundary range, configuring a smooth transition window;

[0184] In the smooth transition window, the first controller parameter is used as a starting parameter and gradually transitioned to the second controller parameter.

[0185] In the basic control mode, the safety margins of the controller parameters of the controller of the low-voltage servo drive system are related to the constraint margins of its performance indicators, that is, the safety margins of the controller parameters in the basic control mode are calculated based on the constraint margins of multiple performance indicators.

[0186] The smooth transition window is a time window used to ensure output stability. It has a specific, relatively short duration and is used to gradually transition the controller parameters of the controller from the first controller parameters to the second controller parameters to avoid jumps in the control output. Specifically, during the period when the smooth transition window is in effect, the third controller parameter is a controller parameter that changes dynamically over time, with its specific value gradually transitioning from the first controller parameter to the second controller parameter. The change process of the third controller parameter within the transition time window can be configured as a linear or nonlinear change process based on actual implementation needs.

[0187] like Figure 2 As shown, the second aspect of the present invention provides a low-voltage servo drive system, comprising:

[0188] State perception module, used to perform working condition monitoring and system status monitoring;

[0189] 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;

[0190] a safety and conflict detection module, configured to perform conflict detection and safety detection on the first controller parameter and the second controller parameter;

[0191] a state analysis module, configured to perform event analysis to identify event triggering conditions in the modal switching conditions, and to perform performance analysis to identify performance triggering conditions in the modal switching conditions;

[0192] Mode management module, used to switch modules according to mode switching conditions and perform multi-performance index optimization;

[0193] a control module, configured to execute drive control according to controller parameters output by the safety and conflict detection module;

[0194] The low-voltage servo drive system is configured to implement the multi-modal adaptive control method described in any one of the first aspects of the present invention.

[0195] Furthermore, 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 performing analog-to-digital conversion, amplification, and verification on the state sensing data respectively.

[0196] It should be noted that, in this document, relational terms such as first and second, etc., are used only 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 "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or apparatus. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or apparatus comprising the element.

[0197] While embodiments of the present invention have been described above, these embodiments do not exhaustively describe all details and do not limit the invention to the specific embodiments described. Obviously, many modifications and variations are possible based on the above description. These embodiments are selected and described in detail in this specification in order to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better utilize the present invention and its modifications. The present invention is limited only by the claims and their full scope and equivalents.

Claims

1. A multi-mode adaptive control method for a low-voltage servo drive system, characterized in that: include: Acquire state parameters of the low-voltage servo drive system, wherein the state parameters include operating condition monitoring parameters and system state monitoring parameters of the low-voltage servo drive system; Analyzing a mode switching condition of the low-voltage servo drive system based on the state parameter, the mode switching condition including an event triggering condition and / or a performance triggering condition; Determining 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, configuring the basic control mode and the adaptive control mode of the low-voltage servo drive system according to the state parameters; Dynamically configuring controller parameters of the low-voltage servo drive system based on the configured basic control mode and adaptive control mode; Based on the configured basic control mode and adaptive control mode, the step of dynamically configuring the controller parameters of the low-voltage servo drive system specifically includes: generating first controller parameters of the basic control mode and generating second controller parameters of the adaptive control mode; performing conflict detection and safety detection on the first controller parameter and the second controller parameter; generating a third controller parameter according to the conflict detection and safety detection results; inputting the third controller parameter into the controller of the low-voltage servo drive system to perform corresponding drive control; The step of performing conflict detection and safety detection on the first controller parameter and the second controller parameter specifically includes: Determining the safety margins of controller parameters under the basic control mode; determining whether the second controller parameter falls within the safety boundary; The step of generating the third controller parameter according to the conflict detection and safety detection results specifically includes: When the second controller parameter does not fall within the safety boundary range, determining the first controller parameter as the third controller parameter; When the second controller parameter falls within the safety boundary range, configuring a smooth transition window; In the smooth transition window, the first controller parameter is used as a starting parameter and gradually transitioned to the second controller parameter.

2. The multi-mode adaptive control method for a 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, the mode switching period is configured. The step of obtaining the state parameters of the low-voltage servo drive system specifically includes: Matching the state parameters to each mode switching cycle according to the acquisition time; The step of analyzing the modal switching condition of the low-voltage servo drive system based on the state parameters specifically includes: At the beginning of each mode switching cycle, analyzing the working condition monitoring parameters and system state monitoring parameters in the state parameters in the previous mode switching cycle; Identify operating condition emergencies and performance indicator out-of-bounds events in the previous mode switching cycle; 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 is an unexpected working condition event and / or a performance indicator out-of-bounds event in the previous mode switching cycle, the basic control mode and the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle are configured.

3. The multi-mode adaptive control method for a low-voltage servo drive system according to claim 2, characterized in that: The steps for identifying the operating condition emergencies and performance indicator out-of-bounds events in the previous mode switching cycle specifically include: Identifying an unexpected operating condition event of the low-voltage servo drive system according to a change in the operating condition monitoring parameter; Extracting performance indicators of the low-voltage servo drive system from the system status monitoring parameters; A performance indicator out-of-bounds event of the low-voltage servo drive system is identified according to a change in the performance indicator.

4. The multi-mode adaptive control method for a low-voltage servo drive system according to claim 2, characterized in that: After the step of parsing the working condition monitoring parameters and the system condition monitoring parameters in the state parameters in the previous mode switching cycle, the method further includes: When a performance indicator out-of-bounds event occurs, determining an out-of-bounds indicator in the performance indicator out-of-bounds event; Determine whether there is a conflicting performance requirement of the out-of-bounds indicator under the current operating condition constraints; When there are conflicting performance requirements of the out-of-bounds indicators under the current operating conditions, a target optimization function for solving multi-indicator performance optimization is constructed: ， in is the decision variable, is the number of conflicting performance indicators including the cross-boundary indicator, 1 to A positive integer between For the The normalized objective function of the conflicting performance indicators, For the The weight coefficient of each conflict performance indicator; Solve the minimum value of the objective optimization function Obtain the constraint boundaries corresponding to the conflicting performance indicators.

5. The multi-mode adaptive control method for a low-voltage servo drive system according to claim 4, characterized in that: Before determining whether there are two or more conflicting performance requirements under the current operating condition constraints, the following steps are also included: Determining any two performance indicators of the low-voltage servo drive system as a first performance indicator and a second performance indicator respectively; The first performance index is collected respectively within the same time window under the set working condition constraint condition And the second performance index of Group sample data: ； Calculate the first performance index respectively And the second performance index The sample data mean of : ； Calculate the first performance indicator And the second performance index The covariance of : ； Calculate the first performance index respectively And the second performance index The standard deviation of the sample data is: ； in, 1 to A positive integer between ; Calculate the first performance indicator And the second performance index The conflict coefficient is: ； The first performance indicator And the second performance index The conflict coefficient Compare with the preset conflict threshold to determine the first performance indicator And the second performance index Whether there are conflicting performance indicators under the set working condition constraints.

6. The multi-mode adaptive control method for a low-voltage servo drive system according to any one of claims 2 to 5, 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 specifically include: Identifying the operating scenario of the current mode switching cycle according to the state parameters; Determine the basic control mode corresponding to the working scenario; The basic control mode corresponding to the working scenario is configured as the basic control mode of the low-voltage servo drive system in the current mode switching cycle.

7. The multi-mode adaptive control method for a low-voltage servo drive system according to claim 6, characterized in that: 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 also includes: Determining dynamic change factors under the working scenario according to changes in state parameters in the previous mode switching cycle; An adaptive control mode that matches the dynamic change factor is configured as the adaptive control mode of the low-voltage servo drive system in the current mode switching cycle.

8. A low voltage servo drive system, characterized in that: include: State perception module, used to perform working condition monitoring and system status 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 parameter and the second controller parameter; a state analysis module, configured to perform event analysis to identify event triggering conditions in the modal switching conditions, and to perform performance analysis to identify performance triggering conditions in the modal switching conditions; Mode management module, used to switch modules according to mode switching conditions and perform multi-performance index optimization; a control module, configured to execute drive control according to 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 claims 1 to 7.

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