Adaptive adjustment control method of servo motor and related device

Abstract

The invention discloses a self-adaptive adjustment control method of a servo motor and a related device, and relates to the technical field of motor control, and the method comprises the steps: obtaining a current motor operation parameter and a motor target operation parameter of the servo motor; calling the control prediction model to perform control signal prediction processing to obtain a predicted motor control signal; performing operation adjustment control processing on the servo motor, and performing acquisition processing on motor operation parameters to obtain a motor acquisition operation parameter set; performing comparison processing based on a motor acquisition operation parameter set and the motor target operation parameters to obtain a comparison error operation parameter set; and inputting the comparison error operation parameter set into a self-adaptive error correction controller to carry out error correction adjustment control processing, generating an adjustment control signal, and carrying out adjustment control processing on the servo motor until the average value of the comparison error operation parameters in the comparison error operation parameter set is within a preset range. In the embodiment of the invention, accurate control of the servo motor is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and particularly to an adaptive adjustment control method and related device for a servo motor. Background Art

[0002] With the progress of servo motor technology and the reduction of costs, more servo motors will be applied in the field of household appliances. In household appliances (such as air conditioners and vacuum cleaners), in order to achieve energy consumption reduction and higher precision control, traditional adaptive control methods may use a given control signal combined with a traditional PID controller to control the servo motor, which may result in a slow response speed for precise control and a lack of reliability in precision control. Summary of the Invention

[0003] The purpose of the present invention is to overcome the deficiencies of the prior art. The present invention provides an adaptive adjustment control method and related device for a servo motor, which realizes precise control of the servo motor, has a high response speed in precise control, and ensures the reliability of precise control.

[0004] To solve the above technical problems, an embodiment of the present invention provides an adaptive adjustment control method for a servo motor, which is applied to the adaptive control of a servo motor in a household appliance. The method includes: Obtain the current motor operating parameters and motor target operating parameters of the servo motor. The current motor operating parameters include current motor speed data and current motor torque data, and the motor target operating parameters include motor target speed data and motor target torque data; Input the current motor operating parameters and the motor target operating parameters into a motor controller, and call a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal; Perform running adjustment control processing on the servo motor based on the predicted motor control signal, and collect and process the motor operating parameters of the servo motor after running adjustment control to obtain a set of motor collected operating parameters, where the set of motor collected operating parameters contains several motor collected operating parameters; Perform comparison processing based on the set of motor collected operating parameters and the motor target operating parameters to obtain a set of comparison error operating parameters, where the set of comparison error operating parameters contains a speed error parameter subset and a torque error parameter subset; Input the set of comparison error operating parameters into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, and use the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operating parameters in the set of comparison error operating parameters is within a preset range.

[0005] Optionally, obtaining the current motor operating parameters and the motor target operating parameters of the servo motor includes: When the servo motor is running, perform data acquisition and processing based on the sensors arranged on the servo motor to obtain the current motor operating parameters of the servo motor during operation; Obtain the motor operation simulation gear corresponding to the servo motor based on the control requirements of the user for the household electrical appliance product, and index the motor target operating parameters through the operation simulation gear.

[0006] Optionally, inputting the current motor operating parameters and the motor target operating parameters into the motor controller, and calling a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal, includes: Perform an association process on the current motor operating parameters and the motor target operating parameters, and input the associated current motor operating parameters and the motor target operating parameters into the motor controller; The motor controller constructs the received associated current motor operating parameters and the motor target operating parameters into input matrix data in a preset form; Call the control prediction model in the motor controller, input the input matrix data into the control prediction model to perform control signal prediction processing, and obtain a predicted motor control signal; The control prediction model is a model generated by training a deep neural network in a transfer learning manner after the historical control signals of the servo motor are marked by experts.

[0007] Optionally, performing an operation adjustment control process on the servo motor based on the predicted motor control signal includes: Package the predicted motor control signal into an adjustment control instruction for the servo motor, and control the servo motor to perform an operation adjustment control process based on the adjustment control instruction.

[0008] Optionally, performing an acquisition process on the motor operating parameters of the servo motor after the operation adjustment control to obtain a motor acquisition operating parameter set, includes: After the servo motor performs the operation adjustment control and the servo motor operates stably, control the sensors arranged on the servo motor to collect the motor operating parameters of the servo motor at a preset frequency within a preset time period, and perform data set construction processing on the collected several motor acquisition operating parameters to obtain a motor acquisition operating parameter set.

[0009] Optionally, comparing and processing the operation parameter set collected based on the motor and the target operation parameters of the motor to obtain a comparison error operation parameter set, including: Performing corresponding comparison and subtraction processing on the collected motor speed data and the collected motor torque data corresponding to the motor operation parameters in the operation parameter set collected based on the motor and the target motor speed data and the target motor torque data corresponding to the target operation parameters of the motor, to obtain a comparison error operation parameter set composed of a plurality of comparison and subtraction results.

[0010] Optionally, inputting the comparison error operation parameter set into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, including: Inputting the comparison error operation parameter set into an adaptive error correction controller, and when the adaptive error correction controller determines, according to the first average value of the speed error parameters in the speed error parameter subset in the comparison error operation parameter set and the second average value of the torque error parameters in the torque error parameter subset, that speed adaptive error correction adjustment control and / or torque adaptive error adjustment control need to be performed; When speed adaptive error correction adjustment control needs to be performed, calculating, using the speed error parameter subset, a first error change rate corresponding to each speed error parameter, and invoking an adaptive speed PID control algorithm in the adaptive error correction controller to generate a first adjustment control signal for speed according to each speed error parameter and its corresponding first error change rate; When torque adaptive error correction adjustment control needs to be performed, calculating, using the torque error parameter subset, a second error change rate corresponding to each torque error parameter, and invoking an adaptive torque PID control algorithm in the adaptive error correction controller to generate a second adjustment control signal for speed according to each torque error parameter and its corresponding second error change rate.

[0011] In addition, an embodiment of the present invention further provides an adaptive adjustment control device for a servo motor, which is applied to the adaptive control of a servo motor in a household appliance product. The device includes: An obtaining module: configured to obtain the current motor operation parameters and the target operation parameters of the servo motor, where the current motor operation parameters include current motor speed data and current motor torque data, and the target operation parameters of the motor include target motor speed data and target motor torque data; A prediction module: configured to input the current motor operation parameters and the target operation parameters of the motor into a motor controller, and invoke a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal; Acquisition module: It is used to perform operation adjustment control processing on the servo motor based on the predicted motor control signal, and collect and process the motor operation parameters of the servo motor after the operation adjustment control to obtain a set of motor acquisition operation parameters, where the set of motor acquisition operation parameters contains several motor acquisition operation parameters; Error comparison module: It is used to perform comparison processing based on the set of motor acquisition operation parameters and the motor target operation parameters to obtain a set of comparison error operation parameters, where the set of comparison error operation parameters includes a rotational speed error parameter subset and a torque error parameter subset; Adjustment control module: It is used to input the set of comparison error operation parameters into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, and use the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operation parameters in the set of comparison error operation parameters is within a preset range.

[0012] In addition, an embodiment of the present invention also provides an electronic device, including a processor and a memory, and the processor runs a computer program or code stored in the memory to implement the adaptive adjustment control method as described in any one of the above.

[0013] In addition, an embodiment of the present invention also provides a computer-readable storage medium for storing a computer program or code, and when the computer program or code is executed by a processor, it implements the adaptive adjustment control method as described in any one of the above.

[0014] In the specific implementation process of the present invention, first, a predicted motor control signal is obtained by performing control signal prediction processing on the current motor operation parameters and the motor target operation parameters in a control prediction model; then, the predicted motor control signal is used to perform operation adjustment control processing on the servo motor, and then error correction adjustment control processing is performed on the comparison error operation parameters after the adjustment control in an adaptive error correction controller; thereby realizing precise control of the servo motor, and having a high response speed in precise control, and ensuring the reliability of precise control. Description of the drawings

[0015] In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the following drawings are only some embodiments of the present invention, and for those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0016] Figure 1 It is a flowchart of the adaptive adjustment control method for the servo motor in the embodiment of the present invention; Figure 2 It is a schematic flowchart of the adaptive adjustment control method of the servo motor in another embodiment of the present invention; Figure 3 It is a schematic diagram of the structural composition of the adaptive adjustment control device of the servo motor in the embodiment of the present invention; Figure 4 It is a schematic diagram of the structural composition of the electronic device in the embodiment of the present invention. Detailed implementation manners

[0017] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1. Please refer to Figure 1 , Figure 1 It is a schematic flowchart of the adaptive adjustment control method of the servo motor in the embodiment of the present invention.

[0019] As Figure 1 shown, an adaptive adjustment control method for a servo motor is applied to the adaptive control of the servo motor in a household appliance product. The method includes: S101: Obtain the current motor operation parameters and motor target operation parameters of the servo motor. The current motor operation parameters include current motor speed data and current motor torque data, and the motor target operation parameters include motor target speed data and motor target torque data; In the specific implementation process of the present invention, obtaining the current motor operation parameters and motor target operation parameters of the servo motor includes: when the servo motor is running, performing data acquisition and processing based on the sensors arranged on the servo motor to obtain the current motor operation parameters of the servo motor during operation; obtaining the motor operation simulation gear corresponding to the servo motor based on the control requirements of the user for the household appliance product, and indexing the motor target operation parameters through the operation simulation gear.

[0020] Specifically, this servo motor is applied to household electrical appliances, enabling the household electrical appliances to have higher control precision during use. For example, when applied in the air conditioning field, it can achieve precise control of temperature and air flow. The servo motor receives instructions from the air conditioning control panel and drives the air damper to open and close, so as to adjust the direction and temperature of the air supply. This enables the air conditioner to precisely improve the control of the cooling air damper, the heating air damper, and the mode air damper. By precisely controlling the opening and closing of these air dampers, the servo motor can achieve temperature adjustment and air flow direction control of the air conditioner. At the same time, it can achieve position precision control, rapid response, and automatic control.

[0021] Therefore, taking an air conditioning product (this air conditioning product is an intelligent air conditioner) as an example, when the air conditioner is running and the servo motor is used to precisely control the direction and temperature of the air supply, during the operation of the servo motor installed on the air conditioning product, first, relevant sensors installed on the servo motor perform corresponding data acquisition, and the current motor operation parameters during the operation of the servo motor can be obtained. The current motor operation parameters mainly include the current motor speed data and the current motor torque data. At this time, according to the user's temperature control requirements and air supply direction requirements for the air conditioner, the motor operation simulation gear required for controlling the servo motor is indexed, and then according to this motor operation simulation gear, the motor target operation parameters are indexed, where the motor target operation parameters include the motor target speed data and the motor target torque data.

[0022] S102: Input the current motor operation parameters and the motor target operation parameters into the motor controller, and call the control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal. In the specific implementation process of the present invention, the step of inputting the current motor operation parameters and the motor target operation parameters into the motor controller, and calling the control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal includes: performing correlation processing on the current motor operation parameters and the motor target operation parameters, and inputting the correlated current motor operation parameters and motor target operation parameters into the motor controller; the motor controller constructs the received correlated current motor operation parameters and motor target operation parameters into input matrix data in a preset form; calling the control prediction model in the motor controller, inputting the input matrix data into the control prediction model to perform control signal prediction processing, and obtaining a predicted motor control signal; the control prediction model is a model generated by training a deep neural network through transfer learning after the historical control signals of the servo motor are marked by experts.

[0023] Specifically, after obtaining the current motor operating parameters and the target motor operating parameters, it is necessary to perform the prediction of the control signal based on the current motor operating parameters and the target motor operating parameters, so as to generate a predicted motor control signal for the servo motor; at this time, the current motor operating parameters and the target motor operating parameters need to be associated and processed in a predetermined manner, and the predetermined manner can be a specific marking method, so that the current motor operating parameters and the target motor operating parameters can be associated through the specific marking method, without data confusion, which may lead to a decrease in the subsequent prediction accuracy. After obtaining the associated current motor operating parameters and target motor operating parameters, the associated current motor operating parameters and target motor operating parameters need to be input into the motor controller for controlling the servo motor; after the motor controller receives the associated current motor operating parameters and target motor operating parameters, the associated current motor operating parameters and target motor operating parameters are input into the corresponding empty matrix according to the given row and column order, so as to realize the construction process of the input matrix data and form the input matrix data for subsequent prediction.

[0024] At this time, it is necessary to call the control prediction model in the motor controller. The control prediction model is a model generated by training a deep neural network through transfer learning after the historical control signals of the servo motor are marked by experts; these historical control signals of the servo motor are accurate control signals generated during the historical control of the same type of air-conditioning products, and then formed after being marked by experts. The historical control signals include the current motor operating parameters, target motor operating parameters, and corresponding motor control signals during historical control; during training, first, a deep neural network is determined, and the deep neural network is compressed according to requirements, and the node parameters of each layer are regularized, so that this deep neural network can achieve training convergence with less training data during training and prevent the problem of overfitting during the training process; during the training process, the transfer learning method needs to be used to train the deep neural network model to form the control prediction model; then, the input matrix is input into the control prediction model for the prediction process of the control signal, and the predicted motor control signal can be obtained; subsequently, when using the predicted motor control signal to control the servo motor, it can be realized that the servo motor is controlled to be closer to the required target motor operating parameters during execution; thus, during the subsequent execution of the adjustment control, the adjustment control can be performed more accurately and the operating parameters can be adjusted and controlled to the required target motor operating parameter range more quickly; realizing faster and more accurate adaptive adjustment control of the servo motor.

[0025] S103: Based on the predicted motor control signal, perform an operation adjustment control process on the servo motor, and collect and process the motor operation parameters of the servo motor after the operation adjustment control to obtain a set of motor collected operation parameters, where the set of motor collected operation parameters contains several motor collected operation parameters; In the specific real-time process of the present invention, the performing an operation adjustment control process on the servo motor based on the predicted motor control signal includes: encapsulating the predicted motor control signal into an adjustment control instruction for the servo motor, and controlling the servo motor to perform an operation adjustment control process based on the adjustment control instruction.

[0026] Further, the performing an operation adjustment control process on the servo motor based on the predicted motor control signal includes: encapsulating the predicted motor control signal into an adjustment control instruction for the servo motor, and controlling the servo motor to perform an operation adjustment control process based on the adjustment control instruction.

[0027] Specifically, when the motor controller obtains the predicted motor control signal, it will use the predicted motor control signal to perform an operation adjustment control on the servo motor; that is, encapsulate the predicted motor control signal into an adjustment control instruction for the servo motor, and then control the servo motor to perform an operation adjustment control process through the adjustment control instruction; that is, control the servo motor to perform an adjustment control from the current motor operation parameters to the target motor operation parameters.

[0028] At this time, after the servo motor performs an operation adjustment control and the servo motor runs stably, it is necessary to perform the next step of collecting the operation parameters of the servo motor, that is, it is necessary to control the sensors arranged on the servo motor to collect and process the motor operation parameters of the servo motor at a preset frequency within a preset time period, and then use the collected several motor collected operation parameters to perform a data set construction process, and finally obtain a set of motor collected operation parameters.

[0029] S104: Based on the set of motor collected operation parameters and the motor target operation parameters, perform a comparison process to obtain a set of comparison error operation parameters, where the set of comparison error operation parameters contains a rotational speed error parameter subset and a torque error parameter subset; In the specific implementation process of the present invention, the performing a comparison process based on the set of motor collected operation parameters and the motor target operation parameters to obtain a set of comparison error operation parameters includes: using the collected motor rotational speed data and the collected motor torque data corresponding to each collected motor operation parameter in the set of motor collected operation parameters to perform a corresponding comparison and subtraction process with the motor target rotational speed data and the motor target torque data corresponding to the motor target operation parameters, and obtaining a set of comparison error operation parameters composed of several comparison and subtraction results.

[0030] Specifically, at this time, it is necessary to use the motor to collect each of the collected motor operating parameters corresponding to the collected motor speed data and the collected motor torque data, and perform corresponding comparison and subtraction processing with the motor target operating parameters corresponding to the motor target speed data and the motor target torque data, so as to obtain a comparison error operating parameter set composed of a number of comparison and subtraction results; the comparison error operating parameter set includes a speed error parameter subset and a torque error parameter subset.

[0031] S105: Input the comparison error operating parameter set into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, and use the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operating parameters in the comparison error operating parameter set is within a preset range.

[0032] In the specific implementation process of the present invention, the inputting the comparison error operating parameter set into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal includes: inputting the comparison error operating parameter set into the adaptive error correction controller, and in the adaptive error correction controller, according to the first average value of the speed error parameters in the speed error parameter subset and the second average value of the torque error parameters in the torque error parameter subset of the comparison error operating parameter set, it is confirmed that speed adaptive error correction adjustment control and / or torque adaptive error adjustment control need to be performed; when speed adaptive error correction adjustment control needs to be performed, calculate the first error change rate corresponding to each speed error parameter by using the speed error parameter subset, and call the adaptive speed PID control algorithm in the adaptive error correction controller to generate a first adjustment control signal for speed according to each speed error parameter and its corresponding first error change rate; when torque adaptive error correction adjustment control needs to be performed, calculate the second error change rate corresponding to each torque error parameter by using the torque error parameter subset, and call the adaptive torque PID control algorithm in the adaptive error correction controller to generate a second adjustment control signal for speed according to each torque error parameter and its corresponding second error change rate.

[0033] Specifically, for the need to perform speed adaptive error correction adjustment control and / or torque adaptive error adjustment control, corresponding adaptive control algorithms need to be called respectively to implement, that is, for the implementation of speed adaptive error correction adjustment control, the adaptive speed PID control algorithm needs to be called; for the implementation of torque adaptive error adjustment control, the adaptive torque PID control algorithm needs to be called.

[0034] Among them, in the adaptive speed PID control algorithm and the adaptive torque PID control algorithm, three parameters corresponding to the PID control algorithm (proportional parameter , integral parameter , and derivative parameter ) are set according to their corresponding error parameters and error change rates, that is, the functional relationship between the error parameters and error change rates and the three parameters corresponding to the PID control algorithm is set; that is, for different speed error parameters and the first error change rate, there will be corresponding three output parameters in the adaptive speed PID control algorithm; for different torque error parameters and the second error change rate, there will be corresponding three output parameters in the adaptive torque PID control algorithm; that is, the corresponding functional relationship is constructed as follows: ; ; where is the torque error parameter or the speed error parameter; is the second error change rate or the first error change rate; then after confirming the above functional relationship, the MATLAB fitting function will be used to complete the inference fitting calculation, so as to obtain the three parameters (proportional parameter , integral parameter , and derivative parameter ) related to the error parameters and error change rates in the adaptive speed PID control algorithm and the adaptive torque PID control algorithm; subsequently, after determining the error parameters and error change rates, the three parameters (proportional parameter , integral parameter , and derivative parameter ) required to be output by the above functional relationship will be used; then the following formula will be used to fit to the corresponding adjustment control signal; the formula is as follows: ; where is the k-th error parameter in the subset of speed error parameters or the subset of torque error parameters; k is the k-th error parameter in the subset of speed error parameters or the subset of torque error parameters; is the sum of the first k error parameters in the subset of speed error parameters or the subset of torque error parameters.

[0035] When the set of comparison error operating parameters is input into the adaptive error correction controller, it is necessary for the adaptive error correction controller to confirm the need for rotational speed adaptive error correction adjustment control and / or torque adaptive error adjustment control based on the first average value of the rotational speed error parameters in the rotational speed error parameter subset and the second average value of the torque error parameters in the torque error parameter subset in the set of comparison error operating parameters; that is, when the first average value is greater than the first preset value, it is considered that rotational speed adaptive error correction adjustment control is required, and when the second average value is greater than the second preset value, it is considered that torque adaptive error adjustment control is required.

[0036] That is, when rotational speed adaptive error correction adjustment control is required, it is necessary to calculate the first error change rate corresponding to each rotational speed error parameter using the rotational speed error parameter subset, and call the adaptive rotational speed PID control algorithm in the adaptive error correction controller to generate a first adjustment control signal for the rotational speed based on each rotational speed error parameter and its corresponding first error change rate; when torque adaptive error correction adjustment control is required, it is necessary to calculate the second error change rate corresponding to each torque error parameter using the torque error parameter subset, and call the adaptive torque PID control algorithm in the adaptive error correction controller to generate a second adjustment control signal for the rotational speed based on each torque error parameter and its corresponding second error change rate; until the average value of the comparison error operating parameters in the set of comparison error operating parameters is within the preset range.

[0037] In the specific implementation process of the present invention, first, the control signal is predicted by using the current motor operating parameters and the motor target operating parameters in the control prediction model to obtain the predicted motor control signal; then, the predicted motor control signal is used to perform the running adjustment control process on the servo motor, and then the comparison error operating parameters after the adjustment control are used to perform the error correction adjustment control process in the adaptive error correction controller; thereby realizing the precise control of the servo motor, having a high response speed in precise control, and ensuring the reliability of precise control.

[0038] Embodiment 2, please refer to Figure 2 , Figure 2 is a schematic flowchart of the adaptive adjustment control method for a servo motor in another embodiment of the present invention.

[0039] As Figure 2 shown, an adaptive adjustment control method for a servo motor, applied to the adaptive control of a servo motor in a household electrical appliance product, the method includes: S201: Obtain the current motor operating parameters and the motor target operating parameters of the servo motor. The current motor operating parameters include the current motor speed data and the current motor torque data, and the motor target operating parameters include the motor target speed data and the motor target torque data; S202: Perform an association process on the current motor operating parameters and the motor target operating parameters, and input the associated current motor operating parameters and the motor target operating parameters into the motor controller; S203: The motor controller constructs the received associated current motor operating parameters and the motor target operating parameters into input matrix data in a preset form; S204: Invoke the control prediction model in the motor controller, input the input matrix data into the control prediction model for control signal prediction processing, and obtain a predicted motor control signal; the control prediction model is a model generated by training a deep neural network through transfer learning after the historical control signals of the servo motor are marked by experts; S205: Perform an operation adjustment control process on the servo motor based on the predicted motor control signal, and collect the motor operating parameters of the servo motor after the operation adjustment control to obtain a set of motor collected operating parameters, where the set of motor collected operating parameters contains several motor collected operating parameters; S206: Perform a comparison process based on the set of motor collected operating parameters and the motor target operating parameters to obtain a set of comparison error operating parameters, where the set of comparison error operating parameters includes a speed error parameter subset and a torque error parameter subset; S207: Input the set of comparison error operating parameters into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, and use the adjustment control signal to perform an adjustment control process on the servo motor until the average value of the comparison error operating parameters in the set of comparison error operating parameters is within a preset range.

[0040] For the specific implementation of Embodiment 2, reference can be made to Embodiment 1, which will not be elaborated here.

[0041] Embodiment 3, Figure 3 is a schematic structural diagram of an adaptive adjustment control device for a servo motor in an embodiment of the present invention.

[0042] Please refer to Figure 3 , an adaptive adjustment control device for a servo motor, which is applied to the adaptive control of a servo motor in a household electrical appliance product. The device includes: Obtaining module 301: It is used to obtain the current motor operation parameters and motor target operation parameters of the servo motor. The current motor operation parameters include current motor speed data and current motor torque data, and the motor target operation parameters include motor target speed data and motor target torque data; In the specific implementation process of the present invention, obtaining the current motor operation parameters and motor target operation parameters of the servo motor includes: when the servo motor is running, performing data acquisition and processing based on the sensors arranged on the servo motor to obtain the current motor operation parameters of the servo motor during operation; obtaining the motor operation simulation gear corresponding to the servo motor based on the control requirements of the user for the household electrical appliance product, and indexing to the motor target operation parameters through the operation simulation gear.

[0043] Specifically, this servo motor is applied to household electrical appliance products, making the household electrical appliance products have higher control precision during use. For example, when applied in the air conditioning field, precise control of temperature and air flow can be achieved; the servo motor receives instructions from the air conditioning control panel and drives the air damper to open and close to adjust the direction and temperature of the air supply; enabling the air conditioner to precisely improve the cooling air damper, warm air damper, and mode air damper in air damper control. By precisely controlling the opening and closing of these air dampers, the servo motor can achieve temperature adjustment and air flow direction control of the air conditioner; at the same time, achieving position precision control, rapid response, and automatic control.

[0044] Therefore, taking an air conditioner product (this air conditioner product is an intelligent air conditioner) as an example, when the air conditioner is running and the servo motor is used to precisely control the direction and temperature of the air supply, when the servo motor arranged on the air conditioner product is running, first, corresponding data acquisition is performed through the relevant sensors arranged on the servo motor to obtain the current motor operation parameters of the servo motor during operation; the current motor operation parameters mainly include current motor speed data and current motor torque data; at this time, the motor operation simulation gear required for controlling the servo motor will be indexed according to the user's temperature control requirements and air supply direction requirements for the air conditioner, and then the motor target operation parameters will be indexed according to this motor operation simulation gear, where the motor target operation parameters include motor target speed data and motor target torque data.

[0045] Prediction module 302: It is used to input the current motor operation parameters and the motor target operation parameters into the motor controller, and call the control prediction model in the motor controller to perform control signal prediction processing to obtain the predicted motor control signal; In the specific implementation process of the present invention, inputting the current motor operating parameters and the motor target operating parameters into the motor controller, and calling a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal includes: performing an association process on the current motor operating parameters and the motor target operating parameters, and inputting the associated current motor operating parameters and the motor target operating parameters into the motor controller; the motor controller constructs the received associated current motor operating parameters and the motor target operating parameters into input matrix data in a preset form; calling the control prediction model in the motor controller, inputting the input matrix data into the control prediction model to perform control signal prediction processing to obtain a predicted motor control signal; the control prediction model is a model generated by training a deep neural network in a transfer learning manner after the historical control signals of the servo motor are marked by experts.

[0046] Specifically, after obtaining the current motor operating parameters and the motor target operating parameters, it is necessary to perform control signal prediction according to the current motor operating parameters and the motor target operating parameters, so as to generate a predicted motor control signal for the servo motor; at this time, it is necessary to perform an association process on the current motor operating parameters and the motor target operating parameters in a predetermined manner, and the predetermined manner can be a specific marking method, so that the current motor operating parameters and the motor target operating parameters can be associated through the specific marking method, and there will be no confusion between data, resulting in a decrease in the subsequent prediction accuracy. After obtaining the associated current motor operating parameters and the motor target operating parameters, it is necessary to input the associated current motor operating parameters and the motor target operating parameters into the motor controller for controlling the servo motor; after the motor controller receives the associated current motor operating parameters and the motor target operating parameters, input the associated current motor operating parameters and the motor target operating parameters into the corresponding empty matrix according to the given row and column order, so as to realize the construction process of the input matrix data and form the input matrix data for subsequent prediction.

[0047] At this time, it is necessary to call the control prediction model in the motor controller, where the control prediction model is a model generated by training a deep neural network through transfer learning after the historical control signals of the servo motor are marked by experts; these historical control signals of the servo motor are accurate control signals generated during historical control of air conditioner products of the same model, and then formed after being marked by experts, where the historical control signals include the current motor operating parameters, target motor operating parameters, and corresponding motor control signals during historical control; during training, first, a deep neural network is determined, and the deep neural network is compressed according to requirements, and regularization processing is performed on the node parameters of each layer, so that this deep neural network can achieve training convergence with less training data during training and prevent the problem of overfitting during the training process; during the training process, it is necessary to use the transfer learning method to train the deep neural network model to form a control prediction model; then, the input matrix is input into the control prediction model for prediction processing of the control signal, and the predicted motor control signal can be obtained; subsequently, when using the predicted motor control signal to control the servo motor, it is possible to control the servo motor to be closer to the required target motor operating parameters during execution; thus, during subsequent execution of adjustment control, it is possible to perform adjustment control more accurately and quickly adjust its operating parameters to the range of the required target motor operating parameters; achieve faster and more accurate adaptive adjustment control of the servo motor.

[0048] Acquisition module 303: Used to perform running adjustment control processing on the servo motor based on the predicted motor control signal, and collect and process the motor operating parameters of the servo motor after running adjustment control to obtain a set of motor acquisition operating parameters, where the set of motor acquisition operating parameters contains several motor acquisition operating parameters; In the specific real-time process of the present invention, the performing running adjustment control processing on the servo motor based on the predicted motor control signal includes: encapsulating the predicted motor control signal into an adjustment control instruction for the servo motor, and controlling the servo motor to perform running adjustment control processing based on the adjustment control instruction.

[0049] Further, the performing running adjustment control processing on the servo motor based on the predicted motor control signal includes: encapsulating the predicted motor control signal into an adjustment control instruction for the servo motor, and controlling the servo motor to perform running adjustment control processing based on the adjustment control instruction.

[0050] Specifically, when the motor controller obtains the predicted motor control signal, it will use the predicted motor control signal to perform operation adjustment control on the servo motor; that is, encapsulate the predicted motor control signal as an adjustment control instruction for the servo motor, and then control the servo motor to perform operation adjustment control processing through the adjustment control instruction; that is, control the servo motor to perform adjustment control from the current motor operation parameters to the target motor operation parameters.

[0051] At this time, after the servo motor performs operation adjustment control and operates stably, it is necessary to perform the next step of collecting the operation parameters of the servo motor, that is, it is necessary to control the sensor set on the servo motor to collect the motor operation parameters of the servo motor within a preset time period at a preset frequency, and then use the collected several motor collected operation parameters to perform data set construction processing, and finally obtain the motor collected operation parameter set.

[0052] Error comparison module 304: used to perform comparison processing based on the motor collected operation parameter set and the motor target operation parameters to obtain a comparison error operation parameter set, and the comparison error operation parameter set includes a rotational speed error parameter subset and a torque error parameter subset; In the specific implementation process of the present invention, the comparison processing based on the motor collected operation parameter set and the motor target operation parameters to obtain a comparison error operation parameter set includes: using the collected motor rotational speed data and the collected motor torque data corresponding to each collected motor operation parameter in the motor collected operation parameter set to perform corresponding comparison and subtraction processing with the motor target rotational speed data and the motor target torque data corresponding to the motor target operation parameters, and obtaining a comparison error operation parameter set composed of several comparison and subtraction results.

[0053] Specifically, at this time, it is necessary to use the collected motor rotational speed data and the collected motor torque data corresponding to each collected motor operation parameter in the motor collected operation parameter set to perform corresponding comparison and subtraction processing with the motor target rotational speed data and the motor target torque data corresponding to the motor target operation parameters, so as to obtain a comparison error operation parameter set composed of several comparison and subtraction results; the comparison error operation parameter set includes a rotational speed error parameter subset and a torque error parameter subset.

[0054] Adjustment control module 305: used to input the comparison error operation parameter set into the adaptive error correction controller for error correction adjustment control processing, generate an adjustment control signal, and use the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operation parameters in the comparison error operation parameter set is within a preset range.

[0055] In the specific implementation process of the present invention, inputting the set of comparison error operation parameters into the adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal includes: inputting the set of comparison error operation parameters into the adaptive error correction controller, and when the adaptive error correction controller determines that speed adaptive error correction adjustment control and / or torque adaptive error adjustment control are required according to the first average value of the speed error parameters in the speed error parameter subset and the second average value of the torque error parameters in the torque error parameter subset of the set of comparison error operation parameters; when speed adaptive error correction adjustment control is required, calculating the first error change rate corresponding to each speed error parameter by using the speed error parameter subset, and calling the adaptive speed PID control algorithm in the adaptive error correction controller to generate a first adjustment control signal for speed according to each speed error parameter and its corresponding first error change rate; when torque adaptive error correction adjustment control is required, calculating the second error change rate corresponding to each torque error parameter by using the torque error parameter subset, and calling the adaptive torque PID control algorithm in the adaptive error correction controller to generate a second adjustment control signal for torque according to each torque error parameter and its corresponding second error change rate.

[0056] Specifically, for the need to perform speed adaptive error correction adjustment control and / or torque adaptive error adjustment control, the corresponding adaptive control algorithms need to be called respectively. That is, for performing speed adaptive error correction adjustment control, the adaptive speed PID control algorithm needs to be called to implement; for torque adaptive error adjustment control, the adaptive torque PID control algorithm needs to be called to implement.

[0057] Among them, in the adaptive speed PID control algorithm and the adaptive torque PID control algorithm, three parameters (proportional parameter , integral parameter and differential parameter ) corresponding to the PID control algorithm are set according to their corresponding error parameters and error change rates, that is, the functional relationship between the error parameters and error change rates and the three parameters corresponding to the PID control algorithm is set; that is, for different speed error parameters and the first error change rate, there will be corresponding output of three parameters in the adaptive speed PID control algorithm; for different torque error parameters and the second error change rate, there will be corresponding output of three parameters in the adaptive torque PID control algorithm; that is, the corresponding functional relationship is constructed as follows: ; ; among them, is a torque error parameter or a speed error parameter; is the second error change rate or the first error change rate; then after confirming the above function relationship, MATLAB fitting function will be used to complete the inference fitting calculation, so as to obtain three parameters related to the error parameter and the error change rate in the adaptive speed PID control algorithm and the adaptive torque PID control algorithm (the proportional parameter 、the integral parameter and the differential parameter ); subsequently, after determining the error parameter and the error change rate, the three parameters required to be output by the above function relationship (the proportional parameter 、the integral parameter and the differential parameter ); then use the following formula to fit to the corresponding adjustment control signal; the formula is as follows: ; wherein, is the k-th error parameter in the speed error parameter subset or the torque error parameter subset; k is the k-th error parameter in the speed error parameter subset or the torque error parameter subset; is the sum of the first k error parameters in the speed error parameter subset or the torque error parameter subset.

[0058] That is, when the comparison error operation parameter set is input into the adaptive error correction controller, it is necessary to confirm in the adaptive error correction controller that speed adaptive error correction adjustment control and / or torque adaptive error adjustment control are required according to the first average value of the speed error parameters in the speed error parameter subset and the second average value of the torque error parameters in the torque error parameter subset of the comparison error operation parameter set; that is, when the first average value is greater than the first preset value, it is considered that speed adaptive error correction adjustment control is required. When the second average value is greater than the second preset value, it is considered that torque adaptive error adjustment control is required.

[0059] That is, when speed adaptive error correction adjustment control is required, it is necessary to calculate the first error change rate corresponding to each speed error parameter by using the speed error parameter subset, and call the adaptive speed PID control algorithm in the adaptive error correction controller to generate the first adjustment control signal for speed according to each speed error parameter and its corresponding first error change rate; when torque adaptive error correction adjustment control is required, it is necessary to calculate the second error change rate corresponding to each torque error parameter by using the torque error parameter subset, and call the adaptive torque PID control algorithm in the adaptive error correction controller to generate the second adjustment control signal for speed according to each torque error parameter and its corresponding second error change rate; until the average value of the comparison error operation parameters in the comparison error operation parameter set is within the preset range.

[0060] In the specific implementation process of the present invention, first, the control signal is predicted by using the current motor operation parameters and the motor target operation parameters in the control prediction model to obtain the predicted motor control signal; then, the predicted motor control signal is used to perform the operation adjustment control process on the servo motor, and then the comparison error operation parameters after the adjustment control are used to perform the error correction adjustment control process in the adaptive error correction controller; thereby realizing the precise control of the servo motor, having a high response speed in the precise control, and ensuring the reliability of the precise control.

[0061] A computer-readable storage medium provided by an embodiment of the present invention, on which a computer program is stored, and when the program is executed by a processor, it implements the adaptive adjustment control method of any one of the above embodiments. Among them, the computer-readable storage medium includes, but is not limited to, any type of disk (including floppy disk, hard disk, optical disk, CD-ROM, and magneto-optical disk), ROM (Read-Only Memory), RAM (Random Access Memory), EPROM (Erasable Programmable Read-Only Memory), EEPROM (Electrically Erasable Programmable Read-Only Memory), flash memory, magnetic card or optical card. That is, the storage device includes any medium that stores or transmits information in a readable form by a device (such as a computer, mobile phone), and can be a read-only memory, a magnetic disk or an optical disk, etc.

[0062] An embodiment of the present invention also provides a computer application program that runs on a computer and is used to execute the adaptive adjustment control method of any one of the above.

[0063] In addition, Figure 4 is a schematic diagram of the structural composition of the electronic device in the embodiment of the present invention.

[0064] An embodiment of the present invention also provides an electronic device, as Figure 4 shown. The electronic device includes devices such as a processor 402, a memory 403, an input unit 404, and a display unit 405. Those skilled in the art can understand, Figure 4The structural components of the illustrated electronic device do not constitute a limitation on all devices, and may include more or fewer components than shown, or combine certain components. The memory 403 can be used to store the application program 401 and each functional module. The processor 402 runs the application program 401 stored in the memory 403, thereby performing various functional applications and data processing of the device. The memory can be an internal memory or an external memory, or include both an internal memory and an external memory. The internal memory can include a read-only memory (ROM), a programmable ROM (PROM), an electrically programmable ROM (EPROM), an electrically erasable programmable ROM (EEPROM), a flash memory, or a random access memory. The external memory can include a hard disk, a floppy disk, a ZIP disk, a USB flash drive, a magnetic tape, etc. The memory disclosed in the present invention includes, but is not limited to, these types of memories. The memory disclosed in the present invention is only an example and not a limitation.

[0065] The input unit 404 is used to receive the input of signals and receive the keywords input by the user. The input unit 404 can include a touch panel and other input devices. The touch panel can collect the touch operations of the user on or near it (such as the operations of the user using a finger, a stylus, or any suitable object or accessory on or near the touch panel), and drive the corresponding connection device according to a pre-set program; the other input devices can include, but are not limited to, a physical keyboard, function keys (such as play control keys, switch keys, etc.), a trackball, a mouse, a joystick, etc. The display unit 405 can be used to display the information input by the user or the information provided to the user and various menus of the terminal device. The display unit 405 can be in the form of a liquid crystal display, an organic light-emitting diode, etc. The processor 402 is the control center of the terminal device, connecting various parts of the entire device using various interfaces and lines, and performing various functions and processing data by running or executing the software programs and / or modules stored in the memory 403, and calling the data stored in the memory.

[0066] As an embodiment, the electronic device includes: one or more processors 402, a memory 403, one or more application programs 401, wherein the one or more application programs 401 are stored in the memory 403 and are configured to be executed by the one or more processors 402, and the one or more application programs 401 are configured to execute the corresponding adaptive adjustment control method in any one of the above embodiments.

[0067] In the specific implementation process of the present invention, first, the control signal prediction processing is carried out in the control prediction model by using the current motor operation parameters and the motor target operation parameters to obtain the predicted motor control signal; then the predicted motor control signal is used to perform the operation adjustment control processing on the servo motor, and then the comparison error operation parameters after the adjustment control are used to perform the error correction adjustment control processing in the adaptive error correction controller; thereby realizing the precise control of the servo motor, and having a high response speed in the precise control, and ensuring the reliability of the precise control.

[0068] In addition, the above has introduced in detail an adaptive adjustment control method and related device for a servo motor provided by an embodiment of the present invention. In this article, specific examples should be used to elaborate on the principle and implementation manner of the present invention. The description of the above embodiments is only used to help understand the method and its core idea of the present invention; at the same time, for those of ordinary skill in the art, according to the idea of the present invention, there will be changes in the specific implementation manner and application scope. In summary, the content of this specification should not be construed as a limitation to the present invention.

Claims

1. An adaptive adjustment control method for a servo motor, characterized in that, Adaptive control of a servo motor applied to a household electrical appliance product, the method comprising: Obtaining the current motor operating parameters and the motor target operating parameters of the servo motor, the current motor operating parameters including current motor speed data and current motor torque data, and the motor target operating parameters including motor target speed data and motor target torque data; Inputting the current motor operating parameters and the motor target operating parameters into a motor controller, and calling a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal; Performing operation adjustment control processing on the servo motor based on the predicted motor control signal, and collecting and processing the motor operating parameters of the servo motor after the operation adjustment control to obtain a set of motor collected operating parameters, where the set of motor collected operating parameters contains several motor collected operating parameters; Performing comparison processing based on the set of motor collected operating parameters and the motor target operating parameters to obtain a set of comparison error operating parameters, where the set of comparison error operating parameters contains a speed error parameter subset and a torque error parameter subset; Inputting the set of comparison error operating parameters into an adaptive error correction controller to perform error correction adjustment control processing to generate an adjustment control signal, and using the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operating parameters in the set of comparison error operating parameters is within a preset range.

2. The adaptive adjustment control method according to claim 1, wherein The obtaining of the current motor operating parameters and the motor target operating parameters of the servo motor includes: When the servo motor is operating, performing data acquisition processing based on a sensor provided on the servo motor to obtain the current motor operating parameters of the servo motor during operation; Obtaining a motor operation simulation gear corresponding to the servo motor based on the control requirements of the user for the household electrical appliance product, and indexing to the motor target operating parameters through the operation simulation gear.

3. The adaptive adjustment control method according to claim 1, characterized in that, The inputting of the current motor operating parameters and the motor target operating parameters into the motor controller, and calling a control prediction model in the motor controller to perform control signal prediction processing to obtain a predicted motor control signal includes: Performing association processing on the current motor operating parameters and the motor target operating parameters, and inputting the associated current motor operating parameters and motor target operating parameters into the motor controller; The motor controller constructs the received associated current motor operating parameters and motor target operating parameters into input matrix data in a preset form; Calling the control prediction model in the motor controller, inputting the input matrix data into the control prediction model to perform control signal prediction processing to obtain a predicted motor control signal; The control prediction model is a model generated by training a deep neural network in a transfer learning manner after the historical control signals of the servo motor are marked by experts.

4. The adaptive adjustment control method according to claim 1, characterized in that The performing of operation adjustment control processing on the servo motor based on the predicted motor control signal includes: Encapsulate the predicted motor control signal as an adjustment control instruction for the servo motor, and control the servo motor to perform operation adjustment control processing based on the adjustment control instruction.

5. The adaptive adjustment control method according to claim 1, wherein Collect and process the motor operation parameters of the servo motor after operation adjustment control to obtain a set of motor collected operation parameters, including: After the servo motor performs operation adjustment control and the servo motor operates stably, control the sensor arranged on the servo motor to collect and process the motor operation parameters of the servo motor within a preset time period according to a preset frequency, and use a plurality of collected motor operation parameters to perform data set construction processing to obtain a set of motor collected operation parameters.

6. The adaptive adjustment control method according to claim 1, characterized in that, Perform a comparison process based on the set of motor collected operation parameters and the set of motor target operation parameters to obtain a set of comparison error operation parameters, including: Use the collected motor speed data and collected motor torque data corresponding to each collected motor operation parameter in the set of motor collected operation parameters to perform corresponding comparison and subtraction processing with the motor target speed data and motor target torque data corresponding to the motor target operation parameters, and obtain a set of comparison error operation parameters composed of a plurality of comparison and subtraction results.

7. The adaptive adjustment control method according to claim 1, wherein Input the set of comparison error operation parameters into an adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, including: Input the set of comparison error operation parameters into an adaptive error correction controller, and when the adaptive error correction controller determines that speed adaptive error correction adjustment control and / or torque adaptive error adjustment control are required according to the first average value of the speed error parameters in the speed error parameter subset and the second average value of the torque error parameters in the torque error parameter subset in the set of comparison error operation parameters; When speed adaptive error correction adjustment control is required, calculate the first error change rate corresponding to each speed error parameter using the speed error parameter subset, and call the adaptive speed PID control algorithm in the adaptive error correction controller to generate a first adjustment control signal for speed according to each speed error parameter and its corresponding first error change rate; When torque adaptive error correction adjustment control is required, calculate the second error change rate corresponding to each torque error parameter using the torque error parameter subset, and call the adaptive torque PID control algorithm in the adaptive error correction controller to generate a second adjustment control signal for speed according to each torque error parameter and its corresponding second error change rate.

8. An adaptive adjustment control device for a servo motor, characterized in that, Applied to the adaptive control of a servo motor in a household electrical appliance product, the device includes: An acquisition module: used to acquire the current motor operation parameters and motor target operation parameters of the servo motor, where the current motor operation parameters include current motor speed data and current motor torque data, and the motor target operation parameters include motor target speed data and motor target torque data; Prediction module: It is used to input the current motor operating parameters and the motor target operating parameters into the motor controller, and call the control prediction model in the motor controller to perform control signal prediction processing to obtain the predicted motor control signal; Acquisition module: It is used to perform operation adjustment control processing on the servo motor based on the predicted motor control signal, and perform acquisition processing on the motor operating parameters of the servo motor after the operation adjustment control to obtain a set of motor acquisition operating parameters, and several motor acquisition operating parameters are included in the set of motor acquisition operating parameters; Error comparison module: It is used to perform comparison processing based on the set of motor acquisition operating parameters and the motor target operating parameters to obtain a set of comparison error operating parameters, and the set of comparison error operating parameters includes a speed error parameter subset and a torque error parameter subset; Adjustment control module: It is used to input the set of comparison error operating parameters into the adaptive error correction controller for error correction adjustment control processing to generate an adjustment control signal, and use the adjustment control signal to perform adjustment control processing on the servo motor until the average value of the comparison error operating parameters in the set of comparison error operating parameters is within a preset range.

9. An electronic device, comprising a processor and a memory, characterized in that, The processor runs the computer program or code stored in the memory to implement the adaptive adjustment control method according to any one of claims 1 to 7.

10. A computer-readable storage medium for storing a computer program or code, characterized in that, When the computer program or code is executed by the processor, the adaptive adjustment control method according to any one of claims 1 to 7 is implemented.

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