A servo motor with working condition self-adaptation capability and control method thereof

Abstract

The present invention proposes a servo motor with working condition self-adaptation capability and a control method thereof. The method identifies working condition changes of the servo motor according to changes in the working condition parameters of the servo motor. When the working condition of the servo motor changes, the working condition change scenario of the servo motor is identified, and the working condition parameters of the servo motor are corrected using a working condition correction model that matches the working condition change scenario. The working condition correction model includes a control feedback cycle T1 for performing control feedback, a stable control cycle T2 for performing stable control, a first empirical function f1 for initializing control parameters after working condition changes, a second empirical function f2 for calculating working condition parameter correction amounts corresponding to control parameters output by the first empirical function f1, and a maximum error P of the second empirical function f2. max , which makes the servo motor have higher dynamic response capability and stability.

Description

Technical Field

[0001] The present invention relates to the field of intelligent control technology, and in particular to a servo motor with working condition self-adaptation capability and a control method thereof. Background Art

[0002] A servo motor is an electric motor that drives mechanical components in a servo system. It is a controllable, electromechanical electromagnetic device used in precision motion control to perform electromechanical energy conversion and signal conversion. The servo motor's rotor shaft can accurately replicate the position, speed, and torque commands requested by the host computer under controlled conditions to drive the load. Servo motors are used as actuators in automatic control systems and feature low electromechanical time constants, strong overload capacity, and high linearity. With the increasing level of industrial automation, servo motors are increasingly widely used in industrial settings. In industrial applications, the PID control algorithm is the most commonly used control algorithm for servo motors. Its mature technology, simple structure, ease of implementation and maintenance, and excellent stability and reliability have made it the preferred choice for servo control systems in traditional industrial applications. However, the PID control algorithm has poor adaptability to nonlinear systems and insufficient dynamic response capabilities. It can only be used in relatively stable environments and struggles to achieve the desired results in complex operating conditions. Although traditional adaptive control algorithms can adapt to nonlinear systems and have stronger dynamic response capabilities compared to PID control algorithms, their parameter convergence speed is slow and they have higher stability risks, making it difficult to replace PID control algorithms to implement automated control under complex working conditions. Summary of the Invention

[0003] Based on the above problems, the present invention proposes a servo motor with working condition self-adaptation capability and a control method thereof, which has high dynamic response capability and stability.

[0004] In view of this, a first aspect of the present invention provides a servo motor with working condition self-adaptation capability, comprising a control unit, wherein the control unit is configured to:

[0005] Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor;

[0006] Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter;

[0007] When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor;

[0008] The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error .

[0009] A second aspect of the present invention provides a control method for a servo motor with working condition self-adaptation capability, comprising:

[0010] Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor;

[0011] Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter;

[0012] When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor;

[0013] The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error .

[0014] Furthermore, the step of correcting the operating condition parameters of the servo motor using the operating condition correction model that matches the operating condition change scenario specifically includes:

[0015] Acquiring parameter data of the servo motor before and after a working condition change occurs, the parameter data including control parameters and working condition parameters;

[0016] Calculate the second control parameter of the servo motor after the working condition changes according to the parameter data of the servo motor before and after the working condition changes ;

[0017] The second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction ;

[0018] According to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range ;

[0019] According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. .

[0020] Furthermore, the step of obtaining parameter data of the servo motor before and after the operating condition changes specifically includes:

[0021] The time when the operating condition of the servo motor is recognized to change is determined as the starting time ;

[0022] Obtain the first control parameter of the servo motor before the working condition changes and the first operating condition parameters ;

[0023] Calculate the operating parameters of the servo motor at the start time Momentary change value .

[0024] Furthermore, according to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. The steps specifically include:

[0025] At the starting time The first control feedback cycle after the moment inputs the second control parameter to the drive unit of the servo motor ;

[0026] Obtain the working condition parameters of the first control feedback cycle through the feedback unit of the servo motor ;

[0027] Determine the operating parameters of the first control feedback cycle Whether it falls within the correction range Inside;

[0028] When the operating parameters of the first control feedback cycle Falling within the correction range When the operating condition parameter correction range is within a stable control period, a first operating condition parameter curve and a second operating condition parameter curve are fitted;

[0029] The control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve .

[0030] Furthermore, the first operating parameter curve and the second operating parameter curve are both based on coordinate points The parabola with the vertex as the first working condition parameter curve and the second working condition parameter curve is a parabola passing through the coordinate point A straight line perpendicular to the time axis.

[0031] Furthermore, in determining the operating parameters of the first control feedback cycle Whether it falls within the correction range After the steps within, also include:

[0032] When the operating parameters of the first control feedback cycle Does not fall within the correction range According to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range ;

[0033] Match the effective correction range in the database Corresponding effective working condition change scenarios;

[0034] The operating condition correction model of the effective operating condition change scenario is loaded to re-execute the step of correcting the operating condition parameters of the servo motor using the operating condition correction model matching the operating condition change scenario.

[0035] Furthermore, the control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve The steps specifically include:

[0036] Calculate a stable control period The number of iterations within:

[0037] ;

[0038] Initialize integer calculation variables ;

[0039] In the iterative control process, each iteration step The value of is increased by 1, so that The value of always indicates the number of steps that have been iterated;

[0040] At each iteration step, the correction range of the current iteration cycle is calculated based on the function of the first working condition parameter curve and the second working condition parameter curve. ;

[0041] Obtain the working parameters of the current iteration cycle through the feedback unit of the servo motor ;

[0042] According to the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of The control parameters of the iteration cycle.

[0043] Furthermore, the step of identifying the operating condition change of the servo motor according to the change of the operating condition parameter specifically includes:

[0044] Read pre-configured operating parameter change thresholds ;

[0045] Obtain a control instruction sent by the control unit of the servo motor to the drive unit of the servo motor in the last control feedback cycle, wherein the control instruction includes the third control parameter of the last control feedback cycle , and the current control feedback cycle and the third control parameter Target values ​​of corresponding operating parameters ;

[0046] Obtain the working condition parameters of the current control feedback cycle through the feedback unit of the servo motor ;

[0047] Calculate the operating parameters of the current control feedback cycle With the target value The difference:

[0048] ;

[0049] Determine the difference Is it greater than the operating parameter change threshold? ;

[0050] When the difference Greater than the threshold value of the operating parameter change , it is determined that the operating condition of the servo motor changes.

[0051] Furthermore, before the step of identifying the operating condition change scenario of the servo motor, the method further includes:

[0052] Configuring in a database the type of the host device of the servo motor and the operating parameter change characteristics of the host device of the servo motor under various operating condition change scenarios;

[0053] The step of identifying the operating condition change scenario of the servo motor specifically includes:

[0054] Extracting the variation characteristics of the operating parameters of the servo motor;

[0055] Matching the operating parameter change characteristics of the servo motor with the operating parameter change characteristics of various operating condition change scenarios under the corresponding host device type in the database;

[0056] The operating condition change scenario of the servo motor is identified according to the matching result.

[0057] The present invention proposes a servo motor with working condition self-adaptation capability and a control method thereof, which identifies working condition changes of the servo motor according to changes in working condition parameters of the servo motor. When the working condition of the servo motor changes, the working condition change scenario of the servo motor is identified, and the working condition parameters of the servo motor are corrected using a working condition correction model that matches the working condition change scenario. The working condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error , which makes the servo motor have higher dynamic response capability and stability. BRIEF DESCRIPTION OF THE DRAWINGS

[0058] Figure 1 1 is a schematic diagram of a servo motor with working condition self-adaptation capability provided by one embodiment of the present invention;

[0059] Figure 2 This is a flow chart of a control method for a servo motor with working condition self-adaptation provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0060] 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.

[0061] 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.

[0062] 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.

[0063] 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.

[0064] A servo motor with working condition self-adaptation capability and a control method thereof provided according to some embodiments of the present invention will be described below with reference to the accompanying drawings.

[0065] like Figure 1As shown, the first aspect of the present invention provides a servo motor with working condition self-adaptation capability, including a control unit, wherein the control unit is configured to:

[0066] Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor;

[0067] Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter;

[0068] When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor;

[0069] The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error .

[0070] The servo motor's driven object includes an actuator connected to the servo motor's main shaft and driven by the servo motor, such as a cutting tool for a CNC machine tool, a robotic arm or drive wheel for an industrial robot, or a nozzle for a 3D printer. The operating parameters include, but are not limited to, the position of the driven object and the position / speed of the servo motor's main shaft. The servo motor also includes a feedback unit and a drive unit. The feedback unit is used to collect and feed back the servo motor's operating parameters to the control unit. The drive unit is used to drive the servo motor's main shaft under the control of the control unit.

[0071] The working condition change refers to the change in the working conditions of the servo motor caused by the change in the load of the servo motor or the execution object of its host device. The working condition change scenario refers to the environmental scenario corresponding to the working condition change of the servo motor, which is usually related to the type of host device of the servo motor, as well as its working environment, working content and other information. The host device of the servo motor refers to various mechanical equipment installed with the servo motor, such as CNC machine tools, industrial robots or logistics robots. When the degree of change in the working condition of the servo motor is not large, it usually does not affect the normal operation of the servo motor. When the working condition of the servo motor changes greatly, especially in some sudden working condition change scenarios, such as the replacement of processing materials of CNC machine tools, changes in the end load of industrial robots, or logistics robots encountering steep slopes with large slopes, etc., it will cause the working condition parameters of the servo motor to become abnormal, thereby affecting the normal operation of the servo motor.

[0072] The working condition correction model is a correction parameter model pre-built for various working condition change scenarios and used to correct the working condition parameter changes in the corresponding working condition change scenarios. To control the feedback cycle, the control unit of the servo motor collects feedback data from the feedback unit once within a control feedback cycle, and sends a control signal to the drive unit based on the feedback data, so that the drive unit drives the main shaft of the servo motor to rotate at the corresponding speed / rotation amount according to the control signal. To stabilize the control cycle, that is, the control unit of the servo motor corrects the operating parameters that have abnormally changed due to operating condition changes to a stable state under the expected value within a stable control cycle.

[0073] The first empirical function And the second empirical function They are all empirical functions obtained by fitting the control parameters and working condition parameter measurement data of the servo motor under various working condition change scenarios under laboratory conditions. Specifically, the first empirical function is a control parameter correction function that matches the working condition change scenario, and is used to reinitialize the control parameters of the servo motor after the working condition changes according to the working condition change scenario when the working condition of the servo motor changes. The second empirical function For calculating the input of the first empirical function to the servo motor in a control feedback cycle under the corresponding working condition change scenario The calculated control parameters are the expected operating parameters of the servo motor in the next control feedback cycle. Under laboratory conditions, after inputting the control parameters of the servo motor under the corresponding working condition change scenario, the second empirical function The maximum value of the difference between the calculated operating parameters and the operating parameters actually measured by the feedback unit.

[0074] Furthermore, in the step of correcting the operating condition parameters of the servo motor using the operating condition correction model that matches the operating condition change scenario, the control unit is configured to:

[0075] Acquiring parameter data of the servo motor before and after a working condition change occurs, the parameter data including control parameters and working condition parameters;

[0076] Calculate the second control parameter of the servo motor after the working condition changes according to the parameter data of the servo motor before and after the working condition changes ;

[0077] The second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction ;

[0078] According to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range ;

[0079] According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. .

[0080] Obtaining the first control parameter of the servo motor before the working condition changes In the step, the first control parameter At the starting time The control parameters carried by the control signal sent by the control unit of the servo motor to its drive unit in the previous control cycle. The previous control cycle and the control feedback cycle They can be configured to the same value or different values.

[0081] Furthermore, in the step of obtaining parameter data of the servo motor before and after the operating condition changes, the control unit is configured to:

[0082] The time when the operating condition of the servo motor is recognized to change is determined as the starting time ;

[0083] Obtain the first control parameter of the servo motor before the working condition changes and the first operating condition parameters ;

[0084] Calculate the operating parameters of the servo motor at the start time Momentary change value .

[0085] Further, when calculating the operating parameters of the servo motor at the starting time Momentary change value In the step, the control unit is configured to:

[0086] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The first operating condition parameter of the previous control cycle and the servo motor at the start time The second operating condition parameter at time ;

[0087] Calculate the second working condition parameters With the first working condition parameters The difference is used as the working parameter of the servo motor At the starting time Momentary change value .

[0088] Furthermore, the second control parameter of the servo motor after the working condition changes is calculated based on the parameter data of the servo motor before and after the working condition changes. In the step, the control unit is configured to:

[0089] The first control parameter , the first operating condition parameter and the change value Enter the first empirical function Calculate the second control parameter of the servo motor after the working condition changes .

[0090] Furthermore, when the second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction In the step, the control unit is configured to:

[0091] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The second operating condition parameter at time ;

[0092] The first control parameter , the first operating condition parameter , the second operating condition parameter , the change value And the second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction .

[0093] Furthermore, according to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range In the step, the control unit is configured to:

[0094] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The second operating condition parameter at time ;

[0095] Calculate the second control parameter The lower limit of the corresponding operating parameter correction range:

[0096] ;

[0097] Calculate the second control parameter The upper limit of the corresponding operating parameter correction range:

[0098] .

[0099] Furthermore, according to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. In the step, the control unit is configured to:

[0100] At the starting time The first control feedback cycle after the moment inputs the second control parameter to the drive unit of the servo motor ;

[0101] Obtain the working condition parameters of the first control feedback cycle through the feedback unit of the servo motor ;

[0102] Determine the operating parameters of the first control feedback cycle Whether it falls within the correction range Inside;

[0103] When the operating parameters of the first control feedback cycle Falling within the correction range When the operating condition parameter correction range is within a stable control period, a first operating condition parameter curve and a second operating condition parameter curve are fitted;

[0104] The control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve .

[0105] In the technical solution of the above embodiment, the second control parameter is input to the driving unit of the servo motor. The time is the starting time At the start time of the first control feedback cycle after the moment, the operating parameters are obtained. The time is the starting time The end time of the first control feedback cycle after time.

[0106] The first operating parameter curve and the second operating parameter curve are function curves in an orthogonal coordinate system with the operating parameter axis as the first orthogonal axis and the time axis as the second orthogonal axis. The first operating parameter curve is a function curve in an orthogonal coordinate system with the coordinate points in the orthogonal coordinate system. As the starting point, the coordinate point in the orthogonal coordinate system The second operating condition parameter curve is the coordinate point in the orthogonal coordinate system As the starting point, the coordinate point in the orthogonal coordinate system is is the end point, that is, as time in the time axis advances, the operating condition parameter correction range defined between the first operating condition parameter curve and the second operating condition parameter curve is a gradually converging range.

[0107] Furthermore, the first operating parameter curve and the second operating parameter curve are both based on the coordinate points in the orthogonal coordinate system. The parabola with the vertex as the first working condition parameter curve and the second working condition parameter curve is a symmetry axis passing through the coordinate point in the orthogonal coordinate system. A straight line perpendicular to the time axis.

[0108] In the control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve In the step of, each iteration cycle updates the correction range of the current iteration cycle according to the function of the first working condition parameter curve and the second working condition parameter curve , based on the operating parameters and the correction range boundaries in the feedback signal of the previous iteration cycle and The difference between the two values ​​is adjusted to adjust the control signal, thereby gradually adjusting the working parameters of the servo motor to correct the working parameters to the target value. By adopting the technical solution of the above embodiment, it is possible to ensure that the operating parameters of the servo motor always fall within a controllable range and the convergence speed is controllable.

[0109] Furthermore, in determining the operating parameters of the first control feedback cycle Whether it falls within the correction range Following the steps within, the control unit is configured to:

[0110] When the operating parameters of the first control feedback cycle Does not fall within the correction range According to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range ;

[0111] Match the effective correction range in the database Corresponding effective working condition change scenarios;

[0112] The operating condition correction model of the effective operating condition change scenario is loaded to re-execute the step of correcting the operating condition parameters of the servo motor using the operating condition correction model matching the operating condition change scenario.

[0113] In the technical solutions of some embodiments of the present invention, according to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range In the step, the control unit is configured to:

[0114] judge still ;

[0115] when season ,make ;

[0116] when season ,make .

[0117] In the technical solutions of other embodiments of the present invention, according to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range In the step, the control unit is configured to:

[0118] judge still ;

[0119] when season ,make ;

[0120] when season ,make .

[0121] Furthermore, in the control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve In the step, the control unit is configured to:

[0122] Calculate a stable control period The number of iterations within:

[0123] ;

[0124] Initialize integer calculation variables ;

[0125] In the iterative control process, each iteration step The value of is increased by 1, so that The value of always indicates the number of steps that have been iterated;

[0126] At each iteration step, the correction range of the current iteration cycle is calculated based on the function of the first working condition parameter curve and the second working condition parameter curve. ;

[0127] Obtain the working parameters of the current iteration cycle through the feedback unit of the servo motor ;

[0128] According to the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of The control parameters of the iteration cycle.

[0129] In the technical solution of the above embodiment, To find the remainder sign, express remove The remainder is 0.

[0130] Similarly, express remove The remainder is not 0. is the floor symbol, express The integer part of the quotient of .

[0131] In the technical solution of the above embodiment, Indicates the The lower bound of the range of corrections in the iteration cycle, Indicates the The upper bound of the range of corrections in an iteration cycle.

[0132] In the technical solutions of some embodiments of the present invention, the working condition correction model also includes a control parameter correction step size , according to the working condition parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of In the step of controlling parameters of an iterative cycle, the control unit is configured to:

[0133] Determine the working parameters of the current iteration cycle Whether it falls within the correction range of the current iteration cycle Inside;

[0134] Working condition parameters of the current iteration cycle Falling within the correction range of the current iteration cycle Calculate the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundary values ​​of :

[0135] ;

[0136] ;

[0137] Compare and The size between;

[0138] when season ;

[0139] when season ;

[0140] when season .

[0141] in For the The control parameters of the iteration cycle, For the The control parameters of each iteration cycle, and so on.

[0142] Furthermore, in the step of identifying the operating condition change of the servo motor according to the change of the operating condition parameter, the control unit is configured to:

[0143] Read pre-configured operating parameter change thresholds ;

[0144] Obtain a control instruction sent by the control unit of the servo motor to the drive unit of the servo motor in the last control feedback cycle, wherein the control instruction includes the third control parameter of the last control feedback cycle , and the current control feedback cycle and the third control parameter Target values ​​of corresponding operating parameters ;

[0145] Obtain the working condition parameters of the current control feedback cycle through the feedback unit of the servo motor ;

[0146] Calculate the operating parameters of the current control feedback cycle With the target value The difference:

[0147] ;

[0148] Determine the difference Is it greater than the operating parameter change threshold? ;

[0149] When the difference Greater than the threshold value of the operating parameter change , it is determined that the operating condition of the servo motor changes.

[0150] Furthermore, before the step of identifying the operating condition change scenario of the servo motor, the control unit is configured to:

[0151] Configuring in a database the type of the host device of the servo motor and the operating parameter change characteristics of the host device of the servo motor under various operating condition change scenarios;

[0152] The step of identifying the operating condition change scenario of the servo motor specifically includes:

[0153] Extracting the variation characteristics of the operating parameters of the servo motor;

[0154] Matching the operating parameter change characteristics of the servo motor with the operating parameter change characteristics of various operating condition change scenarios under the corresponding host device type in the database;

[0155] The operating condition change scenario of the servo motor is identified according to the matching result.

[0156] Specifically, the servo motor's operating parameter variation characteristics are the amplitude and frequency characteristics of the servo motor's operating parameters over a period of time. These characteristics are related to the type of the servo motor's host device, its operating environment, and its workload. When a servo motor's operating condition changes, the specific operating parameter variation characteristics typically reflect the context of the change.

[0157] like Figure 2 As shown, the second aspect of the present invention provides a control method for a servo motor with working condition self-adaptation capability, comprising:

[0158] Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor;

[0159] Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter;

[0160] When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor;

[0161] The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error .

[0162] The servo motor's driven object includes an actuator connected to the servo motor's main shaft and driven by the servo motor, such as a cutting tool on a CNC machine tool, a robotic arm or drive wheel on an industrial robot, or a printhead on a 3D printer. The operating parameters include, but are not limited to, the position of the driven object and the position and speed of the servo motor's main shaft.

[0163] The working condition change refers to the change in the working conditions of the servo motor caused by the change in the load of the servo motor or the execution object of its host device. The working condition change scenario refers to the environmental scenario corresponding to the working condition change of the servo motor, which is usually related to the type of host device of the servo motor, as well as its working environment, working content and other information. The host device of the servo motor refers to various mechanical equipment installed with the servo motor, such as CNC machine tools, industrial robots or logistics robots. When the degree of change in the working condition of the servo motor is not large, it usually does not affect the normal operation of the servo motor. When the working condition of the servo motor changes greatly, especially in some sudden working condition change scenarios, such as the replacement of processing materials of CNC machine tools, changes in the end load of industrial robots, or logistics robots encountering steep slopes with large slopes, etc., it will cause the working condition parameters of the servo motor to become abnormal, thereby affecting the normal operation of the servo motor.

[0164] The working condition correction model is a correction parameter model pre-built for various working condition change scenarios and used to correct the working condition parameter changes in the corresponding working condition change scenarios. To control the feedback cycle, the control unit of the servo motor collects feedback data from the feedback unit once within a control feedback cycle, and sends a control signal to the drive unit based on the feedback data, so that the drive unit drives the main shaft of the servo motor to rotate at the corresponding speed / rotation amount according to the control signal. To stabilize the control cycle, that is, the control unit of the servo motor corrects the operating parameters that have abnormally changed due to operating condition changes to a stable state under the expected value within a stable control cycle.

[0165] The first empirical function And the second empirical function They are all empirical functions obtained by fitting the control parameters and working condition parameter measurement data of the servo motor under various working condition change scenarios under laboratory conditions. Specifically, the first empirical function is a control parameter correction function that matches the working condition change scenario, and is used to reinitialize the control parameters of the servo motor after the working condition changes according to the working condition change scenario when the working condition of the servo motor changes. The second empirical function For calculating the input of the first empirical function to the servo motor in a control feedback cycle under the corresponding working condition change scenario The calculated control parameters are the expected operating parameters of the servo motor in the next control feedback cycle. Under laboratory conditions, after inputting the control parameters of the servo motor under the corresponding working condition change scenario, the second empirical function The maximum value of the difference between the calculated operating parameters and the operating parameters actually measured by the feedback unit.

[0166] Furthermore, the step of correcting the operating condition parameters of the servo motor using the operating condition correction model that matches the operating condition change scenario specifically includes:

[0167] Acquiring parameter data of the servo motor before and after a working condition change occurs, the parameter data including control parameters and working condition parameters;

[0168] Calculate the second control parameter of the servo motor after the working condition changes according to the parameter data of the servo motor before and after the working condition changes ;

[0169] The second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction ;

[0170] According to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range ;

[0171] According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. .

[0172] Obtaining the first control parameter of the servo motor before the working condition changes In the step, the first control parameter At the starting time The control parameters carried by the control signal sent by the control unit of the servo motor to its drive unit in the previous control cycle. The previous control cycle and the control feedback cycle They can be configured to the same value or different values.

[0173] Furthermore, the step of obtaining parameter data of the servo motor before and after the operating condition changes specifically includes:

[0174] The time when the operating condition of the servo motor is recognized to change is determined as the starting time ;

[0175] Obtain the first control parameter of the servo motor before the working condition changes and the first operating condition parameters ;

[0176] Calculate the operating parameters of the servo motor at the start time Momentary change value .

[0177] Further, the operating parameters of the servo motor are calculated at the starting time Momentary change value The steps specifically include:

[0178] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The first operating condition parameter of the previous control cycle and the servo motor at the start time The second operating condition parameter at time ;

[0179] Calculate the second working condition parameters With the first working condition parameters The difference is used as the working parameter of the servo motor At the starting time Momentary change value .

[0180] Furthermore, the second control parameter of the servo motor after the working condition changes is calculated based on the parameter data of the servo motor before and after the working condition changes. The steps specifically include:

[0181] The first control parameter , the first operating condition parameter and the change value Enter the first empirical function Calculate the second control parameter of the servo motor after the working condition changes .

[0182] Furthermore, the second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction The steps specifically include:

[0183] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The second operating condition parameter at time ;

[0184] The first control parameter , the first operating condition parameter , the second operating condition parameter , the change value And the second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction .

[0185] Furthermore, according to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range The steps specifically include:

[0186] The feedback unit of the servo motor is used to obtain the time at which the servo motor starts The second operating condition parameter at time ;

[0187] Calculate the second control parameter The lower limit of the corresponding operating parameter correction range:

[0188] ;

[0189] Calculate the second control parameter The upper limit of the corresponding operating parameter correction range:

[0190] .

[0191] Furthermore, according to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. The steps specifically include:

[0192] At the starting time The first control feedback cycle after the moment inputs the second control parameter to the drive unit of the servo motor ;

[0193] Obtain the working condition parameters of the first control feedback cycle through the feedback unit of the servo motor ;

[0194] Determine the operating parameters of the first control feedback cycle Whether it falls within the correction range Inside;

[0195] When the operating parameters of the first control feedback cycle Falling within the correction range When the operating condition parameter correction range is within a stable control period, a first operating condition parameter curve and a second operating condition parameter curve are fitted;

[0196] The control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve .

[0197] In the technical solution of the above embodiment, the second control parameter is input to the driving unit of the servo motor. The time is the starting time At the start time of the first control feedback cycle after the moment, the operating parameters are obtained. The time is the starting time The end time of the first control feedback cycle after time.

[0198] The first operating parameter curve and the second operating parameter curve are function curves in an orthogonal coordinate system with the operating parameter axis as the first orthogonal axis and the time axis as the second orthogonal axis. The first operating parameter curve is a function curve in an orthogonal coordinate system with the coordinate points in the orthogonal coordinate system. As the starting point, the coordinate point in the orthogonal coordinate system The second operating condition parameter curve is the coordinate point in the orthogonal coordinate system As the starting point, the coordinate point in the orthogonal coordinate system is is the end point, that is, as time in the time axis advances, the operating condition parameter correction range defined between the first operating condition parameter curve and the second operating condition parameter curve is a gradually converging range.

[0199] Furthermore, the first operating parameter curve and the second operating parameter curve are both based on the coordinate points in the orthogonal coordinate system. The parabola with the vertex as the first working condition parameter curve and the second working condition parameter curve is a symmetry axis passing through the coordinate point in the orthogonal coordinate system. A straight line perpendicular to the time axis.

[0200] In the control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve In the step of, each iteration cycle updates the correction range of the current iteration cycle according to the function of the first working condition parameter curve and the second working condition parameter curve , based on the operating parameters and the correction range boundaries in the feedback signal of the previous iteration cycle and The difference between the two values ​​is adjusted to adjust the control signal, thereby gradually adjusting the working parameters of the servo motor to correct the working parameters to the target value. By adopting the technical solution of the above embodiment, it is possible to ensure that the operating parameters of the servo motor always fall within a controllable range and the convergence speed is controllable.

[0201] Furthermore, in determining the operating parameters of the first control feedback cycle Whether it falls within the correction range After the steps within, also include:

[0202] When the operating parameters of the first control feedback cycle Does not fall within the correction range According to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range ;

[0203] Match the effective correction range in the database Corresponding effective working condition change scenarios;

[0204] The operating condition correction model of the effective operating condition change scenario is loaded to re-execute the step of correcting the operating condition parameters of the servo motor using the operating condition correction model matching the operating condition change scenario.

[0205] In the technical solutions of some embodiments of the present invention, according to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range The steps specifically include:

[0206] judge still ;

[0207] when season ,make ;

[0208] when season ,make .

[0209] In the technical solutions of other embodiments of the present invention, according to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range The steps specifically include:

[0210] judge still ;

[0211] when season ,make ;

[0212] when season ,make .

[0213] Furthermore, the control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve The steps specifically include:

[0214] Calculate a stable control period The number of iterations within:

[0215] ;

[0216] Initialize integer calculation variables ;

[0217] In the iterative control process, each iteration step The value of is increased by 1, so that The value of always indicates the number of steps that have been iterated;

[0218] At each iteration step, the correction range of the current iteration cycle is calculated based on the function of the first working condition parameter curve and the second working condition parameter curve. ;

[0219] Obtain the working parameters of the current iteration cycle through the feedback unit of the servo motor ;

[0220] According to the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of The control parameters of the iteration cycle.

[0221] In the technical solution of the above embodiment, To find the remainder sign, express remove The remainder is 0.

[0222] Similarly, express remove The remainder is not 0. is the floor symbol, express The integer part of the quotient of .

[0223] In the technical solution of the above embodiment, Indicates the The lower bound of the range of corrections in the iteration cycle, Indicates the The upper bound of the range of corrections in an iteration cycle.

[0224] In the technical solutions of some embodiments of the present invention, the working condition correction model also includes a control parameter correction step size , according to the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of The steps for controlling parameters in an iterative cycle specifically include:

[0225] Determine the working parameters of the current iteration cycle Whether it falls within the correction range of the current iteration cycle Inside;

[0226] Working condition parameters of the current iteration cycle Falling within the correction range of the current iteration cycle Calculate the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundary values ​​of :

[0227] ;

[0228] ;

[0229] Compare and The size between;

[0230] when season ;

[0231] when season ;

[0232] when season .

[0233] in For the The control parameters of the iteration cycle, For the The control parameters of each iteration cycle, and so on.

[0234] Furthermore, the step of identifying the operating condition change of the servo motor according to the change of the operating condition parameter specifically includes:

[0235] Read pre-configured operating parameter change thresholds ;

[0236] Obtain a control instruction sent by the control unit of the servo motor to the drive unit of the servo motor in the last control feedback cycle, wherein the control instruction includes the third control parameter of the last control feedback cycle , and the current control feedback cycle and the third control parameter Target values ​​of corresponding operating parameters ;

[0237] Obtain the working condition parameters of the current control feedback cycle through the feedback unit of the servo motor ;

[0238] Calculate the operating parameters of the current control feedback cycle With the target value The difference:

[0239] ;

[0240] Determine the difference Is it greater than the operating parameter change threshold? ;

[0241] When the difference Greater than the threshold value of the operating parameter change , it is determined that the operating condition of the servo motor changes.

[0242] Furthermore, before the step of identifying the operating condition change scenario of the servo motor, the method further includes:

[0243] Configuring in a database the type of the host device of the servo motor and the operating parameter change characteristics of the host device of the servo motor under various operating condition change scenarios;

[0244] The step of identifying the operating condition change scenario of the servo motor specifically includes:

[0245] Extracting the variation characteristics of the operating parameters of the servo motor;

[0246] Matching the operating parameter change characteristics of the servo motor with the operating parameter change characteristics of various operating condition change scenarios under the corresponding host device type in the database;

[0247] The operating condition change scenario of the servo motor is identified according to the matching result.

[0248] Specifically, the servo motor's operating parameter variation characteristics are the amplitude and frequency characteristics of the servo motor's operating parameters over a period of time. These characteristics are related to the type of the servo motor's host device, its operating environment, and its workload. When a servo motor's operating condition changes, the specific operating parameter variation characteristics typically reflect the context of the change.

[0249] 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.

[0250] 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 servo motor with working condition self-adaptation capability, characterized in that: comprising a control unit configured to: Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor; Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter; When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor; The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error ; Correcting the operating parameters of the servo motor using the operating condition correction model that matches the operating condition change scenario specifically includes: Acquiring parameter data of the servo motor before and after a working condition change occurs, the parameter data including control parameters and working condition parameters; Calculate the second control parameter of the servo motor after the working condition changes according to the parameter data of the servo motor before and after the working condition changes ; The second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction ; According to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range ; According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. .

2. A control method for a servo motor with working condition self-adaptation capability, characterized in that: include: Monitoring the operating parameters of the servo motor, wherein the operating parameters are parameters on the servo motor or a driven object of the servo motor that reflect the operating state of the servo motor; Identifying a change in the operating condition of the servo motor according to a change in the operating condition parameter; When the operating condition of the servo motor changes, identifying the operating condition change scenario of the servo motor; The operating condition correction model that matches the operating condition change scenario is used to correct the operating condition parameters of the servo motor, and the operating condition correction model includes a control feedback cycle for executing control feedback. , Stable control cycle for executing stable control , the first empirical function used to initialize the control parameters after the working condition changes , used to calculate the first empirical function The second empirical function of the operating parameter correction amount corresponding to the output control parameter , and the second empirical function The maximum error ; The step of correcting the operating condition parameters of the servo motor using the operating condition correction model that matches the operating condition change scenario specifically includes: Acquiring parameter data of the servo motor before and after a working condition change occurs, the parameter data including control parameters and working condition parameters; Calculate the second control parameter of the servo motor after the working condition changes according to the parameter data of the servo motor before and after the working condition changes ; The second control parameter Enter the second empirical function To calculate the second control parameter Corresponding operating parameter correction ; According to the second empirical function The maximum error Determine the second control parameter Corresponding operating parameter correction range ; According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. .

3. The control method of the servo motor with working condition self-adaptation capability according to claim 2, characterized in that: The step of obtaining parameter data of the servo motor before and after the operating condition changes specifically includes: The time when the operating condition of the servo motor is recognized to change is determined as the starting time ; Obtain the first control parameter of the servo motor before the working condition changes and the first operating condition parameters ; Calculate the operating parameters of the servo motor at the start time Momentary change value .

4. The control method of the servo motor with working condition self-adaptation capability according to claim 3, characterized in that: According to the correction range In the stable control cycle within the control feedback cycle To control the feedback cycle, the operating parameters of the servo motor are corrected to the target value. The steps specifically include: At the starting time The first control feedback cycle after the moment inputs the second control parameter to the drive unit of the servo motor ; Obtain the working condition parameters of the first control feedback cycle through the feedback unit of the servo motor ; Determine the operating parameters of the first control feedback cycle Whether it falls within the correction range Inside; When the operating parameters of the first control feedback cycle Falling within the correction range When the operating condition parameter correction range is within a stable control period, a first operating condition parameter curve and a second operating condition parameter curve are fitted; The control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve .

5. The control method of the servo motor with working condition self-adaptation capability according to claim 4, characterized in that: The first operating parameter curve and the second operating parameter curve are both based on coordinate points The parabola with the vertex as the first working condition parameter curve and the second working condition parameter curve is a parabola passing through the coordinate point A straight line perpendicular to the time axis.

6. The control method of the servo motor with working condition self-adaptation capability according to claim 4, characterized in that: In determining the operating parameters of the first control feedback cycle Whether it falls within the correction range After the steps within, also include: When the operating parameters of the first control feedback cycle Does not fall within the correction range According to the working condition parameters With the correction range The boundary difference of the redefines an effective correction range ; Match the effective correction range in the database Corresponding effective working condition change scenarios; The operating condition correction model of the effective operating condition change scenario is loaded to re-execute the step of correcting the operating condition parameters of the servo motor using the operating condition correction model matching the operating condition change scenario.

7. The control method of a servo motor with working condition self-adaptation capability according to claim 4, characterized in that: The control feedback cycle Iteratively control the servo motor for an iterative period so that the operating parameters of the servo motor converge to the target value within the limited range of the first operating parameter curve and the second operating parameter curve The steps specifically include: Calculate a stable control period The number of iterations within: ； Initialize integer calculation variables ; In the iterative control process, each iteration step The value of is increased by 1, so that The value of always indicates the number of steps that have been iterated; At each iteration step, the correction range of the current iteration cycle is calculated based on the function of the first working condition parameter curve and the second working condition parameter curve. ; Obtain the working parameters of the current iteration cycle through the feedback unit of the servo motor ; According to the working parameters of the current iteration cycle The correction range of the current iteration cycle The difference between the boundaries of The control parameters of the iteration cycle.

8. The control method of a servo motor with working condition self-adaptation capability according to claim 2, characterized in that: The step of identifying the operating condition change of the servo motor according to the change of the operating condition parameter specifically includes: Read pre-configured operating parameter change thresholds ; Obtain a control instruction sent by the control unit of the servo motor to the drive unit of the servo motor in the last control feedback cycle, wherein the control instruction includes the third control parameter of the last control feedback cycle , and the current control feedback cycle and the third control parameter Target values ​​of corresponding operating parameters ; Obtain the working condition parameters of the current control feedback cycle through the feedback unit of the servo motor ; Calculate the operating parameters of the current control feedback cycle With the target value The difference: ； Determine the difference Is it greater than the threshold of the operating parameter change? ; When the difference Greater than the threshold value of the operating parameter change , it is determined that the operating condition of the servo motor changes.

9. The control method of a servo motor with working condition self-adaptation capability according to claim 2, characterized in that: Before the step of identifying the operating condition change scenario of the servo motor, the method further includes: Configuring in a database the type of the host device of the servo motor and the operating parameter change characteristics of the host device of the servo motor under various operating condition change scenarios; The step of identifying the operating condition change scenario of the servo motor specifically includes: Extracting the variation characteristics of the operating parameters of the servo motor; Matching the operating parameter change characteristics of the servo motor with the operating parameter change characteristics of various operating condition change scenarios under the corresponding host device type in the database; The operating condition change scenario of the servo motor is identified according to the matching result.

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