Servo motor control method, control device and control system

Abstract

The present application relates to the field of motor control technology, and specifically to a servo motor control method, control equipment, and control system. The method includes: collecting temperature data and vibration data of the servo motor, determining a temperature trend sequence, a temperature season sequence, a vibration trend sequence, and a vibration season sequence; obtaining a temperature season segmented sequence, a vibration season segmented curve, a vibration season segmented sequence, and a season segmented curve, marking a target order, and determining the periodic variation difference of the target order; determining the amplitude variation difference and amplitude variation influence coefficient of the target order; and controlling the servo motor based on the periodic variation difference, amplitude variation influence coefficient, variation trend of the vibration season segmented curve, and variation trend of the temperature season segmented curve of all divided orders. The present application can improve the accuracy of abnormality judgment results of the servo motor control system.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a servo motor control method, control equipment and control system. Background Art

[0002] During the operation of the servo motor control system, the servo motor control system will continuously monitor the temperature data and vibration data to determine whether there is any abnormality. Specifically, the temperature data and vibration data are analyzed for similarity. When the temperature data and vibration data suddenly show an unsynchronized trend change, it means that the motor is abnormal, affecting the normal change trend of the temperature data or vibration data. At this time, the servo motor control system determines that the servo motor control system has an abnormality and stops the operation of the servo motor control system to ensure the stability and safety of the servo motor control system.

[0003] During the normal operation of the servo motor control system, the temperature data and vibration data will show stable periodic changes. However, the changes in temperature data and vibration data are not synchronized. The asynchronous changes in temperature data and vibration data often affect the results of similarity analysis, resulting in inaccurate abnormal judgment results of the servo motor control system. Summary of the Invention

[0004] In order to solve the above technical problems, the purpose of this application is to provide a servo motor control method, control device and control system. The technical solutions adopted are as follows:

[0005] In a first aspect, an embodiment of the present application provides a servo motor control method, the method comprising the following steps:

[0006] Collect the temperature data and vibration data of the servo motor, and determine the temperature trend sequence, temperature season sequence, vibration trend sequence and vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor;

[0007] According to the changing trend of the temperature data contained in the temperature season sequence, the temperature season sequence is divided to obtain a temperature season segmented sequence and a corresponding temperature season segmented curve. According to the changing trend of the vibration data contained in the vibration season sequence, the vibration season sequence is divided to obtain a vibration season segmented sequence and a corresponding vibration season segmented curve. The division order corresponding to any group of temperature season segmented sequences and vibration season segmented sequences with the same division order is recorded as the target order. According to the collection time difference corresponding to the temperature data contained in the temperature season segmented sequence of the target order, and the collection time difference corresponding to the vibration data contained in the vibration season segmented sequence, the period of the temperature season segmented curve and the vibration season segmented curve, and the period change difference of the target order are determined;

[0008] Determine the target order's amplitude difference based on the difference between the vibration seasonal segmentation curve and the vibration data included in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; determine the amplitude change influence coefficient of the target order based on the data change trend of the temperature trend sequence and the vibration trend sequence within the acquisition time corresponding to the target order, and the target order's amplitude difference;

[0009] The servo motor is controlled according to the period change difference of all division orders, the amplitude change influence coefficient, the change trend of the vibration seasonal segmentation curve and the change trend of the temperature seasonal segmentation curve.

[0010] Furthermore, the temperature season sequence is divided according to the change trend of the temperature data contained in the temperature season sequence to obtain the temperature season segmentation sequence and the corresponding temperature season segmentation curve. The specific process of obtaining is:

[0011] Perform curve fitting on the temperature seasonal series to obtain the temperature seasonal curve, segment the temperature seasonal curve according to the minimum value on the temperature seasonal curve to obtain the temperature seasonal segmented curve;

[0012] The temperature data contained in the temperature season segmentation curve are arranged in the order of collection time to obtain the temperature season segmentation sequence.

[0013] Furthermore, the process of determining the period of the temperature seasonal segmentation curve is as follows:

[0014] The maximum time interval between the collection moments of the temperature data contained in the temperature season segmentation sequence is recorded as the period of the temperature season segmentation curve.

[0015] Furthermore, the process of determining the periodic variation difference of the target order is as follows:

[0016] The ratio of the periods of the temperature seasonal segmented curve and the vibration seasonal segmented curve of the target order is recorded as the period change difference of the target order.

[0017] Furthermore, the process of determining the difference in the magnitude of the target order change is as follows:

[0018] The ratio of the range of the temperature data contained in the temperature seasonal segmented curve to the period of the temperature seasonal segmented curve is recorded as the data variation amplitude of the temperature seasonal segmented curve;

[0019] The ratio of the range of the vibration data contained in the vibration seasonal segmented curve to the period of the vibration seasonal segmented curve is recorded as the data variation amplitude of the vibration seasonal segmented curve;

[0020] The ratio of the data change amplitudes of the vibration seasonal segmented curve of the target order and the temperature seasonal segmented curve is recorded as the change amplitude difference of the target order.

[0021] Furthermore, the process of determining the amplitude change influence coefficient of the target order is as follows:

[0022] The temperature trend sequence is divided according to the collection time corresponding to all data contained in the temperature seasonal segmentation sequence of the target order, and the temperature trend segmentation sequence corresponding to the target order is obtained. A straight line is fitted to the temperature trend segmentation sequence to obtain a fitting straight line, and the slope of the fitting straight line is recorded as the temperature seasonal segmentation change rate of the target order;

[0023] Divide the vibration trend sequence according to the collection time corresponding to all data contained in the target order vibration seasonal segmentation sequence, obtain the vibration trend segmentation sequence corresponding to the target order, perform linear fitting on the vibration trend segmentation sequence, obtain a fitting straight line, and record the slope of the fitting straight line as the target order vibration seasonal segmentation change rate;

[0024] The ratio of the temperature seasonal segmented change rate of the target order to the vibration seasonal segmented change rate is recorded as the first ratio of the target order, the sum of the first ratio of the target order and the first preset threshold is recorded as the first sum value of the target order, and the product of the difference in the change amplitude of the target order and the first sum value is recorded as the amplitude change influence coefficient of the target order.

[0025] Furthermore, the servo motor is controlled according to the period change difference, amplitude change influence coefficient, change trend of the vibration seasonal segmentation curve and change trend of the temperature seasonal segmentation curve of all division orders, and the specific process of obtaining is:

[0026] The sum of the normalized values ​​of the difference between the first preset threshold and the periodic change of the target order is recorded as the first coefficient of the target order, the difference between the first preset threshold and the normalized value of the amplitude change influence coefficient of the target order is recorded as the second coefficient of the target order, and the product of the first coefficient and the second coefficient of the target order is recorded as the influence weight of the target order;

[0027] The influence weight of the target order is recorded as the similarity weight of the vibration data corresponding to all the data contained in the vibration seasonal segmentation sequence of the target order;

[0028] For any vibration data, selecting a collection time with a comprehensive delay time after the collection time corresponding to the vibration data, and when the selected collection time and the collection time corresponding to the vibration data are not in the same time period corresponding to the same vibration seasonal segmentation sequence, assigning a similarity weight of the vibration data to a second preset threshold;

[0029] Based on the similar weights of the vibration data, the servo motor is controlled.

[0030] Furthermore, the process of controlling the servo motor according to the similarity weight of the vibration data is as follows:

[0031] Arrange the temperature data of the servo motor during operation in the order of the acquisition time of the temperature data to obtain a temperature sequence, and arrange the vibration data of the servo motor during operation in the order of the acquisition time of the temperature data to obtain a vibration sequence;

[0032] When the DTW distance between the temperature sequence and the vibration sequence obtained during the operation of the servo motor is greater than the standard threshold, the servo motor process is judged to be abnormal and the operation of the servo motor is stopped.

[0033] In a second aspect, an embodiment of the present application further provides a servo motor control device, wherein the displacement monitoring device includes a memory, a processor, and a computer program stored in the memory and running on the processor, and when the processor executes the computer program, the steps of any one of the above methods are implemented.

[0034] In a third aspect, an embodiment of the present application provides a servo motor control system, which includes: a data acquisition module, a difference evaluation module, an impact evaluation module, and a control module.

[0035] A data acquisition module is used to collect temperature data and vibration data of the servo motor, and determine a temperature trend sequence, a temperature season sequence, a vibration trend sequence, and a vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor;

[0036] a difference evaluation module for dividing the temperature season sequence according to the changing trend of the temperature data contained in the temperature season sequence to obtain the temperature season segmentation sequence and the corresponding temperature season segmentation curve; dividing the vibration season sequence according to the changing trend of the vibration data contained in the vibration season sequence to obtain the vibration season segmentation sequence and the corresponding vibration season segmentation curve; recording the division order corresponding to any group of temperature season segmentation sequences and vibration season segmentation sequences with the same division order as the target order; and determining the period of the temperature season segmentation curve and the vibration season segmentation curve, and the period change difference of the target order based on the difference in collection time corresponding to the temperature data contained in the temperature season segmentation sequence of the target order and the difference in collection time corresponding to the vibration data contained in the vibration season segmentation sequence;

[0037] An impact evaluation module is used to determine the difference in the target order's change amplitude based on the difference between the target order's vibration seasonal segmentation curve and the vibration data contained in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; and to determine the target order's amplitude change impact coefficient based on the data change trend of the temperature trend sequence and the vibration trend sequence within the collection time corresponding to the target order and the target order's change amplitude difference;

[0038] The control module is used for controlling the servo motor according to the period variation difference of all division orders, the amplitude variation influence coefficient, the variation trend of the vibration seasonal segmentation curve and the variation trend of the temperature seasonal segmentation curve.

[0039] As can be seen from the above embodiments, the servo motor control method, control device, and control system provided by the embodiments of the present application have at least the following beneficial effects:

[0040] The present application is based on the fact that temperature data and vibration data influence each other and have their own changing trends, and both show periodicity that conforms to their changing trends, but the changing trends of temperature data and vibration data are different and the periodic changes are also different. Based on the temperature data and vibration data, the temperature trend sequence, temperature season sequence, vibration trend sequence and vibration season sequence are respectively determined; in order to evaluate the periodicity of temperature data and vibration data, the temperature season sequence and vibration season sequence are respectively segmented, and the difference in the changing trends of temperature data and vibration data in each segment is evaluated respectively according to the segmentation order, and the periodic change difference of the target sequence is obtained. The greater the periodic change difference of the target sequence, the more it is necessary to increase the influence weight of the difference between the temperature data and vibration data corresponding to the target sequence when determining the similarity between the temperature season sequence and the vibration season sequence, so as to achieve Data with a greater possibility of being abnormal are more prominent, thereby improving the accuracy of abnormality identification; further, according to the feature that the DTW algorithm is not sensitive to the data change amplitude within the data period presented by temperature data and vibration data, the difference in the change amplitude of temperature data and vibration data in each segment is evaluated respectively, and the change amplitude difference of the target order is obtained. Further, the influence of the change trend of temperature data and vibration data corresponding to the target order is analyzed to obtain the amplitude change influence coefficient of the target order; finally, according to the periodic change difference of all divided orders, the amplitude change influence coefficient, the change trend of the vibration seasonal segmentation curve and the change trend of the temperature seasonal segmentation curve, the servo motor is controlled to solve the problem of inaccurate abnormality judgment results of the servo motor control system caused by the asynchronous changes of temperature data and vibration data, thereby improving the accuracy of motor control abnormality judgment. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions and advantages of the embodiments of the present application or the prior art, the following is a brief introduction to the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0042] Figure 1 A flowchart of a servo motor control method according to an embodiment of the present application;

[0043] Figure 2 A schematic diagram of a temperature seasonal segmentation curve provided for one embodiment of the present application;

[0044] Figure 3 A schematic structural diagram of a servo motor control system provided in one embodiment of the present application. DETAILED DESCRIPTION

[0045] To further illustrate the technical means and effects employed by this application to achieve the intended invention objectives, the following, in conjunction with the accompanying drawings and preferred embodiments, describes in detail a servo motor control method, control device, and control system proposed in this application, including its specific implementation, structure, features, and effects. In the following description, references to different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics of one or more embodiments may be combined in any suitable manner.

[0046] The following describes in detail a servo motor control method, control device, and control system provided by the present application with reference to the accompanying drawings.

[0047] See also Figure 1 , which shows a flowchart of a servo motor control method provided by an embodiment of the present application, the method comprising the following steps:

[0048] S001: collecting temperature data and vibration data of the servo motor, and determining a temperature trend sequence, a temperature season sequence, a vibration trend sequence, and a vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor.

[0049] During the operation of the servo motor, the temperature sequence and vibration sequence of the servo motor are collected using the servo debugging software.

[0050] The temperature sequence is obtained by arranging the temperature data during the operation of the servo motor in the order of the acquisition time of the temperature data, and the vibration sequence is obtained by arranging the vibration data during the operation of the servo motor in the order of the acquisition time of the vibration data.

[0051] Preferably, as an embodiment of the present application, the temperature sequence and vibration sequence of the servo motor are collected using servo debugging software of model MR Configurator2.

[0052] When current flows through the motor coils, it generates heat, raising the servo motor's temperature. Simultaneously, the current flowing through the servo motor's coils and the resulting changes in current within them cause the servo motor to vibrate. When the servo motor's vibration frequency increases, friction and mechanical motion increase, further increasing heat generation and raising the servo motor's temperature. Therefore, the temperature sequence and vibration sequence influence each other and have their own variation trends. While both exhibit periodicity consistent with their respective variation trends, the temperature and vibration sequences exhibit different variation trends and periodic variations.

[0053] In order to analyze the temperature series and vibration series more carefully, the temperature series is decomposed to obtain the temperature trend series, temperature seasonal series and temperature residual series. The vibration series is decomposed to obtain the vibration trend series, vibration seasonal series and vibration residual series.

[0054] Preferably, as an embodiment of the present application, STL decomposition is used to perform sequence decomposition on the temperature sequence and the vibration sequence respectively, and the temperature trend sequence, the temperature season sequence and the temperature residual sequence respectively correspond to the trend, season and residual of the STL decomposition, and the vibration trend sequence, the vibration season sequence and the vibration residual sequence respectively correspond to the trend, season and residual of the STL decomposition.

[0055] At this point, the temperature trend series, temperature season series, vibration trend series, and vibration season series are obtained.

[0056] S002: According to the changing trend of the temperature data contained in the temperature season sequence, the temperature season sequence is divided to obtain the temperature season segmented sequence and the corresponding temperature season segmented curve. According to the changing trend of the vibration data contained in the vibration season sequence, the vibration season sequence is divided to obtain the vibration season segmented sequence and the corresponding vibration season segmented curve. The division order corresponding to any group of temperature season segmented sequences and vibration season segmented sequences with the same division order is recorded as the target order. According to the difference in collection time corresponding to the temperature data contained in the temperature season segmented sequence of the target order, and the difference in collection time corresponding to the vibration data contained in the vibration season segmented sequence, the period of the temperature season segmented curve and the vibration season segmented curve, and the period change difference of the target order are determined.

[0057] Perform curve fitting on the temperature seasonal series to obtain the temperature seasonal curve, identify the minimum value on the temperature seasonal curve, segment the temperature seasonal curve according to the minimum value, and obtain the temperature seasonal segmented curve. Perform curve fitting on the vibration seasonal series to obtain the vibration seasonal curve, identify the minimum value on the vibration seasonal curve, segment the vibration seasonal curve according to the minimum value, and obtain the vibration seasonal segmented curve.

[0058] Among them, curve fitting of the temperature seasonal series and the vibration seasonal curve, and identification of the minimum values ​​on the temperature seasonal curve and the vibration seasonal curve are well-known technologies and will not be described in detail.

[0059] The schematic diagram of the temperature seasonal segmentation curve is as follows Figure 2 As shown. Figure 2 In the figure, curve e is the temperature seasonal curve, A1, A2 and A3 are the minimum values ​​on the temperature seasonal curve, A1, A2 and A3 divide the temperature seasonal curve into four curve segments, which correspond to curve segments a, b, c and d. a, b, c and d are all temperature seasonal segmented curves.

[0060] It can be understood that in order to ensure the smooth progress of subsequent calculations, the number of temperature season segmented curves and vibration season segmented curves is counted, the minimum value of the number of temperature season segmented curves and vibration season segmented curves is recorded as the first value, and only the first value of temperature season segmented curves and vibration season segmented curves divided by the temperature season sequence and vibration season sequence are analyzed.

[0061] The temperature data contained in the temperature seasonal segmentation curve are arranged in the order of collection time to obtain a temperature seasonal segmentation sequence, and the vibration data contained in the vibration seasonal segmentation curve are arranged in the order of collection time to obtain a vibration seasonal segmentation sequence.

[0062] It can be understood that according to the order of the temperature season segmented sequence divided by the temperature season sequence and the order of the vibration season segmented sequence divided by the vibration season sequence, for the first value sequences divided, each sequence of the temperature season segmented sequence corresponds to a vibration season segmented sequence, and the division order corresponding to any group of the first value sequences divided is recorded as the target order.

[0063] It can be understood that since a temperature season segmentation sequence corresponds to a temperature season segmentation curve, and a vibration season segmentation sequence corresponds to a vibration season segmentation curve, the target order corresponds to a vibration season segmentation curve, a temperature season segmentation curve, a temperature season segmentation sequence, and a vibration season segmentation sequence.

[0064] The periodic variation difference of the target order is determined according to the difference in collection time corresponding to the temperature data contained in the temperature season segmented sequence of the target order and the vibration data contained in the vibration season segmented sequence.

[0065] Preferably, as an embodiment of the present application, the maximum time interval between the collection moments corresponding to the temperature data contained in the temperature seasonal segmentation sequence is recorded as the period of the temperature seasonal segmentation curve, and the maximum time interval between the collection moments corresponding to the vibration data contained in the vibration seasonal segmentation sequence is recorded as the period of the vibration seasonal segmentation curve. The ratio of the periods of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve of the target sequence is recorded as the period change difference of the target sequence.

[0066] When the difference between the cycles of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve of the target order is greater, the difference in the changing trends of the corresponding temperature data and vibration data is greater, and the possibility of anomaly is greater. At this time, the greater the difference in the cycle change of the target order, further, when determining the similarity between the temperature seasonal sequence and the vibration seasonal sequence, it is more necessary to increase the influence weight of the difference between the temperature data and vibration data corresponding to the target order, so that the data with a greater possibility of anomaly is more prominent, thereby improving the accuracy of anomaly identification.

[0067] At this point, the periodic variation difference of the target sequence is obtained.

[0068] S003: Determine the difference in the change amplitude of the target order based on the difference between the vibration seasonal segmentation curve of the target order and the vibration data contained in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; determine the amplitude change influence coefficient of the target order based on the data change trend of the temperature trend sequence and the vibration trend sequence within the collection time corresponding to the target order, and the difference in the change amplitude of the target order.

[0069] When using the DTW algorithm to evaluate the similarity of temperature and vibration data, the algorithm is insensitive to the magnitude of changes within the data cycle of the temperature and vibration data. Therefore, it is necessary to reduce the influence weight of differences between temperature and vibration data with large differences in magnitude. Since both the temperature and vibration data of the servo motor exhibit periodicity consistent with their changing trends, further analysis of periodicity within the target sequence is necessary.

[0070] The difference in the change amplitude of the target order is determined based on the difference between the vibration seasonal segmentation curve of the target order and the vibration data contained in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve of the target order.

[0071] Preferably, as an embodiment of the present application, the ratio of the range of the temperature data contained in the temperature seasonal segmented curve to the period of the temperature seasonal segmented curve is recorded as the data change amplitude of the temperature seasonal segmented curve. The ratio of the range of the vibration data contained in the vibration seasonal segmented curve to the period of the vibration seasonal segmented curve is recorded as the data change amplitude of the vibration seasonal segmented curve. The ratio of the data change amplitudes of the vibration seasonal segmented curve and the temperature seasonal segmented curve of the target order is recorded as the change amplitude difference of the target order.

[0072] When the difference between the vibration data contained in the target order's seasonal segmentation curve and the seasonal segmentation curve is greater, and the difference between the temperature data is greater, and at the same time, the smaller the period of the target order's temperature seasonal segmentation curve and the vibration seasonal segmentation curve is, the greater the difference in the change amplitude of the temperature data and vibration data in the target order is, the influence weight of the difference between the temperature data and vibration data corresponding to the target order should be reduced, and the impact of the defect of the DTW algorithm's insensitivity to the data change amplitude on the accuracy of anomaly recognition should be weakened, and the significance of the data anomaly represented by the difference in the change trend of temperature data and vibration data should be highlighted.

[0073] Furthermore, the influence of the changing trends of the temperature data and vibration data corresponding to the target order is analyzed.

[0074] According to the data change trends of the temperature trend sequence and the vibration trend sequence within the acquisition time corresponding to the target sequence, and the difference in the change amplitude of the target sequence, the amplitude change influence coefficient of the target sequence is determined.

[0075] Preferably, as an embodiment of the present application, the temperature trend sequence is divided according to the collection time corresponding to all data contained in the temperature seasonal segmentation sequence of the target order, the temperature trend segmentation sequence corresponding to the target order is obtained, the temperature trend segmentation sequence is linearly fitted to obtain the fitting straight line, and the slope of the fitting straight line is recorded as the temperature seasonal segmentation change rate of the target order.

[0076] The vibration trend sequence is divided according to the collection time corresponding to all data contained in the vibration seasonal segmentation sequence of the target order, and the vibration trend segmentation sequence corresponding to the target order is obtained. A straight line is fitted to the vibration trend segmentation sequence to obtain a fitting straight line, and the slope of the fitting straight line is recorded as the vibration seasonal segmentation change rate of the target order.

[0077] The ratio of the temperature seasonal segmented change rate of the target order to the vibration seasonal segmented change rate is recorded as the first ratio of the target order, the sum of the first ratio of the target order and the first preset threshold is recorded as the first sum value of the target order, and the product of the difference in the change amplitude of the target order and the first sum value is recorded as the amplitude change influence coefficient of the target order.

[0078] In this embodiment, the value of the first preset threshold is 1; in this embodiment, the least square method is selected to perform straight line fitting to obtain a fitting straight line.

[0079] It can be understood that the collection moments corresponding to the data contained in the temperature seasonal segmentation sequence of the target order and the temperature trend segmentation sequence corresponding to the target order are one-to-one corresponding, and the collection moments corresponding to the data contained in the vibration seasonal segmentation sequence of the target order and the vibration trend segmentation sequence corresponding to the target order are also one-to-one corresponding. When the temperature seasonal segmentation change rate of the target order is greater than the vibration seasonal segmentation change rate, and the difference in the change amplitude of the target order is greater, the amplitude change influence coefficient of the target order is greater. At this time, the influence weight of the difference between the temperature data and vibration data corresponding to the target order should be reduced, and the impact of the defect of the DTW algorithm's insensitivity to the amplitude of data changes on the accuracy of anomaly recognition is weakened, and the significance of the data anomaly represented by the difference in the change trend of temperature data and vibration data is highlighted.

[0080] At this point, the amplitude change influence coefficient of the target order is obtained.

[0081] S004: Control the servo motor according to the period change difference of all division orders, the amplitude change influence coefficient, the change trend of the vibration seasonal segmentation curve and the change trend of the temperature seasonal segmentation curve.

[0082] The impact weight of the target order is determined based on the periodic change difference and amplitude change influence coefficient of the target order.

[0083] Preferably, as an embodiment of the present application, the sum of the normalized values ​​of the periodic change difference between the first preset threshold and the target order is recorded as the first coefficient of the target order, the difference between the first preset threshold and the normalized value of the amplitude change influence coefficient of the target order is recorded as the second coefficient of the target order, and the product of the first coefficient and the second coefficient of the target order is recorded as the influence weight of the target order.

[0084] In this embodiment, the value of the first preset threshold is 1.

[0085] It should be noted that this embodiment uses the Z-Score standard normalization method to calculate the normalized value. In actual application, the implementer can use other existing methods such as the maximum and minimum value normalization method to calculate the normalized value, which is not limited here.

[0086] It can be understood that the influence weight of the target order is recorded as the similarity weight of the vibration data corresponding to all the data included in the vibration season segmentation sequence of the target order.

[0087] The greater the difference in periodic changes of the target order and the smaller the influence coefficient of the amplitude change of the target order, the greater the influence weight of the target order. The greater the influence weight, the calculated value of the influence weight of the difference between the temperature data and vibration data corresponding to the target order.

[0088] The acquisition time corresponding to the first maximum value in the target sequence's vibration seasonal segmentation curve is recorded as the target sequence's first time. The acquisition time corresponding to the first maximum value in the target sequence's temperature seasonal segmentation curve is recorded as the target sequence's second time. The time interval between the target sequence's first and second times is recorded as the target sequence's delay time. The average of the delay times for all sequences divided by the temperature seasonal series and the vibration seasonal series is recorded as the comprehensive delay time.

[0089] For any vibration data, a collection time with a comprehensive delay time after the collection time corresponding to the vibration data is selected. When the selected collection time and the collection time corresponding to the vibration data are not in the time period corresponding to the same vibration seasonal segmentation sequence, the similarity weight of the vibration data is assigned to a second preset threshold.

[0090] In this embodiment, the value of the second preset threshold is 1.

[0091] It should be noted that, when the similarity weight of the vibration data cannot be obtained according to the above steps, the similarity weight of the vibration data is assigned to the second preset threshold.

[0092] The similarity weight between the vibration data contained in the vibration sequence and the corresponding temperature data is used as the distance metric between the two data. The temperature sequence and the vibration sequence are processed using the DTW algorithm to obtain the DTW distance between the temperature sequence and the vibration sequence.

[0093] During the normal operation of the servo motor, the servo motor's temperature and vibration data are collected. The DTW distance between the temperature and vibration sequences is calculated using the same steps. The DTW distance obtained during normal operation is recorded as the standard threshold. If the DTW distance between the temperature and vibration sequences obtained during the servo motor's operation exceeds the standard threshold, the servo motor is considered to have a process abnormality and the servo motor is stopped.

[0094] At this point, the servo motor control is realized.

[0095] Based on the same inventive concept as the above method, an embodiment of the present application also provides a servo motor control device, including a memory, a processor, and a computer program stored in the memory and running on the processor. When the processor executes the computer program, the steps of any one of the above-mentioned servo motor control methods are implemented.

[0096] See also Figure 3 , Figure 3 1 is a schematic diagram of the structure of a servo motor control system provided by an embodiment of the present application. In this embodiment, the servo motor control system includes various units for executing various steps in an embodiment corresponding to a servo motor control method. Figure 3 ,The servo motor control system includes: data acquisition module, difference ,evaluation module, impact evaluation module and control module.

[0097] A data acquisition module is used to collect temperature data and vibration data of the servo motor, and determine a temperature trend sequence, a temperature season sequence, a vibration trend sequence, and a vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor;

[0098] a difference evaluation module for dividing the temperature season sequence according to the changing trend of the temperature data contained in the temperature season sequence to obtain the temperature season segmentation sequence and the corresponding temperature season segmentation curve; dividing the vibration season sequence according to the changing trend of the vibration data contained in the vibration season sequence to obtain the vibration season segmentation sequence and the corresponding vibration season segmentation curve; recording the division order corresponding to any group of temperature season segmentation sequences and vibration season segmentation sequences with the same division order as the target order; and determining the period of the temperature season segmentation curve and the vibration season segmentation curve, and the period change difference of the target order based on the difference in collection time corresponding to the temperature data contained in the temperature season segmentation sequence of the target order and the difference in collection time corresponding to the vibration data contained in the vibration season segmentation sequence;

[0099] An impact evaluation module is used to determine the difference in the target order's change amplitude based on the difference between the target order's vibration seasonal segmentation curve and the vibration data contained in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; and to determine the target order's amplitude change impact coefficient based on the data change trend of the temperature trend sequence and the vibration trend sequence within the collection time corresponding to the target order and the target order's change amplitude difference;

[0100] The control module is used for controlling the servo motor according to the period variation difference of all division orders, the amplitude variation influence coefficient, the variation trend of the vibration seasonal segmentation curve and the variation trend of the temperature seasonal segmentation curve.

[0101] It should be understood that the order in which the embodiments of the present application are presented is for illustrative purposes only and does not necessarily represent the superiority or inferiority of the embodiments. Furthermore, the foregoing descriptions of specific embodiments of this specification are provided. Furthermore, the processes depicted in the accompanying drawings do not necessarily require the specific order or sequential sequence shown to achieve the desired results. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0102] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referred to each other. Each embodiment focuses on the differences from other embodiments.

[0103] The above content is only an implementation method of the present application and is not intended to limit the scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the scope of protection of the present application.

Claims

1. A servo motor control method, characterized in that: The method comprises the following steps: Collect the temperature data and vibration data of the servo motor, and determine the temperature trend sequence, temperature season sequence, vibration trend sequence and vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor; According to the changing trend of the temperature data contained in the temperature season sequence, the temperature season sequence is divided to obtain a temperature season segmented sequence and a corresponding temperature season segmented curve. According to the changing trend of the vibration data contained in the vibration season sequence, the vibration season sequence is divided to obtain a vibration season segmented sequence and a corresponding vibration season segmented curve. The division order corresponding to any group of temperature season segmented sequences and vibration season segmented sequences with the same division order is recorded as the target order. According to the collection time difference corresponding to the temperature data contained in the temperature season segmented sequence of the target order, and the collection time difference corresponding to the vibration data contained in the vibration season segmented sequence, the period of the temperature season segmented curve and the vibration season segmented curve, and the period change difference of the target order are determined; Determine the target order's amplitude difference based on the difference between the vibration seasonal segmentation curve and the vibration data included in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; determine the amplitude change influence coefficient of the target order based on the data change trend of the temperature trend sequence and the vibration trend sequence within the acquisition time corresponding to the target order, and the target order's amplitude difference; The servo motor is controlled according to the period change difference of all division orders, the amplitude change influence coefficient, the change trend of the vibration seasonal segmentation curve and the change trend of the temperature seasonal segmentation curve; The specific process of controlling the servo motor according to the period change difference of all division orders, the amplitude change influence coefficient, the change trend of the vibration seasonal segmentation curve and the change trend of the temperature seasonal segmentation curve is as follows: The sum of the normalized values ​​of the difference between the first preset threshold and the periodic change of the target order is recorded as the first coefficient of the target order, the difference between the first preset threshold and the normalized value of the amplitude change influence coefficient of the target order is recorded as the second coefficient of the target order, and the product of the first coefficient and the second coefficient of the target order is recorded as the influence weight of the target order; The influence weight of the target order is recorded as the similarity weight of the vibration data corresponding to all the data contained in the vibration seasonal segmentation sequence of the target order; For any vibration data, selecting a collection time with a comprehensive delay time after the collection time corresponding to the vibration data, and when the selected collection time and the collection time corresponding to the vibration data are not in the same time period corresponding to the same vibration seasonal segmentation sequence, assigning a similarity weight of the vibration data to a second preset threshold; Based on the similar weights of the vibration data, the servo motor is controlled.

2. A servo motor control method according to claim 1, characterized in that: The temperature season sequence is divided according to the change trend of the temperature data contained in the temperature season sequence to obtain the temperature season segmentation sequence and the corresponding temperature season segmentation curve. The specific process of obtaining is: Perform curve fitting on the temperature seasonal series to obtain the temperature seasonal curve, segment the temperature seasonal curve according to the minimum value on the temperature seasonal curve to obtain the temperature seasonal segmented curve; The temperature data contained in the temperature season segmentation curve are arranged in the order of collection time to obtain the temperature season segmentation sequence.

3. A servo motor control method according to claim 1, characterized in that: The process of determining the period of the temperature seasonal segmentation curve is: The maximum time interval between the collection moments of the temperature data contained in the temperature season segmentation sequence is recorded as the period of the temperature season segmentation curve.

4. A servo motor control method according to claim 1, characterized in that: The process of determining the periodic variation difference of the target order is as follows: The ratio of the periods of the temperature seasonal segmented curve and the vibration seasonal segmented curve of the target order is recorded as the period change difference of the target order.

5. A servo motor control method according to claim 1, characterized in that: The process of determining the difference in the magnitude of the target order change is as follows: The ratio of the range of the temperature data contained in the temperature seasonal segmented curve to the period of the temperature seasonal segmented curve is recorded as the data variation amplitude of the temperature seasonal segmented curve; The ratio of the range of the vibration data contained in the vibration seasonal segmented curve to the period of the vibration seasonal segmented curve is recorded as the data variation amplitude of the vibration seasonal segmented curve; The ratio of the data change amplitudes of the vibration seasonal segmented curve of the target order and the temperature seasonal segmented curve is recorded as the change amplitude difference of the target order.

6. A servo motor control method according to claim 1, characterized in that: The process of determining the amplitude change influence coefficient of the target order is as follows: The temperature trend sequence is divided according to the collection time corresponding to all data contained in the temperature seasonal segmentation sequence of the target order, and the temperature trend segmentation sequence corresponding to the target order is obtained. A straight line is fitted to the temperature trend segmentation sequence to obtain a fitting straight line, and the slope of the fitting straight line is recorded as the temperature seasonal segmentation change rate of the target order; Divide the vibration trend sequence according to the collection time corresponding to all data contained in the target order vibration seasonal segmentation sequence, obtain the vibration trend segmentation sequence corresponding to the target order, perform linear fitting on the vibration trend segmentation sequence, obtain a fitting straight line, and record the slope of the fitting straight line as the target order vibration seasonal segmentation change rate; The ratio of the temperature seasonal segmented change rate of the target order to the vibration seasonal segmented change rate is recorded as the first ratio of the target order, the sum of the first ratio of the target order and the first preset threshold is recorded as the first sum value of the target order, and the product of the difference in the change amplitude of the target order and the first sum value is recorded as the amplitude change influence coefficient of the target order.

7. A servo motor control method according to claim 1, characterized in that: The process of controlling the servo motor according to the similarity weight of the vibration data is as follows: Arrange the temperature data of the servo motor during operation in the order of the acquisition time of the temperature data to obtain a temperature sequence, and arrange the vibration data of the servo motor during operation in the order of the acquisition time of the temperature data to obtain a vibration sequence; When the DTW distance between the temperature sequence and the vibration sequence obtained during the operation of the servo motor is greater than the standard threshold, the servo motor process is judged to be abnormal and the operation of the servo motor is stopped.

8. A servo motor control device comprising a memory, a processor, and a computer program stored in the memory and running on the processor, characterized in that: When the processor executes the computer program, the steps of the method according to any one of claims 1 to 7 are implemented.

9. A servo motor control system, implementing the method according to claim 1, characterized in that: The servo motor control system includes: A data acquisition module is used to collect temperature data and vibration data of the servo motor, and determine a temperature trend sequence, a temperature season sequence, a vibration trend sequence, and a vibration season sequence according to the change trends of the temperature data and vibration data of the servo motor; A difference evaluation module divides the temperature season sequence according to the change trend of the temperature data contained in the temperature season sequence to obtain a temperature season segmentation sequence and a corresponding temperature season segmentation curve; divides the vibration season sequence according to the change trend of the vibration data contained in the vibration season sequence to obtain a vibration season segmentation sequence and a corresponding vibration season segmentation curve; records the division order corresponding to any group of temperature season segmentation sequences and vibration season segmentation sequences with the same division order as the target order; determines the period of the temperature season segmentation curve and the vibration season segmentation curve, and the period change difference of the target order based on the difference in collection time corresponding to the temperature data contained in the temperature season segmentation sequence of the target order and the difference in collection time corresponding to the vibration data contained in the vibration season segmentation sequence; An impact evaluation module is used to determine the difference in the target order's change amplitude based on the difference between the target order's vibration seasonal segmentation curve and the vibration data contained in the seasonal segmentation curve, the difference between the temperature data, and the period of the temperature seasonal segmentation curve and the vibration seasonal segmentation curve; and to determine the target order's amplitude change impact coefficient based on the data change trend of the temperature trend sequence and the vibration trend sequence within the collection time corresponding to the target order and the target order's change amplitude difference; The control module is used for controlling the servo motor according to the period variation difference of all division orders, the amplitude variation influence coefficient, the variation trend of the vibration seasonal segmentation curve and the variation trend of the temperature seasonal segmentation curve.

Images