Electromechanical servo cooperative motion control method

Abstract

The invention relates to the related technical field of electromechanical servo control, and discloses an electromechanical servo cooperative motion control method, which comprises a servo controller applied to a servo motion control system. Through the arrangement of the servo controller and the servo motor, the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load can be acquired, and the elastic torque corresponding to the flexible connection is calculated according to the current motor angular velocity, the current load angular velocity and the current speed ring output signal; and acquiring a next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque and the target angular velocity, and acquiring a next current loop output signal according to the next speed loop output signal so as to control the servo motor to operate. In the face of flexible connection, the method of the scheme is adopted to control operation of the motor, the phenomena of jitter, overshoot and the like can be eliminated, the dynamic response of the system is improved, and good parameter robustness is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of electro-mechanical servo control, and in particular to an electro-mechanical servo collaborative motion control method. Background Art

[0002] When a servo motor performs positioning control, especially after multiple motion cycles in a single direction, cumulative errors will occur. If the cumulative errors are not corrected in time, it will affect the subsequent positioning accuracy, the production quality of products, and even cause equipment failures.

[0003] The traditional method to solve the problem is to stop the equipment after it has run for a certain period of time and manually correct the cumulative deviation, such as manually mechanically returning to zero to correct the cumulative error. However, the traditional method has the following disadvantages: First, it requires the equipment to stop normal production, affecting the production efficiency of the equipment; Second, it affects the positioning accuracy of the equipment operation. Since the equipment deviation is corrected by returning to zero after accumulating to a certain extent, a relatively large cumulative error has occurred in the equipment before that, affecting the production quality of products. To solve such problems, an electro-mechanical servo collaborative motion control method is proposed. Summary of the Invention

[0004] The present invention provides an electro-mechanical servo collaborative motion control method, which solves the problems in the above background art.

[0005] The present invention solves its technical problems by adopting the following technical solutions:

[0006] An electro-mechanical servo collaborative motion control method, including a servo controller applied to a servo motion control system, the servo motion control system further including: a servo motor, the servo motor being flexibly connected to a controlled load, the motion control method including:

[0007] Collecting the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load;

[0008] Calculating the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal;

[0009] Obtaining the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity;

[0010] Obtaining the next current loop output signal according to the next speed loop output signal to control the operation of the servo motor;

[0011] Before obtaining the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, the motion control method further includes:

[0012] Obtain the target load angle according to the current position loop input signal;

[0013] Obtain the target angular velocity according to the target load angle and the current load angle.

[0014] Preferably, calculating the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal includes:

[0015] Obtain the preset motor moment of inertia of the servo motor, the preset load moment of inertia of the controlled load, and the preset elastic coefficient corresponding to the flexible connection;

[0016] Calculate the first feedback gain and the second feedback gain of the state observer according to the preset motor moment of inertia and the preset load moment of inertia respectively;

[0017] Construct the state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item;

[0018] Adopt the state equation of the state observer to calculate the elastic torque according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal.

[0019] Preferably, constructing the state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item includes:

[0020] Construct the first state equation of the state observer according to the first feedback gain, the second feedback gain, the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the motor angular velocity data item, the load angular velocity data item, and the speed loop output signal data item;

[0021] Construct the second state equation of the state observer according to the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the elastic torque data item, and the load torque data item.

[0022] Preferably, obtaining the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity includes:

[0023] Obtain the preset motor moment of inertia of the servo motor, the preset load moment of inertia of the controlled load, and the preset elastic coefficient corresponding to the flexible connection;

[0024] Calculate multiple state coefficients of the state controller according to the preset motor moment of inertia, the preset load moment of inertia, and the preset elastic coefficient;

[0025] Construct the state equation of the state controller according to the multiple state coefficients, the motor angular velocity data item, the load angular velocity data item, the elastic torque data item, the target angular velocity data item, and the speed loop output signal data item;

[0026] Adopt the state equation of the state controller to obtain the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity.

[0027] Preferably, the step of collecting the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load includes:

[0028] Collect the current motor angle of the servo motor by using a motor encoder;

[0029] Collect the current load angle of the controlled load by using a load encoder;

[0030] Calculate the current motor angular velocity and the current load angular velocity respectively according to the current motor angle and the current load angle.

[0031] Preferably, the servo controller is connected to the servo motor, and the servo motor is flexibly connected to the controlled load through the transmission device.

[0032] Preferably, the motor encoder is respectively connected to the servo controller and the servo motor, and the load encoder is respectively connected to the servo controller and the controlled load.

[0033] Preferably, the motor driver is connected to the servo controller through the motor driver and the servo motor.

[0034] The advantages and positive effects of the present invention are as follows: By setting up a servo controller and a servo motor, it is possible to collect the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load. According to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal, the elastic torque corresponding to the flexible connection is calculated. According to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, the next speed loop output signal is obtained. According to the next speed loop output signal, the next current loop output signal is obtained to control the operation of the servo motor. When facing a flexible connection, using the method of this solution to control the motor operation can eliminate phenomena such as jitter and overshoot, improve the system's dynamic response, and have good parameter robustness. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] The present invention will be further described below with reference to the accompanying drawings and embodiments.

[0036] Figure 1 is a schematic structural diagram of the present invention;

[0037] Figure 2 is Figure 1 a schematic diagram of the principle of three-loop control in

[0038] Figure 3 is a schematic flow chart of the control method in the present invention Figure 1 ;

[0039] Figure 4 is a schematic flow chart of the control method in the present invention Figure 2 ;

[0040] Figure 5 is a schematic flow chart of the control method in the present invention Figure 3 ;

[0041] Figure 6 is a schematic flow chart of the control method in the present invention Figure 4 。 DETAILED DESCRIPTION OF THE EMBODIMENTS

[0042] The present invention will now be further described in detail with reference to the accompanying drawings. These drawings are all simplified schematic diagrams, only illustrating the basic structure of the present invention in a schematic manner, so they only show the components related to the present invention.

[0043] The following further details the embodiments of the present invention with reference to the accompanying drawings:

[0044] Refer to Figures 1 to 5As shown, when the servo motor is performing position control, especially after multiple motion cycles in a single direction, cumulative errors will occur. If the cumulative errors are not corrected in time, it will affect the subsequent positioning accuracy, the production quality of the product, and even cause equipment failures. The traditional method to solve this problem is to stop the equipment after it has run for a certain period of time and manually correct the cumulative deviation, such as manually mechanically homing to correct the cumulative error. However, the traditional method has the following disadvantages: First, it requires the equipment to stop normal production, affecting the production efficiency of the equipment; Second, it affects the positioning accuracy of the equipment operation. Since the equipment deviation is corrected by homing the equipment only after accumulating to a certain extent, a relatively large cumulative error has occurred in the equipment before that, affecting the production quality of the product. To solve such problems, a method for coordinated electromechanical servo motion control is proposed, including a servo controller applied to the servo motion control system. The servo motion control system further includes: a servo motor, and the servo motor is flexibly connected to the controlled load. The motion control method includes:

[0045] Collect the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load;

[0046] Calculate the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal;

[0047] Obtain the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity;

[0048] Obtain the next current loop output signal according to the next speed loop output signal to control the operation of the servo motor;

[0049] Before obtaining the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, the motion control method further includes:

[0050] Obtain the target load angle according to the current position loop input signal;

[0051] Obtain a target angular velocity based on the target load angle and the current load angle; through the settings of the servo controller and the servo motor in the servo motion control system applied by this method, it is possible to collect the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load. According to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal, calculate the elastic torque corresponding to the flexible connection. According to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, obtain the next speed loop output signal. According to the next speed loop output signal, obtain the next current loop output signal to control the operation of the servo motor. When facing a flexible connection, using the method of this solution to control the motor operation can eliminate phenomena such as jitter and overshoot, improve the system dynamic response, and have good parameter robustness.

[0052] It should be noted that calculating the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal includes:

[0053] Obtain the preset motor inertia of the servo motor, the preset load inertia of the controlled load, and the preset elastic coefficient corresponding to the flexible connection;

[0054] According to the preset motor inertia and the preset load inertia, calculate the first feedback gain and the second feedback gain of the state observer respectively;

[0055] According to the preset motor inertia, the preset load inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item, construct the state equation of the state observer;

[0056] Using the state equation of the state observer, calculate the elastic torque according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal; calculate the elastic torque corresponding to the flexible connection by using a preset algorithm according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal. Among them, the elastic torque corresponding to the flexible connection can be understood as the torque exerted by the flexible link corresponding to the flexible connection on the servo motor and the controlled load, and the flexible link is the flexible link of the transmission device or the flexible link of the controlled load.

[0057] Further, based on the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, the next speed loop output signal is obtained. And in some embodiments, the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity are used as the inputs of the state controller, and the output of the state controller is the next speed loop output signal. Thus, when driving the servo motor based on the next speed loop output signal, the servo motor can quickly converge to the target angular velocity, achieving no jitter, no overshoot, fast positioning convergence, and eliminating precision errors. Among them, the next speed loop output signal can be understood as the speed loop output signal at the next moment.

[0058] Additionally, the above control method is as follows:

[0059] S101. Collect the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load.

[0060] S102. Calculate the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal.

[0061] S103. Obtain the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity.

[0062] S104. Obtain the next current loop output signal according to the next speed loop output signal to control the operation of the servo motor.

[0063] It is worth mentioning that the next current loop output signal is determined according to the next current loop input signal and the motor feedback current fed back to the current loop. The next current loop output signal is the current loop output signal at the next moment, and the next current loop input signal is the input signal of the current loop at the next moment.

[0064] It should also be noted that compared with the angular velocity step response of the traditional PID control, the angular velocity step response of this solution has no jitter (i.e., no repeated bouncing on the basis of the command angular velocity) and no overshoot (i.e., no repeated bouncing when exceeding the command angular velocity) compared with the command angular velocity of the servo motor. Moreover, it can achieve fast positioning convergence (i.e., reach the command angular velocity faster).

[0065] Further, before obtaining the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity in the above step S103, the method may further include:

[0066] S202. Obtain the target load angle according to the current position loop input signal.

[0067] S203. Obtain the target angular velocity according to the target load angle and the current load angle.

[0068] It is worth mentioning that constructing the state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item includes:

[0069] Construct the first state equation of the state observer according to the first feedback gain, the second feedback gain, the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the motor angular velocity data item, the load angular velocity data item, and the speed loop output signal data item;

[0070] Construct the second state equation of the state observer according to the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the elastic torque data item, and the load torque data item;

[0071] Moreover, the above control method is as follows:

[0072] S301. Obtain the preset motor moment of inertia of the servo motor, the preset load moment of inertia of the controlled load, and the preset elastic coefficient corresponding to the flexible connection;

[0073] S302. Calculate the first feedback gain and the second feedback gain of the state observer respectively according to the preset motor moment of inertia and the preset load moment of inertia;

[0074] S303. Construct the state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item;

[0075] S304. Use the state equation of the state observer to calculate the elastic torque according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal; Through the above method, the current motor angular velocity can be substituted into the motor angular velocity data item, the current load angular velocity data item can be substituted into the load angular velocity data item, the current data loop output signal can be substituted into the speed loop output signal data item, and the elastic torque corresponding to the elastic torque data item can be calculated by using the state equation of the state observer.

[0076] Furthermore, according to the preset motor moment of inertia, preset load moment of inertia, preset elastic coefficient, first feedback gain, second feedback gain, motor angular velocity data item, load angular velocity data item, speed loop output signal data item, and elastic torque data item, constructing the state equation of the state observer may include:

[0077] S401. Construct the first state equation of the state observer according to the first feedback gain, second feedback gain, preset motor moment of inertia, preset load moment of inertia, preset elastic coefficient, motor angular velocity data item, load angular velocity data item, and speed loop output signal data item;

[0078] S402. Construct the second state equation of the state observer according to the first feedback gain, second feedback gain, motor angular velocity data item, load angular velocity data item, elastic torque data item, and load torque data item; by taking the first feedback gain and the second feedback gain as constants and the motor angular velocity data item, load angular velocity data item, elastic torque data item, and load torque data item as variables, construct the second state equation of the state observer.

[0079] It should be emphasized that the embodiments described in the present invention are illustrative rather than restrictive. Therefore, the present invention is not limited to the embodiments described in the specific implementation manners. Any other implementation manners obtained by those skilled in the art based on the technical solutions of the present invention also fall within the scope of protection of the present invention.

Claims

1. An electromechanical servo collaborative motion control method, characterized in that: including a servo controller applied to a servo motion control system, the servo motion control system further including: a servo motor, the servo motor being flexibly connected to a controlled load, and the motion control method including: acquiring a current motor angular velocity of the servo motor and a current load angular velocity of the controlled load; calculating an elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and a current speed loop output signal; acquiring a next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and a target angular velocity; acquiring a next current loop output signal according to the next speed loop output signal to control the operation of the servo motor; before acquiring the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, the motion control method further includes: acquiring a target load angle according to a current position loop input signal; acquiring a target angular velocity according to the target load angle and a current load angle.

2. The electro-mechanical servo collaborative motion control method according to claim 1, wherein: Calculating the elastic torque corresponding to the flexible connection according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal includes: acquiring a preset motor moment of inertia of the servo motor, a preset load moment of inertia of the controlled load, and a preset elastic coefficient corresponding to the flexible connection; respectively calculating a first feedback gain and a second feedback gain of a state observer according to the preset motor moment of inertia and the preset load moment of inertia; constructing a state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, a motor angular velocity data item, a load angular velocity data item, a speed loop output signal data item, and an elastic torque data item; calculating the elastic torque according to the current motor angular velocity, the current load angular velocity, and the current speed loop output signal by using the state equation of the state observer.

3. The method for electromechanical servo collaborative motion control according to claim 2, wherein: Constructing the state equation of the state observer according to the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the speed loop output signal data item, and the elastic torque data item includes: constructing a first state equation of the state observer according to the first feedback gain, the second feedback gain, the preset motor moment of inertia, the preset load moment of inertia, the preset elastic coefficient, the motor angular velocity data item, the load angular velocity data item, and the speed loop output signal data item; constructing a second state equation of the state observer according to the first feedback gain, the second feedback gain, the motor angular velocity data item, the load angular velocity data item, the elastic torque data item, and a load torque data item.

4. A method for electromechanical servo collaborative motion control according to claim 3, characterized in that: Obtaining a next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity, includes: Obtaining a preset motor moment of inertia of the servo motor, a preset load moment of inertia of the controlled load, and a preset elastic coefficient corresponding to the flexible connection; Calculating a plurality of state coefficients of a state controller according to the preset motor moment of inertia, the preset load moment of inertia, and the preset elastic coefficient; Constructing a state equation of the state controller according to the plurality of state coefficients, a motor angular velocity data item, a load angular velocity data item, an elastic torque data item, a target angular velocity data item, and a speed loop output signal data item; Using the state equation of the state controller to obtain the next speed loop output signal according to the current motor angular velocity, the current load angular velocity, the elastic torque, and the target angular velocity.

5. A method for electro-mechanical servo collaborative motion control according to claim 1, characterized in that: The collecting the current motor angular velocity of the servo motor and the current load angular velocity of the controlled load includes: Collecting the current motor angle of the servo motor by using a motor encoder; Collecting the current load angle of the controlled load by using a load encoder; Calculating the current motor angular velocity and the current load angular velocity respectively according to the current motor angle and the current load angle.

6. The method for electromechanical servo collaborative motion control according to claim 1, wherein: The servo controller is connected to the servo motor, and the servo motor is flexibly connected to the controlled load through the transmission device.

7. A method for electromechanical servo collaborative motion control according to claim 5, characterized in that: The motor encoder is respectively connected to the servo controller and the servo motor, and the load encoder is respectively connected to the servo controller and the controlled load.

8. An electromechanical servo collaborative motion control method according to claim 7, characterized in that: The motor driver is connected to the servo controller through the motor driver and the servo motor.

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