Oil pump motor control system based on alternating current servo driver

Abstract

The invention provides an oil pump motor control system based on an AC servo driver, and belongs to the technical field of oil pump motors, and the system comprises an acquisition module which obtains the motor types of servo motors, selects adaptive encoders, collects pulse signals of the servo motors, and obtains the electrical angles of the servo motors according to the pulse signals; the first acquisition module is used for acquiring an oil pump working task, determining a control signal of each servo motor based on the oil pump working task and acquiring phase current of each servo motor; the first determination module is used for determining synchronous control data of each servo motor according to the control signal, the phase current and the electrical angle of each servo motor; and the generation module is used for generating a trigger signal of the servo motor according to the synchronous control data and performing synchronous output control. The problems that data transmission and processing of an oil pump motor control system are more complex, the data processing efficiency is reduced, meanwhile, the control precision, the real-time performance and the synchronization performance are correspondingly limited, and the working precision and efficiency of a servo motor are reduced are solved.

Description

Technical Field

[0001] The present invention relates to the technical field of oil pump motors, and in particular to an oil pump motor control system based on an AC servo driver. Background Art

[0002] With the development of industrial automation and intelligent manufacturing, oil pump motor control systems have gradually become crucial control systems.

[0003] However, the traditional oil pump motor control system based on AC servo drive has low integration, large size, complex cables and is easily interfered with. The more servo drives are mounted, the more complicated the data transmission and processing becomes, which reduces the data processing efficiency. At the same time, the control accuracy, real-time performance and synchronization performance are also limited accordingly, which is not conducive to multi-axis synchronization and use, and cannot guarantee the coordinated response between the servo motors, reducing the accuracy and efficiency of the servo motor operation.

[0004] Therefore, the present invention proposes an oil pump motor control system based on an AC servo drive. Summary of the Invention

[0005] The present invention provides an oil pump motor control system based on an AC servo drive, which is used to solve the problems of low integration, large size, complicated cables and susceptibility to interference of traditional oil pump motor control systems based on AC servo drives in the prior art. In addition, the more servo drives are mounted, the more complicated the data transmission and processing are, which reduces the data processing efficiency. At the same time, the control accuracy, real-time performance and synchronization performance are also limited accordingly, which is not conducive to multi-axis synchronization and use, and cannot ensure the coordinated response between the servo motors, thereby reducing the accuracy and efficiency of the servo motors.

[0006] In one aspect, the present invention provides an oil pump motor control system based on an AC servo drive, comprising: Acquisition module: obtains the motor type of the servo motor, selects an appropriate encoder according to the motor type, collects the pulse signal of the servo motor through the encoder, and obtains the electrical angle of each servo motor based on the pulse signal; The first acquisition module is used to acquire the oil pump working task, determine the control signal of each servo motor based on the oil pump working task, and acquire the phase current of each servo motor; A first determining module: determining the synchronous control data of each servo motor according to the control signal, phase current and electrical angle of each servo motor; Generation module: Generates the trigger signal of each servo motor according to the synchronous control data and performs synchronous output control.

[0007] According to the present invention, an oil pump motor control system based on an AC servo drive, an acquisition module, includes: The first determination unit: Obtain the motor nameplate and technical manual of the servo motor, and determine the motor model and working principle according to the motor nameplate and technical manual; The first acquisition unit: Obtain the motor type of the servo motor according to the motor model and working principle; The second determination unit: Determine the motor characteristics and application scenarios according to the motor type, and determine the encoder parameters according to the motor characteristics and application scenarios; The selection unit: Select a suitable encoder according to the encoder parameters.

[0008] According to an oil pump motor control system based on an AC servo driver provided by the present invention, the acquisition module includes: The acquisition unit: Collect the pulse signal of the servo motor through the encoder and in combination with the signal processing circuit, and perform direction judgment and positioning reference point on the servo motor according to the pulse signal; The third determination unit: Determine the rotation direction and zero position of the motor according to the direction judgment and positioning reference point; The fourth determination unit: Determine the mechanical angle of the motor according to the rotation direction and zero position of the motor; The second acquisition unit: Obtain the electrical angle of each servo motor according to the mechanical angle and in combination with the number of motor pole pairs.

[0009] According to an oil pump motor control system based on an AC servo driver provided by the present invention, the first acquisition module includes: The fifth determination unit: Obtain the operation requirements of the oil pump at different stages, and determine a plurality of working parameters according to the operation requirements; The third acquisition unit: Obtain the oil pump work task according to the plurality of working parameters; The sixth determination unit: Determine the target speed and torque of the servo motor according to the oil pump work task; The first generation unit: Generate a control signal for each servo motor according to the target speed and torque, and determine the voltage and current signals according to the control signal; The fourth acquisition unit: Obtain the phase current of each servo motor according to the voltage and current signals and in combination with the communication protocol of the servo driver.

[0010] According to an oil pump motor control system based on an AC servo driver provided by the present invention, the first determination module includes: The fifth acquisition unit: Obtain the speed command and position command of the motor according to the control signal of each servo motor; The seventh determination unit: Determine the target operating state of each servo motor according to the speed command and position command of the motor; The eighth determination unit: obtains the phase current characteristics of each servo motor, and determines the load conditions of each servo motor according to the phase current characteristics; The ninth determination unit: determines a speed compensation amount according to the target speed command and the actual electrical angle change rate of each servo motor; The tenth determination unit: determines a position deviation based on the target position of each motor and the actual position corresponding to the current electrical angle; The eleventh determination unit: determines a torque compensation amount according to the relationship between the phase current and the motor torque and in combination with the load conditions of each servo motor; The adjustment unit: determines the synchronous control data of each servo motor according to the speed compensation amount, the position deviation, and the torque compensation amount, and dynamically adjusts the synchronous control strategy and parameters according to the actual situation during the operation of the system.

[0011] According to an oil pump motor control system based on an AC servo driver provided by the present invention, a generation module includes: The extraction unit: obtains the encoding method and data structure of the synchronous control data, and extracts key information according to the encoding method and data structure of the synchronous control data; The second generation unit: generates a trigger signal for each servo motor according to the key information and performs synchronous output control.

[0012] According to an oil pump motor control system based on an AC servo driver provided by the present invention, the second generation unit includes: The first determination subunit: determines a speed adjustment amount, a position compensation value, and a torque correction coefficient according to the key information; The first acquisition subunit: obtains a target speed according to the speed adjustment amount and in combination with the current speed of the motor; The first generation subunit: converts the target speed into a corresponding voltage value according to the control method of the servo motor driver, determines the required pulse frequency according to the voltage value, and generates a corresponding pulse signal as a trigger signal according to the pulse frequency; The second acquisition subunit: obtains a target position according to the position compensation value and the current position of the motor; The planning subunit: obtains the difference between the target position and the current position and the motion characteristics of the motor, and plans the motion trajectory of the motor in combination with the trajectory planning algorithm; The second generation subunit: determines the time and displacement of different segments according to the motion trajectory of the motor, and generates a corresponding pulse sequence as a trigger signal according to the time and displacement; The third acquisition subunit: obtains a target torque according to the torque correction coefficient and the estimated value of the current load torque of the motor; The third generation subunit: converts the target torque into a corresponding target current value, compares the target current value with the actually measured phase current to obtain a deviation, and adjusts the duty cycle of the PWM signal of the driver according to the deviation, so as to generate a trigger signal for controlling the phase current; The control subunit: performs synchronous output control on the servo motor according to the trigger signal.

[0013] For an oil pump motor control system based on an AC servo driver provided by the present invention, before obtaining the motor type of the servo motor, selecting a suitable encoder according to the motor type, collecting the pulse signal of the servo motor through the encoder, and obtaining the electrical angle of each servo motor according to the pulse signal, it further includes: The arrangement module: collects the internal temperature data of the servo motor during operation, and arranges the internal temperature data into the motor internal temperature data with a distributed characteristic order based on the internal sorting method; The second determination module: calculates the motor internal temperature data according to arithmetic and logical operations to determine the motor internal temperature characterization data; The third determination module: determines the data source main body of each characterization data in the motor internal temperature characterization data, and determines the data attribute of each characterization data according to the data source main body, where the data attribute includes: static data and dynamic data; The second acquisition module: acquires the temperature rise condition parameter of the target characterization data with the data attribute of dynamic data, and determines the deviation of the performance should-reach value of the servo motor according to the temperature rise condition parameter and the parameter of the change of the servo motor performance with the working temperature; The fourth determination module: determines the output power mutation critical point of the servo motor based on the performance should-reach value deviation and the overheat protection condition parameter of the servo single machine; The fifth determination module: determines the stable power output data sequence of the servo motor based on the output power mutation critical point and the output power data sequence of the servo motor; The third acquisition module: acquires the time period parameter corresponding to the stable power output data sequence, and determines the time period interval from the start of self-starting of the servo motor to the time when the output power is affected according to the time period parameter; The confirmation module: confirms the time period interval as the optimal acquisition time period of the servo motor pulse signal.

[0014] Compared with the prior art, the beneficial effects of the present application are as follows: Determine the synchronous control data of each servo motor according to the phase current and electrical angle of each servo motor, and generate a trigger signal for synchronous output control, which can avoid the complexity and susceptibility to interference of the cables in the oil pump motor control system of the servo driver, ensure that the data transmission and processing are not complex, improve the data processing efficiency, and at the same time, the control accuracy, real-time performance and synchronous performance are also improved, ensuring the collaborative response between each servo motor, and increasing the accuracy and efficiency of the servo motor operation. Brief Description of the Drawings

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

[0016] Figure 1 is a schematic structural diagram of an oil pump motor control system based on an AC servo driver provided by an embodiment of the present invention; Figure 2 is a schematic structural diagram of an acquisition module provided by an embodiment of the present invention. Detailed Embodiments

[0017] To make the objectives, technical solutions and advantages of the present invention clearer, the following will clearly and completely describe the technical solutions in the present invention with reference to the drawings in the present invention. Obviously, the described embodiments are some, rather than all, embodiments of the present invention. Based on the embodiments in the present invention, all other embodiments obtained by those of ordinary skill in the art without creative efforts shall fall within the protection scope of the present invention.

[0018] Embodiment 1: An oil pump motor control system based on an AC servo driver provided by an embodiment of the present invention, as Figure 1 shown, the system mainly includes the following modules: Acquisition module: Obtain the motor type of the servo motor, select a suitable encoder according to the motor type, collect the pulse signal of the servo motor through the encoder, and obtain the electrical angle of each servo motor according to the pulse signal; First acquisition module: Obtain the oil pump work task, determine the control signal of each servo motor based on the oil pump work task, and obtain the phase current of each servo motor; First determination module: Determine the synchronous control data of each servo motor according to the control signal, phase current and electrical angle of each servo motor; Generation module: Generate a trigger signal for each servo motor according to the synchronous control data and perform synchronous output control.

[0019] In this embodiment, the types of servo motors include: DC servo motors and AC servo motors.

[0020] In this embodiment, the electrical angle refers to the relative position angle of the magnetic field of the motor rotor with respect to the stator winding.

[0021] In this embodiment, the phase current of the servo motor refers to the current flowing through each phase of the stator winding of the motor.

[0022] The beneficial effects of the above technical solution are as follows: determining the synchronous control data of each servo motor according to the phase current and electrical angle of each servo motor, and generating a trigger signal for synchronous output control, which can avoid the complexity and susceptibility to interference of the cable of the oil pump motor control system of the servo driver, ensure that the data transmission and processing are not complex, improve the data processing efficiency, and at the same time, the control accuracy, real-time performance and synchronous performance are also improved, ensuring the collaborative response between servo motors, and increasing the accuracy and efficiency of the operation of servo motors.

[0023] Embodiment 2: Based on Embodiment 1, the acquisition module of the present invention embodiment, as Figure 2 shown, includes: The first determination unit: obtaining the motor nameplate and technical manual of the servo motor, and determining the model and working principle of the motor according to the motor nameplate and technical manual; The first acquisition unit: obtaining the type of the servo motor according to the model and working principle of the motor; The second determination unit: determining the characteristics and application scenarios of the motor according to the type of the motor, and determining the parameters of the encoder according to the characteristics and application scenarios of the motor; The selection unit: selecting a suitable encoder according to the parameters of the encoder.

[0024] In this embodiment, the motor nameplate of the servo motor contains key information such as the basic parameters, performance indicators and operating conditions of the motor.

[0025] In this embodiment, the types of servo motors include: DC servo motors and AC servo motors.

[0026] In this embodiment, the parameters of the encoder include: resolution, accuracy, response speed, anti-interference ability.

[0027] The beneficial effects of the above technical solution are as follows: determining the characteristics and application scenarios of the motor according to the type of the servo motor, thereby determining the parameters of the encoder and selecting a suitable encoder, which can significantly improve the stability and reliability of the system. At the same time, the suitable encoder can provide high-precision position and speed feedback signals, thereby realizing more accurate closed-loop control.

[0028] Embodiment 3: Based on Embodiment 2, the acquisition module of the present invention includes: Acquisition unit: Collect the pulse signal of the servo motor through an encoder and in combination with a signal processing circuit, and perform direction judgment and positioning reference point for the servo motor according to the pulse signal; Third determination unit: Determine the rotation direction and zero position of the motor according to the direction judgment and positioning reference point; Fourth determination unit: Determine the mechanical angle of the motor according to the rotation direction and zero position of the motor; Second acquisition unit: Obtain the electrical angle of each servo motor according to the mechanical angle and in combination with the number of pole pairs of the motor.

[0029] In this embodiment, the signal processing circuit is a circuit in an electronic system for collecting, amplifying, filtering, converting, modulating and demodulating input signals.

[0030] In this embodiment, the pulse signal of the servo motor is the core signal for controlling the movement of the servo motor, and the rotation angle and speed of the motor are precisely controlled by the number and frequency of the pulses.

[0031] In this embodiment, the rotation direction of the servo motor generally refers to the forward and reverse rotation of the motor shaft.

[0032] In this embodiment, the mechanical angle of the motor refers to the physical rotation angle of the motor rotor relative to the stator.

[0033] In this embodiment, the number of pole pairs of the motor refers to the number of pairs of magnetic poles between the stator and rotor of the motor.

[0034] In this embodiment, the electrical angle refers to the relative position angle of the motor rotor magnetic field relative to the stator winding.

[0035] The beneficial effects of the above technical solutions are: Perform direction judgment and positioning reference point for the servo motor according to the pulse signal, thereby determining the mechanical angle of the motor, and obtaining the electrical angle of each servo motor in combination with the number of pole pairs of the motor, which can achieve high-precision motor control, help optimize the dynamic performance of the motor, and improve the efficiency and response speed of the motor.

[0036] Embodiment 4: Based on Embodiment 3, the first acquisition module of the present invention includes: Fifth determination unit: Obtain the operation requirements of the oil pump at different stages, and determine a plurality of working parameters according to the operation requirements; Third acquisition unit: Obtain the oil pump work tasks according to the plurality of working parameters; Sixth determination unit: Determine the target speed and torque of the servo motor according to the oil pump work tasks; The first generating unit: generates control signals for each servo motor according to the target speed and torque, and determines voltage and current signals according to the control signals; The fourth obtaining unit: obtains the phase current of each servo motor according to the voltage and current signals and in combination with the communication protocol of the servo driver.

[0037] In this embodiment, the working parameters include: pressure, flow rate, speed.

[0038] In this embodiment, the torque of the servo motor refers to the magnitude of the torque that the motor can output during operation.

[0039] In this embodiment, the control signal of the servo motor is the core instruction for precisely controlling the operation of the motor, and the signal can be an analog signal or a digital signal.

[0040] In this embodiment, the communication protocol of the servo driver is the rule for realizing data exchange and instruction transmission between the servo driver and the host computer. The protocol defines the data format, transmission rate, connection method, error detection and correction, etc. For example: Modbus protocol, Profibus protocol.

[0041] In this embodiment, the phase current of the servo motor refers to the current flowing through each phase of the stator winding of the motor.

[0042] The beneficial effects of the above technical solutions are: determining the target speed and torque of the servo motor according to the working task of the oil pump, generating control signals for each servo motor, and obtaining the phase current of each servo motor in combination with the communication protocol of the servo driver. Real-time monitoring of the phase current can quickly detect changes in the motor load, so as to timely adjust the control signal and enhance the dynamic response ability of the system.

[0043] Embodiment 5: Based on Embodiment 4, the first determining module of the embodiment of the present invention includes: The fifth obtaining unit: obtains the speed command and position command of the motor according to the control signals of each servo motor; The seventh determining unit: determines the target operating state of each servo motor according to the speed command and position command of the motor; The eighth determining unit: obtains the phase current characteristics of each servo motor, and determines the load condition of each servo motor according to the phase current characteristics; The ninth determining unit: determines the speed compensation amount according to the target speed command of each servo motor and the actual electrical angle change rate; The tenth determining unit: determines the position deviation based on the target position of each motor and the actual position corresponding to the current electrical angle; The eleventh determining unit: determines the torque compensation amount according to the relationship between the phase current and the motor torque and in combination with the load condition of each servo motor; Adjustment unit: Determine the synchronous control data of each servo motor according to the speed compensation amount, position deviation, and torque compensation amount, and dynamically adjust the synchronous control strategy and parameters according to the actual situation during the operation of the system.

[0044] In this embodiment, the phase current characteristics of the servo motor include: amplitude, phase.

[0045] In this embodiment, the speed compensation amount is a correction value used in the motor control system to adjust the difference between the actual operating speed and the target speed of the motor.

[0046] In this embodiment, the torque compensation amount refers to the correction amount introduced in the motor control system to compensate for the difference between the actual load torque and the desired torque.

[0047] In this embodiment, the actual situation can be: load change, external interference.

[0048] The beneficial effects of the above technical solutions are: Determine the synchronous control data of each servo motor, and dynamically adjust the synchronous control strategy and parameters according to the actual situation during the operation of the system. Dynamically adjusting the control parameters can enhance the anti-interference ability of the system, reduce the synchronous error caused by external disturbances or internal parameter changes, and improve the response speed and control accuracy of the system.

[0049] Embodiment 6: Based on Embodiment 5, the generation module of the present invention includes: Extraction unit: Obtain the encoding method and data structure of the synchronous control data, and extract key information according to the encoding method and data structure of the synchronous control data; Second generation unit: Generate trigger signals for each servo motor according to the key information and perform synchronous output control.

[0050] In this embodiment, the encoding method of the synchronous control data refers to how to encode control instructions, status information, or other data in the synchronous control system, such as: binary encoding, ASCII encoding.

[0051] In this embodiment, the data structure of the synchronous control data refers to the structured form used to organize, store, and transmit control instructions, status information, feedback data, etc. in the synchronous control system.

[0052] The beneficial effects of the above technical solutions are: Obtain the key information of the synchronous control data, generate trigger signals and perform synchronous output control, which can simplify the synchronous logic between multiple motors, ensure that multiple systems start synchronously at precise time points, and improve the synchronous accuracy.

[0053] Embodiment 7: Based on Embodiment 6, the second generation unit of the embodiment of the present invention includes: The first determination subunit: determines a speed adjustment amount, a position compensation value, and a torque correction coefficient according to the key information; The first acquisition subunit: obtains a target speed according to the speed adjustment amount and in combination with the current speed of the motor; The first generation subunit: converts the target speed into a corresponding voltage value according to the control mode of the servo motor driver, determines the required pulse frequency according to the voltage value, and generates a corresponding pulse signal as a trigger signal according to the pulse frequency; The second acquisition subunit: obtains a target position according to the position compensation value and the current position of the motor; The planning subunit: obtains the difference between the target position and the current position and combines the motion characteristics of the motor with a trajectory planning algorithm to plan the motion trajectory of the motor; The second generation subunit: determines the time and displacement of different segments according to the motion trajectory of the motor, and generates a corresponding pulse sequence as a trigger signal according to the time and displacement; The third acquisition subunit: obtains a target torque according to the torque correction coefficient and the estimated value of the load torque of the current motor; The third generation subunit: converts the target torque into a corresponding target current value, compares the target current value with the actually measured phase current to obtain a deviation, and adjusts the duty cycle of the PWM signal of the driver according to the deviation, so as to generate a trigger signal for controlling the phase current; The control subunit: performs synchronous output control on the servo motor according to the trigger signal.

[0054] In this embodiment, the torque correction coefficient is a parameter for adjusting and optimizing torque output.

[0055] In this embodiment, the control mode of the servo motor driver may be: torque control, speed control, position control.

[0056] In this embodiment, the motion characteristics of the motor mainly describe the dynamic behavior and performance of the motor under different working conditions, such as: torque-speed characteristics, speed-voltage characteristics.

[0057] In this embodiment, the trajectory planning algorithm is an algorithm for planning the motion path of an object in space.

[0058] In this embodiment, the estimated value of the load torque of the motor refers to the torque magnitude that the motor bears during actual operation calculated or estimated by various methods.

[0059] The beneficial effects of the above technical solution are as follows: Pulse signals, pulse sequences, and trigger signals for controlling the phase current are generated based on the speed adjustment amount, position compensation value, and torque correction coefficient, so as to perform synchronous output control on the servo motor, which can enhance the reliability and stability of the system, ensure the collaborative response among servo motors, and improve the working efficiency of the motors.

[0060] Embodiment 8: Based on Embodiment 7, before the embodiment of the present invention obtains the motor type of the servo motor, selects a suitable encoder according to the motor type, collects the pulse signal of the servo motor through the encoder, and obtains the electrical angle of each servo motor according to the pulse signal, it further includes: Arrangement module: Collect the internal temperature data of the servo motor during operation, and based on the internal sorting method, arrange the internal temperature data into the internal temperature data of the motor with a distributed characteristic order; Second determination module: Calculate the internal temperature data of the motor according to arithmetic and logical operations to determine the internal temperature characterization data of the motor; Third determination module: Determine the data source main body of each characterization data in the internal temperature characterization data of the motor, and determine the data attribute of each characterization data according to the data source main body. The data attributes include: static data and dynamic data; Second acquisition module: Acquire the temperature rise condition parameters of the target characterization data with the data attribute of dynamic data, and determine the deviation of the performance target value of the servo motor according to the temperature rise condition parameters and the change parameters of the servo motor performance with the working temperature; Fourth determination module: Determine the critical point of output power mutation of the servo motor based on the deviation of the performance target value and the overheat protection condition parameters of the servo single machine; Fifth determination module: Determine the stable power output data sequence of the servo motor based on the critical point of output power mutation and the output power data sequence of the servo motor; Third acquisition module: Acquire the time period parameters corresponding to the stable power output data sequence, and determine the time period interval from the start of self-starting of the servo motor to when the output power is affected according to the time period parameters; Confirmation module: Confirm the time period interval as the optimal acquisition time period of the pulse signal of the servo motor.

[0061] In this embodiment, the internal temperature characterization data of the motor refers to various data information used to describe and reflect the internal temperature state of the motor, such as: stator winding temperature, stator tooth temperature, stator yoke temperature.

[0062] In this embodiment, in the internal temperature characterization data of the motor, the data source main body refers to the specific source or device that provides or generates these data.

[0063] In this embodiment, the data attributes of the characterization data include: static data and dynamic data.

[0064] In this embodiment, the heating condition parameters characterizing the data refer to various factors and conditions that affect the temperature rise of the motor, such as environmental factors and motor operating parameters.

[0065] In this embodiment, the deviation of the performance target value of the servo motor refers to the difference between the actual performance indicators (such as position accuracy, speed accuracy, torque accuracy) of the servo motor during actual operation and the theoretical values required by the design or standards.

[0066] The beneficial effects of the above technical solution are as follows: By determining the time period interval from the start of self-start of the servo motor to the time when the output power is affected according to the time period parameters, and confirming the optimal acquisition time period of the pulse signal of the servo motor, it can ensure the accuracy and representativeness of the acquired pulse signal, laying a foundation for obtaining the electrical angle of each servo motor in the later stage.

[0067] Through the description of the above embodiments, those skilled in the art can clearly understand that each embodiment can be implemented by means of software plus a necessary general hardware platform, and of course, it can also be implemented by hardware. Based on this understanding, the essence of the above technical solution, or the part that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0068] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of each embodiment of the present invention.

Claims

1. An oil pump motor control system based on an AC servo driver, characterized in that, Including: Acquisition module: Obtain the motor type of the servo motor, select a suitable encoder according to the motor type, collect the pulse signal of the servo motor through the encoder, and obtain the electrical angle of each servo motor according to the pulse signal; First acquisition module: Obtain the oil pump working task, determine the control signal of each servo motor based on the oil pump working task, and obtain the phase current of each servo motor; First determination module: Determine the synchronous control data of each servo motor according to the control signal, phase current and electrical angle of each servo motor; Generation module: Generate the trigger signal of each servo motor according to the synchronous control data and perform synchronous output control.

2. The oil pump motor control system based on an AC servo drive according to claim 1, wherein The acquisition module includes: First determination unit: Obtain the motor nameplate and technical manual of the servo motor, and determine the motor model and working principle according to the motor nameplate and technical manual; First acquisition unit: Obtain the motor type of the servo motor according to the motor model and working principle; Second determination unit: Determine the characteristics and application scenarios of the motor according to the motor type, and determine the parameters of the encoder according to the characteristics and application scenarios of the motor; Selection unit: Select a suitable encoder according to the parameters of the encoder.

3. The oil pump motor control system based on an AC servo drive according to claim 1, wherein The acquisition module includes: Acquisition unit: Collect the pulse signal of the servo motor through the encoder and in combination with the signal processing circuit, and perform direction judgment and positioning reference point on the servo motor according to the pulse signal; Third determination unit: Determine the rotation direction and zero position of the motor according to the direction judgment and positioning reference point; Fourth determination unit: Determine the mechanical angle of the motor according to the rotation direction and zero position of the motor; Second acquisition unit: Obtain the electrical angle of each servo motor according to the mechanical angle and in combination with the number of pole pairs of the motor.

4. The oil pump motor control system based on an AC servo driver according to claim 1, characterized in that, The first acquisition module includes: Fifth determination unit: Obtain the operation requirements of the oil pump at different stages, and determine multiple working parameters according to the operation requirements; Third acquisition unit: Obtain the oil pump working task according to the multiple working parameters; Sixth determination unit: Determine the target speed and torque of the servo motor according to the oil pump working task; First generation unit: Generate the control signal of each servo motor according to the target speed and torque, and determine the voltage and current signals according to the control signal; Fourth acquisition unit: Obtain the phase current of each servo motor according to the voltage and current signals and in combination with the communication protocol of the servo driver.

5. The oil pump motor control system based on an AC servo driver according to claim 1, wherein, The first determination module includes: Fifth acquisition unit: Obtain the speed command and position command of the motor according to the control signal of each servo motor; Seventh determination unit: Determine the target operating state of each servo motor according to the speed command and position command of the motor; Eighth determination unit: Obtain the phase current characteristics of each servo motor, and determine the load condition of each servo motor according to the phase current characteristics; Ninth determination unit: Determine the speed compensation amount according to the target speed command and the actual electrical angle change rate of each servo motor; Tenth determination unit: Determine the position deviation based on the target position of each motor and the actual position corresponding to the current electrical angle; Eleventh determination unit: Determine the torque compensation amount according to the relationship between the phase current and the motor torque and in combination with the load condition of each servo motor; Adjustment Unit: Determine the synchronous control data of each servo motor according to the speed compensation amount, position deviation, and torque compensation amount, and dynamically adjust the synchronous control strategy and parameters according to the actual situation during the operation of the system.

6. The oil pump motor control system based on an AC servo driver according to claim 1, wherein Generation Module, including: Extraction Unit: Obtain the encoding method and data structure of the synchronous control data, and extract key information according to the encoding method and data structure of the synchronous control data; Second Generation Unit: Generate trigger signals for each servo motor according to the key information and perform synchronous output control.

7. The oil pump motor control system based on an AC servo driver according to claim 1, wherein, Second Generation Unit, including: First Determination Sub-Unit: Determine the speed adjustment amount, position compensation value, and torque correction coefficient according to the key information; First Acquisition Sub-Unit: Obtain the target speed according to the speed adjustment amount and in combination with the current speed of the motor; First Generation Sub-Unit: Convert the target speed into a corresponding voltage value according to the control method of the servo motor driver, determine the required pulse frequency according to the voltage value, and generate a corresponding pulse signal as the trigger signal according to the pulse frequency; Second Acquisition Sub-Unit: Obtain the target position according to the position compensation value and the current position of the motor; Planning Sub-Unit: Obtain the difference between the target position and the current position and the motion characteristics of the motor, and plan the motion trajectory of the motor in combination with the trajectory planning algorithm; Second Generation Sub-Unit: Determine the time and displacement of different segments according to the motion trajectory of the motor, and generate a corresponding pulse sequence as the trigger signal according to the time and displacement; Third Acquisition Sub-Unit: Obtain the target torque according to the torque correction coefficient and the estimated value of the current load torque of the motor; Third Generation Sub-Unit: Convert the target torque into a corresponding target current value, compare the target current value with the actually measured phase current and obtain the deviation, and adjust the duty cycle of the PWM signal of the driver according to the deviation, so as to generate a trigger signal for controlling the phase current; Control Sub-Unit: Perform synchronous output control on the servo motor according to the trigger signal.

8. The oil pump motor control system based on an AC servo drive according to claim 1, wherein, Before obtaining the motor type of the servo motor, selecting an appropriate encoder according to the motor type, collecting the pulse signal of the servo motor through the encoder, and obtaining the electrical angle of each servo motor, it further includes: Arrangement Module: Collect the internal temperature data of the servo motor during operation, and arrange the internal temperature data into the internal temperature data of the motor with a distributed characteristic order based on the internal sorting method; Second Determination Module: Calculate the internal temperature data of the motor according to arithmetic and logical operations, and determine the internal temperature characterization data of the motor; Third Determination Module: Determine the data source main body of each characterization data in the internal temperature characterization data of the motor, and determine the data attribute of each characterization data according to the data source main body, and the data attribute includes: static data and dynamic data; Second Acquisition Module: Obtain the heating condition parameters of the target characterization data with the data attribute of dynamic data, and determine the performance should-reach value deviation of the servo motor according to the heating condition parameters and the change parameters of the servo motor performance with the working temperature; Fourth Determination Module: Determine the output power mutation critical point of the servo motor based on the performance should-reach value deviation and the overheat protection condition parameters of the servo single machine; The fifth determination module: determining the stable power output data sequence of the servo motor based on the critical point of output power mutation and the output power data sequence of the servo motor; The third acquisition module: acquiring the time period parameters corresponding to the stable power output data sequence, and determining the time period interval from the start of self-starting of the servo motor to the time when the output power is affected according to the time period parameters; The confirmation module: confirming the time period interval as the optimal acquisition time period of the servo motor pulse signal.

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