Servo position control system parameter adjustment method and device, and servo control equipment

Abstract

This invention provides a method, apparatus, and servo control device for adjusting parameters of a servo position control system, belonging to the field of industrial control. The method includes: constructing the system transfer function of the servo position control system to be adjusted and determining the anti-resonant frequency of the system; constructing a gain value relationship at the anti-resonant point based on the system transfer function and the anti-resonant frequency; substituting the gain value relationship at the anti-resonant point into the system transfer function to obtain an equivalent transfer function; and using the parameter plane method to solve for the control parameters of the servo position control system by combining the preset anti-resonant point gain value and the equivalent transfer function. This invention simplifies the three-parameter system transfer function to a two-parameter equivalent transfer function through the anti-resonant point gain value relationship, effectively simplifying system parameter design and reducing the computational complexity of adjusting the parameters of the servo position control system.

Description

Technical Field

[0001] This invention relates to the field of industrial control technology, and in particular to a method, apparatus, and servo control equipment for adjusting parameters of a servo position control system. Background Technology

[0002] Parameter tuning of a servo position control system is a crucial process for optimizing the system's dynamic performance, directly affecting positioning accuracy, response speed, and anti-interference capability. Efficient and rapid parameter tuning methods are fundamental to improving the performance of a servo position control system.

[0003] However, in the field of industrial control, servo position control systems often adopt inner and outer loop position control methods in order to balance control reliability and ease of adjustment. Inner and outer loop position control methods have three control parameters and a high system order, which makes parameter adjustment complex and difficult to perform efficient and quick parameter adjustment.

[0004] Therefore, the existing technology has the technical problem that the servo position control system has three control parameters and a high system order, which leads to complex parameter adjustment and needs to be improved. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, apparatus and servo control equipment for adjusting the parameters of a servo position control system, in order to solve the technical problem of complex parameter adjustment in the prior art.

[0006] In a first aspect, the present invention provides a method for adjusting parameters of a servo position control system, comprising:

[0007] Construct the system transfer function of the servo position control system to be adjusted, determine the anti-resonant frequency of the servo position control system to be adjusted, and construct the relationship between the gain value at the anti-resonant point based on the system transfer function and the anti-resonant frequency;

[0008] Substituting the anti-resonance point gain relationship into the system transfer function yields the equivalent transfer function.

[0009] The control parameters of the servo position control system to be adjusted are obtained by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method.

[0010] In one possible implementation, the anti-resonant frequency of the servo position control system to be adjusted is determined, and the relationship between the anti-resonant point gain value and the system transfer function is constructed based on the anti-resonant frequency, including:

[0011] Construct the motor torque-angle transfer function of the servo position control system to be adjusted;

[0012] The anti-resonance frequency is determined based on the parameters or structural characteristics of the servo position control system to be adjusted and the motor torque-angle transfer function.

[0013] Substituting the anti-resonance frequency into the system transfer function yields the relationship between the anti-resonance point gain value and the system transfer function.

[0014] In one possible implementation, the motor torque-angle transfer function formula is expressed as:

[0015]

[0016] in, Indicates the motor angle. Indicates motor torque. To represent the complex variable in the Laplace transform, Indicates the anti-resonant frequency. Indicates the resonant frequency. This represents the moment of inertia of the motor.

[0017] The formula for the anti-resonance frequency is expressed as:

[0018]

[0019] in, Indicates the stiffness coefficient. This represents the moment of inertia of the load.

[0020] In one possible implementation, the system transfer function is expressed as:

[0021]

[0022] in, This represents the position loop proportional feedback coefficient. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the speed loop. Indicates the anti-resonant frequency. To represent the complex variable in the Laplace transform, This represents the moment of inertia of the motor.

[0023] In one possible implementation, the anti-resonance point gain relationship is expressed as:

[0024]

[0025] in, This is the gain value at the anti-resonance point. Indicates the anti-resonance resonance point. Represents the imaginary part in the complex frequency domain. It is the anti-resonant frequency. This is the stiffness coefficient. This is the position loop proportional feedback coefficient. This represents the integral feedback coefficient of the velocity loop.

[0026] In one possible implementation, the equivalent transfer function formula is expressed as:

[0027]

[0028]

[0029] in, The coefficients are expressed as follows:

[0030]

[0031] in, This represents the gain value at the anti-resonance point. Indicates the anti-resonant frequency. Indicates the stiffness coefficient. Indicates the moment of inertia of the motor. To represent the complex variable in the Laplace transform, Indicates the resonant frequency. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the velocity loop.

[0032] In one possible implementation, the control parameters include position loop proportional feedback coefficients, velocity loop proportional feedback coefficients, and velocity loop integral feedback coefficients. These parameters are obtained by solving the parametric plane method using a preset anti-resonance point gain value and equivalent transfer function. The parameters include:

[0033] Set the system conjugate complex pole of the servo position control system to be adjusted;

[0034] Using the denominator of the equivalent transfer function as the characteristic equation, and substituting the system's conjugate complex poles into the characteristic equation, we obtain the real part expression and the imaginary part expression;

[0035] The coefficients of the characteristic equation are expressed as linear relationships of the control parameters. The linear relationships of the control parameters are substituted into the characteristic equation, and the real and imaginary part expressions are combined to obtain the two-parameter equation to be solved.

[0036] By combining the pre-set anti-resonance point gain value, the two-parameter equation to be solved is obtained to obtain the velocity loop proportional feedback coefficient and the velocity loop integral feedback coefficient;

[0037] The position loop proportional feedback coefficient is determined based on the velocity loop proportional feedback coefficient, the velocity loop integral feedback coefficient, and the anti-resonance point gain value.

[0038] In a second aspect, the present invention provides a parameter adjustment device for a servo position control system, comprising:

[0039] The transmission analysis unit is used to construct the system transfer function of the servo position control system to be adjusted, determine the anti-resonance frequency of the servo position control system to be adjusted, and construct the relationship between the gain value of the anti-resonance point based on the system transfer function and the anti-resonance frequency.

[0040] The equivalent transfer function building unit is used to substitute the anti-resonance point gain value relationship into the system transfer function to obtain the equivalent transfer function;

[0041] The control parameter solving unit is used to solve for the control parameters of the servo position control system to be adjusted by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method.

[0042] Thirdly, the present invention provides a servo control device, including a processor, a memory, and a computer program stored in the memory and executable on the processor. When the processor executes the program, it implements the servo position control system parameter adjustment method described above.

[0043] Fourthly, the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, it implements the servo position control system parameter adjustment method described above.

[0044] The beneficial effects of the above embodiments are: in the servo position control system parameter adjustment method provided by the present invention, the three-parameter system transfer function is simplified into a two-parameter equivalent transfer function by using the anti-resonance point gain value relationship, which can effectively simplify the system parameter design and reduce the computational complexity of servo position control system parameter adjustment. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 A flowchart illustrating an embodiment of the servo position control system parameter adjustment method provided by the present invention;

[0047] Figure 2 This is a schematic diagram illustrating the process of constructing the anti-resonance point gain value relationship according to an embodiment of the present invention;

[0048] Figure 3 This is a model of a two-inertia transmission system according to an embodiment of the present invention;

[0049] Figure 4 This is a schematic diagram of the mechanical resonance of the transmission system according to an embodiment of the present invention;

[0050] Figure 5 This is a schematic diagram of a semi-closed-loop position control system according to an embodiment of the present invention;

[0051] Figure 6 This is a schematic diagram of the process for solving the control parameters according to an embodiment of the present invention;

[0052] Figure 7 This is a diagram illustrating the effect of adjusting the semi-closed-loop position control parameters according to an embodiment of the present invention.

[0053] Figure 8 This is a schematic diagram of a closed-loop position control system according to an embodiment of the present invention;

[0054] Figure 9 This is a diagram illustrating the effect of adjusting the closed-loop position control parameters according to an embodiment of the present invention.

[0055] Figure 10 A schematic diagram of a structure of an embodiment of the servo position control system parameter adjustment device provided by the present invention;

[0056] Figure 11 This is a schematic diagram of an embodiment of the servo control device provided by the present invention. Detailed Implementation

[0057] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0058] It should be understood that the illustrative drawings are not drawn to scale. The flowcharts used in this invention illustrate operations implemented according to some embodiments of the invention. It should be understood that the operations in the flowcharts may be implemented out of order, and steps without logical contextual relationships may be reversed or performed simultaneously. Furthermore, those skilled in the art, guided by the content of this invention, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts. Some block diagrams shown in the drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities may be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0059] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of those features.

[0060] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0061] This invention provides a method, apparatus, and servo control device for adjusting parameters of a servo position control system, which will be described below.

[0062] Figure 1 A flowchart illustrating an embodiment of the servo position control system parameter adjustment method provided by the present invention is shown below. Figure 1 As shown, the parameter adjustment methods for the servo position control system include:

[0063] S101. Construct the system transfer function of the servo position control system to be adjusted, and determine the anti-resonance frequency of the servo position control system to be adjusted. Construct the relationship between the gain value at the anti-resonance point based on the system transfer function and the anti-resonance frequency.

[0064] The system transfer function of the servo position control system includes three control parameters: position loop proportional feedback coefficient, velocity loop proportional feedback coefficient, and velocity loop integral feedback coefficient. The original system transfer function is relatively complex to solve. To simplify the design of system parameters, this embodiment simplifies the calculation by analyzing and utilizing the gain characteristics of the inherent anti-resonant frequency of the electromechanical coupling elastic drive in the servo position control system.

[0065] In a servo position control system, it is generally composed of a servo motor, a linkage shaft or transmission shaft, and a mechanical load. During high-speed mechanical motion, mechanical oscillations are prone to occur, leading to resonant and anti-resonant points. The gain value at the anti-resonant point is an inherent characteristic of the system. By analyzing the relationship between the gain value at the anti-resonant point and system parameters or structural characteristics, and substituting it into the system transfer function, the relationship between the system gain value and the control parameters can be derived. Combined with a pre-set gain value, such as between 0.04 and 0.4 (the specific value is set according to the servo position control system being analyzed), the original three-parameter solution problem can be simplified into a two-parameter solution problem, effectively reducing the difficulty of the solution.

[0066] S102. Substitute the anti-resonance point gain value relationship into the system transfer function to obtain the equivalent transfer function;

[0067] The anti-resonance point gain relationship is a formula relating the anti-resonance point gain to the position loop proportional feedback coefficient and the velocity loop integral feedback coefficient. In this embodiment, the anti-resonance point gain relationship is substituted into the system transfer function to obtain the equivalent transfer function, thus simplifying the three-parameter problem into a two-parameter problem.

[0068] S103. The control parameters of the servo position control system to be adjusted are obtained by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method.

[0069] In this embodiment, the equivalent transfer function to be solved is obtained using the parametric plane method. This method allows for the simple and rapid calculation of two parameters. Combining these two solved parameters with the anti-resonance point gain, the third parameter is directly calculated. These three parameters are then applied to the adjustment of the servo position control system. Compared to traditional inner and outer loop position control methods, the parameter adjustment method of this invention is simpler, has more distinct adjustment characteristics, simplifies the design for engineers and designers, and effectively improves the efficiency and accuracy of parameter adjustment in the servo position control system.

[0070] Compared with the prior art, the servo position control system parameter adjustment method provided by the present invention simplifies the three-parameter system transfer function into a two-parameter equivalent transfer function by using the anti-resonance point gain value relationship, which can effectively simplify the system parameter design and reduce the computational complexity of servo position control system parameter adjustment.

[0071] In some embodiments of the present invention Figure 2 This is a schematic diagram illustrating the process of constructing the anti-resonance point gain value relationship according to an embodiment of the present invention, as follows: Figure 2 As shown, the anti-resonant frequency of the servo position control system to be adjusted is determined. Based on the system transfer function and the anti-resonant frequency, the relationship between the gain value at the anti-resonant point is constructed, including:

[0072] S201. Construct the motor torque-angle transfer function of the servo position control system to be adjusted;

[0073] S202. Determine the anti-resonance frequency based on the parameters or structural characteristics of the servo position control system to be adjusted and the motor torque-angle transfer function.

[0074] S203. Substitute the anti-resonance frequency into the system transfer function to obtain the relationship of the gain value at the anti-resonance point.

[0075] Specifically, taking a two-inertia transmission system as an example, Figure 3 This is a model of a two-inertia transmission system according to an embodiment of the present invention. Figure 3 middle Indicates the moment of inertia of the motor. Indicates the moment of inertia of the load. Indicates motor torque. Indicates the torque of the drive shaft. Indicates the load torque. Indicates the motor angle. Indicates the load angle. Figure 4 This is a schematic diagram of the mechanical resonance of the transmission system according to an embodiment of the present invention. Figure 4 middle Indicates the resonant frequency point. Indicates the anti-resonant frequency point, combined with Figure 3 and Figure 4 Mechanical resonance analysis is performed to construct the motor torque-angle transfer function, which is expressed by the following formula:

[0076]

[0077] in, Indicates the motor angle. Indicates motor torque. To represent the complex variable in the Laplace transform, Indicates the anti-resonant frequency. Indicates the resonant frequency. This represents the moment of inertia of the motor.

[0078] The anti-resonance frequency can be obtained from the motor torque-angle transfer function. and resonant frequency The expressions are as follows:

[0079]

[0080]

[0081] in, Indicates the stiffness coefficient. This represents the moment of inertia of the load.

[0082] In some embodiments of the present invention, the inner and outer loop position control method is the most common servo position control method. Taking the semi-closed loop position control method as an example... Figure 5 This is a schematic diagram of a semi-closed-loop position control system according to an embodiment of the present invention. Figure 5 By performing a system transmission analysis, the system transfer function can be expressed as follows:

[0083]

[0084] in, This represents the position loop proportional feedback coefficient. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the velocity loop.

[0085] After constructing the system transfer function, the previously obtained anti-resonant frequency is... and resonant frequency Substituting the system transfer function, we obtain the relationship for the gain value at the anti-resonance point, expressed as:

[0086]

[0087] in, This is the gain value at the anti-resonance point. Indicates the anti-resonance resonance point. Represents the imaginary part in the complex frequency domain. It is the anti-resonant frequency. This is the stiffness coefficient. This is the position loop proportional feedback coefficient. This represents the integral feedback coefficient of the velocity loop.

[0088] Due to the relationship of gain value at the anti-resonance point and All system structural parameters are known, therefore the system gain is... Directly from control parameters and Decision. Furthermore, the implementation examples will... and Depend on Substituting the values, we can transform the three-parameter system transfer function into a two-parameter equivalent transfer function, as shown in the formula:

[0089]

[0090]

[0091] in, The coefficients are expressed as follows:

[0092]

[0093] At this point, the general form of the denominator of the characteristic equation, i.e., the equivalent transfer function, can be expressed as:

[0094]

[0095] in, The system order is denoted by .

[0096] In some embodiments of the present invention, the control parameters include a position loop proportional feedback coefficient, a velocity loop proportional feedback coefficient, and a velocity loop integral feedback coefficient. Figure 6 This is a schematic diagram of the process for solving the control parameters according to an embodiment of the present invention, as shown below. Figure 6As shown, the control parameters of the servo position control system to be adjusted are obtained by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method, including:

[0097] S601, Set the system conjugate polarity of the servo position control system to be adjusted;

[0098] S602. Using the denominator of the equivalent transfer function as the characteristic equation, and substituting the system's conjugate complex poles into the characteristic equation, we obtain the real part expression and the imaginary part expression;

[0099] S603. Express each coefficient of the characteristic equation as a linear relationship of the control parameters, substitute the linear relationship of the control parameters into the characteristic equation, and combine the real part expression and the imaginary part expression to obtain the two-parameter equation to be solved.

[0100] S604. Solve the two-parameter equation to be solved by combining the preset anti-resonance point gain value to obtain the velocity loop proportional feedback coefficient and velocity loop integral feedback coefficient;

[0101] S605. Determine the position loop proportional feedback coefficient based on the velocity loop proportional feedback coefficient, the velocity loop integral feedback coefficient, and the anti-resonance point gain value.

[0102] Specifically, the embodiment of the two-parameter equivalent transfer function solution process introduces the parametric plane method. In the solution process, the dominant poles of the system are first defined, and the system's conjugate complex poles are... and Represented as:

[0103]

[0104] in, Represents angular frequency. This represents the relative attenuation coefficient, and the attenuation coefficient ranges from... .

[0105] Then, substituting the system's conjugate complex poles into the characteristic equation, we can satisfy that both the real and imaginary parts are equal to zero:

[0106]

[0107]

[0108] in, It is a Chebyshev function of the second kind.

[0109] The characteristic equation is then expressed as a linear relationship with respect to the control parameters:

[0110]

[0111]

[0112] After substituting the characteristic coefficients into the equivalent characteristic equation, the expressions for the real and imaginary parts are derived as follows:

[0113]

[0114]

[0115] in:

[0116]

[0117]

[0118]

[0119] Finally, find the solution. and The two control parameters are obtained as follows:

[0120]

[0121]

[0122] After obtaining the two control parameters above, and combining them with the gain value at the anti-resonance point, It can be calculated directly:

[0123]

[0124] Finally, the servo position control system is adjusted based on the obtained control parameters, and the parameter adjustment effect is as follows: Figure 7 As shown, Figure 7 This is a diagram illustrating the effect of adjusting the semi-closed-loop position control parameters according to an embodiment of the present invention. , , , .

[0125] Furthermore, in another embodiment, the present invention can also be applied to inner and outer loop control systems with closed-loop control. Figure 8 This is a schematic diagram of a closed-loop position control system according to an embodiment of the present invention, combined with... Figure 8 In the embodiment of closed-loop position control, the transfer function expression of the system is as follows:

[0126]

[0127] The gain characteristics at the anti-resonance point are expressed as follows:

[0128]

[0129] The relationship between the control parameters and the gain characteristics at the anti-resonance point is as follows:

[0130]

[0131] In the closed-loop position control embodiment, the above three formulas differ from those in semi-closed-loop position control, but the parameter design, calculation, and tuning methods are the same as in the inner and outer loop position control systems. In closed-loop position control, the final parameter adjustment effect is as follows: Figure 9 As shown, Figure 9 This is a diagram illustrating the effect of closed-loop position control parameter adjustment according to an embodiment of the present invention. , , , .

[0132] In summary, the servo position control system parameter adjustment method provided by this invention simplifies the three-parameter system transfer function into a two-parameter equivalent transfer function by using the anti-resonance point gain value relationship, which can effectively simplify the system parameter design and reduce the computational complexity of servo position control system parameter adjustment.

[0133] To better implement the servo position control system parameter adjustment method in this embodiment of the invention, based on the servo position control system parameter adjustment method, correspondingly, as follows: Figure 10 As shown, this embodiment of the invention also provides a servo position control system parameter adjustment device. The servo position control system parameter adjustment device 1000 includes:

[0134] The transmission analysis unit 1001 is used to construct the system transfer function of the servo position control system to be adjusted, determine the anti-resonance frequency of the servo position control system to be adjusted, and construct the anti-resonance point gain value relationship based on the system transfer function and the anti-resonance frequency.

[0135] The equivalent transfer function construction unit 1002 is used to substitute the anti-resonance point gain value relationship into the system transfer function to obtain the equivalent transfer function;

[0136] The control parameter solving unit 1003 is used to solve the control parameters of the servo position control system to be adjusted by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method.

[0137] The servo position control system parameter adjustment device 1000 provided in the above embodiments can realize the technical solutions described in the above servo position control system parameter adjustment method embodiments. The specific implementation principles of each module or unit can be found in the corresponding content in the above servo position control system parameter adjustment method embodiments, and will not be repeated here.

[0138] like Figure 11 As shown, the present invention also provides a servo control device 1100. The servo control device 1100 includes a processor 1101, a memory 1102, and a display 1103. Figure 11 Only some components of the servo control device 1100 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0139] In some embodiments, processor 1101 may be a central processing unit (CPU), microprocessor or other data processing chip, used to run program code stored in memory 1102 or process data, such as the servo position control system parameter adjustment method of the present invention.

[0140] In some embodiments, memory 1102 may be an internal storage unit of the servo control device 1100, such as a hard disk or memory of the servo control device 1100. In other embodiments, memory 1102 may also be an external storage device of the servo control device 1100, such as a pluggable hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc., equipped on the servo control device 1100.

[0141] Furthermore, the memory 1102 may include both internal storage units of the servo control device 1100 and external storage devices. The memory 1102 is used to store application software and various types of data installed on the servo control device 1100.

[0142] In some embodiments, display 1103 may be an LED display, a liquid crystal display, or a touch-screen liquid crystal display. Display 1103 is used to display information from the servo control device 1100 and to display a visual user interface. Components 1101-1103 of the servo control device 1100 communicate with each other via a system bus.

[0143] In one embodiment, when the processor 1101 executes the servo position control system parameter adjustment program in the memory 1102, the following steps can be implemented:

[0144] Construct the system transfer function of the servo position control system to be adjusted, and determine the anti-resonant frequency of the servo position control system to be adjusted;

[0145] Based on the system transfer function and the anti-resonance frequency, construct the relationship between the anti-resonance point gain value and the system transfer function to obtain the equivalent transfer function.

[0146] The control parameters of the servo position control system to be adjusted are obtained by solving the equivalent transfer function using the parametric plane method.

[0147] It should be understood that when the processor 1101 executes the servo position control system parameter adjustment program in the memory 1102, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0148] Accordingly, this application also provides a computer-readable storage medium for storing computer-readable programs or instructions. When the programs or instructions are executed by a processor, they can implement the steps or functions of the servo position control system parameter adjustment methods provided in the above-described method embodiments.

[0149] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware (such as a processor, controller, etc.), and the computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0150] The above provides a detailed description of the servo position control system parameter adjustment method, device, servo control equipment, and medium provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for adjusting parameters of a servo position control system, characterized in that, include: Construct the system transfer function of the servo position control system to be adjusted, and determine the anti-resonant frequency of the servo position control system to be adjusted. Construct the relationship between the gain value at the anti-resonant point based on the system transfer function and the anti-resonant frequency. Substituting the anti-resonance point gain relationship into the system transfer function yields the equivalent transfer function, which is expressed as: in, The coefficients are expressed as follows: in, Gain value at the anti-resonance point Indicates the anti-resonant frequency. Indicates the stiffness coefficient. Indicates the moment of inertia of the motor. To represent the complex variable in the Laplace transform, Indicates the resonant frequency. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the velocity loop; The control parameters of the servo position control system to be adjusted are obtained by combining the preset anti-resonance point gain value and the equivalent transfer function using the parametric plane method. The control parameters include position loop proportional feedback coefficient, velocity loop proportional feedback coefficient, and velocity loop integral feedback coefficient. The control parameters of the servo position control system to be adjusted are obtained by solving the parametric plane method using a preset anti-resonance point gain value and the equivalent transfer function, including: The system conjugate complex pole of the servo position control system to be adjusted is set; Using the denominator of the equivalent transfer function as the characteristic equation, and substituting the system's conjugate complex poles into the characteristic equation, we obtain the real part expression and the imaginary part expression; The coefficients of the characteristic equation are expressed as linear relationships of control parameters. The linear relationships of control parameters are substituted into the characteristic equation, and the real part expression and the imaginary part expression are combined to obtain the two-parameter equation to be solved. By combining the preset anti-resonance point gain value, the two-parameter equation to be solved is obtained to obtain the velocity loop proportional feedback coefficient and the velocity loop integral feedback coefficient; The position loop proportional feedback coefficient is determined based on the velocity loop proportional feedback coefficient, the velocity loop integral feedback coefficient, and the anti-resonance point gain value.

2. The servo position control system parameter adjustment method according to claim 1, characterized in that, The process of determining the anti-resonance frequency of the servo position control system to be adjusted, and constructing the anti-resonance point gain value relationship based on the system transfer function and the anti-resonance frequency, includes: Construct the motor torque-angle transfer function of the servo position control system to be adjusted; The anti-resonance frequency is determined based on the parameters or structural characteristics of the servo position control system to be adjusted and the motor torque-angle transfer function. Substituting the anti-resonance frequency into the system transfer function yields the relationship for the anti-resonance point gain value.

3. The servo position control system parameter adjustment method according to claim 2, characterized in that, The formula for the motor torque-angle transfer function is expressed as follows: in, Indicates the motor angle. Indicates motor torque. To represent the complex variable in the Laplace transform, Indicates the anti-resonant frequency. Indicates the resonant frequency. This represents the moment of inertia of the motor. The formula for the anti-resonance frequency is expressed as: in, Indicates the stiffness coefficient. This represents the moment of inertia of the load.

4. The servo position control system parameter adjustment method according to claim 1, characterized in that, The system transfer function is expressed as follows: in, This represents the position loop proportional feedback coefficient. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the speed loop. Indicates the anti-resonant frequency. To represent the complex variable in the Laplace transform, This represents the moment of inertia of the motor.

5. The servo position control system parameter adjustment method according to claim 1, characterized in that, The relationship between the gain values ​​at the anti-resonance point is expressed as follows: in, This is the gain value at the anti-resonance point. Indicates the anti-resonance resonance point. Represents the imaginary part in the complex frequency domain. It is the anti-resonant frequency. This is the stiffness coefficient. This is the position loop proportional feedback coefficient. This represents the integral feedback coefficient of the velocity loop.

6. A parameter adjustment device for a servo position control system, characterized in that, include: The transmission analysis unit is used to construct the system transfer function of the servo position control system to be adjusted, determine the anti-resonance frequency of the servo position control system to be adjusted, and construct the anti-resonance point gain value relationship based on the system transfer function and the anti-resonance frequency. An equivalent transfer function construction unit is used to substitute the anti-resonance point gain value relationship into the system transfer function to obtain an equivalent transfer function; the equivalent transfer function formula is expressed as: in, The coefficients are expressed as follows: in, Gain value at the anti-resonance point Indicates the anti-resonant frequency. Indicates the stiffness coefficient. Indicates the moment of inertia of the motor. To represent the complex variable in the Laplace transform, Indicates the resonant frequency. This represents the proportional feedback coefficient of the speed loop. This represents the integral feedback coefficient of the velocity loop; The control parameter solving unit is used to combine the preset anti-resonance point gain value and the equivalent transfer function to solve the control parameters of the servo position control system to be adjusted using the parameter plane method. The control parameters include position loop proportional feedback coefficient, velocity loop proportional feedback coefficient, and velocity loop integral feedback coefficient. The control parameters of the servo position control system to be adjusted are obtained by solving the parametric plane method using a preset anti-resonance point gain value and the equivalent transfer function, including: The system conjugate complex pole of the servo position control system to be adjusted is set; Using the denominator of the equivalent transfer function as the characteristic equation, and substituting the system's conjugate complex poles into the characteristic equation, we obtain the real part expression and the imaginary part expression; The coefficients of the characteristic equation are expressed as linear relationships of control parameters. The linear relationships of control parameters are substituted into the characteristic equation, and the real part expression and the imaginary part expression are combined to obtain the two-parameter equation to be solved. By combining the preset anti-resonance point gain value, the two-parameter equation to be solved is obtained to obtain the velocity loop proportional feedback coefficient and the velocity loop integral feedback coefficient; The position loop proportional feedback coefficient is determined based on the velocity loop proportional feedback coefficient, the velocity loop integral feedback coefficient, and the anti-resonance point gain value.

7. A servo control device, comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the program, it implements the parameter adjustment method for the servo position control system according to any one of claims 1 to 5.

8. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, it implements the servo position control system parameter adjustment method according to any one of claims 1 to 5.

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