Servo system parameter setting method and device combining PI control and wave trap

Abstract

The invention provides a servo system parameter setting method and device combining PI control and a wave trap, and belongs to the field of industrial control, and the method comprises the steps: constructing a system transfer function of a to-be-controlled servo system combining PI control and the wave trap; setting the system transfer function according to a preset design sample to obtain a design transfer function, and determining a relational expression of design parameters and characteristic parameters in the design transfer function and design constraints; and setting values of design parameters under design constraints, and solving the design transfer function according to the values of the design parameters to obtain control parameters of the to-be-controlled servo system. According to the invention, the wave trap is introduced into a traditional PI-controlled servo system, and the resonance suppression of the servo system with three control parameters being adjustable at the same time is carried out, so that a high-applicability resonance suppression effect is realized; furthermore, by designing a transfer function of a sample setting system, the three control parameters can be solved through a calculation formula, the difficulty of parameter setting is reduced, and the response performance of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of industrial control technology, and in particular to a servo system parameter tuning method and device combining PI control and a notch filter. Background Art

[0002] In servo systems, mechanical transmission devices are used to transfer the motor's torque to the load, enabling the load to rotate synchronously with the motor. In practical engineering applications, common connection types include ball screws, rack and pinion drives, coaxial drives, chain drives, and synchronous belt drives. However, these transmission devices are not ideal rigid bodies. When subjected to static or dynamic loads, they will experience a certain degree of mechanical deformation, causing mechanical resonance in the system. Mechanical resonance not only restricts servo system performance but also reduces equipment lifespan, resulting in numerous adverse effects. Currently, in the industrial control field, most control methods to suppress mechanical resonance use PI proportional-differential control due to control complexity and cost constraints.

[0003] However, the method of tuning the PI controller parameters relies on engineering experience, often requiring engineers to conduct multiple rounds of empirical debugging. Moreover, there are only two adjustable parameters in PI control, which means that the PI controller can only suppress resonance in some two-inertia systems that meet the requirements, resulting in poor applicability.

[0004] Therefore, there is a technical problem in the existing technology that the traditional PI control has only two adjustable parameters and can only suppress the resonance in the two-inertial system that partially meets the conditions, and has poor applicability, which needs to be improved. Summary of the Invention

[0005] In view of this, it is necessary to provide a servo system parameter tuning method and device combining PI control and notch filter, which is used to introduce a notch filter on the basis of PI control to suppress the resonance of the servo system with three control parameters adjustable at the same time, thereby achieving a highly applicable resonance suppression effect.

[0006] The first method of the present invention provides a servo system parameter tuning method combining PI control and notch filter, comprising: Construct the system transfer function of the servo system to be controlled by combining PI control and notch filter; The system transfer function is tuned according to the preset design sample to obtain the design transfer function, and the relationship between the design parameters and characteristic parameters in the design transfer function and the design constraints are determined; The values ​​of the design parameters are set under the design constraints, and the design transfer function is solved according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled.

[0007] In one possible implementation, a system transfer function of a servo system to be controlled that combines PI control and a notch filter is constructed, including: The system transmission analysis of the servo system to be controlled, which combines PI control and notch filter, is performed to obtain the system transfer function. The transfer function formula of the notch filter is expressed as:

[0008] in, represents the center frequency of the notch filter, represents the attenuation coefficient of the notch filter, represents the Laplace transform factor.

[0009] In one possible implementation, the system transfer function formula is expressed as:

[0010] in, Indicates the load speed, Indicates the reference speed, , , , represents the anti-resonance frequency, represents the resonant frequency, represents the shaft stiffness, Indicates the inertia ratio of load inertia to motor inertia, Indicates the load inertia, Indicates the motor inertia, represents the integral coefficient, represents the proportionality coefficient, represents the Laplace transform factor, represents the center frequency of the notch filter, Indicates the attenuation coefficient of the notch filter.

[0011] In a possible implementation, the design parameters include a first frequency, a second frequency, a first damping coefficient, and a second damping coefficient. The design transfer function formula is expressed as:

[0012] in, represents the first frequency, represents the second frequency, represents the first damping coefficient, represents the second damping coefficient, and and for Positive real numbers in the range, Indicates the load speed, Indicates the reference speed, represents the Laplace transform factor.

[0013] In a possible implementation, the design parameters also include an adjustment coefficient, which is expressed as follows:

[0014] The relationship between design parameters and characteristic parameters is expressed as:

[0015]

[0016]

[0017] in, represents the first frequency, represents the second frequency, represents the first damping coefficient, represents the second damping coefficient, represents the anti-resonance frequency, Indicates the inertia ratio of load inertia to motor inertia.

[0018] In one possible implementation, the design constraint formula includes: When the inertia ratio of load inertia to motor inertia exist When in range:

[0019]

[0020] When the inertia ratio of load inertia to motor inertia exist When in range:

[0021]

[0022] in, represents the first damping coefficient, Represents the adjustment coefficient.

[0023] In one possible implementation, the design parameters include a first damping coefficient and an adjustment coefficient. The values ​​of the design parameters are set under design constraints. The design transfer function is solved according to the values ​​of the design parameters to obtain control parameters of the servo system to be controlled, including: Setting the values ​​of the first damping coefficient and the adjustment coefficient under design constraints; Substituting the first damping coefficient, the adjustment coefficient and the preset system characteristic parameter value into the relationship between the design parameter and the characteristic parameter to obtain the value of each design parameter; The control parameters of the servo system to be controlled are obtained by solving the values ​​of each design parameter and the preset system characteristic parameter values.

[0024] In a possible implementation, the control parameters of the servo system to be controlled include a proportional coefficient, an integral coefficient, and a notch filter attenuation coefficient. The control parameter result formula is expressed as follows:

[0025]

[0026]

[0027] in, represents the proportionality coefficient, represents the integral coefficient, represents the notch filter attenuation coefficient, represents the first frequency, represents the second frequency, represents the first damping coefficient, Indicates the motor inertia, represents the anti-resonance frequency, represents the adjustment coefficient, Indicates the center frequency of the notch filter.

[0028] In a second aspect, the present invention further provides a servo system parameter tuning device combining PI control and a notch filter, comprising: Transmission analysis unit, used to construct the system transfer function of the servo system to be controlled by combining PI control and notch filter; A parameter design unit is used to adjust the system transfer function according to a preset design sample to obtain a design transfer function, and to determine the relationship between the design parameters and the characteristic parameters in the design transfer function and the design constraints; The control parameter solving unit is used to set the value of the design parameter under the design constraint, and solve the design transfer function according to the value of the design parameter to obtain the control parameter of the servo system to be controlled.

[0029] In a third aspect, the present invention also provides a servo control device, comprising a processor, a memory, and a computer program stored in the memory and runnable on the processor. When the processor executes the program, it implements a servo system parameter adjustment method combining PI control and a notch filter according to any of the above items.

[0030] Compared with the prior art, the servo system parameter tuning method combining PI control and a notch filter provided by the present invention introduces a notch filter into the traditional PI controlled servo system to perform resonance suppression of the servo system with three control parameters adjustable at the same time, thereby achieving a highly applicable resonance suppression effect.

[0031] Furthermore, the present invention designs a sample to adjust the system transfer function so that the three control parameters can be solved through calculation formulas, thereby reducing the difficulty of parameter adjustment and improving the system response performance. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the 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 work.

[0033] Figure 1 A flow chart of an embodiment of a servo system parameter tuning method combining PI control and a notch filter provided by the present invention; Figure 2 Schematic diagram of the servo system transmission control according to an embodiment of the present invention; Figure 3 A schematic diagram of a flow chart for solving and designing a transfer function according to an embodiment of the present invention; Figure 4 This is a comparison chart of the control effects of Experiment 1 of the present invention; Figure 5 This is the mechanical resonance curve of the transmission system in Experiment 2 of the present invention; Figure 6 This is a comparison chart of the control effects of Experiment 2 of the present invention; Figure 7 This is a comparison chart of the control effects of Experiment 3 of the present invention; Figure 8 A schematic structural diagram of an embodiment of a servo system parameter tuning device combining PI control and a notch filter provided by the present invention; Figure 9 A schematic structural diagram of an embodiment of a servo control device provided by the present invention. DETAILED DESCRIPTION

[0034] The following will provide a clear and complete description of the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of them. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of the present invention.

[0035] It should be understood that the schematic drawings are not drawn to scale. The flowcharts used in the present invention illustrate operations implemented according to some embodiments of the present invention. It should be understood that the operations of the flowcharts can be implemented out of sequence, and steps that have no logical contextual relationship can be reversed in order or implemented simultaneously. In addition, those skilled in the art, guided by the content of the present invention, can add one or more other operations to the flowcharts or remove one or more operations from the flowcharts. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in the form of software, or in one or more hardware modules or integrated circuits, or in different networks and / or processor systems and / or microcontroller systems.

[0036] The terms "first" and "second" in the embodiments of the present invention are for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature designated as "first" or "second" may explicitly or implicitly include at least one such feature.

[0037] References herein to "embodiments" mean that a particular feature, structure, or characteristic described in connection with the embodiments may be included in at least one embodiment of the present invention. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor does it constitute a separate or alternative embodiment that is mutually exclusive of other embodiments. It is understood, both explicitly and implicitly, by those skilled in the art that the embodiments described herein may be combined with other embodiments.

[0038] The present invention provides a servo system parameter tuning method and device combining PI control and notch filter, which are described below respectively.

[0039] Figure 1 Schematic diagram of a flow chart of an embodiment of a servo system parameter tuning method combining PI control and notch filter provided by the present invention, as shown in FIG. Figure 1 As shown in Figure 1, the servo system parameter tuning method combining PI control and notch filter includes: S101, constructing a system transfer function of the servo system to be controlled that combines PI control and a notch filter; After introducing the notch filter into the servo system, the embodiment requires a transmission analysis to construct the system transfer function of the servo system under the combined control of PI control and the notch filter. The control parameters of the notch filter include the notch filter attenuation coefficient and the notch filter center frequency. However, since the notch filter is used to suppress the resonance of the servo system, the notch filter center frequency needs to be set to the resonant frequency of the servo system. Therefore, the actual control parameter of the notch filter is the notch filter attenuation coefficient.

[0040] Furthermore, in the system transfer function obtained by transmission analysis, the control parameters include the proportional coefficient and integral coefficient of the PI control, and the notch filter attenuation coefficient of the notch filter. By adjusting the values ​​of the above three parameters, the resonance suppression of the servo system with three control parameters can be achieved, and a highly applicable resonance suppression effect can be obtained.

[0041] S102, tuning the system transfer function according to a preset design sample to obtain a design transfer function, and determining a relationship between design parameters and characteristic parameters in the design transfer function and design constraints; To facilitate system control and improve system performance, the embodiment uses a preset design sample to adjust the system transfer function. The embodiment first expresses the system transfer function using design parameters and determines the relationship between the design parameters and the system's characteristic parameters, thereby simplifying the difficulty of solving the control parameters. Furthermore, considering that the system is fourth-order and there are only three control parameters, parameter design is subject to limitations and constraints. Accordingly, the embodiment establishes design constraints to limit the range of design parameter values.

[0042] S103 , setting the values ​​of the design parameters under the design constraints, and solving the design transfer function according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled.

[0043] Among them, according to the constructed design constraints, the embodiment can set the values ​​of the first damping coefficient and the adjustment coefficient in the design parameters within the constraints, and calculate the values ​​of other design parameters based on the relationship between the design parameters and the characteristic parameters, combined with the known characteristic parameters of the system, and finally solve to obtain the control parameters of the servo system to achieve resonance suppression of the servo system.

[0044] Compared with the prior art, the servo system parameter tuning method combining PI control and a notch filter provided by the present invention introduces a notch filter into the traditional PI controlled servo system to perform resonance suppression of the servo system with three control parameters adjustable at the same time, thereby achieving a highly applicable resonance suppression effect.

[0045] Furthermore, the present invention designs a sample to adjust the system transfer function so that the three control parameters can be solved through calculation formulas, thereby reducing the difficulty of parameter adjustment and improving the system response performance.

[0046] In some embodiments of the present invention, constructing a system transfer function of a servo system to be controlled in combination with PI control and a notch filter includes: The system transmission analysis of the servo system to be controlled which combines PI control and notch filter is performed to obtain the system transfer function.

[0047] Specifically, Figure 2 The servo system transmission control diagram of the embodiment of the present invention is combined with Figure 2From the perspective of the servo control system, the PI controller and the notch filter are jointly controlled, where the PI controller parameters include the proportional coefficient and the integral coefficient , the control parameters of the notch filter include the attenuation coefficient of the notch filter, and its transfer function can be expressed as:

[0048] in, represents the center frequency of the notch filter, represents the attenuation coefficient of the notch filter, represents the Laplace transform factor.

[0049] Through Figure 2 The transmission analysis of the servo system controlled by the PI controller and the notch filter is carried out, and the system transfer function expression can be derived as follows:

[0050] in, Indicates the load speed, Indicates the reference speed, , , , represents the anti-resonance frequency, represents the resonant frequency, represents the shaft stiffness, Indicates the inertia ratio of load inertia to motor inertia, Indicates the load inertia, Indicates the motor inertia, represents the integral coefficient, represents the proportionality coefficient, represents the Laplace transform factor, represents the center frequency of the notch filter, Indicates the attenuation coefficient of the notch filter.

[0051] In the system transfer function, since the function of the notch filter is to suppress resonance, the center frequency of the notch filter can be set to the resonant frequency of the system, that is, , and then, the system transfer function can be further expressed as:

[0052] According to the constructed system transfer function, in order to simplify the calculation, the embodiment is tuned according to the following design sample to obtain the design transfer function:

[0053] in, represents the first frequency, represents the second frequency, represents the first damping coefficient, represents the second damping coefficient, and and for Positive real numbers in the range, Indicates the load speed, Indicates the reference speed, represents the Laplace transform factor.

[0054] Then, according to the expression of matching system transfer function and design sample, and analyzing the characteristics, the relationship between design parameters and characteristic parameters of the system can be obtained:

[0055]

[0056]

[0057] in, To adjust the parameters, the embodiment matches the design sample and the notch filter parameters through the adjustment parameters, and the adjustment parameters The formula is:

[0058] In addition, since the system is fourth-order and there are only three control parameters, the parameter design needs to be limited and constrained. To this end, the embodiment constructs the constraints of the first damping coefficient and the adjustment coefficient, and the design constraints are: When the inertia ratio of load inertia to motor inertia exist When in range:

[0059]

[0060] When the inertia ratio of load inertia to motor inertia exist When in range:

[0061]

[0062] in, represents the first damping coefficient, Represents the adjustment coefficient.

[0063] In some embodiments of the present invention, the design parameters include a first damping coefficient and an adjustment coefficient. Figure 3 FIG. 1 is a flow chart of solving and designing a transfer function according to an embodiment of the present invention, as shown in FIG. Figure 3As shown, the values ​​of the design parameters are set under the design constraints, and the design transfer function is solved according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled, including: S301, setting the values ​​of the first damping coefficient and the adjustment coefficient under design constraints; S302, substituting the first damping coefficient, the adjustment coefficient and the preset system characteristic parameter value into the relationship between the design parameter and the characteristic parameter to obtain the value of each design parameter; S303 : Obtain control parameters of the servo system to be controlled based on the values ​​of the design parameters and the preset system characteristic parameters.

[0064] Specifically, after completing the tuning of the design sample, the embodiment can select a value for the first damping coefficient and the adjustment coefficient within the range set by the design constraints, in combination with the actual operating conditions of the servo system. The selected first damping coefficient and adjustment coefficient are then substituted into the relationship between the design parameters and the characteristic parameters to obtain the first frequency and the second frequency. The solution is then combined with the pre-set system characteristic parameters to obtain the control parameters of the servo system to be controlled. The servo system is then controlled using the calculated control parameters to suppress mechanical resonance.

[0065] Among them, the control parameters of the servo system to be controlled can be expressed by design parameters and system characteristic parameters respectively. The control parameter result formula is expressed as:

[0066]

[0067]

[0068] in, represents the proportionality coefficient, represents the integral coefficient, represents the notch filter attenuation coefficient, represents the first frequency, represents the second frequency, represents the first damping coefficient, Indicates the motor inertia, represents the anti-resonance frequency, represents the adjustment coefficient, Indicates the center frequency of the notch filter.

[0069] It should be noted that the pre-set system characteristic parameters are not limited to a specific combination of characteristic parameters. Different pre-set characteristic parameters can be used for different servo systems, or the system's structural parameters can be used. The selected parameters can be determined based on factors such as the difficulty and accuracy of parameter acquisition, combined with actual operating conditions. Furthermore, since the characteristic parameters and / or structural parameters inherently have a conversion relationship, the parameters can be adaptively converted and then substituted into the control parameter result formula of the present invention to complete the control parameter solution.

[0070] In order to verify the effectiveness of the present invention, the present invention also carried out a verification experiment, wherein: Experiment 1: The characteristic parameters of the resonant system are known, such as , , , selected by design constraints The value of , further selected The value of Calculated from the relationship between design parameters and characteristic parameters , and Finally, the control parameter is determined according to the control parameter result formula. , and Compared with the simulation of traditional PI control, Figure 4 As shown, Figure 4 This is a comparison chart of the control effects of Experiment 1 of the present invention.

[0071] Experiment 2: Figure 5 This is the mechanical resonance curve of the transmission system in Experiment 2 of the present invention, and the reading is Figure 5 The system characteristic parameters, resonant frequency , anti-resonance frequency . It can be calculated by system transmission analysis. The value of , and then select according to the design constraints The value of , further selected The value of Calculated from the relationship between design parameters and characteristic parameters , and Finally, the control parameter is determined according to the control parameter result formula. , and Compared with the simulation of traditional PI control, Figure 6 As shown, Figure 6 This is a comparison chart of the control effects of Experiment 2 of the present invention.

[0072] Experiment 3: The structural parameters of the resonant system are known, such as , , The characteristic parameters of the system can be obtained by combining the system transmission analysis, and then selected according to the design constraints. The value of , further selected The value of Calculated from the relationship between design parameters and characteristic parameters , and Finally, the control parameter is determined according to the control parameter result formula. , and Compared with the simulation of traditional PI control, Figure 7 As shown, Figure 7 This is a comparison chart of the control effects of Experiment 3 of the present invention.

[0073] Combining the above three experiments, it is not difficult to see that Figure 4 、 Figure 6 and Figure 7 The servo system parameter tuning method combining PI control and notch filter proposed in the present invention is superior to traditional PI control in terms of both control effect and response speed.

[0074] In summary, in the servo system parameter tuning method combining PI control and notch filter provided by the present invention, a notch filter is introduced into the traditional PI controlled servo system to perform resonance suppression of the servo system with three control parameters adjustable at the same time, thereby achieving a highly applicable resonance suppression effect.

[0075] Furthermore, the present invention designs a sample to adjust the system transfer function so that the three control parameters can be solved through calculation formulas, thereby reducing the difficulty of parameter adjustment and improving the system response performance.

[0076] In order to better implement the servo system parameter tuning method combining PI control and notch filter in the embodiment of the present invention, based on the servo system parameter tuning method combining PI control and notch filter, correspondingly, Figure 8 As shown, an embodiment of the present invention further provides a servo system parameter tuning device combining PI control and a notch filter. The servo system parameter tuning device 800 combining PI control and a notch filter includes: A transmission analysis unit 801 is used to construct a system transfer function of the servo system to be controlled in combination with PI control and a notch filter; The parameter design unit 802 is used to tune the system transfer function according to a preset design sample to obtain a design transfer function, and determine the relationship between the design parameters and the characteristic parameters in the design transfer function and the design constraints; The control parameter solving unit 803 is used to set the value of the design parameter under the design constraint, and solve the design transfer function according to the value of the design parameter to obtain the control parameters of the servo system to be controlled.

[0077] The servo system parameter tuning device 800 combined with PI control and a notch filter provided in the above embodiment can implement the technical solution described in the above embodiment of the servo system parameter tuning method combined with PI control and a notch filter. The specific implementation principles of the above modules or units can be found in the corresponding contents in the above embodiment of the servo system parameter tuning method combined with PI control and a notch filter, which will not be repeated here.

[0078] like Figure 9 As shown, the present invention also provides a servo control device 900. The servo control device 900 includes a processor 901, a memory 902 and a display 903. Figure 9 Only some of the components of the servo control device 900 are shown, but it should be understood that implementation of all of the shown components is not required, and more or fewer components may alternatively be implemented.

[0079] In some embodiments, the processor 901 can be a central processing unit (CPU), a microprocessor, or other data processing chip, used to run the program code or process data stored in the memory 902, such as the servo system parameter tuning method combining PI control and notch filter in the present invention.

[0080] In some embodiments, the memory 902 may be an internal storage unit of the servo control device 900, such as a hard disk or memory of the servo control device 900. In other embodiments, the memory 902 may be an external storage device of the servo control device 900, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) card, a flash memory card, etc., equipped on the servo control device 900.

[0081] Furthermore, the memory 902 may include both an internal storage unit of the servo control device 900 and an external storage device. The memory 902 is used to store application software installed in the servo control device 900 and various data.

[0082] In some embodiments, the display 903 may be an LED display, a liquid crystal display, or a touch-sensitive liquid crystal display. The display 903 is used to display information about the servo control device 900 and to display a visual user interface. The components 901-903 of the servo control device 900 communicate with each other via a system bus.

[0083] In one embodiment, when the processor 901 executes the servo system parameter tuning program combining PI control and notch filter stored in the memory 902, the following steps may be implemented: Construct the system transfer function of the servo system to be controlled by combining PI control and notch filter; The system transfer function is tuned according to the preset design sample to obtain the design transfer function, and the relationship between the design parameters and characteristic parameters in the design transfer function and the design constraints are determined; The values ​​of the design parameters are set under the design constraints, and the design transfer function is solved according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled.

[0084] It should be understood that when the processor 901 executes the servo system parameter tuning program combining PI control and notch filter in the memory 902, in addition to the above functions, it can also implement other functions. For details, please refer to the description of the corresponding method embodiment above.

[0085] The above is a detailed introduction to the servo system parameter tuning method and device combined with PI control and notch filter provided by the present invention. Specific examples are used herein to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core ideas. At the same time, for those skilled in the art, according to the ideas of the present invention, there may be changes in the specific implementation methods and application scopes. In summary, the contents of this specification should not be understood as limiting the present invention.

Claims

1. A servo system parameter tuning method combining PI control and notch filter, characterized in that: include: Construct the system transfer function of the servo system to be controlled by combining PI control and notch filter; The system transfer function is tuned according to a preset design sample to obtain a design transfer function, and a relationship between design parameters and characteristic parameters in the design transfer function and design constraints are determined; The values ​​of the design parameters are set under the design constraints, and the design transfer function is solved according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled.

2. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The system transfer function of the servo system to be controlled combining PI control and notch filter is constructed, including: The system transmission analysis of the servo system to be controlled, which combines PI control and notch filter, is performed to obtain the system transfer function. The transfer function formula of the notch filter is expressed as: in, represents the center frequency of the notch filter, represents the attenuation coefficient of the notch filter, represents the Laplace transform factor.

3. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The system transfer function formula is expressed as: in, Indicates the load speed, Indicates the reference speed, , , , represents the anti-resonance frequency, represents the resonant frequency, represents the shaft stiffness, Indicates the inertia ratio of load inertia to motor inertia, Indicates the load inertia, Indicates the motor inertia, represents the integral coefficient, represents the proportionality coefficient, represents the Laplace transform factor, represents the center frequency of the notch filter, Indicates the attenuation coefficient of the notch filter.

4. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The design parameters include a first frequency, a second frequency, a first damping coefficient, and a second damping coefficient. The design transfer function formula is expressed as: in, represents the first frequency, represents the second frequency, represents the first damping coefficient, represents the second damping coefficient, and and for Positive real numbers in the range, Indicates the load speed, Indicates the reference speed, represents the Laplace transform factor.

5. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The design parameters also include an adjustment coefficient, which is expressed as follows: The relationship between the design parameters and the characteristic parameters is expressed as: in, represents the first frequency, represents the second frequency, represents the first damping coefficient, represents the second damping coefficient, represents the anti-resonance frequency, Indicates the inertia ratio of load inertia to motor inertia.

6. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The design constraint formula includes: When the inertia ratio of load inertia to motor inertia exist When in range: When the inertia ratio of load inertia to motor inertia exist When in range: in, represents the first damping coefficient, Represents the adjustment coefficient.

7. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The design parameters include a first damping coefficient and an adjustment coefficient, and setting the values ​​of the design parameters under the design constraints, and solving the design transfer function according to the values ​​of the design parameters to obtain the control parameters of the servo system to be controlled, include: setting the values ​​of the first damping coefficient and the adjustment coefficient under the design constraints; Substituting the first damping coefficient, the adjustment coefficient and the preset system characteristic parameter value into the relationship between the design parameter and the characteristic parameter to obtain the value of each design parameter; The control parameters of the servo system to be controlled are obtained by solving the values ​​of the design parameters and the preset system characteristic parameter values.

8. The servo system parameter tuning method combining PI control and notch filter according to claim 1, characterized in that: The control parameters of the servo system to be controlled include a proportional coefficient, an integral coefficient and a notch filter attenuation coefficient. The control parameter result formula is expressed as follows: in, represents the proportionality coefficient, represents the integral coefficient, represents the notch filter attenuation coefficient, represents the first frequency, represents the second frequency, represents the first damping coefficient, Indicates the motor inertia, represents the anti-resonance frequency, represents the adjustment coefficient, Indicates the center frequency of the notch filter.

9. A servo system parameter tuning device combining PI control and notch filter, characterized in that: include: Transmission analysis unit, used to construct the system transfer function of the servo system to be controlled by combining PI control and notch filter; a parameter design unit, configured to adjust the system transfer function according to a preset design sample to obtain a design transfer function, and determine a relationship between design parameters and characteristic parameters in the design transfer function and design constraints; The control parameter solving unit is used to set the value of the design parameter under the design constraint, and solve the design transfer function according to the value of the design parameter to obtain the control parameter of the servo system to be controlled.

10. A servo control device comprising a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein: When the processor executes the program, the servo system parameter tuning method combining PI control and notch filter according to any one of claims 1 to 8 is implemented.

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