Micro servo electric cylinder closed-loop control method and system
By integrating thermal management and layout analysis units into the closed-loop control system of a micro-servo electric cylinder, the thermal management and layout of the internal components of the electric cylinder can be adjusted in real time, solving the problem of insufficient thermal management and layout analysis in the existing technology, and improving the operating efficiency of the electric cylinder and the accuracy of closed-loop control.
Patent Information
- Application Number
- CN202511153022.6
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-08-18
- Publication Date
- 2025-09-16
- Estimated Expiration
- Not applicable · inactive patent
AI Technical Summary
The existing closed-loop control of micro servo electric cylinders cannot effectively perform thermal management coordination analysis and layout analysis, and it is difficult to detect the impact of temperature fluctuations and load fluctuations, resulting in a decrease in the accuracy of closed-loop control decisions.
A closed-loop control center is used, integrating thermal management coordination analysis units, accessory layout analysis units, temperature fluctuation impact analysis units, and load fluctuation impact analysis units. Through thermal expansion calculation, heat dissipation power setting, component vibration frequency analysis, and PID algorithm, the thermal management and layout of the internal components of the electric cylinder are adjusted in real time to evaluate and control the impact of temperature and load fluctuations.
It improves the operating efficiency of the internal components of the electric cylinder, avoids the decline in the operating efficiency of the electric cylinder due to heat and load fluctuations, ensures the accuracy and stability of closed-loop control, and reduces the occurrence of failures.
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Figure CN120652784A_ABST
Abstract
Description
Technical Field
[0001] The present invention relates to the technical field of closed-loop control of micro servo electric cylinders, and in particular to a closed-loop control method and system for a micro servo electric cylinder. Background Art
[0002] The micro servo cylinder is a highly integrated precision linear motion actuator that integrates a servo motor, reduction mechanism, screw drive system, sensor and controller in a compact housing, and achieves high-precision, high-response linear displacement and thrust output through closed-loop control.
[0003] However, in existing technologies, when closed-loop control is performed on servo electric cylinders, it is impossible to conduct thermal management coordination and layout analysis on the internal components of the electric cylinder before the closed-loop control is executed. This makes it difficult to ensure that the coordination efficiency of the internal components meets actual needs over the long service life of the electric cylinder and to make operational decisions. In addition, it is impossible to detect the impact of temperature fluctuations and load fluctuations on closed-loop control, so it is impossible to conduct a comprehensive evaluation based on real-time fluctuation impact and impact control, resulting in a decrease in the accuracy of closed-loop control decisions. For this reason, a solution is now proposed. Summary of the Invention
[0004] The purpose of the present invention is to solve the above-mentioned problems and to provide a closed-loop control method and system for a micro servo electric cylinder.
[0005] The object of the present invention can be achieved by the following technical solution: A micro servo electric cylinder closed-loop control system includes a closed-loop control center, and the closed-loop control center is communicatively connected to: Thermal management coordination analysis unit, which performs thermal management coordination analysis on the internal components of the electric cylinder; Accessory layout analysis unit, used to analyze the layout of the internal components of the electric cylinder; The electric cylinder operation module makes operation decisions based on the above unit analysis; a fluctuation influence unit, configured to transmit signals to a temperature fluctuation influence analysis unit and a load fluctuation influence analysis unit; After receiving the temperature fluctuation impact analysis unit, the closed-loop control stage is subjected to temperature fluctuation impact analysis; After receiving the load fluctuation impact analysis unit, the load fluctuation impact analysis is performed on the closed-loop control stage; Make closed-loop control decisions based on impact analysis.
[0006] As a preferred embodiment of the present invention, the process of the thermal management and analysis unit is as follows: when the electric cylinder is in operation, the temperature rises due to the heat generated by the current, thereby generating thermal expansion. The thermal expansion amount is marked as ΔLp, and the thermal expansion amount is calculated as follows: ΔLp=α×ΔT×L0; Where α is the thermal expansion coefficient of the material, ΔT is the temperature rise value according to the cylinder material; L0 is the initial length; Conditions are set for the heat dissipation power in the electric cylinder environment. The specific condition formula is as follows: GL=hA(T 电 -T 环 )≥I 2 R; Where GL is the heat dissipation power, h is the convection heat transfer coefficient W / (m 2 ℃)), expressed as h=3v 0.8 (v is wind speed, m / s); T 电 Expressed as motor temperature, T 环 It is represented by the ambient temperature, and A is represented by the heat dissipation surface area; Based on the settings of thermal expansion and heat dissipation power, thermal management coordination analysis is performed on the internal components of the electric cylinder.
[0007] As a preferred embodiment of the present invention, the operating starting temperature at the start of the current operating cycle of any component in the stage of increasing thermal expansion is obtained, and the rising rate of the operating starting temperature is obtained based on the operating starting temperature records at the continuous operating moments. At the same time, the temperature rise spans corresponding to adjacent operating cycles of the internal components under the current heat dissipation power setting conditions are obtained, and the temperature rise spans are statistically recorded based on the continuous operation of multiple operating cycles, and the peak temperature rise span during the current operation process is obtained. If the rising rate of the operation start temperature exceeds the set rising rate threshold, or the temperature rise span peak value exceeds the set peak threshold, a thermal management redistribution signal is generated; if the rising rate of the operation start temperature does not exceed the set rising rate threshold, and the temperature rise span peak value does not exceed the set peak threshold, a thermal management allocation fitting signal is generated and sent to the electric cylinder operation module.
[0008] As a preferred embodiment of the present invention, the accessory layout analysis unit performs the following process: using the layout positions of the current internal components of the electric cylinder as an analysis surface, obtaining the range of average vibration frequencies of adjacent internal components in the analysis surface during the operation phase, and classifying the adjacent internal components into high-frequency components and low-frequency components according to the range of the adjacent internal components; Under the current internal component fixing mode, the actual vibration amplitude and the set vibration amplitude of the component operation are obtained, and the amplitude deviation at each moment is obtained based on the actual vibration amplitude at each moment to obtain the numerical trend of the amplitude deviation during the operation period; at the same time, the interval span value of the corresponding amplitude deviation of the low-frequency component before and after the operation of the high-frequency component is obtained, and the collected data is analyzed.
[0009] As a preferred embodiment of the present invention, if the numerical trend of the amplitude deviation during the operation period is a floating trend, a layout fixing signal is generated; If the numerical trend of the amplitude deviation during the operation period is a stable trend, a fixed mode stable signal is generated; If the interval span value of the amplitude deviation corresponding to the low-frequency component exceeds the interval span threshold, a layout rectification signal is generated and sent to the electric cylinder operation module; if the interval span value of the amplitude deviation corresponding to the low-frequency component does not exceed the interval span threshold, a layout compliance signal is generated and sent to the electric cylinder operation module.
[0010] As a preferred embodiment of the present invention, the operation process of the temperature fluctuation impact analysis unit is as follows: Temperature compensation is performed based on real-time temperature fluctuations. The specific compensation formula is as follows: ; Among them, S(t) is the control output, which is used to adjust the operating parameters of the electric cylinder; K p is the proportional gain, K i is the integral gain, K d is the differential gain; e(t) is the current deviation (target value - actual feedback value, including the deviation after temperature influence); u temp It represents the temperature compensation term.
[0011] As a preferred embodiment of the present invention, based on the control output at each operating moment, the actual control output duration corresponding to the temperature fluctuation in the current period is obtained. At the same time, the time required for the electric cylinder to dissipate heat and set the starting temperature after stopping operation and the preset time required to re-operate to meet the current task are obtained, and the sum of the time is obtained and marked as the restart time. An analysis is performed based on the maintainable time and the restart time. If the maintainable time is much shorter than the restart time, the electric cylinder is restarted; if the maintainable time is much longer than the restart time, temperature compensation is performed on the electric cylinder.
[0012] As a preferred embodiment of the present invention, the process of the load fluctuation impact analysis unit is as follows: according to the real-time load fluctuation, the control output is obtained by combining the PID algorithm, and the formula is as follows: Among them, K p (t), K i (t), K d (t) is a parameter adjusted in real time with load fluctuations, and the type and value are obtained according to the parameter adjusted in real time with load fluctuations; The data type generated at any load fluctuation is obtained, and the corresponding quantity ratio of the type that needs to be adjusted and the type that does not need to be adjusted is obtained. At the same time, the continuous growth span of the adjustment value of the same type of adjustment parameter corresponding to the continuous load fluctuation is obtained.
[0013] As a preferred embodiment of the present invention, if the ratio of the number of types requiring adjustment to the number of types not requiring adjustment in the data types generated at any load fluctuation moment exceeds a quantity ratio threshold, or if the continuous growth span of the adjustment values of the same type of adjustment parameters corresponding to consecutive load fluctuation moments exceeds a growth span threshold, a load adjustment signal is generated; If the ratio of the number of types that need to be adjusted and the number of types that do not need to be adjusted in the data type generated at any load fluctuation moment does not exceed the quantity ratio threshold, and the continuous growth span of the adjustment values of the same type of adjustment parameters corresponding to consecutive load fluctuation moments does not exceed the growth span threshold, then a load fluctuation safety signal is generated.
[0014] The present invention also proposes a closed-loop control method for a micro servo electric cylinder. The closed-loop control method is as follows: Thermal management coordination analysis: conduct thermal management coordination analysis on the internal components of the electric cylinder; Accessory layout analysis, used to analyze the layout of the internal components of the electric cylinder; Make operational decisions based on the above analysis; Temperature fluctuation impact analysis: perform temperature fluctuation impact analysis on the closed-loop control stage; Load fluctuation impact analysis: load fluctuation impact analysis is performed on the closed-loop control stage; Make closed-loop control decisions based on impact analysis.
[0015] Compared with the prior art, the present invention has the following beneficial effects: 1. In the present invention, thermal management coordination analysis is performed based on the operating characteristics of internal components to infer whether the thermal management inside the electric cylinder is normal under different operating scenarios. This can prevent the operating characteristics of internal components from restraining each other, resulting in a decrease in the operating efficiency of the electric cylinder. Through thermal management coordination analysis, thermal management control can be performed according to the real-time thermal management status, reducing the impact of heat generation on the component operating environment.
[0016] 2. In the present invention, a layout analysis is performed on the internal components of the electric cylinder. Through the layout analysis, it is inferred whether the current installation positions of the internal components of the electric cylinder are suitable for the current task requirements. Therefore, the real-time layout adjustment is made to improve the coordination efficiency of each component, avoiding the decline in the coordination efficiency of the components, which may easily cause the hardware operation to fail to keep up during the closed-loop control of the electric cylinder, thereby reducing the control efficiency.
[0017] 3. In the present invention, the closed-loop control of the current electric cylinder is detected based on temperature fluctuations and load fluctuations, and the actual operating efficiency of the electric cylinder under the current operating conditions is detected, so as to facilitate timely operation adjustments and avoid malfunctions during the operation of the electric cylinder. It can also conduct targeted impact assessments on fluctuation parameters and make timely adjustments to the fluctuation parameters. BRIEF DESCRIPTION OF THE DRAWINGS
[0018] To facilitate understanding by those skilled in the art, the present invention is further described below with reference to the accompanying drawings.
[0019] Figure 1 It is the overall principle block diagram of the present invention; Figure 2 This is a principle block diagram of embodiment 1 of the present invention; Figure 3 This is a principle block diagram of embodiment 2 of the present invention; Figure 4 It is a flowchart of the method of the present invention. DETAILED DESCRIPTION
[0020] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in this field based on the embodiments of the present invention without making any creative efforts shall fall within the scope of protection of the present invention.
[0021] 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.
[0022] According to the prior art, a micro servo cylinder is a highly integrated precision linear motion actuator that integrates a servo motor, a reduction mechanism, a screw drive system, a sensor, and a controller in a compact housing. It achieves high-precision, high-response linear displacement and thrust output through closed-loop control. This system proposes a closed-loop control system for micro servo cylinders. Figure 1 As shown in the figure, the technical core of a micro servo electric cylinder closed-loop control system is the closed-loop control center, which is the aggregation point of all data and the core component that analyzes the collected data and generates instructions; The closed-loop control center is connected to the electric cylinder operation module, which is the power assembly of the electric cylinder and the core processor for coordinating the operation of all components inside the electric cylinder. When the electric cylinder operation module is used as the powertrain, it is connected to the thermal management coordination analysis unit and the accessory layout analysis unit. The connected units perform operation analysis on the internal components and use this as an operation trigger condition to ensure that real-time operation meets actual needs and avoid inefficient coordination of internal components during operation, which may cause closed-loop control abnormalities. In addition, the closed-loop control center is connected to the fluctuation impact unit; the unit cooperates with each other to analyze the data of the closed-loop execution stage to infer the real-time execution risk; Example 1
[0023] The disclosed units of this embodiment cooperate with each other to perform sustainability analysis of the electric cylinder power supply before closed loop execution. Figure 2 As shown, the specific control process is as follows: The electric cylinder operation module serves as the power assembly, and the electric cylinder is equipped with a servo motor, a reduction mechanism, a screw transmission system, a sensor and a controller; The thermal management coordination analysis unit is used to analyze the thermal management coordination of the internal components of the electric cylinder. The thermal management coordination analysis is performed based on the operating characteristics of the internal components to infer whether the thermal management inside the electric cylinder is normal under different operating scenarios. This can avoid the operating characteristics of the internal components restraining each other, resulting in a decrease in the operating efficiency of the electric cylinder. The thermal management coordination analysis can also be used to control thermal management according to the real-time thermal management status, reducing the impact of heat generation on the component operating environment. During operation, the electric cylinder generates heat due to the temperature rise caused by the current, which in turn generates thermal expansion. The thermal expansion is marked as ΔLp, and the thermal expansion is calculated as follows: ΔLp = α × ΔT × L0; Where α is the thermal expansion coefficient of the material, and ΔT is the temperature rise value according to the cylinder material, such as steel; L0 is the initial length; It should be explained that the temperature rise is determined by the balance between motor heat generation and heat dissipation. This system uses the actual temperature fluctuation span of the internal environment under normal motor operation as the temperature rise value. Conditions are set for the heat dissipation power in the electric cylinder environment. The specific condition formula is as follows: GL=hA(T 电 -T 环 )≥I 2 R; Where GL is the heat dissipation power, h is the convection heat transfer coefficient W / (m 2 ℃)), expressed as h=3v 0.8 (v is wind speed, m / s); T 电 Expressed as motor temperature, T 环 It is represented by the ambient temperature, and A is represented by the heat dissipation surface area; I and R in the formula represent current and resistance respectively. The Joule heat formula is Q=I 2Rt (t is time) reflects its relationship with heat generation, and the formula here is simplified to I 2 R, which can be understood as the heat power per unit time (when time takes a unit value), is used to measure the rate at which the motor generates heat due to the current passing through the resistance; Conduct thermal management analysis on the internal components of the electric cylinder based on the settings of thermal expansion and heat dissipation power; Obtain the operating starting temperature of any component at the start of the current operating cycle during the rising phase of thermal expansion, and obtain the rising rate of the operating starting temperature based on the records of the operating starting temperature at the consecutive operating moments; At the same time, the temperature rise span corresponding to the adjacent operating cycles of the internal components under the current heat dissipation power setting conditions is obtained, and the temperature rise span is statistically recorded when multiple operating cycles are continuously operated, and the peak temperature rise span during the current operation process is obtained; If the rising speed of the operation start temperature exceeds the set rising speed threshold, or the temperature rise span peak exceeds the set peak threshold, a thermal management reallocation signal is generated and sent to the electric cylinder operation module. After receiving the signal, the electric cylinder operation module shortens the cycle of the currently executed task and adjusts the heat dissipation power. It also re-plans the thermal management of the unexecuted tasks, calculates the thermal expansion and heat dissipation power in real time, and executes the tasks after reallocation. If the rising speed of the operation start temperature does not exceed the set rising speed threshold, and the temperature rise span peak does not exceed the set peak threshold, a thermal management allocation fitting signal is generated and sent to the electric cylinder operation module; The accessory layout analysis unit is used to analyze the layout of the internal components of the electric cylinder. Through layout analysis, it is inferred whether the current installation position of the internal components of the electric cylinder is suitable for the current task. Based on the real-time layout adjustment, the coordination efficiency of each component is improved to avoid the decline in the coordination efficiency of the components, which may cause the hardware to fail to keep up with the closed-loop control of the electric cylinder and reduce the control efficiency. The layout position of the current internal components of the electric cylinder is used as the analysis surface. The range of the average vibration frequency of the adjacent internal components in the analysis surface during the operation phase is obtained. The adjacent internal components are divided into high-frequency components and low-frequency components according to the range of the floating span. The division standard is based on the relative premise of the adjacent internal components. Under the current internal component fixing mode, the actual vibration amplitude and the set vibration amplitude of the component operation are obtained, and the amplitude deviation at each moment is obtained based on the actual vibration amplitude at each moment to obtain the numerical trend of the amplitude deviation during the operation period; At the same time, the interval span value of the amplitude deviation of the low-frequency component before and after the high-frequency component is operated is obtained; Analyze the numerical trend of the amplitude deviation during the operation period and the interval span value of the amplitude deviation of the low-frequency component: If the numerical trend of the amplitude deviation during the operation period is a floating trend, it indicates that there is an abnormality in the current fixing method of the internal components. A layout fixing signal is generated and sent to the electric cylinder operation module. The electric cylinder operation module will adjust the fixing method accordingly when executing the operation. If the numerical trend of the amplitude deviation during the operation period is a stable trend, it indicates that the current fixing mode of the internal components is normal, and a fixing mode stable signal is generated and sent to the electric cylinder operation module; If the interval span value of the amplitude deviation corresponding to the low-frequency component exceeds the interval span threshold, it is inferred that the corresponding low-frequency component and the relatively high-frequency component need to be staggered in layout, and the fixing method is adjusted at the same time, and a layout rectification signal is generated and sent to the electric cylinder operation module; If the interval span value of the amplitude deviation corresponding to the low-frequency component does not exceed the interval span threshold, a layout compliance signal is generated and sent to the electric cylinder operation module; After the electric cylinder operation module receives the layout compliance signal, the electric cylinder executes the current task; Example 2
[0024] The previous embodiment performs data analysis before the electric cylinder operates to improve the hardware operating efficiency of the electric cylinder and facilitate closed-loop control. However, this embodiment performs closed-loop control impact analysis after the closed-loop control is executed. See also Figure 1 and Figure 3 As shown, the closed-loop control center is connected to the fluctuation influence unit, and the fluctuation influence unit is communicatively connected to the temperature fluctuation influence analysis unit and the load fluctuation influence analysis unit; The closed-loop control center generates a fluctuation impact signal and sends it to the fluctuation impact unit; The fluctuation influence unit generates a temperature analysis signal and a load analysis signal, which are sent to the temperature fluctuation influence analysis unit and the load fluctuation influence analysis unit respectively. The closed-loop control of the current electric cylinder is tested based on the temperature fluctuation and load fluctuation, and the actual operating efficiency of the electric cylinder under the current operating conditions is tested, so that timely operation adjustments can be made to avoid failures during the operation of the electric cylinder. The fluctuation parameters can also be evaluated in a targeted manner and adjusted in a timely manner. In the closed-loop control of micro servo electric cylinders, temperature changes can affect the physical properties of the electric cylinder components (such as motor resistance and screw friction coefficient), thereby interfering with control accuracy. After receiving the temperature fluctuation impact analysis unit, the closed-loop control stage is analyzed for the impact of temperature fluctuations. Temperature compensation is performed based on real-time temperature fluctuations. The specific compensation formula is as follows: ; Among them, S(t) is the control output, which is used to adjust the operating parameters of the electric cylinder; K pThe proportional gain adjusts the control output according to the current deviation, responds to the deviation quickly, and determines the sensitivity of the controller to the deviation. Too high a gain can easily cause the system to overshoot and oscillate, while too low a gain can slow the response and cause steady-state errors. For example, in temperature control, the appropriate K p It can make the temperature quickly approach the set value; K i The integral gain accumulates past deviations and adjusts the output to eliminate steady-state errors, allowing the system output to eventually reach the set value, and determines the contribution of the integral term to the control output; K d The differential gain predicts the future deviation based on the deviation change rate and makes adjustments in advance to reduce overshoot and oscillation, improve system stability and response speed, and determine the impact of the differential term on the control output. e(t) is the current deviation (target value - actual feedback value, including the deviation after temperature influence); u temp It is expressed as a temperature compensation term. The temperature T(t) can be collected by a temperature sensor, and the compensation function can be fitted experimentally. Based on the control output at each operating moment, the actual control output corresponding to the temperature fluctuation in the current period is obtained. The maintainable time is the time the actual control output can be maintained without temperature compensation after adjusting the operating parameters of the electric cylinder; At the same time, the time it takes for the electric cylinder to dissipate heat to the set starting temperature after it stops running and the preset time it takes to re-run to meet the current task are obtained, and the sum of the time is obtained and marked as the restart time; Analyze the maintainable time and restart time. If the maintainable time is much lower than the restart time, the electric cylinder will be restarted. If the maintainable time is much higher than the restart time, the electric cylinder temperature compensation will be performed. The value that is much lower or much higher is indicated as being lower or higher than the threshold set by the staff. Load fluctuations (such as sudden load changes and friction changes) can change the operating resistance of the electric cylinder and affect the control response. After receiving the load fluctuation impact analysis unit, it performs load fluctuation impact analysis on the closed-loop control stage. According to the real-time load fluctuation, the control output is obtained by combining the PID algorithm. The formula is as follows: Among them, K p (t), K i (t), K d (t) is a parameter that is adjusted in real time with load fluctuations; Type and value acquisition of parameters adjusted in real time according to load fluctuations; Obtain the ratio of the number of types that need to be adjusted to the number of types that do not need to be adjusted in the data type generated at any load fluctuation moment, and at the same time obtain the continuous growth span of the adjustment value of the same type of adjustment parameter corresponding to the continuous load fluctuation moment; If the ratio of the number of types requiring adjustment to the number of types not requiring adjustment at any load fluctuation moment exceeds the quantity ratio threshold, or if the adjustment values of the same type of adjustment parameters corresponding to consecutive load fluctuation moments continuously increase by more than the growth span threshold, it is inferred that the real-time impact of the current load fluctuation is uncontrollable, and a load adjustment signal is generated and sent to the closed-loop control center. After receiving the signal, the closed-loop control center adjusts the operating load of the electric cylinder in real time. If the ratio of the number of types that need to be adjusted to the number of types that do not need to be adjusted in the data type generated at any load fluctuation moment does not exceed the quantity ratio threshold, and the continuous growth span of the adjustment values of the adjustment parameters of the same type corresponding to consecutive load fluctuation moments does not exceed the growth span threshold, it is inferred that the real-time impact of the current load fluctuation is in a controllable trend, and a load fluctuation safety signal is generated and sent to the closed-loop control center; See also Figure 4 As shown, the present invention also proposes a closed-loop control method for a micro servo electric cylinder, and the closed-loop control method is as follows: Thermal management coordination analysis: conduct thermal management coordination analysis on the internal components of the electric cylinder; Accessory layout analysis, used to analyze the layout of the internal components of the electric cylinder; Make operational decisions based on the above analysis; Temperature fluctuation impact analysis: perform temperature fluctuation impact analysis on the closed-loop control stage; Load fluctuation impact analysis: load fluctuation impact analysis is performed on the closed-loop control stage; Make closed-loop control decisions based on impact analysis.
[0025] Thresholds, preset values, and preset ranges are set for comparative analysis of results to determine whether they are good or bad. The values are set based on a combination of large-scale model analysis of sample data and manual experience, and can also be adjusted appropriately based on seasonal or common-sense factors. The settings of weight ratio coefficients, influencing factors, etc. are assigned specific values according to the influence of each parameter on the result, which ultimately reflects the impact on the result. They are also set and entered into storage through a combination of large-scale model analysis of sample data and manual experience. Appropriate adjustments can also be made based on seasonal or common-sense influencing conditions.
[0026] The preferred embodiments of the present invention disclosed above are intended only to help illustrate the present invention. These preferred embodiments do not exhaustively describe all details, nor do they limit the present invention to specific embodiments. Obviously, many modifications and variations are possible based on the contents of this specification. These embodiments are selected and described in detail in this specification to better explain the principles and practical applications of the present invention, thereby enabling those skilled in the art to better understand and utilize the present invention. The present invention is limited only by the claims and their full scope and equivalents.
Claims
1. A micro servo electric cylinder closed-loop control system, characterized in that: Including closed-loop control center, and the closed-loop control center communication connection has: Thermal management coordination analysis unit, which performs thermal management coordination analysis on the internal components of the electric cylinder; Accessory layout analysis unit, used to analyze the layout of the internal components of the electric cylinder; The electric cylinder operation module makes operation decisions based on the above unit analysis; a fluctuation influence unit, configured to transmit signals to a temperature fluctuation influence analysis unit and a load fluctuation influence analysis unit; After receiving the temperature fluctuation impact analysis unit, the closed-loop control stage is subjected to temperature fluctuation impact analysis; After receiving the load fluctuation impact analysis unit, the load fluctuation impact analysis is performed on the closed-loop control stage; And make closed-loop control decisions based on impact analysis.
2. A micro servo electric cylinder closed-loop control system according to claim 1, characterized in that: The process of thermal management with analysis unit is as follows: During the operation of the electric cylinder, the temperature rises due to the heat generated by the current, which in turn causes thermal expansion. The thermal expansion amount is marked as ΔLp, and the calculation formula for the thermal expansion amount is: ΔLp=α×ΔT×L0; Where α is the thermal expansion coefficient of the material, ΔT is the temperature rise value according to the cylinder material, and L0 is the initial length; Conditions are set for the heat dissipation power in the electric cylinder environment. The specific condition formula is as follows: GL=hA(T 电 -T 环 )≥I 2 R; Where GL is the heat dissipation power, h is the convection heat transfer coefficient (W / (m 2 ℃)), expressed as h=3v 0.8 (v is wind speed, m / s); T 电 Expressed as motor temperature, T 环 It is represented by the ambient temperature, and A is represented by the heat dissipation surface area; Based on the settings of thermal expansion and heat dissipation power, thermal management coordination analysis is performed on the internal components of the electric cylinder.
3. A micro servo electric cylinder closed-loop control system according to claim 2, characterized in that: Obtain the operating starting temperature of any component at the start of the current operating cycle during the rising stage of thermal expansion. Obtain the rising rate of the operating starting temperature based on the operating starting temperature records during continuous operation. Also obtain the temperature rise spans corresponding to adjacent operating cycles of internal components under the current heat dissipation power setting. Statistically record the temperature rise spans during continuous operation of multiple operating cycles and obtain the peak value of the temperature rise span during the current operation. If the rising rate of the operation start temperature exceeds the set rising rate threshold, or the temperature rise span peak value exceeds the set peak threshold, a thermal management redistribution signal is generated; if the rising rate of the operation start temperature does not exceed the set rising rate threshold, and the temperature rise span peak value does not exceed the set peak threshold, a thermal management allocation fitting signal is generated and sent to the electric cylinder operation module.
4. A micro servo electric cylinder closed-loop control system according to claim 3, characterized in that: The process of the accessory layout analysis unit is as follows: The layout position of the current internal components of the electric cylinder is used as the analysis surface. The range of the average vibration frequency of the adjacent internal components in the analysis surface during the operation phase is obtained. The adjacent internal components are divided into high-frequency components and low-frequency components according to the range of the adjacent internal components. Under the current internal component fixing mode, the actual vibration amplitude and the set vibration amplitude of the component operation are obtained, and the amplitude deviation at each moment is obtained based on the actual vibration amplitude at each moment to obtain the numerical trend of the amplitude deviation during the operation period; at the same time, the interval span value of the corresponding amplitude deviation of the low-frequency component before and after the operation of the high-frequency component is obtained, and the collected data is analyzed.
5. A micro servo electric cylinder closed-loop control system according to claim 4, characterized in that: If the numerical trend of the amplitude deviation during the operation period is a floating trend, a layout fixing signal is generated; If the numerical trend of the amplitude deviation during the operation period is a stable trend, a fixed mode stable signal is generated; If the interval span value of the amplitude deviation corresponding to the low-frequency component exceeds the interval span threshold, a layout rectification signal is generated and sent to the electric cylinder operation module; if the interval span value of the amplitude deviation corresponding to the low-frequency component does not exceed the interval span threshold, a layout compliance signal is generated and sent to the electric cylinder operation module.
6. A micro servo electric cylinder closed-loop control system according to claim 1, characterized in that: The operation process of the temperature fluctuation analysis unit is as follows: Temperature compensation is performed based on real-time temperature fluctuations. The specific compensation formula is as follows: ； Among them, S(t) is the control output, which is used to adjust the operating parameters of the electric cylinder; K p is the proportional gain, K i is the integral gain, K d is the differential gain; e(t) is the current deviation (target value - actual feedback value, including the deviation after temperature influence); u temp It represents the temperature compensation term.
7. A micro servo electric cylinder closed-loop control system according to claim 6, characterized in that: Based on the control output at each operating moment, the actual control output duration under temperature fluctuations in the current period is obtained. At the same time, the time required to dissipate heat to the set starting temperature after the electric cylinder stops operating and the preset time required to re-operate to meet the current task are obtained. The sum of the time taken is then marked as the restart time. An analysis is performed based on the maintainable time and the restart time. If the maintainable time is lower than the restart time, the electric cylinder is restarted; if the maintainable time is higher than the restart time, temperature compensation is performed on the electric cylinder.
8. A micro servo electric cylinder closed-loop control system according to claim 7, characterized in that: The process of load fluctuation impact analysis unit is as follows: According to the real-time load fluctuation, the control output is obtained by combining the PID algorithm. The formula is as follows: Among them, K p (t), K i (t), K d (t) is a parameter adjusted in real time with load fluctuations, and the type and value are obtained according to the parameter adjusted in real time with load fluctuations; The data type generated at any load fluctuation is obtained, and the corresponding quantity ratio of the type that needs to be adjusted and the type that does not need to be adjusted is obtained. At the same time, the continuous growth span of the adjustment value of the same type of adjustment parameter corresponding to the continuous load fluctuation is obtained.
9. A micro servo electric cylinder closed-loop control system according to claim 8, characterized in that: If the ratio of the number of types that need to be adjusted to the number of types that do not need to be adjusted in the data type generated at any load fluctuation moment exceeds the quantity ratio threshold, or the adjustment value of the adjustment parameter of the same type corresponding to the continuous load fluctuation moment continuously increases by more than the growth span threshold, then a load adjustment signal is generated; If the ratio of the number of types that need to be adjusted and the number of types that do not need to be adjusted in the data type generated at any load fluctuation moment does not exceed the quantity ratio threshold, and the continuous growth span of the adjustment values of the same type of adjustment parameters corresponding to consecutive load fluctuation moments does not exceed the growth span threshold, then a load fluctuation safety signal is generated.
10. A closed-loop control method for a micro servo electric cylinder, using a closed-loop control system for a micro servo electric cylinder according to any one of claims 1 to 9, characterized in that: The closed-loop control method is as follows: Thermal management coordination analysis: conduct thermal management coordination analysis on the internal components of the electric cylinder; Accessory layout analysis, used to analyze the layout of the internal components of the electric cylinder; Make operational decisions based on the above analysis; Temperature fluctuation impact analysis: perform temperature fluctuation impact analysis on the closed-loop control stage; Load fluctuation impact analysis: load fluctuation impact analysis is performed on the closed-loop control stage; Make closed-loop control decisions based on impact analysis.