Servo motor exception handling method and system based on electrical angle calculation

Abstract

The invention relates to the field of motor control, and discloses a servo motor abnormity processing method and system based on electrical angle calculation, and the method comprises the steps: calculating the current feedback speed of an incremental encoder according to the current pulse reading and the historical pulse reading, and constructing a feedback speed sequence of the incremental encoder through the current feedback speed; calculating an electrical angle value of the servo motor in each period based on the feedback speed sequence, and constructing an electrical angle overflow threshold range of the servo motor; when the electrical angle value of the current period is within the electrical angle overflow threshold range, performing first exception processing on the servo motor based on the electrical angle value to obtain a first exception processing result of the servo motor; and when the current period is not within the electrical angle overflow threshold range, performing second exception processing on the servo motor based on the electrical angle value to obtain a second exception processing result of the servo motor. According to the invention, the abnormal problems of electrical angle abnormity, speed oscillation and the like of the servo motor can be solved from the electrical angle.

Description

Technical Field

[0001] The present invention relates to the field of motor control, and in particular to a servo motor abnormality processing method and system based on electrical angle calculation. Background Art

[0002] The electrical angle refers to the electrical angle generated in space by the stator winding of the servo motor, including the electrical angle in the stationary coordinate system and the electrical angle in the rotating coordinate system. The electrical angle in the stationary coordinate system refers to the electrical angle generated in space before the stator winding is energized. After the stator winding is energized, a rotating magnetic field is generated. This rotating magnetic field rotates in space to form a rotation angle, and this rotation angle is the electrical angle in the rotating coordinate system.

[0003] Currently, in servo motor control, the park transformation process requires the electrical angle to transform the stationary coordinate system into the rotating coordinate system. However, when the electrical angle is used to transform the stationary coordinate system into the rotating coordinate system, if the calculated value of the servo motor's electrical angle overflows, it will affect the rotation angle generated by the servo motor's stator winding when it rotates in space. This will lead to insufficient accuracy in the electrical angle transformation from the stationary coordinate system to the rotating coordinate system, causing the servo motor to experience operating anomalies or speed oscillations, ultimately resulting in the servo motor's inability to operate, reduced motor power, and severe heat generation. The above reasons explain that the accurate calculation of the electrical angle has a significant impact on servo motor fault diagnosis. Therefore, a solution is urgently needed that can address servo motor anomalies such as electrical angle anomalies and speed oscillations based on the electrical angle. Summary of the Invention

[0004] In order to solve the above problems, the present invention provides a servo motor abnormality processing method and system based on electrical angle calculation, which can start from the electrical angle to handle abnormal problems such as electrical angle abnormality and speed oscillation of the servo motor.

[0005] In a first aspect, the present invention provides a servo motor abnormality processing method based on electrical angle calculation, comprising:

[0006] Acquire a current cycle of the servo motor and a historical cycle of the current cycle, and respectively collect a current pulse reading and a historical pulse reading of an incremental encoder in the servo motor in the current cycle and in the historical cycle;

[0007] Calculating a current feedback speed of the incremental encoder according to the current pulse reading and the historical pulse reading, and constructing a feedback speed sequence of the incremental encoder using the current feedback speed;

[0008] Based on the feedback speed sequence, calculating the electrical angle value of the servo motor in each cycle, and constructing an electrical angle overflow threshold range of the servo motor;

[0009] When the electrical angle value of the current cycle is within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle values ​​of the historical cycles, performing a first abnormality processing on the servo motor in the current cycle to obtain a first abnormality processing result of the servo motor;

[0010] When the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a second abnormality processing in the current cycle to obtain a second abnormality processing result of the servo motor.

[0011] In some possible implementations of the first aspect, calculating the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading includes:

[0012] The current feedback speed of the incremental encoder is calculated based on the current pulse reading and the historical pulse reading using the following formula:

[0013] inc i =β i -β i '

[0014] Among them, inc i represents the current feedback speed, β i represents the i-th pulse reading of the incremental encoder in the current cycle, β i ' represents the i-th pulse reading of the incremental encoder in the historical period.

[0015] In some possible implementations of the first aspect, constructing a feedback speed sequence of the incremental encoder using the current feedback speed includes:

[0016] Based on the current feedback speed, the feedback speed sequence of the incremental encoder is constructed using the following formula:

[0017]

[0018] Among them, (inc1, inc2, …, inc i ,…,inc n ) represents the feedback speed sequence, β1, β2,…, β i ,…,β n represents the pulse reading of the incremental encoder in the current cycle, β1', β2', ..., β i ',…,β n ' represents the pulse reading of the incremental encoder in the historical cycle, n represents the total number of pulse readings in the current cycle, inci Indicates the current feedback speed.

[0019] In some possible implementations of the first aspect, calculating the electrical angle value of the servo motor in each cycle based on the feedback speed sequence includes:

[0020] Based on the feedback speed sequence, the electrical angle value of the servo motor is calculated using the following formula:

[0021] ang=inc1+inc2+…inc n

[0022] Among them, ang represents the electrical angle value of each cycle, (inc1, inc2,…, inc n ) represents the feedback speed sequence.

[0023] In some possible implementations of the first aspect, establishing an electrical angle overflow threshold range for the servo motor includes:

[0024] Identify the number of bits of a counting register in the servo motor;

[0025] Based on the number of unit bits, the electrical angle overflow threshold range of the servo motor is determined using the following formula:

[0026] -2 k-1 ~2 k-1

[0027] Among them, -2 k-1 Indicates the minimum electrical angle overflow threshold, 2 k-1 Indicates the maximum electrical angle overflow threshold 2 k-1 , k represents the number of unit bits.

[0028] In some possible implementations of the first aspect, when the electrical angle value in the current cycle is within the electrical angle overflow threshold range, performing first abnormality processing on the servo motor in the current cycle based on the electrical angle value in the current cycle and the electrical angle values ​​in historical cycles to obtain a first abnormality processing result for the servo motor includes:

[0029] The electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold 2 k-1 , greater than the minimum electrical angle overflow threshold -2 k-1 hour;

[0030] Based on the electrical angle value of the current cycle, the electrical angle value of the current cycle is adjusted using the following formula to obtain a first adjusted electrical angle value:

[0031] ang c1 =ang当前

[0032] Among them, ang 当前 Indicates the electrical angle value of the current cycle, ang c1 Indicates the first adjustment electrical angle value;

[0033] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the speed of the servo motor in the current cycle is adjusted using the following formula to obtain a first adjusted speed value:

[0034] Vel c1 =ang c -ang c_0

[0035] Among them, vel c1 Indicates the first adjustment speed value, ang c_0 Represents the electrical angle value ang of the historical period 历史 The historical adjusted electrical angle value after the electrical angle value adjustment;

[0036] The first adjusted electrical angle value and the first adjusted speed value are used as a first abnormality processing result of the servo motor.

[0037] In some possible implementations of the first aspect, when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, performing second abnormality processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle values ​​of historical cycles to obtain a second abnormality processing result of the servo motor includes:

[0038] When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, performing a second abnormality processing on the servo motor in the current cycle to obtain a first second abnormality processing result;

[0039] When the electrical angle value of the current cycle is less than the minimum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a second abnormality processing in the current cycle to obtain a first second abnormality processing result.

[0040] In some possible implementations of the first aspect, when the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, performing second exception processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle values ​​of historical cycles to obtain a first second exception processing result includes:

[0041] When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold 2 k-1 hour;

[0042] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a second adjusted electrical angle value:

[0043] ang c2 =ang 当前 -m*qcpr

[0044] Among them, ang c2 Indicates the second adjustment electrical angle value, ang 当前 Indicates the electrical angle value of the current cycle, qcpr indicates the number of lines of the incremental encoder, m indicates an integer, and m=2 k-1 / qcpr;

[0045] The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a second adjusted speed value:

[0046] vel c2 =vel c_0

[0047] Among them, vel c Indicates the second adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted;

[0048] The second adjusted electrical angle value and the second adjusted speed value are used as the first second abnormality processing result.

[0049] In some possible implementations of the first aspect, when the electrical angle value in the current cycle is less than the maximum electrical angle overflow threshold, performing second exception processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle to obtain a first second exception processing result includes:

[0050] When the electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold - 2 k-1 hour;

[0051] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a third adjusted electrical angle value:

[0052] ang c3 =ang 当前 +m*qcpr

[0053] Among them, ang c3 Indicates the third adjustment electrical angle value, ang 当前Indicates the electrical angle value of the current cycle, qcpr indicates the number of lines of the incremental encoder, m indicates an integer, and m=2 k-1 / qcpr;

[0054] The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a third adjusted speed value:

[0055] Vel c3 =vel c_0

[0056] Among them, vel c3 Indicates the third adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted;

[0057] The third adjusted electrical angle value and the third adjusted speed value are used as the second second abnormality processing result.

[0058] In a second aspect, the present invention provides a servo motor abnormality processing system based on electrical angle calculation, the system comprising:

[0059] A pulse acquisition module is used to obtain the current cycle of the servo motor and the historical cycle of the current cycle, and respectively collect the current pulse reading and the historical pulse reading of the incremental encoder in the servo motor in the current cycle and the historical cycle;

[0060] a sequence construction module, configured to calculate a current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and construct a feedback speed sequence of the incremental encoder using the current feedback speed;

[0061] a threshold value building module, configured to calculate the electrical angle value of the servo motor in each cycle based on the feedback speed sequence, and to build an electrical angle overflow threshold range of the servo motor;

[0062] a first processing module, configured to, when the electrical angle value of the current cycle is within the electrical angle overflow threshold range, perform a first abnormality processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle values ​​of the historical cycles, to obtain a first abnormality processing result of the servo motor;

[0063] The second processing module is used to perform a second abnormality processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, so as to obtain the second abnormality processing result of the servo motor.

[0064] Compared with the existing technology, the technical principle and beneficial effects of this solution are:

[0065] The embodiment of the present invention calculates the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, so as to calculate the electrical angle of the servo motor using the current feedback speed. Furthermore, the embodiment of the present invention constructs an electrical angle overflow threshold range for the servo motor, so as to use the electrical angle overflow threshold range to determine whether the current electrical angle value of the servo motor overflows, thereby promptly adjusting the current electrical angle value that overflows. The embodiment of the present invention performs a first abnormality processing on the servo motor based on the current electrical angle value, so as to handle the abnormal problem of the speed oscillation of the servo motor starting from the electrical angle. The embodiment of the present invention performs a second abnormality processing on the servo motor based on the current electrical angle value, so as to handle abnormal problems such as electrical angle abnormality and speed oscillation of the servo motor starting from the electrical angle. Therefore, the servo motor abnormality processing method and system based on electrical angle calculation proposed in the embodiment of the present invention can handle abnormal problems such as electrical angle abnormality and speed oscillation of the servo motor starting from the electrical angle. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0067] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0068] Figure 1 A schematic flow chart of a servo motor abnormality handling method based on electrical angle calculation provided by one embodiment of the present invention;

[0069] Figure 2 In one embodiment of the present invention Figure 1 A schematic diagram of one step of a servo motor abnormality handling method based on electrical angle calculation is provided;

[0070] Figure 3 A schematic diagram of a module of a servo motor abnormality handling system based on electrical angle calculation provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0071] It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention.

[0072] An embodiment of the present invention provides a servo motor abnormality handling method based on electrical angle calculation, and the execution subject of the servo motor abnormality handling method based on electrical angle calculation includes but is not limited to at least one of the electronic devices such as a server, a terminal, etc. that can be configured to execute the method provided by the embodiment of the present invention. In other words, the servo motor abnormality handling method based on electrical angle calculation can be executed by software or hardware installed on a terminal device or a server device, and the software can be a blockchain platform. The server includes but is not limited to: a single server, a server cluster, a cloud server or a cloud server cluster, etc. The server can be an independent server, or it can be a cloud server that provides basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communications, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0073] See Figure 1 FIG. 1 is a flow chart of a servo motor abnormality processing method based on electrical angle calculation according to an embodiment of the present invention. Figure 1 The servo motor abnormality handling method based on electrical angle calculation described in includes:

[0074] S1. Acquire a current cycle and a historical cycle of the current cycle of a servo motor, and respectively collect a current pulse reading and a historical pulse reading of an incremental encoder in the servo motor in the current cycle and the historical cycle.

[0075] In an embodiment of the present invention, the servo motor refers to a motor that can rotate with high precision. Usually, this type of motor is composed of a control circuit, which provides feedback on the current position of the motor shaft. This feedback enables the servo motor to rotate with high precision. Furthermore, the incremental encoder is used to convert the displacement into a periodic electrical signal, and then convert this electrical signal into a counting pulse, and the number of pulses is used to represent the size of the displacement.

[0076] It should be noted that the historical period refers to the previous adjacent period of the current period.

[0077] S2. Calculate the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and construct a feedback speed sequence of the incremental encoder using the current feedback speed.

[0078] The embodiment of the present invention calculates the current feedback speed of the incremental encoder according to the current pulse reading and the historical pulse reading, so as to calculate the electrical angle of the servo motor using the current feedback speed.

[0079] In one embodiment of the present invention, calculating the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading includes: calculating the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading using the following formula:

[0080] inc i =β i -β i '

[0081] Among them, inc i represents the current feedback speed, β i represents the i-th pulse reading of the incremental encoder in the current cycle, β i ' represents the i-th pulse reading of the incremental encoder in the historical period.

[0082] In one embodiment of the present invention, constructing the feedback speed sequence of the incremental encoder using the current feedback speed includes: constructing the feedback speed sequence of the incremental encoder using the following formula based on the current feedback speed:

[0083]

[0084] Among them, (inc1, inc2, …, inc i ,…,inc n ) represents the feedback speed sequence, β1, β2,…, β i ,…,β n represents the pulse reading of the incremental encoder in the current cycle, β1', β2', ..., β i ',…,β n ' represents the pulse reading of the incremental encoder in the historical cycle, n represents the total number of pulse readings in the current cycle, inc i Indicates the current feedback speed.

[0085] S3. Based on the feedback speed sequence, calculate the electrical angle value of the servo motor in each cycle, that is, the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and construct an electrical angle overflow threshold value of the servo motor.

[0086] In one embodiment of the present invention, calculating the electrical angle value of the servo motor in each cycle based on the feedback speed sequence includes: calculating the electrical angle value of the servo motor in each cycle based on the feedback speed sequence using the following formula:

[0087] ang=inc1+inc2+…inc n

[0088] Among them, ang represents the electrical angle value of each cycle, (inc1, inc2,…, inc n ) represents the feedback speed sequence.

[0089] Furthermore, an embodiment of the present invention constructs an electrical angle overflow threshold range for the servo motor, so as to use the electrical angle overflow threshold to determine whether the electrical angle value of the current cycle of the servo motor overflows, thereby adjusting the electrical angle value of the current cycle where overflow occurs in a timely manner.

[0090] In one embodiment of the present invention, constructing the electrical angle overflow threshold range of the servo motor includes: identifying the number of unit bits of a counting register in the servo motor; and determining the electrical angle overflow threshold range of the servo motor based on the number of unit bits using the following formula:

[0091] -2 k-1 ~2 k-1

[0092] Among them, -2 k-1 Indicates the minimum electrical angle overflow threshold, 2 k-1 Indicates the maximum electrical angle overflow threshold 2 k-1 , k represents the number of unit bits.

[0093] For example, when the counting register is 32 bits, the overflow threshold is set in the range of -2147483648 to 2147483647, so 2147000000 and -2147000000 are taken as the judgment thresholds. When the ang value is greater than 2147000000 or less than -2147000000, it is judged that the electrical angle calculation value overflows.

[0094] S4. When the electrical angle value of the current cycle is within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a first abnormality processing in the current cycle to obtain a first abnormality processing result of the servo motor.

[0095] The embodiment of the present invention performs a first abnormality processing on the servo motor based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, so as to handle the abnormal problem of speed oscillation of the servo motor starting from the electrical angle.

[0096] In one embodiment of the present invention, the electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold 2 k-1 , greater than the minimum electrical angle overflow threshold -2 k-1 hour;

[0097] Based on the electrical angle value of the current cycle, the electrical angle value of the current cycle is adjusted using the following formula to obtain a first adjusted electrical angle value:

[0098] ang c1 =ang 当前

[0099] Among them, ang 当前 Indicates the electrical angle value of the current cycle, ang c1 Indicates the first adjustment electrical angle value.

[0100] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the speed of the servo motor in the current cycle is adjusted using the following formula to obtain a first adjusted speed value:

[0101] Vel c1 =ang c -ang c_0

[0102] Among them, vel c1 Indicates the first adjustment speed value, ang c_0 Represents the electrical angle value ang of the historical period 历史 The historical adjusted electrical angle value after electrical angle value adjustment.

[0103] The first adjusted electrical angle value and the first adjusted speed value are used as a first abnormality processing result of the servo motor.

[0104] S5. When the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a second abnormality processing in the current cycle to obtain a second abnormality processing result of the servo motor.

[0105] The embodiment of the present invention performs a second abnormality processing on the servo motor based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, so as to handle abnormal problems such as electrical angle abnormality and speed oscillation of the servo motor starting from the electrical angle.

[0106] In one embodiment of the present invention, refer to Figure 2 As shown, when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the second abnormality processing is performed on the servo motor in the current cycle to obtain the second abnormality processing result of the servo motor, including:

[0107] S201. When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, perform second exception processing on the servo motor in the current cycle to obtain a first second exception processing result.

[0108] Specifically, in some embodiments, when the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold 2 k-1 hour.

[0109] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a second adjusted electrical angle value:

[0110] ang c2 =ang 当前 -m*qcpr

[0111] Among them, ang c2 Indicates the second adjustment electrical angle value, ang 当前 Indicates the electrical angle value of the current cycle, qcpr indicates the number of lines of the incremental encoder, m indicates an integer, and m=2 k-1 / qcpr.

[0112] The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a second adjusted speed value:

[0113] vel c2 =vel c_0

[0114] Among them, vel c Indicates the second adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted.

[0115] The second adjusted electrical angle value and the second adjusted speed value are used as the first second abnormality processing result.

[0116] S202. When the electrical angle value of the current cycle is less than the minimum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, perform a second exception processing on the servo motor in the current cycle to obtain a first second exception processing result.

[0117] Specifically, in some embodiments, when the electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold -2 k-1 hour.

[0118] Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a third adjusted electrical angle value:

[0119] ang c3 =ang 当前 +m*qcpr

[0120] Among them, ang c3 Indicates the third adjustment electrical angle value, ang 当前 Indicates the electrical angle value of the current cycle, qcpr indicates the number of lines of the incremental encoder, m indicates an integer, and m=2 k-1 / qcpr.

[0121] The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a third adjusted speed value:

[0122] Vel c3 =vel c_0

[0123] Among them, vel c3 Indicates the third adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted.

[0124] The third adjusted electrical angle value and the third adjusted speed value are used as the second second abnormality processing result.

[0125] It can be seen that the embodiment of the present invention calculates the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, so as to calculate the electrical angle of the servo motor using the current feedback speed. Furthermore, the embodiment of the present invention constructs an electrical angle overflow threshold value of the servo motor, so as to use the electrical angle overflow threshold value to determine whether the current electrical angle value of the servo motor overflows, thereby promptly adjusting the current electrical angle value that overflows. The embodiment of the present invention performs a first abnormality processing on the servo motor based on the current electrical angle value, so as to handle the abnormal problem of the speed oscillation of the servo motor starting from the electrical angle. The embodiment of the present invention performs a second abnormality processing on the servo motor based on the current electrical angle value, so as to handle the abnormal problems such as the electrical angle abnormality and speed oscillation of the servo motor starting from the electrical angle. Therefore, the servo motor abnormality processing method based on electrical angle calculation proposed in the embodiment of the present invention can handle the abnormal problems such as the electrical angle abnormality and speed oscillation of the servo motor starting from the electrical angle.

[0126] like Figure 3 FIG. 1 is a functional module diagram of a servo motor abnormality processing system based on electrical angle calculation according to the present invention.

[0127] The servo motor anomaly handling system 400 based on electrical angle calculation described in the present invention can be installed in an electronic device. Depending on the functionality implemented, the servo motor anomaly handling system based on electrical angle calculation can include a pulse acquisition module 401, a sequence construction module 402, a threshold construction module 403, a first processing module 404, and a second processing module 405. A module, also referred to as a unit, is a series of computer program segments that can be executed by an electronic device processor and perform a fixed function. These are stored in the electronic device's memory.

[0128] In the embodiment of the present invention, the functions of each module / unit are as follows:

[0129] The pulse acquisition module 401 is used to obtain the current cycle and the historical cycle of the current cycle of the servo motor, and respectively acquire the current pulse reading and the historical pulse reading of the incremental encoder in the servo motor in the current cycle and the historical cycle.

[0130] The sequence construction module 402 is configured to calculate the current feedback speed of the incremental encoder according to the current pulse reading and the historical pulse reading, and construct a feedback speed sequence of the incremental encoder using the current feedback speed.

[0131] The threshold value building module 403 is used to calculate the electrical angle value of the servo motor in each cycle based on the feedback speed sequence, and build an electrical angle overflow threshold range of the servo motor.

[0132] The first processing module 404 is used to perform a first exception processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle when the electrical angle value of the current cycle is within the electrical angle overflow threshold range, so as to obtain the first exception processing result of the servo motor.

[0133] The second processing module 405 is used to perform a second exception processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, to obtain the second exception processing result of the servo motor.

[0134] In detail, the modules in the servo motor abnormality processing system 400 based on electrical angle calculation in the embodiment of the present invention are used in the same manner as above. Figure 1 The servo motor abnormality handling method based on electrical angle calculation described in the present invention has the same technical means and can produce the same technical effects, so it will not be repeated here.

[0135] In addition, the functional modules in various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or hardware plus software functional modules.

[0136] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above, and that the present invention can be implemented in other specific forms without departing from the spirit or essential characteristics of the present invention.

[0137] Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims rather than the foregoing description, and all changes that come within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference to a figure in a claim should not be construed as limiting the claim to which it relates.

[0138] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of other identical elements in the process, method, article, or device comprising the element.

[0139] The foregoing description is intended only to provide specific embodiments of the present invention, which will enable those skilled in the art to understand and implement the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not intended to be limited to the embodiments shown herein, but is to be construed in the widest possible manner consistent with the principles and novel features disclosed herein.

Claims

1. A servo motor abnormality processing method based on electrical angle calculation, characterized in that: The method comprises: Acquire a current cycle of the servo motor and a historical cycle of the current cycle, and respectively collect a current pulse reading and a historical pulse reading of an incremental encoder in the servo motor in the current cycle and in the historical cycle; Calculating a current feedback speed of the incremental encoder according to the current pulse reading and the historical pulse reading, and constructing a feedback speed sequence of the incremental encoder using the current feedback speed; Based on the feedback speed sequence, calculating the electrical angle value of the servo motor in each cycle, and constructing an electrical angle overflow threshold range of the servo motor; When the electrical angle value of the current cycle is within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle values ​​of the historical cycles, performing a first abnormality processing on the servo motor in the current cycle to obtain a first abnormality processing result of the servo motor; When the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a second abnormality processing in the current cycle to obtain a second abnormality processing result of the servo motor.

2. The method according to claim 1, characterized in that The calculating the current feedback speed of the incremental encoder according to the current pulse reading and the historical pulse reading includes: The current feedback speed of the incremental encoder is calculated based on the current pulse reading and the historical pulse reading using the following formula: inc i =b i -b i ' Among them, inc i represents the current feedback speed, β i represents the i-th pulse reading of the incremental encoder in the current cycle, β i ' represents the i-th pulse reading of the incremental encoder in the historical period.

3. The method according to claim 1, characterized in that The constructing the feedback speed sequence of the incremental encoder by using the current feedback speed includes: Based on the current feedback speed, the feedback speed sequence of the incremental encoder is constructed using the following formula: Among them, (inc1, inc2, …, inc i ,…,inc n ) represents the feedback speed sequence, β1, β2,…, β i ,…,β n represents the pulse reading of the incremental encoder in the current cycle, β1', β2', ..., β i ',…,β n ' represents the pulse reading of the incremental encoder in the historical cycle, n represents the total number of pulse readings in the current cycle, inc i Indicates the current feedback speed.

4. The method according to claim 1, wherein The step of calculating the electrical angle value of the servo motor in each cycle based on the feedback speed sequence includes: Based on the feedback speed sequence, the electrical angle value of the servo motor is calculated using the following formula: the=inc1+inc2+…inc n Among them, ang represents the electrical angle value of each cycle, (inc1, inc2,…, inc n ) represents the feedback speed sequence.

5. The method according to claim 1, characterized in that The step of constructing an electrical angle overflow threshold range of the servo motor includes: Identify the number of bits of a counting register in the servo motor; Based on the number of unit bits, the electrical angle overflow threshold range of the servo motor is determined using the following formula: -2 k-1 ～2 k-1 Among them, -2 k-1 Indicates the minimum electrical angle overflow threshold, 2 k-1 Indicates the maximum electrical angle overflow threshold 2 k-1 , k represents the number of unit bits.

6. The method according to claim 5, characterized in that When the electrical angle value in the current cycle is within the electrical angle overflow threshold range, performing first abnormality processing on the servo motor in the current cycle based on the electrical angle value in the current cycle and the electrical angle value in the historical cycle, and obtaining a first abnormality processing result of the servo motor, including: The electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold 2 k-1 , greater than the minimum electrical angle overflow threshold -2 k-1 hour; Based on the electrical angle value of the current cycle, the electrical angle value of the current cycle is adjusted using the following formula to obtain a first adjusted electrical angle value: The c1 =the 当前 Among them, ang 当前 Indicates the electrical angle value of the current cycle, ang c1 Indicates the first adjustment electrical angle value; Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the speed of the servo motor in the current cycle is adjusted using the following formula to obtain a first adjusted speed value: Vel c1 =the c -The c_0 Among them, vel c1 Indicates the first adjustment speed value, ang c_0 Represents the electrical angle value ang of the historical period 历史 The historical adjusted electrical angle value after the electrical angle value adjustment; The first adjusted electrical angle value and the first adjusted speed value are used as a first abnormality processing result of the servo motor.

7. The method according to claim 5, characterized in that When the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, performing a second abnormality processing on the servo motor in the current cycle to obtain a second abnormality processing result of the servo motor includes: When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, performing a second abnormality processing on the servo motor in the current cycle to obtain a first second abnormality processing result; When the electrical angle value of the current cycle is less than the minimum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the servo motor is subjected to a second abnormality processing in the current cycle to obtain a first second abnormality processing result.

8. The method according to claim 7, characterized in that When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the second exception processing is performed on the servo motor in the current cycle to obtain a first second exception processing result, including: When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold 2 k-1 hour; Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a second adjusted electrical angle value: The c2 =the 当前 -m*qcpr Among them, ang c2 Indicates the second adjustment electrical angle value, ang 当前 Indicates the electrical angle value of the current cycle, qcpr indicates the number of incremental encoder lines, m indicates an integer, and m=2 k-1 / qcpr; The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a second adjusted speed value: vel c2 =vel c_0 Among them, vel c Indicates the second adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted; The second adjusted electrical angle value and the second adjusted speed value are used as the first second abnormality processing result.

9. The method according to claim 7, characterized in that When the electrical angle value in the current cycle is less than the maximum electrical angle overflow threshold, based on the electrical angle value in the current cycle and the electrical angle value in the historical cycle, performing a second exception processing on the servo motor in the current cycle to obtain a first second exception processing result, including: When the electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold - 2 k-1 hour; Based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, the current electrical angle value is adjusted using the following formula to obtain a third adjusted electrical angle value: The c3 =the 当前 +m*qcpr Among them, ang c3 Indicates the third adjustment electrical angle value, ang 当前 Indicates the electrical angle value of the current cycle, qcpr indicates the number of incremental encoder lines, m indicates an integer, and m=2 k-1 / qcpr; The speed of the servo motor in the current cycle is adjusted using the following formula to obtain a third adjusted speed value: Vel c3 =vel c_0 Among them, vel c3 Indicates the third adjustment speed value, vel c_0 Indicates the historical adjusted speed value of the servo motor in the historical cycle after the speed value is adjusted; The third adjusted electrical angle value and the third adjusted speed value are used as the second second abnormality processing result.

10. A servo motor abnormality processing system based on electrical angle calculation, characterized in that: The system comprises: A pulse acquisition module is used to obtain the current cycle of the servo motor and the historical cycle of the current cycle, and respectively collect the current pulse reading and the historical pulse reading of the incremental encoder in the servo motor in the current cycle and the historical cycle; a sequence construction module, configured to calculate a current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and construct a feedback speed sequence of the incremental encoder using the current feedback speed; a threshold value building module, configured to calculate the electrical angle value of the servo motor in each cycle based on the feedback speed sequence, and to build an electrical angle overflow threshold range of the servo motor; a first processing module, configured to, when the electrical angle value of the current cycle is within the electrical angle overflow threshold range, perform a first abnormality processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle values ​​of the historical cycles, to obtain a first abnormality processing result of the servo motor; The second processing module is used to perform a second abnormality processing on the servo motor in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, so as to obtain the second abnormality processing result of the servo motor.

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