Servo Motor Anomaly Handling Method and System Based on Electrical Angle Calculation

Abstract

This invention relates to the field of motor control, and discloses a method and system for handling servo motor anomalies based on electrical angle calculation. The method includes: calculating the current feedback speed of an incremental encoder based on the current pulse reading and historical pulse readings, and constructing a feedback speed sequence of the incremental encoder using the current feedback speed; calculating the electrical angle value of the servo motor for each cycle based on the feedback speed sequence, and constructing an electrical angle overflow threshold range for the servo motor; when the electrical angle value of the current cycle is within the electrical angle overflow threshold range, performing a first anomaly handling on the servo motor based on the electrical angle value to obtain a first anomaly handling result for the servo motor; when the electrical angle value of the current cycle is not within the electrical angle overflow threshold range, performing a second anomaly handling on the servo motor based on the electrical angle value to obtain a second anomaly handling result for the servo motor. This invention can address anomalies such as electrical angle anomalies and speed oscillations in servo motors by focusing on the electrical angle.

Description

Technical Field

[0001] This invention relates to the field of motor control, and in particular to a method and system for handling servo motor anomalies based on electrical angle calculation. Background Technology

[0002] Electrical angle refers to the electrical angle generated in space by the stator winding of a 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 is the electrical angle generated in space before the stator winding is energized. After the stator winding is energized, it will generate a rotating magnetic field. This rotating magnetic field will rotate in space to form a rotation angle, which is the electrical angle in the rotating coordinate system.

[0003] Currently, in servo motor control, the Park transformation process requires electrical angles to transform the stationary coordinate system to a rotating coordinate system. However, if the calculated electrical angle value of the servo motor overflows during this transformation, it will affect the rotation angle generated by the stator windings as they rotate in space. This leads to insufficient accuracy in the electrical angle transformation from the stationary to the rotating coordinate system, causing servo motor malfunctions or speed oscillations. Ultimately, this can result in the servo motor failing to operate, reduced power, and severe overheating. These reasons demonstrate the significant impact of accurate electrical angle calculation on servo motor fault diagnosis. Therefore, a solution is urgently needed that addresses servo motor anomalies such as abnormal electrical angles and speed oscillations by focusing on the electrical angle. Summary of the Invention

[0004] To address the aforementioned problems, this invention provides a servo motor anomaly handling method and system based on electrical angle calculation, which can address anomalies such as electrical angle abnormalities and speed oscillations in servo motors by focusing on electrical angle.

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

[0006] Obtain the current cycle and the historical cycle of the servo motor, and collect the current pulse reading and historical pulse reading of the incremental encoder in the servo motor within the current cycle and the historical cycle, respectively.

[0007] Based on the current pulse reading and the historical pulse reading, the current feedback speed of the incremental encoder is calculated, and the feedback speed sequence of the incremental encoder is constructed using the current feedback speed;

[0008] Based on the feedback speed sequence, the electrical angle value of the servo motor in each cycle is calculated, and the electrical angle overflow threshold range of the servo motor is constructed.

[0009] When the electrical angle value of the current cycle is within the range of the electrical angle overflow threshold, the servo motor is subjected to first anomaly processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and the first anomaly processing result of the servo motor is obtained.

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

[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 readings includes:

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

[0013] inc i =β i -β i '

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

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

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

[0017]

[0018] Where (inc1,inc2,…,inc i ,…,inc n ) represents the feedback velocity sequence, β1,β2,…,β i ,…,β n This represents the pulse readings of the incremental encoder within the current period, β1',β2',…,β i ',…,β n ' represents the pulse reading of the incremental encoder within the historical period, n represents the total number of pulse readings within the current period, and inci This 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] Where ang represents the electrical angle value for each cycle, (inc1,inc2,…,inc) n ) represents the feedback speed sequence.

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

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

[0025] Based on the number of bits in the unit, 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 This represents the minimum electrical angle overflow threshold, 2. k-1 This indicates the maximum electrical angle overflow threshold of 2. k-1 k represents the number of bits in the unit.

[0028] In some possible implementations of the first aspect, when the electrical angle value of the current period is within the range of the electrical angle overflow threshold, the servo motor is subjected to first anomaly processing in the current period based on the electrical angle value of the current period and the electrical angle value of the historical period, to obtain the first anomaly processing result of the servo motor, including:

[0029] The electrical angle value in the current period is simultaneously 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 period, ang c1 This 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 adjusted speed value, ang c_0 The electrical angle value representing the historical period ang 历史 Historical adjusted electrical angle value after electrical angle adjustment;

[0036] The first adjustment electrical angle value and the first adjustment speed value are used as the first abnormality handling 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 range of the electrical angle overflow threshold, based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, a second anomaly processing is performed on the servo motor in the current cycle to obtain a second anomaly processing result for the servo motor, including:

[0038] When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, the servo motor is subjected to a second anomaly processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and a first second anomaly processing result is obtained.

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

[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, based on the electrical angle value of the current cycle and the electrical angle values ​​of historical cycles, a second anomaly processing is performed on the servo motor in the current cycle to obtain a first second anomaly processing result, including:

[0041] When the electrical angle value of the current period 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 values ​​of historical cycles, 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 The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where 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 This indicates the second adjustment speed value, vel c_0 This indicates the historical adjusted speed value of the servo motor after speed value adjustment during the historical period;

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

[0049] In some possible implementations of the first aspect, when the electrical angle value of the current cycle is less than the maximum electrical angle overflow threshold, the servo motor is subjected to a second anomaly processing 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 anomaly processing result, including:

[0050] When the electrical angle value of the current period 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 values ​​of the historical cycles, 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The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where m = 2. k-1 / qcpr;

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

[0055] Vel c3 =vel c_0

[0056] Among them, vel c3 This indicates the third adjustment speed value, vel c_0 This indicates the historical adjusted speed value of the servo motor after speed value adjustment during the historical period;

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

[0058] Secondly, the present invention provides a servo motor anomaly handling system based on electrical angle calculation, the system comprising:

[0059] The pulse acquisition module is used to acquire the current cycle and the historical cycle of the current cycle of the servo motor, and to acquire the current pulse reading and historical pulse reading of the incremental encoder in the servo motor in the current cycle and the historical cycle, respectively.

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

[0061] A threshold construction module is used to calculate the electrical angle value of the servo motor in each cycle based on the feedback speed sequence, and to construct the electrical angle overflow threshold range of the servo motor.

[0062] The first processing module is used to perform a first anomaly 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 range of the electrical angle overflow threshold, and to obtain the first anomaly processing result of the servo motor.

[0063] The second processing module is used to perform a second anomaly 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 range of the electrical angle overflow threshold, so as to obtain the second anomaly processing result of the servo motor.

[0064] Compared with existing technologies, the technical principles and beneficial effects of this solution are as follows:

[0065] This invention, in its embodiments, calculates the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and uses this current feedback speed to calculate the electrical angle of the servo motor. Furthermore, this invention constructs an electrical angle overflow threshold range for the servo motor, using this range to determine whether the current electrical angle value of the servo motor has overflowed, thereby allowing for timely adjustment of any overflowing current electrical angle values. This invention also performs a first anomaly handling based on the current electrical angle value to address speed oscillation anomalies in the servo motor by focusing on the electrical angle. Finally, this invention performs a second anomaly handling based on the current electrical angle value to address electrical angle anomalies, speed oscillations, and other anomalies in the servo motor by focusing on the electrical angle. Therefore, this invention provides a servo motor anomaly handling method and system based on electrical angle calculation, which can address electrical angle anomalies, speed oscillations, and other anomalies in servo motors by focusing on the electrical angle. Attached Figure Description

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

[0067] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0068] Figure 1 This is a flowchart illustrating a servo motor anomaly handling method based on electrical angle calculation, provided in an embodiment of the present invention.

[0069] Figure 2 As shown in one embodiment of the present invention Figure 1 A schematic diagram of one step in a servo motor anomaly handling method based on electrical angle calculation;

[0070] Figure 3 This is a schematic diagram of a servo motor anomaly handling system based on electrical angle calculation, provided as an embodiment of the present invention. Detailed Implementation

[0071] It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention.

[0072] This invention provides a servo motor anomaly handling method based on electrical angle calculation. The execution entity of this method includes, but is not limited to, at least one of the following electronic devices configured to execute the method provided in this invention: a server, a terminal, etc. In other words, the servo motor anomaly handling method based on electrical angle calculation can be executed by software or hardware installed on a terminal device or a server device. 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. The server can be an independent server or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, content delivery networks (CDNs), and big data and artificial intelligence platforms.

[0073] See Figure 1 The diagram shown is a flowchart illustrating a servo motor anomaly handling method based on electrical angle calculation according to an embodiment of the present invention. Wherein, Figure 1 The servo motor anomaly handling method based on electrical angle calculation described in the article includes:

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

[0075] In this embodiment of the invention, the servo motor refers to a motor that can rotate with high precision. Typically, this type of motor consists of a control circuit that 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 counting pulses, using the number of pulses to represent the magnitude 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 the feedback speed sequence of the incremental encoder using the current feedback speed.

[0078] In this embodiment of the invention, the current feedback speed of the incremental encoder is calculated 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.

[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 using the following formula based on the current pulse reading and the historical pulse reading:

[0080] inc i =β i -β i '

[0081] Among them, inc i Indicates the current feedback speed, β i β represents the reading of the i-th pulse of the incremental encoder within the current period. i ' indicates the i-th pulse reading of the incremental encoder within 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 based on the current feedback speed using the following formula:

[0083]

[0084] Where (inc1,inc2,…,inc i ,…,inc n ) represents the feedback velocity sequence, β1,β2,…,β i ,…,β n This represents the pulse readings of the incremental encoder within the current period, β1',β2',…,β i ',…,β n ' represents the pulse reading of the incremental encoder within the historical period, n represents the total number of pulse readings within the current period, and inc i This 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 the electrical angle overflow threshold 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 using the following formula based on the feedback speed sequence:

[0087] ang = inc1 + inc2 + ... + inc n

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

[0089] Furthermore, in this embodiment of the invention, an electrical angle overflow threshold range for the servo motor is constructed to determine whether the electrical angle value of the servo motor in the current cycle has overflowed, thereby adjusting the electrical angle value of the current cycle that has overflowed 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 bits per cell in the counting register of the servo motor; and determining the electrical angle overflow threshold range of the servo motor based on the number of bits per cell using the following formula:

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

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

[0093] For example, when the counter register is 32-bit, the range of the overflow threshold is set to -2147483648 to 2147483647. Therefore, 2147000000 and -2147000000 are taken as the judgment threshold. When the ang value is greater than 2147000000 or less than -2147000000, it is determined that the electrical angle calculation value has overflowed.

[0094] S4. When the electrical angle value of the current cycle is within the range of the 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 the first abnormality processing in the current cycle to obtain the first abnormality processing result of the servo motor.

[0095] In this embodiment of the invention, the servo motor is subjected to a first anomaly processing based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, so as to deal with the abnormal problem of speed oscillation of the servo motor from the perspective of electrical angle.

[0096] In one embodiment of the present invention, the electrical angle value of the current period is simultaneously 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 period, ang c1 This indicates the first adjusted 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 adjusted speed value, ang c_0 The electrical angle value representing the historical period ang 历史 Historical adjusted electrical angle value after electrical angle adjustment.

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

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

[0105] This invention embodiment performs a second anomaly processing on the servo motor based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, in order to address anomalies such as electrical angle anomalies and speed oscillations in the servo motor by starting with the electrical angle.

[0106] In one embodiment of the present invention, see reference 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 servo motor performs a second anomaly processing in the current cycle to obtain the second anomaly 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, the servo motor is subjected to a second abnormality processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and a first second abnormality processing result is obtained.

[0108] Specifically, in some implementations, when the electrical angle value of the current period 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 values ​​of historical cycles, 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 The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where 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 This indicates the second adjustment speed value, vel c_0 This indicates the historical adjusted speed value of the servo motor after adjusting the speed value in the historical cycle.

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

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

[0117] Specifically, in some implementations, when the electrical angle value of the current period 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 values ​​of the historical cycles, 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 The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where m = 2. k-1 / qcpr.

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

[0122] Vel c3 =vel c_0

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

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

[0125] As can be seen, this embodiment of the invention calculates the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and uses this current feedback speed to calculate the electrical angle of the servo motor. Furthermore, this embodiment constructs an electrical angle overflow threshold for the servo motor to determine whether the current electrical angle value of the servo motor has overflowed, thereby allowing for timely adjustment of any overflowing current electrical angle values. This embodiment performs a first anomaly handling on the servo motor based on the current electrical angle value to address the speed oscillation anomaly of the servo motor from the perspective of electrical angle. This embodiment also performs a second anomaly handling on the servo motor based on the current electrical angle value to address anomalies such as electrical angle anomalies and speed oscillations from the perspective of electrical angle. Therefore, the servo motor anomaly handling method based on electrical angle calculation proposed in this embodiment can address anomalies such as electrical angle anomalies and speed oscillations of the servo motor from the perspective of electrical angle.

[0126] like Figure 3 The diagram shown is a functional block diagram of the servo motor anomaly handling 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 this invention can be installed in an electronic device. Depending on the functions implemented, the servo motor anomaly handling system based on electrical angle calculation may 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. The module described in this invention can also be called a unit, which refers to a series of computer program segments that can be executed by the processor of an electronic device and can perform a fixed function, and which are stored in the memory of the electronic device.

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

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

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

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

[0132] The first processing module 404 is used to perform a first anomaly 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 range of the electrical angle overflow threshold, so as to obtain the first anomaly processing result of the servo motor.

[0133] The second processing module 405 is used to perform a second anomaly 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 range of the electrical angle overflow threshold, so as to obtain the second anomaly processing result of the servo motor.

[0134] In detail, the modules in the servo motor anomaly handling system 400 based on electrical angle calculation described in this embodiment of the invention employ the same methods as described above. Figure 1 The method used is the same as the servo motor anomaly handling method based on electrical angle calculation described above, and can produce the same technical effect, so it will not be repeated here.

[0135] Furthermore, the functional modules in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of 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 exemplary and non-limiting in all respects, and the scope of the invention is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be embraced within the invention. No appended diagram markings in the claims should be construed as limiting the scope of the claims.

[0138] It should be noted that, in this document, relational terms such as "first" and "second" are used merely to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0139] The above description is merely a specific embodiment of the present invention, enabling those skilled in the art to understand or implement the 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 invention. Therefore, the present invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features of the invention herein.

Claims

1. A servo motor anomaly handling method based on electrical angle calculation, characterized in that, The method includes: Obtain the current cycle and the historical cycle of the servo motor, and collect the current pulse reading and historical pulse reading of the incremental encoder in the servo motor within the current cycle and the historical cycle, respectively. Based on the current pulse reading and the historical pulse reading, the current feedback speed of the incremental encoder is calculated, and the feedback speed sequence of the incremental encoder is constructed using the current feedback speed; Based on the feedback speed sequence, the electrical angle value of the servo motor in each cycle is calculated, and the electrical angle overflow threshold range of the servo motor is constructed. When the electrical angle value of the current cycle is within the range of the electrical angle overflow threshold, the servo motor is subjected to first anomaly processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and the first anomaly processing result of the servo motor is obtained. When the electrical angle value of the current cycle is not within the range of the electrical angle overflow threshold, the servo motor is subjected to a second abnormality processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and the second abnormality processing result of the servo motor is obtained.

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

3. The method according to claim 1, characterized in that, The step of constructing the feedback speed sequence of the incremental encoder using the current feedback speed includes: Based on the current feedback rate, the feedback rate sequence of the incremental encoder is constructed using the following formula: Where (inc1,inc2,…,inc i ,…,inc n ) represents the feedback velocity sequence, β1,β2,…,β i ,…,β n This represents the pulse readings of the incremental encoder within the current period, β1',β2',…,β i ',…,β n ' represents the pulse reading of the incremental encoder within the historical period, n represents the total number of pulse readings within the current period, and inc i This indicates the current feedback speed.

4. The method according to claim 1, characterized in that, The calculation of 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 Where ang represents the electrical angle value for each cycle, (inc1,inc2,…,inc) n ) represents the feedback velocity sequence.

5. The method according to claim 1, characterized in that, The process of constructing the electrical angle overflow threshold range for the servo motor includes: Identify the number of bits per cell in the counting register of the servo motor; Based on the number of bits in the unit, 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 This represents the minimum electrical angle overflow threshold, 2. k-1 This indicates the maximum electrical angle overflow threshold of 2. k-1 k represents the number of bits in the unit.

6. The method according to claim 5, characterized in that, 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 cycles, the servo motor performs a first anomaly processing in the current cycle to obtain a first anomaly processing result for the servo motor, including: The electrical angle value in the current period is simultaneously 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 period, ang c1 This 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 c1 -The c_0 Among them, vel c1 Indicates the first adjusted speed value, ang c_0 The electrical angle value representing the historical period ang 历史 Historical adjusted electrical angle value after electrical angle adjustment; The first adjustment electrical angle value and the first adjustment speed value are used as the first abnormality handling 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 cycles, the servo motor undergoes a second anomaly processing in the current cycle to obtain the second anomaly processing result of the servo motor, including: When the electrical angle value of the current cycle is greater than the maximum electrical angle overflow threshold, the servo motor is subjected to a second anomaly processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and a first second anomaly processing result is obtained. When the electrical angle value of the current cycle is less than the minimum electrical angle overflow threshold, the servo motor is subjected to a second anomaly processing in the current cycle based on the electrical angle value of the current cycle and the electrical angle value of the historical cycle, and a second anomaly processing result is obtained.

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 values ​​of historical cycles, the servo motor undergoes a second anomaly processing in the current cycle to obtain a first second anomaly processing result, including: When the electrical angle value of the current period 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 values ​​of the historical cycles, 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 The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where 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 This indicates the second adjustment speed value, vel c_0 This indicates the historical adjusted speed value of the servo motor after speed value adjustment during the historical period; The second adjustment electrical angle value and the second adjustment speed value are used as the first second anomaly 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 historical cycles, a second anomaly processing is performed on the servo motor in the current cycle to obtain a first second anomaly processing result, including: When the electrical angle value of the current period 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 values ​​of the historical cycles, the current electrical angle value is adjusted using the following formula to obtain the 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 The current electrical angle value represents the current cycle, qcpr represents the number of incremental encoder lines, and m represents an integer, where m = 2. k-1 / qcpr; The speed of the servo motor in the current cycle is adjusted using the following formula to obtain the third adjusted speed value: Vel c3 =vel c_0 Among them, vel c3 This indicates the third adjustment speed value, vel c_0 This indicates the historical adjusted speed value of the servo motor after speed value adjustment during the historical period; The third adjustment electrical angle value and the third adjustment speed value are used as the second abnormality processing result.

10. A servo motor anomaly handling system based on electrical angle calculation, characterized in that, The system includes: The pulse acquisition module is used to acquire the current cycle and the historical cycle of the current cycle of the servo motor, and to acquire the current pulse reading and historical pulse reading of the incremental encoder in the servo motor in the current cycle and the historical cycle, respectively. A sequence construction module is used to calculate the current feedback speed of the incremental encoder based on the current pulse reading and the historical pulse reading, and to construct the feedback speed sequence of the incremental encoder using the current feedback speed; A threshold construction module is used to calculate the electrical angle value of the servo motor in each cycle based on the feedback speed sequence, and to construct the electrical angle overflow threshold range of the servo motor. The first processing module is used to perform a first anomaly 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 range of the electrical angle overflow threshold, and to obtain the first anomaly processing result of the servo motor. The second processing module is used to perform a second anomaly 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 range of the electrical angle overflow threshold, so as to obtain the second anomaly processing result of the servo motor.

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