High-precision operation control compensation method for linear rotating motor

Abstract

The invention discloses a high-precision operation control compensation method for a linear rotating motor, and relates to the technical field of motor operation control compensation, and the method comprises the steps: building a mathematical model of the linear rotating motor through the basic parameters of the linear rotating motor; based on the linear rotating motor basic parameters, linear rotating motor operation parameters are obtained by using the linear rotating motor mathematical model; according to the operation parameters of the linear rotating motor, the compensation amount of the operation parameters of the linear rotating motor is obtained; and performing compensation processing by using the linear rotating motor operation parameter compensation amount according to the linear rotating motor operation parameters to obtain a high-precision operation control compensation result of the linear rotating motor. According to the method, the problems of inaccurate mathematical model, parameter uncertainty, over-compensation or under-compensation, insufficient nonlinear characteristic processing and the like are solved, the control precision and the operation stability of the linear rotating motor are improved, and high-precision operation control of the linear rotating motor is realized.

Description

Technical Field

[0001] This invention belongs to the field of motor operation control compensation technology, and specifically relates to a high-precision operation control compensation method for a linear rotary motor. Background Technology

[0002] Linear rotary motors are devices that convert electrical energy into mechanical energy, widely used in high-precision positioning, automated production lines, robotics, and aerospace. With the advancement of industrial automation, the requirements for the control precision of linear rotary motors are constantly increasing, especially in applications requiring high dynamic response and high-precision positioning. While high-precision operation control compensation methods for linear rotary motors have played a significant role in improving motor performance, some defects and shortcomings still exist due to factors such as manufacturing errors inherent in the linear rotary motor itself, external load disturbances, and imperfections in control algorithms. These specifically include: (1) Inaccurate mathematical model: The established mathematical model of the motor may not be able to fully and accurately describe the actual characteristics of the motor. For example, the nonlinear characteristics, magnetic saturation effect, eddy current effect, etc. of the motor may be simplified or ignored during modeling, resulting in errors in the model-based compensation method. (2) Parameter uncertainty: The actual operating environment of linear rotary motor is complex. The parameters of the motor will change with factors such as temperature and magnetic field. Moreover, some of the existing high-precision operation control compensation methods are based on fixed motor models. When the motor parameters change, the deviation between the model and the actual motor characteristics will increase, affecting the high-precision operation of the motor. (3) Overcompensation or undercompensation: The parameter settings of the compensation algorithm may need to be adjusted according to the specific motor and application scenario. If the parameter settings are not reasonable, overcompensation or undercompensation may occur. Overcompensation will cause the motor to run unstablely, while undercompensation will not achieve the expected accuracy improvement effect. (4) Insufficient handling of nonlinear characteristics: Linear rotary motors have some nonlinear characteristics. However, many existing compensation methods do not fully consider these nonlinear factors and still use linear models for compensation control or have limited compensation effects. They cannot completely eliminate the errors caused by nonlinearity. This makes it difficult to guarantee control accuracy when the motor is running under high load or high speed, which may lead to magnetic saturation. Problems such as increased torque pulsation and increased position tracking error may occur.

[0003] Therefore, there is an urgent need for a high-precision operation control compensation method for linear rotary motors to solve problems such as inaccurate mathematical models, parameter uncertainties, overcompensation or undercompensation, and insufficient handling of nonlinear characteristics. Summary of the Invention

[0004] The purpose of this invention is to propose a high-precision operation control compensation method for linear rotary motors to solve problems such as inaccurate mathematical models, parameter uncertainties, overcompensation or undercompensation, and insufficient handling of nonlinear characteristics, thereby improving the control accuracy and operation stability of linear rotary motors and realizing high-precision operation control of linear rotary motors.

[0005] To achieve the above objectives, the present invention provides a high-precision operation control compensation method for a linear rotary motor, comprising the following steps: S1. Establish a mathematical model of the linear rotary motor using the basic parameters of the linear rotary motor; S2. Based on the basic parameters of the linear rotary motor, the operating parameters of the linear rotary motor are obtained using the mathematical model of the linear rotary motor; S3. Obtain the compensation amount of the linear rotary motor operating parameters based on the linear rotary motor operating parameters; S4. Based on the linear rotary motor operating parameters, perform compensation processing using the linear rotary motor operating parameter compensation amount to obtain the high-precision operation control compensation result of the linear rotary motor.

[0006] Optionally, S1, using the basic parameters of the linear rotary motor, establish a mathematical model of the linear rotary motor, including: Collect basic parameters of the linear rotary motor, which are the electromagnetic parameters of the linear rotary motor, including the number of winding turns, winding resistance, winding inductance, and permanent magnet parameters. Based on the basic parameters of the linear rotary motor, obtain the historical characteristics of the basic parameters of the linear rotary motor; A mathematical model of the linear rotary motor is established using the basic parameter characteristics of the historical linear rotary motor.

[0007] Optionally, based on the basic parameters of the linear rotary motor, historical characteristics of the basic parameters of the linear rotary motor are obtained, including: Based on the basic parameters of the linear rotary motor, obtain the corresponding historical basic parameters of the linear rotary motor; Obtain the current moment as the initial moment t for the historical linear rotary motor's basic parameters; Obtain the historical basic parameters of the linear rotary motor at initial time t, time t+1, and time t+2; Based on the historical linear rotary motor basic parameters at the initial time t and time t+1, the linear relationship between the historical linear rotary motor basic parameters at the initial time t and time t+1 is obtained as the first linear relationship of the historical linear rotary motor basic parameters. Based on the historical linear rotary motor basic parameters at the initial time t and t+2, the linear relationship between the historical linear rotary motor basic parameters at the initial time t and t+2 is obtained as the second linear relationship of the historical linear rotary motor basic parameters. Determine whether the first linear relationship of the historical linear rotary motor basic parameters is consistent with the second linear relationship of the historical linear rotary motor basic parameters. If so, obtain the historical linear rotary motor basic parameters at the initial time t, time t+1, and time t+2 as the characteristics of the historical linear rotary motor basic parameters. Otherwise, obtain time t+3 as the initial time of the historical linear rotary motor basic parameters and return to execute the first operation. The first operation is to obtain the historical basic parameters of the linear rotary motor at the initial time t, time t+1, and time t+2.

[0008] Optionally, a mathematical model of the linear rotary motor is established using the historical basic parameter characteristics of the linear rotary motor, including: Based on the historical linear rotary motor basic parameter features, the first historical linear rotary motor basic parameter features are obtained as the first training set. Using the first training set as input and the historical linear rotary motor operating parameters corresponding to the first training set as output, a basic mathematical model of the linear rotary motor is constructed based on the principle of electromagnetic induction. Based on the historical linear rotary motor basic parameter characteristics, the first training set is used to obtain the second, third, and fourth historical linear rotary motor basic parameter characteristics as the first verification set. The first verification set is input into the basic mathematical model of the linear rotary motor, and the historical linear rotary motor operating parameters corresponding to the first verification set are obtained as the second historical linear rotary motor operating parameters, the third historical linear rotary motor operating parameters and the fourth historical linear rotary motor operating parameters, respectively. Determine whether the second historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute the second operation; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the second historical linear rotary motor operating parameters, and return to the third operation. The second operation is as follows: determine whether the third historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute the fourth operation; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the third historical linear rotary motor operating parameters, and return to the third operation. The third operation is: taking the first training set as input and the historical linear rotary motor operating parameters corresponding to the first training set as output, and constructing a basic mathematical model of the linear rotary motor based on the principle of electromagnetic induction. The fourth operation is as follows: determine whether the fourth historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, obtain the basic mathematical model of the linear rotary motor as the mathematical model of the linear rotary motor. Otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the fourth historical linear rotary motor operating parameters, and return to the third operation.

[0009] Optionally, S2, based on the fundamental parameters of the linear rotary motor and using the mathematical model of the linear rotary motor, obtain the operating parameters of the linear rotary motor, including: Using the aforementioned basic parameters of the linear rotary motor, the basic parameter characteristics of the linear rotary motor are obtained; Input the basic parameter characteristics of the linear rotary motor into the mathematical model of the linear rotary motor to obtain the actual operating parameters of the linear rotary motor. Based on the actual operating parameters of the linear rotary motor and the corresponding historical actual operating parameters of the linear rotary motor, the threshold of the actual operating parameters of the linear rotary motor is obtained; The operating parameters of the linear rotary motor are obtained based on the actual operating parameters of the linear rotary motor and the threshold values ​​of the actual operating parameters of the linear rotary motor.

[0010] Optionally, the linear rotary motor operating parameters are obtained based on the actual operating parameters of the linear rotary motor and the threshold values ​​of the actual operating parameters of the linear rotary motor, including: The deviation of the actual operating parameters of the linear rotary motor is obtained by comparing the actual operating parameters of the linear rotary motor with the threshold values ​​of the actual operating parameters of the linear rotary motor. Based on the deviation of the actual operating parameters of the linear rotary motor and the corresponding historical deviation of the actual operating parameters of the linear rotary motor, the threshold of the actual operating parameter deviation of the linear rotary motor is obtained. Determine whether the deviation of the actual operating parameters of the linear rotary motor is completely consistent with the threshold of the deviation of the actual operating parameters of the linear rotary motor. If so, obtain the new actual operating parameters of the linear rotary motor and return to the fifth operation; otherwise, obtain the actual operating parameters of the linear rotary motor as the operating parameters of the linear rotary motor. The fifth operation is as follows: based on the actual operating parameters of the linear rotary motor and the corresponding historical actual operating parameters of the linear rotary motor, obtain the threshold of the actual operating parameters of the linear rotary motor.

[0011] Optionally, S3, obtaining the linear rotary motor operating parameter compensation amount based on the linear rotary motor operating parameters, including: Based on the operating parameters of the linear rotary motor, obtain the changing trend of the operating parameters of the linear rotary motor; Determine whether the changing trend of the linear rotary motor operating parameters is linear. If so, obtain the linear rotary motor operating parameters as linear operating parameters and execute the sixth operation; otherwise, directly execute the seventh operation. The sixth operation is as follows: based on the linear operating parameters of the linear rotary motor, an adaptive compensation mechanism is used to obtain the linear operating parameter compensation amount of the linear rotary motor as the linear operating parameter compensation amount of the linear rotary motor. The seventh operation is to determine whether the changing trends of the linear rotary motor operating parameters are all non-linear changes. If so, the linear rotary motor operating parameters are obtained as non-linear operating parameters of the linear rotary motor, and the eighth operation is executed. Otherwise, the linear rotary motor operating parameters are divided to obtain the initial linear operating parameters and the initial non-linear operating parameters of the linear rotary motor, and the ninth operation is executed directly. The eighth operation is: using a nonlinear compensation method to obtain the compensation amount of the linear rotary motor operating parameters based on the nonlinear operating parameters of the linear rotary motor; The ninth operation is to add the initial linear operating parameters and the initial nonlinear operating parameters of the linear rotary motor to the linear rotary motor operating parameters and the linear rotary motor operating parameters respectively, and then return to the tenth operation; The tenth operation is to determine whether the changing trends of the operating parameters of the linear rotary motor are all linear changes. The adaptive compensation mechanism is based on model reference adaptive control.

[0012] Optionally, the nonlinear operating parameters of the linear rotary motor are used to obtain the compensation amount of the linear rotary motor operating parameters using a nonlinear compensation method, including: Using the nonlinear operating parameters of the linear rotary motor, the corresponding historical nonlinear operating parameters of the linear rotary motor are obtained; Based on the historical nonlinear operating parameters of the linear rotary motor, a nonlinear operating parameter compensation model is constructed. The nonlinear operating parameters of the linear rotary motor are input into the nonlinear operating parameter compensation model to obtain the nonlinear operating parameter compensation amount of the linear rotary motor as the operating parameter compensation amount of the linear rotary motor.

[0013] Optionally, based on the historical nonlinear operating parameters of the linear rotary motor, a nonlinear operating parameter compensation model is constructed, including: Based on the aforementioned historical nonlinear operating parameters of the linear rotary motor, a second training set is established; Based on the second training set and the historical nonlinear operating parameters of the linear rotary motor, the continuous historical nonlinear operating parameters of the linear rotary motor corresponding to the second training set are obtained as the second verification set. Using the second training set as input and the compensation amount of the nonlinear operating parameters of the linear rotary motor corresponding to the second training set as output, an initial compensation model for the nonlinear operating parameters is constructed based on a convolutional neural network. Input the second verification set into the nonlinear operating parameter initial compensation model to obtain the nonlinear operating parameter compensation amount of the linear rotary motor corresponding to the second verification set; Determine whether the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second training set is completely consistent with the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second verification set. If so, obtain the initial compensation model of the nonlinear operating parameter as the nonlinear operating parameter compensation model. Otherwise, update the second training set using the second verification set and return to the eleventh operation. The eleventh operation is as follows: based on the second training set, obtain the corresponding continuous historical nonlinear operating parameters of the linear rotary motor as the second verification set.

[0014] Optionally, S4, based on the linear rotary motor operating parameters, compensation processing is performed using the linear rotary motor operating parameter compensation amount to obtain a high-precision operation control compensation result for the linear rotary motor, including: The linear rotary motor operating parameters are compensated using the compensation amount of the linear rotary motor operating parameters to obtain the compensation result of the linear rotary motor operating parameters; Based on the linear rotary motor operating parameters and the corresponding historical linear rotary motor operating parameters, obtain the threshold for the linear rotary motor operating parameter compensation result; Determine whether the compensation result of the linear rotary motor operating parameters fully meets the threshold of the compensation result of the linear rotary motor operating parameters. If yes, obtain the compensation result of the linear rotary motor operating parameters as the high-precision operation control compensation result of the linear rotary motor. Otherwise, update the linear rotary motor operating parameters according to the compensation result of the linear rotary motor operating parameters and return to the twelfth operation. The twelfth operation is to obtain the changing trend of the linear rotary motor operating parameters based on the linear rotary motor operating parameters.

[0015] Compared with the closest existing technology, the present invention has the following advantages: This invention constructs a mathematical model that better reflects the actual operating conditions of a motor, providing a foundation for subsequent control compensation, improving the accuracy and adaptability of the control algorithm, and effectively solving the problem of inaccurate mathematical models. The invention employs an adaptive compensation mechanism, enabling precise control based on the motor's real-time operating status and predicted future trajectory, promptly compensating for the effects of model errors and external disturbances, improving the motor's control accuracy and dynamic performance, and avoiding over-compensation or under-compensation. This ensures stable motor operation under different operating conditions and improves system reliability and robustness. The invention uses a nonlinear compensation method for nonlinear operating parameters, effectively compensating for nonlinear factors such as motor flux linkage and inductance, improving the motor's control accuracy and dynamic performance throughout its operating range, and broadening the motor's application scope. This invention achieves continuous high-precision operation control of linear rotary motors, improving production efficiency and product quality, and reducing equipment maintenance costs. Attached Figure Description

[0016] To more clearly illustrate the specific embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0017] Figure 1 This is a flowchart of a high-precision operation control compensation method for a linear rotary motor according to an embodiment of the present invention. Detailed Implementation

[0018] To make the objectives, technical solutions, and advantages of this invention clearer, the technical solutions in the embodiments of this invention will be clearly and completely described below with reference to specific embodiments and corresponding drawings. Obviously, the described embodiments are only a part of the embodiments of this invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0019] The terminology used in the embodiments section of this invention is for the purpose of explaining specific embodiments of the invention only, and is not intended to limit the invention.

[0020] like Figure 1 As shown, this embodiment of the invention provides a high-precision operation control compensation method for a linear rotary motor, comprising the following steps: S1. Establish a mathematical model of the linear rotary motor using the basic parameters of the linear rotary motor; Based on collected electromagnetic parameters such as the number of winding turns, winding resistance, winding inductance, and permanent magnet parameters, and combined with theories of electromagnetic induction and electromagnetic torque generation, a model reflecting the internal electromagnetic relationships and operating laws of the motor is constructed through mathematical formulas and equations. This process transforms the physical operation of the motor into a quantifiable mathematical form, providing a theoretical foundation for subsequent analysis of the motor's operating status and performance prediction. It also reduces reliance on physical motor testing and lowers experimental costs.

[0021] S2. Based on the basic parameters of the linear rotary motor, the operating parameters of the linear rotary motor are obtained using the mathematical model of the linear rotary motor; By substituting basic parameters into an established mathematical model, parameters reflecting the actual operating state of the motor, such as speed, electromagnetic torque, induced electromotive force, and current, are calculated. This process enables precise derivation of motor operating parameters, quickly obtains operating data under different basic parameter configurations, provides data support for evaluating motor performance and judging the rationality of operation, and improves the efficiency of parameter analysis.

[0022] S3. Obtain the compensation amount of the linear rotary motor operating parameters based on the linear rotary motor operating parameters; By analyzing the deviations between operating parameters and ideal operating conditions, and considering factors such as motor losses and external interference, compensation values ​​for correcting operating parameters, such as current compensation and torque compensation, are calculated. This process can specifically compensate for deviations in operating parameters, providing a concrete basis for subsequent optimization of motor operating conditions and helping to reduce problems such as efficiency loss and operational instability caused by parameter deviations from ideal values.

[0023] S4. Based on the linear rotary motor operating parameters, perform compensation processing using the linear rotary motor operating parameter compensation amount to obtain the high-precision operation control compensation result of the linear rotary motor. By combining operating parameters with corresponding compensation values, specific control commands are generated through a control algorithm to achieve precise adjustment of the motor's operating state. This step significantly improves the accuracy of motor operation control, enabling the motor to maintain a near-ideal operating state under different working conditions. It effectively improves the motor's operating efficiency, stability, and service life, enhancing its reliability in practical applications.

[0024] In summary, steps S1 to S4, focusing on the operation control of the linear rotary motor, sequentially explain the process of establishing a mathematical model using basic parameters, obtaining operating parameters by combining the basic parameters and the model, obtaining compensation amounts based on the operating parameters, and then deriving high-precision control compensation results through the operating parameters and compensation amounts. Each step realizes the quantitative analysis of motor operation, accurate parameter derivation, deviation compensation, and control accuracy improvement, jointly contributing to the efficient and stable operation of the motor.

[0025] As one possible implementation, in the above embodiments, step S1 may specifically include the following steps: S1-1. Collect basic parameters of the linear rotary motor; The basic parameters of a linear rotary motor are its electromagnetic parameters, including the number of winding turns, winding resistance, winding inductance, and permanent magnet parameters. The number of winding turns includes both stator and rotor windings. The stator winding turns affect the induced electromotive force and magnetic field strength, while the rotor winding turns interact with the stator windings to generate electromagnetic torque. Winding resistance, encompassing both stator and rotor windings, causes electrical energy to be converted into heat, affecting motor efficiency. Winding inductance, including both stator and rotor winding inductance, determines the motor's electromagnetic transient processes and reactive power requirements. For permanent magnet linear rotary motors, parameters such as remanence, coercivity, and permeability determine the motor's magnetic field characteristics and output capacity.

[0026] S1-2. Based on the basic parameters of the linear rotary motor, obtain the historical characteristics of the basic parameters of the linear rotary motor; Based on the collected fundamental parameters of the linear rotary motor, obtaining the historical characteristics of these fundamental parameters involves statistically analyzing the motor's fundamental parameters at different times and under different operating conditions. This process extracts the evolution patterns of these parameters with factors such as operating time, load changes, and environmental conditions. Examples include the trend of winding resistance changing with temperature and the long-term decay characteristics of permanent magnet parameters. This step transforms discrete parameter data into regular characteristic information, deepening the understanding of the dynamic changes in motor parameters and providing a characteristic basis that conforms to actual operating conditions for the subsequent construction of mathematical models, making the models more practical and predictive.

[0027] S1-3. Using the basic parameter characteristics of the historical linear rotary motor, establish a mathematical model of the linear rotary motor; By combining expertise in electromagnetic induction laws and electromagnetic field theory, the physical operation of a motor is transformed into mathematical equations that include variables such as the number of winding turns, resistance, inductance, and permanent magnet parameters, such as voltage balance equations and electromagnetic torque equations. This process enables a quantitative description of motor performance. Through modeling, the operating state of the motor under different parameter combinations can be simulated, accurately predicting key performance indicators such as output torque, efficiency, and transient response. This provides an efficient theoretical tool for motor design optimization, fault diagnosis, and control system development, significantly improving the technical efficiency of motor research and application.

[0028] In summary, steps S1-1 to S1-3, through accurate acquisition of basic data and in-depth exploration of parameter characteristics, ultimately form a mathematical model that can digitally simulate the motor's operating state. This provides strong theoretical support for motor design optimization, performance prediction, and fault diagnosis, effectively improving the efficiency of motor R&D and the reliability of its applications, and promoting the development of motor technology towards greater precision and efficiency.

[0029] As one possible implementation, in the above embodiments, step S1-2 may specifically include the following steps: S1-2-1. Obtain the corresponding historical linear rotary motor basic parameters based on the aforementioned linear rotary motor basic parameters; Retrieving historical electromagnetic parameter data of the motor associated with the currently collected basic parameters from the database or historical records provides a data foundation for subsequent analysis of the historical trend of parameter changes, ensuring the continuity and integrity of the study on the evolution of motor parameters.

[0030] S1-2-2, Obtain the initial time t of the current moment as the basic parameter of the historical linear rotary motor; Determining the starting point for analyzing historical parameter changes makes subsequent comparisons and pattern extraction of parameters at different times more targeted and accurate, avoiding confusion in the time dimension.

[0031] S1-2-3. Obtain the historical basic parameters of the linear rotary motor at the initial time t, time t+1, and time t+2. The electromagnetic parameter data of the motor were extracted at the start time and two adjacent time points, providing specific data samples for analyzing the changing trend of the parameters over a short period of time.

[0032] S1-2-4. Based on the historical linear rotary motor basic parameters at the initial time t and time t+1, obtain the linear relationship between the historical linear rotary motor basic parameters at the initial time t and time t+1 as the first linear relationship of the historical linear rotary motor basic parameters. By mathematical calculations, the linear correlation between parameters at two adjacent time points is obtained, which initially reveals the variation pattern of parameters at adjacent time points and provides a reference for judging the stability of parameter changes.

[0033] S1-2-5. Based on the historical linear rotary motor basic parameters at the initial time t and t+2, obtain the linear relationship between the historical linear rotary motor basic parameters at the initial time t and t+2 as the second linear relationship of the historical linear rotary motor basic parameters. The linear relationship between the parameters at the starting time and at an interval of one time was calculated. This further analyzed the changing trend of the parameters over a slightly longer time span, which corroborated the first linear relationship and enhanced the reliability of the judgment on the pattern of parameter changes.

[0034] S1-2-6. Determine whether the first linear relationship of the historical linear rotary motor basic parameters is consistent with the second linear relationship of the historical linear rotary motor basic parameters. If yes, obtain the historical linear rotary motor basic parameters at the initial time t, time t+1 and time t+2 as the characteristics of the historical linear rotary motor basic parameters. Otherwise, obtain time t+3 as the initial time of the historical linear rotary motor basic parameters and return to S1-2-3. This step verifies the consistency of the linear relationship, ensuring the stability and representativeness of the extracted historical parameter characteristics, avoiding misjudgments of characteristics due to parameter fluctuations, and improving the accuracy of subsequent model construction.

[0035] In summary, steps S1-2-1 to S1-2-6, through time series analysis and linear relationship verification of historical parameters, screened out historical parameter characteristics with stability and representativeness, providing a high-quality basis for the subsequent establishment of mathematical models, effectively avoiding characteristic deviations caused by parameter fluctuations, and improving the accuracy and reliability of model construction.

[0036] As one possible implementation, in the above embodiments, steps S1-3 may specifically include the following steps: S1-3-1. Based on the historical linear rotary motor basic parameter features, obtain the first historical linear rotary motor basic parameter features as the first training set; Representative data are selected from historical parameter characteristics as samples for model training. This provides high-quality input data for model training, ensuring that the trained model can better reflect the actual characteristics of the motor and improve the model's generalization ability.

[0037] S1-3-2. Using the first training set as input and the historical linear rotary motor operating parameters corresponding to the first training set as output, construct a basic mathematical model of the linear rotary motor based on the principle of electromagnetic induction. By using training samples and electromagnetic theory, a mathematical relationship between motor parameters and operating parameters is established. This provides a foundation for subsequent model verification and optimization by initially constructing a mathematical model framework that can describe the motor's operating state.

[0038] S1-3-3. Based on the historical linear rotary motor basic parameter characteristics, the first training set is used to obtain the second historical linear rotary motor basic parameter characteristics, the third historical linear rotary motor basic parameter characteristics, and the fourth historical linear rotary motor basic parameter characteristics as the first verification set. By obtaining different combinations of parameter characteristics from the historical basic parameter features of linear rotary motors through the training set as samples for model validation, diverse test data are provided to verify the accuracy and stability of the model, ensuring that the model can maintain good performance under different parameter conditions.

[0039] S1-3-4. Input the first verification set into the basic mathematical model of the linear rotary motor, and obtain the historical linear rotary motor operating parameters corresponding to the first verification set as the second historical linear rotary motor operating parameters, the third historical linear rotary motor operating parameters and the fourth historical linear rotary motor operating parameters, respectively. The model calculations yielded the corresponding operating parameters for the validation set, providing a basis for model validation and facilitating comparison between the model output and the actual operating parameters.

[0040] S1-3-5. Determine whether the second historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute S1-3-6; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the second historical linear rotary motor operating parameters, and return to S1-3-2. By comparing the validation set output with the actual running parameters, it is determined whether the model meets the requirements. If not, the training set is updated and the model is retrained. This process improves the model's accuracy through iterative optimization, ensuring that the model's output matches the actual running conditions.

[0041] S1-3-6. Determine whether the third historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute S1-3-7; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the third historical linear rotary motor operating parameters, and return to S1-3-2. This process compares the output of another set of validation sets with the actual operating parameters to further verify the stability of the model. It enhances the reliability of the model through multiple sets of validations and avoids the randomness that may exist in a single validation.

[0042] S1-3-7. Determine whether the fourth historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, obtain the basic mathematical model of the linear rotary motor as the mathematical model of the linear rotary motor. Otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the fourth historical linear rotary motor operating parameters, and return to S1-3-2. This process is the final verification. If it passes, the final model is determined; otherwise, optimization continues. Through multiple rounds of verification and iteration, it ensures that the final mathematical model has high accuracy and stability, and can be reliably used for motor performance analysis and prediction.

[0043] In summary, steps S1-3-1 to S1-3-7 constitute a progressive model building and optimization process. First, a first training set is selected from historical parameter characteristics. A basic mathematical model is then constructed based on the principle of electromagnetic induction. Next, a first validation set is derived from the training set and input into the model to obtain corresponding operating parameters. Subsequently, the operating parameters of the three validation sets are sequentially compared with the corresponding operating parameters in the training set. If they do not match, the training set is updated and the model is rebuilt; if they match, the final model is determined. The technical effect is that through iterative optimization of multiple training and validation sets, the constructed mathematical model of the linear rotary motor accurately reflects the actual operating characteristics of the motor, possessing high accuracy and stability. This provides a reliable theoretical tool for motor performance analysis, prediction, and optimization, effectively improving the efficiency of motor research and development and application.

[0044] As one possible implementation, in the above embodiments, step S2 may specifically include the following steps: S2-1. Using the aforementioned basic parameters of the linear rotary motor, obtain the basic parameter characteristics of the linear rotary motor; The collected fundamental parameters, such as the number of winding turns, winding resistance, winding inductance, and permanent magnet parameters, are analyzed to extract their characteristics and variation patterns under the current state. This step transforms the fundamental parameters into meaningful characteristic information, providing suitable input data for subsequent acquisition of operating parameters through mathematical models, ensuring that the information input into the model accurately reflects the motor's current fundamental state.

[0045] S2-2. Input the basic parameter characteristics of the linear rotary motor into the mathematical model of the linear rotary motor to obtain the actual operating parameters of the linear rotary motor. Using the established mathematical model, the input basic parameter characteristics are processed to obtain the actual operating parameters of the motor in the current state, such as speed, torque, and current. This step realizes the transformation from basic parameter characteristics to actual operating parameters, enabling rapid and accurate acquisition of the motor's current operating status data.

[0046] S2-3. Based on the actual operating parameters of the linear rotary motor and the corresponding historical actual operating parameters of the linear rotary motor, obtain the threshold of the actual operating parameters of the linear rotary motor; By comparing the current actual operating parameters with those under similar historical conditions, the upper and lower limits of the reasonable range for each parameter of the motor during normal operation are analyzed and summarized. This step determines the safe boundaries of motor operation, provides a standard for judging whether the current operating parameters are normal, helps to detect abnormalities in motor operation in a timely manner, and ensures stable motor operation.

[0047] S2-4. Obtain the operating parameters of the linear rotary motor based on the actual operating parameters of the linear rotary motor and the threshold values ​​of the actual operating parameters of the linear rotary motor; By combining the current actual operating parameters and the established thresholds, and through a series of judgments and processes, the parameters that represent the true operating state of the motor are finally determined. This ensures that the obtained operating parameters not only conform to the actual operating conditions but also fall within a reasonable threshold range, providing reliable parameter support for the monitoring, control, and optimization of the motor.

[0048] In summary, steps S2-1 to S2-4 first extract characteristics from the basic parameters of the linear rotary motor, then obtain the actual operating parameters using a mathematical model, next determine the operating parameter thresholds by combining historical parameters, and finally obtain the final operating parameters by analyzing the deviation between the actual operating parameters and the thresholds, as well as the deviation thresholds, and through judgment and processing. This process forms a complete operating parameter acquisition procedure, ensuring the accuracy and reliability of the parameters, providing strong support for motor monitoring, control, and optimization, and guaranteeing stable and efficient motor operation.

[0049] As one possible implementation, in the above embodiments, step S2-4 may specifically include the following steps: S2-4-1. Obtain the deviation of the actual operating parameters of the linear rotary motor based on the actual operating parameters of the linear rotary motor and the threshold of the actual operating parameters of the linear rotary motor. Calculating the difference between the current actual operating parameters and the corresponding thresholds clarifies the degree to which the parameters deviate from the thresholds. It quantifies the gap between the actual operating parameters and the standard range, providing specific data references for subsequent judgments on whether the parameters need to be adjusted, making parameter analysis more targeted.

[0050] S2-4-2. Obtain the threshold value of the actual operating parameter deviation of the linear rotary motor based on the deviation of the actual operating parameters of the linear rotary motor and the corresponding historical deviation of the actual operating parameters of the linear rotary motor. By comparing the current deviation with historical similar deviations, the acceptable range of the deviation is determined. This provides a standard for judging whether the current deviation is within a reasonable range, avoiding misjudgment due to minor deviations or normal fluctuations, and improving the accuracy of parameter judgment.

[0051] S2-4-3. Determine whether the deviation of the actual operating parameters of the linear rotary motor is completely consistent with the threshold of the deviation of the actual operating parameters of the linear rotary motor. If yes, obtain the new actual operating parameters of the linear rotary motor and return to S2-3. Otherwise, obtain the actual operating parameters of the linear rotary motor as the operating parameters of the linear rotary motor. This step ensures that the final determined operating parameters are true and meet the requirements by judging the consistency of deviation. If the deviation exceeds the reasonable range, the parameters are reacquired and the threshold is updated, which ensures the reliability of the operating parameters and the adaptability of the threshold, and further improves the accuracy of motor operation monitoring.

[0052] In summary, steps S2-4-1 to S2-4-3 first calculate the deviation between the actual operating parameters of the linear rotary motor and the parameter threshold, then combine historical deviations to determine the deviation threshold, and finally determine the operating parameters by judging whether the deviation is consistent with the deviation threshold. If they are inconsistent, the parameters are reacquired and the threshold is updated. This process ensures the authenticity and reliability of the final operating parameters by quantifying the deviation, clarifying the deviation standard, and implementing a dynamic adjustment mechanism, thereby improving the accuracy and adaptability of motor operation monitoring.

[0053] As one possible implementation, in the above embodiments, step S3 may specifically include the following steps: S3-1. Obtain the changing trend of the linear rotary motor operating parameters based on the linear rotary motor operating parameters; By monitoring and collecting the operating parameters of the linear rotary motor in real time, and analyzing their numerical changes at different operating stages, the changing trends of these parameters can be obtained. This step provides basic data support for subsequent determination of the linear or nonlinear characteristics of parameter changes, ensuring the appropriateness of subsequent compensation strategies.

[0054] S3-2. Determine whether the changing trend of the linear rotary motor operating parameters is linear. If so, obtain the linear rotary motor operating parameters as linear operating parameters of the linear rotary motor and execute S3-3. Otherwise, directly execute S3-4. The overall trend of the obtained operating parameters is evaluated to determine whether all parameters exhibit linear changes. If all parameters show linear changes, they are identified as linear operating parameters of the linear rotary motor and proceed to S3-3 for adaptive compensation; otherwise, the process directly proceeds to S3-4 for nonlinear compensation. This step enables preliminary screening of parameter change types, laying the foundation for selecting an appropriate compensation method and improving the efficiency of the compensation process.

[0055] S3-3. Based on the linear operating parameters of the linear rotary motor, an adaptive compensation mechanism is used to obtain the linear operating parameter compensation amount of the linear rotary motor as the linear operating parameter compensation amount. The adaptive compensation mechanism is based on model reference adaptive control. For linear operating parameters, an adaptive compensation mechanism based on model reference adaptive control is adopted. By adjusting the compensation parameters in real time, the compensation amount of the linear operating parameters is calculated and used as the final compensation amount of the operating parameters. It can quickly respond to changes in linear parameters, achieve high-precision dynamic compensation, and improve the stability of motor operation.

[0056] S3-4. Determine whether the changing trends of the linear rotary motor operating parameters are all non-linear changes. If so, obtain the linear rotary motor operating parameters as non-linear operating parameters of the linear rotary motor and execute S3-5. Otherwise, use the linear rotary motor operating parameters to perform division processing, obtain the initial linear operating parameters and the initial non-linear operating parameters of the linear rotary motor, and directly execute S3-6. After determining that the change is nonlinear, it is further determined whether the changing trend of the operating parameters is entirely nonlinear. If so, these parameters are treated as nonlinear operating parameters and proceed to S3-5 for nonlinear compensation; if there is a mixture of linear and nonlinear conditions, the parameters are divided to obtain initial linear and nonlinear operating parameters, and the process proceeds directly to S3-6. This step refines the parameter classification, ensuring that different types of parameters are processed accordingly, and avoiding the accumulation of compensation errors.

[0057] S3-5. Obtain the compensation amount of the linear rotary motor operating parameters using the nonlinear compensation method based on the nonlinear operating parameters of the linear rotary motor. For nonlinear operating parameters, a nonlinear compensation method is used to calculate the compensation amount, which is then used as the final compensation amount for the operating parameters. This step addresses the complex changing characteristics of nonlinear parameters by employing a specialized compensation method to improve compensation accuracy and ensure the motor's operating performance under nonlinear conditions.

[0058] S3-6. Add the initial linear operating parameters and the initial nonlinear operating parameters of the linear rotary motor to the linear rotary motor operating parameters and the linear rotary motor operating parameters respectively, and return to S3-2; The initial linear operating parameters of the linear rotary motor are added to the total operating parameters, and the initial nonlinear operating parameters of the linear rotary motor are also added to the operating parameters. Then, the process returns to S3-2 for re-evaluation. This process achieves secondary verification and integration of the initial linear parameters, ensuring their accuracy and avoiding the omission of valid linear parameters. Simultaneously, the initial nonlinear parameters are re-evaluated to ensure the completeness of the nonlinear parameter classification and improve the reliability of subsequent nonlinear compensation.

[0059] In summary, steps S3-1 to S3-6 obtain the trend of motor operating parameters, determine their linear or nonlinear characteristics, classify the corresponding parameters and adopt the corresponding compensation mechanism. Furthermore, through secondary processing and iterative judgment of the parameters, accurate and comprehensive compensation of motor operating parameters is achieved, effectively improving the stability and reliability of motor operation.

[0060] As one possible implementation, in the above embodiments, step S3-5 may specifically include the following steps: S3-5-1. Using the nonlinear operating parameters of the linear rotary motor, obtain the corresponding historical nonlinear operating parameters of the linear rotary motor; Based on the current nonlinear operating parameters of the linear rotary motor, the corresponding historical nonlinear operating parameters are retrieved from the database. The historical data is used to provide a reference for subsequent model construction, thereby enhancing the adaptability and accuracy of the compensation model.

[0061] S3-5-2. Based on the historical nonlinear operating parameters of the linear rotary motor, construct a nonlinear operating parameter compensation model; Based on the acquired historical nonlinear operating parameters, a nonlinear operating parameter compensation model capable of accurately calculating compensation amounts is constructed. This step provides a standardized computational framework for nonlinear parameter compensation, improving the efficiency and accuracy of compensation amount calculation.

[0062] S3-5-3. Input the nonlinear operating parameters of the linear rotary motor into the nonlinear operating parameter compensation model, and obtain the nonlinear operating parameter compensation amount of the linear rotary motor as the linear rotary motor operating parameter compensation amount; The current nonlinear operating parameters are input into the constructed nonlinear operating parameter compensation model to calculate the corresponding compensation amount, which is then used as the final operating parameter compensation amount. This achieves fast and accurate compensation of nonlinear parameters, reducing errors during motor operation.

[0063] In summary, steps S3-5-1 to S3-5-3 first obtain the corresponding historical parameters based on the current nonlinear operating parameters of the linear rotary motor, then construct a nonlinear operating parameter compensation model based on the historical parameters, and finally input the current parameters into the model to obtain the compensation amount. The model constructed with historical data achieves accurate compensation of nonlinear parameters, reduces motor operating errors, and improves compensation efficiency and accuracy.

[0064] As one possible implementation, in the above embodiments, step S3-5-2 may specifically include the following steps: S3-5-2-1. Based on the aforementioned historical nonlinear operating parameters of the linear rotary motor, establish a second training set; Based on the historical nonlinear operating parameters of the linear rotary motor, a second training set is established according to certain rules and proportions. This set provides sufficient and effective data support for the training of subsequent models, ensuring that the models can learn the changing patterns of nonlinear parameters.

[0065] S3-5-2-2. Based on the second training set and the historical linear rotary motor nonlinear operating parameters, obtain the continuous historical linear rotary motor nonlinear operating parameters corresponding to the second training set as the second verification set; Based on the second training set and combined with historical nonlinear operating parameters of the linear rotary motor, continuous historical nonlinear operating parameters corresponding to the second training set are selected and used as the second validation set. This step further improves the relevance and effectiveness of the validation set by making the second validation set more closely related to the second training set and historical parameters, thereby more accurately evaluating the model's generalization ability and ensuring the model's stability under different data scenarios.

[0066] S3-5-2-3. Using the second training set as input and the compensation amount of the nonlinear operating parameters of the linear rotary motor corresponding to the second training set as output, an initial compensation model for the nonlinear operating parameters is constructed based on a convolutional neural network. Using the second training set as input data and the corresponding nonlinear operating parameter compensation amount as output, an initial compensation model for nonlinear operating parameters is constructed by leveraging the powerful feature extraction capability of convolutional neural networks. This model can automatically learn the complex mapping relationship between nonlinear parameters and compensation amounts, thereby improving the prediction accuracy of the model.

[0067] S3-5-2-4. Input the second verification set into the nonlinear operating parameter initial compensation model to obtain the nonlinear operating parameter compensation amount of the linear rotary motor corresponding to the second verification set; The second validation set is input into the initial compensation model. The accuracy of the calculation results of the initial model can be verified by testing the validation set, providing a basis for the optimization of the model.

[0068] S3-5-2-5. Determine whether the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second training set is completely consistent with the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second verification set. If so, use the initial compensation model of the nonlinear operating parameter as the nonlinear operating parameter compensation model. Otherwise, update the second training set using the second verification set and return to S3-6-2-2. The step of comparing the compensation amounts of the nonlinear operating parameters of the linear rotary motor corresponding to the second training set with those corresponding to the second validation set is to continuously improve the accuracy and reliability of the model through repeated comparisons and updates, ensuring that the model can accurately calculate the compensation amounts of the nonlinear operating parameters.

[0069] As one possible implementation, in the above embodiments, step S4 may specifically include the following steps: S4-1. The linear rotary motor operating parameters are compensated using the compensation amount of the linear rotary motor operating parameters to obtain the linear rotary motor operating parameter compensation result; By using the obtained compensation amount of the linear rotary motor operating parameters, compensation operations are performed on the current operating parameters of the motor. Through actual compensation processing, the theoretical compensation amount is transformed into specific parameter adjustment results, providing a practical basis for subsequent threshold judgment and promoting the compensation process towards the final control result.

[0070] S4-2. Based on the linear rotary motor operating parameters and the corresponding historical linear rotary motor operating parameters, obtain the linear rotary motor operating parameter compensation result threshold; By combining current and historical operating parameters of the linear rotary motor and analyzing the correlation and patterns between them, a threshold for the compensation result of the linear rotary motor operating parameters is determined, which serves as the standard for measuring whether the compensation result is qualified. This threshold integrates current and historical data, and can better reflect the actual operating conditions of the motor.

[0071] S4-3. Determine whether the compensation result of the linear rotary motor operating parameters fully meets the threshold of the compensation result of the linear rotary motor operating parameters. If yes, obtain the compensation result of the linear rotary motor operating parameters as the high-precision operation control compensation result of the linear rotary motor. Otherwise, update the linear rotary motor operating parameters according to the compensation result of the linear rotary motor operating parameters and return to S3-1. This step achieves strict control over the compensation results through threshold judgment, ensuring that only compensation results that meet the standards can be used as the basis for high-precision control. For cases that do not meet the standards, closed-loop optimization of the compensation process is achieved through parameter updates and process backtracking, continuously improving the compensation accuracy.

[0072] In summary, steps S4-1 to S4-3 form a complete closed loop for compensation result verification and optimization, which not only ensures the high accuracy of the final compensation result, but also continuously optimizes the compensation process through dynamic adjustment, thereby improving the reliability and accuracy of motor operation control.

[0073] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, systems, or computer program products. Therefore, the present invention can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present invention can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0074] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, generate instructions for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0075] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0076] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0077] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and not to limit it. Although the present invention has been described in detail with reference to the above embodiments, those skilled in the art should understand that modifications or equivalent substitutions can still be made to the specific implementation of the present invention. Any modifications or equivalent substitutions that do not depart from the spirit and scope of the present invention should be covered within the scope of protection of the claims of the present invention.

Claims

1. A high-precision operation control compensation method for a linear rotary motor, characterized in that, Specifically, the following steps are included: S1. Establish a mathematical model of the linear rotary motor using the basic parameters of the linear rotary motor; S2. Based on the basic parameters of the linear rotary motor, the operating parameters of the linear rotary motor are obtained using the mathematical model of the linear rotary motor; S3. Obtain the compensation amount of the linear rotary motor operating parameters based on the linear rotary motor operating parameters; S4. Based on the linear rotary motor operating parameters, perform compensation processing using the linear rotary motor operating parameter compensation amount to obtain the high-precision operation control compensation result of the linear rotary motor.

2. The high-precision operation control compensation method for a linear rotary motor according to claim 1, characterized in that, S1. Using the basic parameters of the linear rotary motor, establish a mathematical model of the linear rotary motor, including: Collect basic parameters of the linear rotary motor, which are the electromagnetic parameters of the linear rotary motor, including the number of winding turns, winding resistance, winding inductance, and permanent magnet parameters. Based on the basic parameters of the linear rotary motor, obtain the historical characteristics of the basic parameters of the linear rotary motor; A mathematical model of the linear rotary motor is established using the basic parameter characteristics of the historical linear rotary motor.

3. The high-precision operation control compensation method for a linear rotary motor according to claim 2, characterized in that, Based on the aforementioned basic parameters of the linear rotary motor, historical characteristics of the basic parameters of the linear rotary motor are obtained, including: Based on the basic parameters of the linear rotary motor, obtain the corresponding historical basic parameters of the linear rotary motor; Obtain the current moment as the initial moment t for the historical linear rotary motor's basic parameters; Obtain the historical basic parameters of the linear rotary motor at initial time t, time t+1, and time t+2; Based on the historical linear rotary motor basic parameters at the initial time t and time t+1, the linear relationship between the historical linear rotary motor basic parameters at the initial time t and time t+1 is obtained as the first linear relationship of the historical linear rotary motor basic parameters. Based on the historical linear rotary motor basic parameters at the initial time t and t+2, the linear relationship between the historical linear rotary motor basic parameters at the initial time t and t+2 is obtained as the second linear relationship of the historical linear rotary motor basic parameters. Determine whether the first linear relationship of the historical linear rotary motor basic parameters is consistent with the second linear relationship of the historical linear rotary motor basic parameters. If so, obtain the historical linear rotary motor basic parameters at the initial time t, time t+1, and time t+2 as the characteristics of the historical linear rotary motor basic parameters. Otherwise, obtain time t+3 as the initial time of the historical linear rotary motor basic parameters and return to execute the first operation. The first operation is to obtain the historical basic parameters of the linear rotary motor at the initial time t, time t+1, and time t+2.

4. The high-precision operation control compensation method for a linear rotary motor according to claim 3, characterized in that, Using the aforementioned historical basic parameter characteristics of linear rotary motors, a mathematical model of the linear rotary motor is established, including: Based on the historical linear rotary motor basic parameter features, the first historical linear rotary motor basic parameter features are obtained as the first training set. Using the first training set as input and the historical linear rotary motor operating parameters corresponding to the first training set as output, a basic mathematical model of the linear rotary motor is constructed based on the principle of electromagnetic induction. Based on the historical linear rotary motor basic parameter characteristics, the first training set is used to obtain the second, third, and fourth historical linear rotary motor basic parameter characteristics as the first verification set. The first verification set is input into the basic mathematical model of the linear rotary motor, and the historical linear rotary motor operating parameters corresponding to the first verification set are obtained as the second historical linear rotary motor operating parameters, the third historical linear rotary motor operating parameters and the fourth historical linear rotary motor operating parameters, respectively. Determine whether the second historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute the second operation; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the second historical linear rotary motor operating parameters, and return to the third operation. The second operation is as follows: determine whether the third historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, execute the fourth operation; otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the third historical linear rotary motor operating parameters, and return to the third operation. The third operation is: taking the first training set as input and the historical linear rotary motor operating parameters corresponding to the first training set as output, and constructing a basic mathematical model of the linear rotary motor based on the principle of electromagnetic induction. The fourth operation is as follows: determine whether the fourth historical linear rotary motor operating parameters correspond to the historical linear rotary motor operating parameters corresponding to the first training set. If yes, obtain the basic mathematical model of the linear rotary motor as the mathematical model of the linear rotary motor. Otherwise, update the first training set according to the historical linear rotary motor operating parameters corresponding to the fourth historical linear rotary motor operating parameters, and return to the third operation.

5. The high-precision operation control compensation method for a linear rotary motor according to claim 1, characterized in that, S2. Based on the fundamental parameters of the linear rotary motor and using the mathematical model of the linear rotary motor, obtain the operating parameters of the linear rotary motor, including: Using the aforementioned basic parameters of the linear rotary motor, the basic parameter characteristics of the linear rotary motor are obtained; Input the basic parameter characteristics of the linear rotary motor into the mathematical model of the linear rotary motor to obtain the actual operating parameters of the linear rotary motor. Based on the actual operating parameters of the linear rotary motor and the corresponding historical actual operating parameters of the linear rotary motor, the threshold of the actual operating parameters of the linear rotary motor is obtained; The operating parameters of the linear rotary motor are obtained based on the actual operating parameters of the linear rotary motor and the threshold values ​​of the actual operating parameters of the linear rotary motor.

6. The high-precision operation control compensation method for a linear rotary motor according to claim 5, characterized in that, Based on the actual operating parameters of the linear rotary motor and the threshold values ​​of the actual operating parameters of the linear rotary motor, the operating parameters of the linear rotary motor are obtained, including: The deviation of the actual operating parameters of the linear rotary motor is obtained by comparing the actual operating parameters of the linear rotary motor with the threshold values ​​of the actual operating parameters of the linear rotary motor. Based on the deviation of the actual operating parameters of the linear rotary motor and the corresponding historical deviation of the actual operating parameters of the linear rotary motor, the threshold of the actual operating parameter deviation of the linear rotary motor is obtained; Determine whether the deviation of the actual operating parameters of the linear rotary motor is completely consistent with the threshold of the deviation of the actual operating parameters of the linear rotary motor. If so, obtain the new actual operating parameters of the linear rotary motor and return to the fifth operation; otherwise, obtain the actual operating parameters of the linear rotary motor as the operating parameters of the linear rotary motor. The fifth operation is as follows: based on the actual operating parameters of the linear rotary motor and the corresponding historical actual operating parameters of the linear rotary motor, obtain the threshold of the actual operating parameters of the linear rotary motor.

7. The high-precision operation control compensation method for a linear rotary motor according to claim 1, characterized in that, S3. Obtain the linear rotary motor operating parameter compensation amount based on the linear rotary motor operating parameters, including: Based on the operating parameters of the linear rotary motor, obtain the changing trend of the operating parameters of the linear rotary motor; Determine whether the changing trend of the linear rotary motor operating parameters is linear. If so, obtain the linear rotary motor operating parameters as linear operating parameters and execute the sixth operation; otherwise, directly execute the seventh operation. The sixth operation is as follows: based on the linear operating parameters of the linear rotary motor, an adaptive compensation mechanism is used to obtain the linear operating parameter compensation amount of the linear rotary motor as the linear operating parameter compensation amount of the linear rotary motor. The seventh operation is to determine whether the changing trends of the linear rotary motor operating parameters are all non-linear changes. If so, the linear rotary motor operating parameters are obtained as non-linear operating parameters of the linear rotary motor, and the eighth operation is executed. Otherwise, the linear rotary motor operating parameters are divided to obtain the initial linear operating parameters and the initial non-linear operating parameters of the linear rotary motor, and the ninth operation is executed directly. The eighth operation is: using a nonlinear compensation method to obtain the compensation amount of the linear rotary motor operating parameters based on the nonlinear operating parameters of the linear rotary motor; The ninth operation is to add the initial linear operating parameters and the initial nonlinear operating parameters of the linear rotary motor to the linear rotary motor operating parameters and the linear rotary motor operating parameters respectively, and then return to the tenth operation; The tenth operation is to determine whether the changing trends of the operating parameters of the linear rotary motor are all linear changes. The adaptive compensation mechanism is based on model reference adaptive control.

8. The high-precision operation control compensation method for a linear rotary motor according to claim 7, characterized in that, Based on the nonlinear operating parameters of the linear rotary motor, the compensation amount of the linear rotary motor operating parameters is obtained using a nonlinear compensation method, including: Using the nonlinear operating parameters of the linear rotary motor, the corresponding historical nonlinear operating parameters of the linear rotary motor are obtained; Based on the historical nonlinear operating parameters of the linear rotary motor, a nonlinear operating parameter compensation model is constructed. The nonlinear operating parameters of the linear rotary motor are input into the nonlinear operating parameter compensation model to obtain the nonlinear operating parameter compensation amount of the linear rotary motor as the operating parameter compensation amount of the linear rotary motor.

9. A high-precision operation control compensation method for a linear rotary motor according to claim 8, characterized in that, Based on the historical nonlinear operating parameters of the linear rotary motor, a nonlinear operating parameter compensation model is constructed, including: Based on the aforementioned historical nonlinear operating parameters of the linear rotary motor, a second training set is established; Based on the second training set and the historical nonlinear operating parameters of the linear rotary motor, the continuous historical nonlinear operating parameters of the linear rotary motor corresponding to the second training set are obtained as the second verification set. Using the second training set as input and the compensation amount of the nonlinear operating parameters of the linear rotary motor corresponding to the second training set as output, an initial compensation model for the nonlinear operating parameters is constructed based on a convolutional neural network. Input the second verification set into the nonlinear operating parameter initial compensation model to obtain the nonlinear operating parameter compensation amount of the linear rotary motor corresponding to the second verification set; Determine whether the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second training set is completely consistent with the compensation amount of the nonlinear operating parameter of the linear rotary motor corresponding to the second verification set. If so, obtain the initial compensation model of the nonlinear operating parameter as the nonlinear operating parameter compensation model. Otherwise, update the second training set using the second verification set and return to the eleventh operation. The eleventh operation is as follows: based on the second training set, obtain the corresponding continuous historical nonlinear operating parameters of the linear rotary motor as the second verification set.

10. A high-precision operation control compensation method for a linear rotary motor according to claim 9, characterized in that, S4. Based on the linear rotary motor operating parameters, perform compensation processing using the linear rotary motor operating parameter compensation amount to obtain a high-precision operation control compensation result for the linear rotary motor, including: The linear rotary motor operating parameters are compensated using the compensation amount of the linear rotary motor operating parameters to obtain the compensation result of the linear rotary motor operating parameters; Based on the linear rotary motor operating parameters and the corresponding historical linear rotary motor operating parameters, obtain the threshold for the linear rotary motor operating parameter compensation result; Determine whether the compensation result of the linear rotary motor operating parameters fully meets the threshold of the compensation result of the linear rotary motor operating parameters. If yes, obtain the compensation result of the linear rotary motor operating parameters as the high-precision operation control compensation result of the linear rotary motor. Otherwise, update the linear rotary motor operating parameters according to the compensation result of the linear rotary motor operating parameters and return to the twelfth operation. The twelfth operation is to obtain the changing trend of the linear rotary motor operating parameters based on the linear rotary motor operating parameters.

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