Feed-forward coefficient determination method of PDFF controller, servo driver and medium

Abstract

The invention discloses a feed-forward coefficient determination method of a PDFF controller, a servo driver and a medium, and relates to the technical field of servo driver control, and the method comprises the steps: obtaining a to-be-used feed-forward coefficient and a target performance index value, and controlling the PDFF controller to operate according to the to-be-used feed-forward coefficient; calculating to obtain a first performance index value of the PDFF controller under the to-be-used feedforward coefficient; if the first performance index value is smaller than the target performance index value, taking the first performance index value as a new target performance index value, and updating the candidate feedforward coefficient as a feedforward coefficient to be used; detecting whether the feed-forward coefficient to be used reaches a preset coefficient value, and if so, taking the candidate feed-forward coefficient as a target feed-forward coefficient; and if not, adjusting the to-be-used feed-forward coefficient based on the target adjustment direction to obtain a new to-be-used feed-forward coefficient, and returning to execute the step of controlling the PDFF controller to operate according to the to-be-used feed-forward coefficient. The optimal feed-forward coefficient of the PDFF controller can be simply and conveniently determined.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo driver control, in particular to a feedforward coefficient determination method of PDFF controller, a servo driver and a medium. BACKGROUND

[0002] At present, a PDFF (Pseudo Derivative Feedback with Feedforward) controller is usually used to improve the performance of a servo system, so that the servo system not only has certain anti-interference ability, but also can avoid the case of excessive speed overshoot due to the anti-interference ability.

[0003] Since the performance improvement effect of the PDFF controller on the servo system is limited by the feedforward coefficient used by the PDFF controller, in order to maximize the performance improvement effect of the PDFF controller on the servo system, the feedforward coefficient used by the PDFF controller is usually optimized through a corresponding model. However, the construction of the model is not easy, as it not only needs a large amount of data resources as a cornerstone to ensure the accuracy and stability of the model, but also relies on rich prior knowledge to guide the design and tuning of the model.

[0004] Therefore, how to propose a simple method for determining the optimal feedforward coefficient of the PDFF controller is a problem to be solved at present. SUMMARY

[0005] The main purpose of the present application is to provide a feedforward coefficient determination method of PDFF controller, a servo driver and a medium, which aims to simply determine the optimal feedforward coefficient of the PDFF controller.

[0006] To achieve the above purpose, the present application provides a feedforward coefficient determination method of PDFF controller, which comprises:

[0007] obtaining a to-be-used feedforward coefficient and a target performance index value, and controlling the PDFF controller to operate according to the to-be-used feedforward coefficient;

[0008] calculating a first performance index value of the PDFF controller under the to-be-used feedforward coefficient;

[0009] if the first performance index value is less than the target performance index value, taking the first performance index value as a new target performance index value, and updating a candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system;

[0010] detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value, if yes, taking the candidate feedforward coefficient as a target feedforward coefficient; if no, adjusting the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and returning to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

[0011] In an embodiment, after the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient, the method further comprises:

[0012] if it is detected that the servo system in which the PDFF controller is located does not vibrate, executing the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient;

[0013] if it is detected that the servo system in which the PDFF controller is located vibrates, adjusting the loop gain of the PDFF controller;

[0014] controlling the PDFF controller to operate according to the to-be-used feedforward coefficient and the adjusted loop gain, and detecting whether the servo system in which the PDFF controller is located vibrates during the operation of the PDFF controller according to the to-be-used feedforward coefficient and the adjusted loop gain;

[0015] if yes, returning to execute the step of adjusting the loop gain of the PDFF controller;

[0016] if no, calculating a second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain;

[0017] if the second performance index value is less than the target performance index value, taking the second performance index value as a new target performance index value, updating the candidate feedforward coefficient to the to-be-used feedforward coefficient, and executing the step of detecting whether the to-be-used feedforward coefficient reaches the preset coefficient value.

[0018] In an embodiment, after the step of calculating the second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain, the method further comprises:

[0019] restoring the loop gain of the PDFF controller to an initial loop gain;

[0020] after the loop gain of the PDFF controller is restored to the initial loop gain, executing the step of detecting whether the to-be-used feedforward coefficient reaches the preset coefficient value.

[0021] In an embodiment, after detecting that the to-be-used feedforward coefficient reaches a preset coefficient value, the feedforward coefficient determination method of the PDFF controller further comprises:

[0022] detecting whether a new performance index reference value for calculating a performance index value is recorded in a preset data storage area;

[0023] if yes, returning to execute the steps of obtaining the to-be-used feedforward coefficient and the target performance index value based on the new performance index reference value for calculating the performance index value;

[0024] if no, executing the step of taking the candidate feedforward coefficient as the target feedforward coefficient.

[0025] In an embodiment, after the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient, the method further comprises:

[0026] if the first performance index value is detected to be less than a preset performance index threshold, reducing the performance index reference value for calculating the performance index value to obtain a new performance index reference value for calculating the performance index value, and storing the new performance index reference value for calculating the performance index value to the data storage area.

[0027] In an embodiment, when the first performance index value comprises a first positioning time length,

[0028] the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient comprises:

[0029] obtaining a first time when the PDFF controller receives a position instruction, and a second time when the PDFF controller adjusts its position error to a preset position error reference value according to the position instruction in a process in which the PDFF controller operates according to the to-be-used feedforward coefficient;

[0030] calculating a difference between the second time and the first time to obtain the first positioning time length.

[0031] In an embodiment, when the first performance index value comprises a first speed overshoot,

[0032] the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient comprises:

[0033] obtaining a real-time speed of the PDFF controller under the to-be-used feedforward coefficient in a process in which the PDFF controller operates according to the to-be-used feedforward coefficient;

[0034] acquiring a maximum speed of the PDFF controller in a preset time period after the real-time speed reaches the preset speed reference value;

[0035] calculating a difference between the maximum speed and the speed reference value to obtain the first speed overshoot.

[0036] In addition, to achieve the above object, the present application also provides a servo driver, which comprises:

[0037] a motion performance evaluation module, configured to acquire a to-be-used feedforward coefficient and a target performance index value, and control a PDFF controller to operate according to the to-be-used feedforward coefficient; and calculate a first performance index value of the PDFF controller under the to-be-used feedforward coefficient;

[0038] a numerical adjustment module, configured to, if the first performance index value is less than the target performance index value, take the first performance index value as a new target performance index value, and update a candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with a performance improvement effect of the PDFF controller on the servo system;

[0039] a parameter management module, configured to detect whether the to-be-used feedforward coefficient reaches a preset coefficient value, if yes, take the candidate feedforward coefficient as a target feedforward coefficient, and if no, adjust the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and return to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

[0040] In addition, to achieve the above object, the present application also provides a servo driver, which comprises a memory, a processor and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the feedforward coefficient determination method of the PDFF controller.

[0041] In addition, to achieve the above object, the present application also provides a medium, which is a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to implement the steps of the feedforward coefficient determination method of the PDFF controller.

[0042] In addition, to achieve the above object, the present application also provides a computer program product, which comprises a computer program, and the computer program is executed by a processor to implement the steps of the feedforward coefficient determination method of the PDFF controller.

[0043] The application provides a feedforward coefficient determination method of a PDFF controller. First, a to-be-used feedforward coefficient and a target performance index value are acquired, and the PDFF controller is controlled to operate according to the to-be-used feedforward coefficient. Then, a first performance index value of the PDFF controller under the to-be-used feedforward coefficient is calculated. If the first performance index value is less than the target performance index value, the first performance index value is taken as a new target performance index value, and a candidate feedforward coefficient is updated as the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system. Whether the to-be-used feedforward coefficient reaches a preset coefficient value is detected. If yes, the candidate feedforward coefficient is taken as a target feedforward coefficient. If no, the to-be-used feedforward coefficient is adjusted based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient is returned to be executed.

[0044] Therefore, based on the polling mechanism, the PDFF controller is controlled to operate under different feedforward coefficients in turn, and the performance index values of the PDFF controller when operating under different feedforward coefficients are calculated, so as to determine the improvement effects of the PDFF controller under different feedforward coefficients on the servo system, and then the optimal feedforward coefficient of the PDFF controller can be determined by comparing the improvement effects of the PDFF controller under different feedforward coefficients on the servo system.

[0045] In conclusion, the application provides a simple method for determining the optimal feedforward coefficient of the PDFF controller, which does not need large data resources as a cornerstone, and does not need to rely on rich prior knowledge, and can accurately determine the optimal feedforward coefficient of the PDFF controller to ensure that the performance improvement effect of the PDFF controller on the servo system can be maximized, and the performance of the servo system is improved. BRIEF DESCRIPTION OF DRAWINGS

[0046] The accompanying drawings, which are incorporated into and form a part of the specification, illustrate an embodiment consistent with the application and, together with the specification, serve to explain the principles of the application.

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the accompanying drawings needed to be used in the embodiments or prior art description will be briefly introduced as follows. Obviously, for those skilled in the art, other drawings can also be obtained based on these drawings without creative labor.

[0048] Figure 1 The principle schematic diagram of the PDFF controller provided by the embodiments of the application is shown in the figure.

[0049] Figure 2 The module structure schematic diagram of the servo system related to the embodiments of the application is shown in the figure.

[0050] Figure 3 A flowchart of a method for determining a feedforward coefficient of a PDFF controller according to an embodiment of the present application is shown in FIG. 1.

[0051] Figure 4 A waveform diagram of speed, time and feedforward coefficient according to an embodiment of the present application is shown in FIG. 2.

[0052] Figure 5 A flowchart of a method for determining a feedforward coefficient of a PDFF controller according to an embodiment of the present application is shown in FIG. 1.

[0053] Figure 6 A module structure diagram of a servo driver according to an embodiment of the present application is shown in FIG. 3.

[0054] Figure 7 A structure diagram of a hardware running environment according to an embodiment of the present application is shown in FIG. 4.

[0055] The object, features and advantages of the present application will be further illustrated in conjunction with the embodiments and the accompanying drawings. DETAILED DESCRIPTION

[0056] It should be understood that the specific embodiments described herein are merely intended to explain the technical solutions of the present application, and are not intended to limit the present application.

[0057] In order to better understand the technical solutions of the present application, the specific embodiments will be described in detail below in conjunction with the accompanying drawings and specific embodiments.

[0058] A PDFF controller refers to a controller combining the control strategies of proportion, differentiation and feedforward. Compared with a traditional PI (Proportion Integration) controller, the PDFF controller has the advantages of adjustable overshoot and strong anti-interference ability. The specific control principle of the PDFF controller can be referred to in Figure 1 , Figure 1 KVP is the proportion coefficient, KVI is the integration coefficient, and KVFR is the feedforward coefficient. When the feedforward coefficient KVFR is equal to 1, the PDFF controller is equivalent to a PI controller.

[0059] Currently, the PDFF controller is usually used to improve the performance of a servo system, so that the servo system not only has a certain anti-interference ability, but also avoids the situation of excessive speed overshoot due to the anti-interference ability.

[0060] Since the performance improvement effect of the PDFF controller on the servo system is limited by the feedforward coefficient used by the PDFF controller, in order to maximize the performance improvement effect of the PDFF controller on the servo system, the feedforward coefficient used by the PDFF controller is usually optimized through a corresponding model. However, the construction of the model is not easy, which not only needs a large amount of data resources as a cornerstone to ensure the accuracy and stability of the model, but also relies on rich prior knowledge to guide the design and tuning of the model.

[0061] Therefore, how to propose a simple method for determining the optimal feedforward coefficient of the PDFF controller is a problem to be solved at present.

[0062] The main solution of the present application is: obtaining a to-be-used feedforward coefficient and a target performance index value, and controlling the PDFF controller to operate according to the to-be-used feedforward coefficient; calculating a first performance index value of the PDFF controller under the to-be-used feedforward coefficient; if the first performance index value is less than the target performance index value, taking the first performance index value as a new target performance index value, and updating a candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system; detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value, if yes, taking the candidate feedforward coefficient as a target feedforward coefficient; if no, adjusting the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and returning to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

[0063] Based on the polling mechanism, the PDFF controller is controlled to work under different feedforward coefficients in turn, and the performance index values of the PDFF controller when working under different feedforward coefficients are calculated, so as to determine the improvement effect of the PDFF controller on the servo system under different feedforward coefficients, and then the optimal feedforward coefficient of the PDFF controller can be determined by comparing the improvement effect of the PDFF controller on the servo system under different feedforward coefficients.

[0064] In summary, the present application proposes a simple method for determining the optimal feedforward coefficient of the PDFF controller, which does not need a large amount of data resources as a cornerstone, and also does not need to rely on rich prior knowledge, and can accurately determine the optimal feedforward coefficient of the PDFF controller to ensure that the performance improvement effect of the PDFF controller on the servo system can be maximized, thereby improving the performance of the servo system.

[0065] In specific embodiments, the execution subject of the feedforward coefficient determination method of the PDFF controller of the present application can be a servo driver, a household appliance, an industrial device, etc. with data processing, network communication and program running functions, or a control system, a control circuit, etc. capable of realizing the above functions, or a servo system in which the PDFF controller is located, and the present embodiments do not make specific limitations thereon.

[0066] When the servo system in which the PDFF controller is located is used to realize the feedforward coefficient determination method of the PDFF controller of each of the following embodiments, the servo system can increase the structure for realizing the feedforward coefficient determination method of the PDFF controller of each of the following embodiments on the basis of the original structure. Exemplarily, please refer to Figure 2 , wherein, Figure 2 The part shown in the dashed box in the above figure is the structure newly added in the servo system, and specifically, a trajectory generation module 100 for generating the running trajectory of the PDFF controller, a vibration detection module 200 for detecting whether the servo system vibrates, a parameter management module 300 for adjusting the loop gain and the feedforward coefficient of the PDFF controller, a running performance evaluation module 400 for calculating the performance index value of the PDFF controller, and a numerical value adjustment module 500 for adjusting the performance index reference value used to calculate the performance index value are newly added.

[0067] The following describes each of the following embodiments with the servo driver as the execution subject.

[0068] Based on this, the present application proposes a first embodiment of a feedforward coefficient determination method of a PDFF controller, please refer to Figure 3 , the feedforward coefficient determination method of the PDFF controller comprises steps S10-S60:

[0069] Step S10, obtaining a to-be-used feedforward coefficient and a target performance index value, and controlling the PDFF controller to run according to the to-be-used feedforward coefficient;

[0070] It should be noted that the feedforward coefficient is used to adjust the gain of the feedforward control part in the PDFF controller, and the to-be-used feedforward coefficient is the feedforward coefficient to be used when the PDFF controller starts a new round of running. The performance index value is used to represent the performance improvement effect of the PDFF controller on the servo system, and the performance index value can include but is not limited to positioning time, speed overshoot, etc. The target performance index value is the minimum performance index value that the PDFF controller can achieve in the process of working based on different feedforward coefficients. In actual use, an arbitrary performance index value is usually set as the initial value of the target performance index value, and an arbitrary feedforward coefficient is usually set as the initial value of the to-be-used feedforward coefficient (generally set to any value between 0.5 and 0.7), which is also the initial value of the candidate feedforward coefficient.

[0071] Additionally, it should be noted that the loop gains used by the PDFF controller when operating with different feedforward coefficients can or can not be the same, and the present embodiment does not make a specific limitation in this regard.

[0072] In a possible implementation, to further improve the accuracy of the final determined target feedforward coefficient, an initial loop gain (i.e. initial speed loop gain, initial position loop gain) can be arbitrarily set as the loop gain used by the PDFF controller when operating, and the loop gains used by the PDFF controller when operating with different feedforward coefficients are unified according to the initial loop gain. Then, step S10 can include: controlling the PDFF controller to operate with the to-be-used feedforward coefficient and the initial loop gain.

[0073] Step S20: calculating a first performance index value of the PDFF controller under the to-be-used feedforward coefficient.

[0074] It should be noted that the first performance index value is essentially the performance index value of the PDFF controller when operating with the to-be-used feedforward coefficient and the unadjusted loop gain. The first performance index value of the PDFF controller under the to-be-used feedforward coefficient can be calculated by using a performance index reference value, which is a reference point or standard value for evaluating the actual performance of the PDFF controller, and a reference point or standard value in the process of calculating the performance index value of the PDFF controller.

[0075] In calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient, the adjustment duration of the relevant performance parameter (e.g. position error, speed error) of the PDFF controller from the start of adjustment to the adjustment reaching the performance index reference value can be calculated during the operation of the PDFF controller with the to-be-used feedforward coefficient, and the adjustment duration of the relevant performance parameter is taken as the first performance index value. Alternatively, the overshoot of the relevant performance parameter (e.g. speed overshoot, position overshoot) of the PDFF controller, which is the difference between the maximum value of the performance parameter after reaching the performance index reference value and the performance index reference value, can be calculated during the operation of the PDFF controller with the to-be-used feedforward coefficient, and the overshoot of the relevant performance parameter is taken as the first performance index value. The present embodiment does not make a specific limitation on the specific implementation of step S20.

[0076] In a possible implementation, when the first performance index value includes a first positioning duration, step S20 can include steps S21-S22:

[0077] Step S21, obtaining a first time point at which the PDFF controller receives a position instruction, and a second time point at which the PDFF controller regulates its position error to a preset position error reference value according to the position instruction, in a process in which the PDFF controller operates according to the to-be-used feedforward coefficient;

[0078] Step S22, calculating a difference between the second time point and the first time point to obtain the first positioning duration.

[0079] It can be understood that the shorter the positioning duration of the PDFF controller, that is, the less time the PDFF controller takes to adjust its position error to the position error reference value, the better the adjustment effect of the PDFF controller, and thus the better the performance improvement effect of the PDFF controller on the servo system.

[0080] In another possible implementation, when the first performance index value includes a first speed overshoot, step S20 can include steps S23-S25:

[0081] Step S23, obtaining a real-time speed of the PDFF controller under the to-be-used feedforward coefficient, in a process in which the PDFF controller operates according to the to-be-used feedforward coefficient.

[0082] Step S24, obtaining a maximum speed of the PDFF controller in a preset time period after the real-time speed reaches a preset speed reference value.

[0083] Step S25, calculating a difference between the maximum speed and the speed reference value to obtain the first speed overshoot.

[0084] It can be understood that the smaller the speed overshoot of the PDFF controller, the more smoothly the PDFF controller can adjust the parameter to approach the target value, and thus the less the unnecessary fluctuations or overshoot phenomenon affect the stability of the PDFF controller, and thus the PDFF controller can have a better performance effect, and the performance improvement effect of the PDFF controller on the servo system is better.

[0085] The above are only two possible implementations of step S20 provided by the present embodiment, and the present embodiment does not specifically limit the specific implementation of step S20.

[0086] Step S30, if the first performance index value is less than the target performance index value, taking the first performance index value as a new target performance index value, and updating the candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system.

[0087] It should be noted that the preset coefficient value can be any value between 0 and 1. In actual use, since the optimal feedforward coefficient of the PDFF controller is usually between 0.5 and 1, the preset coefficient value can be usually set to any value between 0.5 and 1, and to ensure that the optimal feedforward coefficient of the PDFF controller can be more accurately determined subsequently, the preset coefficient value is generally set to 1 or 0.5.

[0088] In step S40, it is detected whether the to-be-used feedforward coefficient reaches the preset coefficient value.

[0089] In step S50, if yes, the selected feedforward coefficient is taken as the target feedforward coefficient.

[0090] It should be noted that the target feedforward coefficient is the optimal feedforward coefficient of the PDFF controller.

[0091] In step S60, if no, the to-be-used feedforward coefficient is adjusted based on the target adjustment direction to obtain a new to-be-used feedforward coefficient, and the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient is executed.

[0092] It should be noted that the target adjustment direction can be increasing or decreasing, and the target adjustment direction can be determined according to the difference between the to-be-used feedforward coefficient and the preset coefficient value. Specifically, if the difference between the to-be-used feedforward coefficient and the preset coefficient value is greater than zero, the target adjustment direction is decreasing; if the difference between the to-be-used feedforward coefficient and the preset coefficient value is less than zero, the target adjustment direction is increasing.

[0093] When adjusting the to-be-used feedforward coefficient, the to-be-used feedforward coefficient can be adjusted by a certain adjustment amount, or the to-be-used feedforward coefficient can be adjusted by a certain adjustment percentage, which is not specifically limited in the embodiment. In actual use, the adjustment amount or adjustment percentage of the feedforward coefficient can be set according to the actual needs of the user. For example, if the user requires to determine the optimal feedforward coefficient in a relatively short time, a larger adjustment amount or adjustment percentage of the feedforward coefficient can be set; if the user requires to obtain an optimal feedforward coefficient with high accuracy, a smaller adjustment amount or adjustment percentage of the feedforward coefficient can be set.

[0094] The embodiment controls the PDFF controller to work under different feedforward coefficients in turn based on the polling mechanism, calculates the performance index value of the PDFF controller when working under different feedforward coefficients, determines the promotion effect of the PDFF controller on the servo system under different feedforward coefficients according to the performance index value, and then determines the optimal feedforward coefficient of the PDFF controller by comparing the promotion effects of the PDFF controller on the servo system under different feedforward coefficients.

[0095] In conclusion, the embodiment provides a simple method for determining the optimal feedforward coefficient of the PDFF controller, which does not need large data resources as a cornerstone, and does not need to rely on rich prior knowledge, and can accurately determine the optimal feedforward coefficient of the PDFF controller, to ensure that the performance improvement effect of the PDFF controller on the servo system can be maximized, and the performance of the servo system is improved.

[0096] Based on the first embodiment, the second embodiment of the method for determining the feedforward coefficient of the PDFF controller is provided, and after step S10, steps S101-S106 are further included in the second embodiment.

[0097] In step S101, if it is detected that the servo system in which the PDFF controller is located does not vibrate, the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient is performed.

[0098] In step S102, if it is detected that the servo system in which the PDFF controller is located vibrates, the loop gain of the PDFF controller is adjusted.

[0099] It should be noted that the loop gain refers to a series of parameters for adjusting and optimizing the performance of the servo system, and the loop gain can include but is not limited to the speed loop gain and / or the position loop gain, etc. The speed loop gain includes the proportional coefficient of the PDFF controller amplifying the speed error, and the integral gain. The position loop gain refers to the proportional coefficient of the PDFF controller amplifying the position error.

[0100] In a feasible implementation, when the loop gain of the PDFF controller is adjusted, the loop gain of the PDFF controller can be adjusted by a certain adjustment amount, or the loop gain of the PDFF controller can be adjusted by a certain adjustment percentage, and the embodiment does not make specific limitation thereto.

[0101] In a feasible implementation, when the loop gain of the PDFF controller is adjusted, any loop gain of the PDFF controller can be adjusted arbitrarily, for example, only the speed loop gain or the position loop gain of the PDFF controller can be increased or decreased, or the speed loop gain and the position loop gain of the PDFF controller can be increased or decreased simultaneously, and the embodiment does not make specific limitation thereto.

[0102] In actual use, in order to ensure that the loop gain of the PDFF controller can be adjusted quickly, the adjustment direction of the loop gain of the PDFF controller can be fixed as decreasing, that is, the loop gain of the PDFF controller is decreased.

[0103] Step S103, controlling the PDFF controller to operate according to the to-be-used feedforward coefficient and the adjusted loop gain, and detecting whether vibration occurs in the servo system in which the PDFF controller is located during the operation of the PDFF controller according to the to-be-used feedforward coefficient and the adjusted loop gain.

[0104] In an available implementation, whether vibration occurs in the servo system in which the PDFF controller is located can be determined by detecting whether the current fluctuation of the servo system in which the PDFF controller is located is greater than a preset current fluctuation threshold, and whether the rotational speed fluctuation of the servo system in which the PDFF controller is located is greater than a preset rotational speed fluctuation threshold. Specifically, if it is detected that the current fluctuation of the servo system in which the PDFF controller is located is greater than the preset current fluctuation threshold, or it is detected that the rotational speed fluctuation of the servo system in which the PDFF controller is located is greater than the preset rotational speed fluctuation threshold, it is determined that vibration occurs in the servo system in which the PDFF controller is located. If it is detected that the current fluctuation of the servo system in which the PDFF controller is located is less than or equal to the preset current fluctuation threshold, and it is detected that the rotational speed fluctuation of the servo system in which the PDFF controller is located is less than or equal to the preset rotational speed fluctuation threshold, it is determined that vibration does not occur in the servo system in which the PDFF controller is located. The current fluctuation is the current difference between the actual current of the servo system and the preset current, and the rotational speed fluctuation is the rotational speed difference between the actual rotational speed of the servo system and the preset rotational speed.

[0105] Step S104, if yes, returning to the step of adjusting the loop gain of the PDFF controller;

[0106] Step S105, if no, calculating a second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain;

[0107] It should be noted that the second performance index value is essentially the performance index value of the PDFF controller when operating according to the to-be-used feedforward coefficient and the adjusted loop gain.

[0108] In addition, it should be noted that the calculation method of the second performance index value involved in the present embodiment is the same as the calculation method of the first performance index value involved in the first embodiment, which will not be described here.

[0109] Step S106, if the second performance index value is less than the target performance index value, taking the second performance index value as a new target performance index value, updating the candidate feedforward coefficient to the to-be-used feedforward coefficient, and performing the step of detecting whether the to-be-used feedforward coefficient reaches the preset coefficient value.

[0110] It can be understood that if it is detected that the servo system in which the PDFF controller is located vibrates, it indicates that the current loop gain of the PDFF controller is too large, the PDFF controller cannot well play the performance improvement effect on the servo system, and the performance index value of the PDFF controller under the to-be-used feedforward coefficient cannot be well fed back. Therefore, in this embodiment, by limiting that in the case where it is detected that the servo system in which the PDFF controller is located vibrates, the loop gain of the PDFF controller needs to be adjusted first until the loop gain of the PDFF controller is adjusted to a value that does not cause the servo system in which the PDFF controller is located to vibrate, and then the performance index value of the PDFF controller under the to-be-used feedforward coefficient is determined, the accuracy of subsequently determining the optimal feedforward coefficient of the PDFF controller is improved.

[0111] In a possible implementation, after step S105, the method further includes steps S107-S108:

[0112] In step S107, the loop gain of the PDFF controller is restored to the initial loop gain.

[0113] It should be noted that the initial loop gain is the loop gain used by the PDFF controller at the start of each round of operation.

[0114] In step S108, after the loop gain of the PDFF controller is restored to the initial loop gain, the step of detecting whether the to-be-used feedforward coefficient reaches the preset coefficient value is performed.

[0115] In this embodiment, by limiting that the new round of operation of the PDFF controller needs to be started after the loop gain of the PDFF controller is restored to the initial loop gain, it is ensured that the same loop gain is used by the PDFF controller at the start of each round of operation, thereby avoiding the problem that the accuracy of the optimal feedforward coefficient of the PDFF controller determined subsequently is poor due to the fact that the loop gain used by the PDFF controller at the start of each round of operation is different, and the accuracy of the optimal feedforward coefficient of the PDFF controller determined subsequently is improved.

[0116] Based on the first embodiment and / or the second embodiment, a third embodiment of the method for determining the feedforward coefficient of the PDFF controller is provided, and in the third embodiment, after it is detected that the to-be-used feedforward coefficient reaches the preset coefficient value, steps S70-S90 are further included:

[0117] In step S70, it is detected whether a new performance index reference value used to calculate the performance index value is recorded in the preset data storage area.

[0118] Step S80, if yes, based on the new performance index reference value used to calculate the performance index value, return to execute the step of obtaining the to-be-used feedforward coefficient and the target performance index value;

[0119] Step S90, if no, execute the step of taking the candidate feedforward coefficient as the target feedforward coefficient.

[0120] It can be understood that, if the new performance index reference value used to calculate the performance index value is recorded in the data storage area, it indicates that the performance index reference value is adjusted due to the existence of the too-small performance index value in the performance index values of the PDFF controller in the polling process according to the original performance index reference value used to calculate the performance index value. Therefore, in this embodiment, after detecting that the new performance index reference value used to calculate the performance index value is recorded in the data storage area, the PDFF controller is triggered to re-execute a complete polling process according to the new performance index reference value used to calculate the performance index value, so as to ensure that the PDFF controller can accurately calculate the performance index values of the PDFF controller under different feedforward coefficients according to the reasonable performance index reference value, thereby avoiding the influence of the unreasonable original performance index reference value on the accuracy of the subsequently determined optimal feedforward coefficient of the PDFF controller, and improving the accuracy of the subsequently determined optimal feedforward coefficient of the PDFF controller.

[0121] In a feasible implementation, after step S20, the method further includes step S201:

[0122] Step S201, if it is detected that the first performance index value is less than a preset performance index threshold, reducing the performance index reference value used to calculate the performance index value to obtain a new performance index reference value used to calculate the performance index value, and storing the new performance index reference value used to calculate the performance index value to the data storage area.

[0123] It should be noted that the preset performance index threshold is used to determine whether the performance index reference value used to calculate the performance index value is too small, and the preset performance index threshold can be a default value or a value that is flexibly adjusted by a user according to the actual use of the PDFF controller, and the embodiment is not limited in this regard.

[0124] When reducing the performance index reference value used to calculate the performance index value, the performance index reference value used to calculate the performance index value can be reduced by a certain reduction amount, or the performance index reference value used to calculate the performance index value can be reduced by a certain reduction percentage, and the embodiment is not limited in this regard.

[0125] Exemplarily, taking the speed overshoot as the performance index value, please refer to Figure 4 , from Figure 4The PDFF controller can be aware that its speed changes twice during the operation when the PDFF controller is operated according to the feedforward coefficients A, B, C and D, and thus it can be determined that the performance index reference value used to calculate the performance index value is not reasonable.

[0126] It can be understood that if it is detected that the performance index value of the PDFF controller calculated according to the original performance index reference value used to calculate the performance index value is less than the preset performance index threshold, it indicates that the original performance index reference value used to calculate the performance index value is too small, and the too small performance index reference value will result in that the performance index values of the PDFF controller calculated under multiple feedforward coefficients are all small and similar or even the same, and thus the optimal feedforward coefficient cannot be accurately selected. Therefore, in this embodiment, when it is detected that the first performance index value is less than the preset performance index threshold, the performance index reference value used to calculate the performance index value is reduced to obtain a new performance index reference value used to calculate the performance index value, and the new performance index reference value used to calculate the performance index value is stored in the data storage area, so that after the subsequent PDFF controller completes a complete polling process, the PDFF controller can trigger the PDFF controller to perform a complete polling process again according to the new performance index reference value used to calculate the performance index value.

[0127] For example, in order to facilitate understanding of the implementation process of the feedforward coefficient determination method of the PDFF controller obtained by combining the above embodiments, the preset coefficient value is taken as 1 for example, please refer to Figure 5 , in detail:

[0128] After the initial to-be-used feedforward coefficient, loop gain and target performance index value are set, the control PDFF controller starts running and detects whether vibration occurs in the servo system where the PDFF controller is located; if vibration occurs, the loop gain of the PDFF controller is adjusted, and the PDFF controller is controlled to run again according to the adjusted loop gain; if no vibration occurs, the performance index value of the PDFF controller is calculated, and whether adjustment of the performance index reference value used to calculate the performance index value is needed is judged based on the calculated performance index value; if adjustment is needed, the performance index reference value used to calculate the performance index value is reduced, and the reduced performance index reference value used to calculate the performance index value is recorded; if adjustment is not needed, whether the calculated performance index value is less than the target performance index value is judged; if yes, the target performance index value is updated to the calculated performance index value, and the candidate feedforward coefficient and the candidate loop gain are updated to the current used feedforward coefficient and loop gain; if no, whether the feedforward coefficient currently used by the PDFF controller is less than 1 is judged; if yes, the to-be-used feedforward coefficient is increased, and the loop gain of the PDFF controller is restored to the initial loop gain, and then the PDFF controller is controlled to run again; if no, whether a new performance index reference value used to calculate the performance index value is recorded in the data storage area is detected; if yes, the PDFF controller is triggered to execute the complete polling process again based on the new performance index reference value used to calculate the performance index value; if no, the candidate feedforward coefficient is used as the optimal feedforward coefficient, and the candidate loop gain is used as the optimal loop gain.

[0129] It should be noted that the example is only used to assist in understanding the present application and does not constitute a limitation on the feedforward coefficient determination method of the PDFF controller of the present application. More forms of simple transformation based on this technical concept are within the protection scope of the present application.

[0130] The present application embodiment further provides a servo driver, please refer to Figure 6 , the servo driver comprises;

[0131] The motion performance evaluation module 400 is configured to acquire a to-be-used feedforward coefficient and a target performance index value, and control a PDFF controller to run according to the to-be-used feedforward coefficient; and calculate a first performance index value of the PDFF controller under the to-be-used feedforward coefficient.

[0132] The numerical adjustment module 500 is configured to, if the first performance index value is less than the target performance index value, take the first performance index value as a new target performance index value, and update a candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system.

[0133] The parameter management module 300 is configured to detect whether the to-be-used feedforward coefficient reaches a preset coefficient value, and if so, take the candidate feedforward coefficient as a target feedforward coefficient; if not, adjust the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and return to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

[0134] Optionally, the parameter management module 300 is further configured to, if it is detected that the servo system in which the PDFF controller is located vibrates, adjust the loop gain of the PDFF controller.

[0135] The servo driver further comprises a vibration detection module 200 configured to control the PDFF controller to operate according to the to-be-used feedforward coefficient and the adjusted loop gain, and detect whether the servo system in which the PDFF controller is located vibrates in the process of the PDFF controller operating according to the to-be-used feedforward coefficient and the adjusted loop gain; if so, return to execute the step of adjusting the loop gain of the PDFF controller; if not, calculate a second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain.

[0136] The numerical adjustment module 500 is further configured to, if the second performance index value is less than the target performance index value, take the second performance index value as a new target performance index value, update the candidate feedforward coefficient to the to-be-used feedforward coefficient, and execute the step of detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value.

[0137] Optionally, the parameter management module 300 is further configured to:

[0138] restore the loop gain of the PDFF controller to an initial loop gain;

[0139] After the loop gain of the PDFF controller is restored to the initial loop gain, execute the step of detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value.

[0140] Optionally, the numerical adjustment module 500 is further configured to:

[0141] detect whether a new performance index reference value used to calculate a performance index value is recorded in a preset data storage area;

[0142] if so, based on the new performance index reference value used to calculate the performance index value, return to execute the step of obtaining a to-be-used feedforward coefficient and a target performance index value;

[0143] if not, execute the step of taking the candidate feedforward coefficient as a target feedforward coefficient.

[0144] Optionally, the numerical adjustment module 500 is further configured to:

[0145] If the first performance index value is detected to be less than a preset performance index threshold, a performance index reference value used to calculate the performance index value is decreased to obtain a new performance index reference value used to calculate the performance index value, and the new performance index reference value used to calculate the performance index value is stored in the data storage area.

[0146] Optionally, when the first performance index value comprises a first positioning duration, the numerical adjustment module 500 is further configured to:

[0147] In the process that the PDFF controller operates according to the to-be-used feedforward coefficient, a first time point at which the PDFF controller receives a position instruction, and a second time point at which the PDFF controller controls a position error of itself to a preset position error reference value according to the position instruction are obtained.

[0148] A difference between the second time point and the first time point is calculated to obtain the first positioning duration.

[0149] Optionally, when the first performance index value comprises a first speed overshoot, the numerical adjustment module 500 is further configured to:

[0150] In the process that the PDFF controller operates according to the to-be-used feedforward coefficient, a real-time speed of the PDFF controller under the to-be-used feedforward coefficient is obtained.

[0151] After the real-time speed reaches a preset speed reference value, a maximum speed of the PDFF controller in a preset time period thereafter is obtained.

[0152] A difference between the maximum speed and the speed reference value is calculated to obtain the first speed overshoot.

[0153] The servo driver provided by the embodiment of the present application adopts the feedforward coefficient determination method of the PDFF controller in the above embodiment, and can determine the optimal feedforward coefficient of the PDFF controller simply and conveniently. Compared with the prior art, the servo driver provided by the present application has the same beneficial effects as the feedforward coefficient determination method of the PDFF controller provided by the above embodiment, and other technical features in the servo driver are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0154] The embodiment of the present application further provides a servo driver, comprising: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the feedforward coefficient determination method of the PDFD controller in the above embodiment.

[0155] Reference is made below in detail to Figure 7 which shows a structural schematic diagram of a servo driver suitable for being used to implement the embodiment of the present application. Figure 7 The servo driver shown is merely an example, and should not bring any limitation to the function and use range of the embodiment of the present application.

[0156] As shown in Figure 7 , the servo driver can comprise a processing device 101 (for example, a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to programs stored in a read-only memory (ROM) 102 or loaded from a storage device 103 into a random access memory (RAM) 104. In the RAM 104, various programs and data required for the operation of the servo driver are also stored. The processing device 101, the ROM 102 and the RAM 104 are connected with each other through a bus 105. An input / output (I / O) interface 106 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 106: an input device 107 comprising, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 108 comprising, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; the storage device 103 comprising, for example, a magnetic tape, a hard disk, etc.; and a communication device 109. The communication device 109 can allow the servo driver to communicate with other devices wirelessly or by wire to exchange data. Although the servo driver with various systems is shown in the figure, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be alternatively implemented or provided.

[0157] In particular, according to embodiments of the present disclosure, the processes described above with reference to the flowcharts can be implemented as a computer software program. For example, embodiments of the present disclosure include a computer program product comprising a computer program carried on a computer readable medium, the computer program containing program code for executing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from a storage device 103, or installed from a ROM 102. When the computer program is executed by the processing device 101, the above-mentioned functions defined in the methods of the embodiments of the present application are executed.

[0158] The servo driver provided by the embodiments of the present application adopts the feedforward coefficient determination method of the PDFF controller in the above embodiments, and can determine the optimal feedforward coefficient of the PDFF controller simply and conveniently. Compared with the prior art, the servo driver provided by the embodiments of the present application has the same beneficial effects as the feedforward coefficient determination method of the PDFF controller provided by the above embodiments, and other technical features in the servo driver are the same as the features disclosed in the above embodiments, which will not be described here.

[0159] It should be understood that parts of the embodiments of the present application can be realized by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any appropriate manner in one or more embodiments or examples.

[0160] The above describes only specific embodiments of the present application, but the protection scope of the present application is not limited thereto, and any person skilled in the art can easily think of changes or replacements within the technical scope disclosed in the present application, which should be covered in the protection scope of the present application. Therefore, the protection scope of the embodiments of the present application should be subject to the protection scope of the claims.

[0161] The embodiments of the present application also provide a computer readable storage medium storing an operation program of an intelligent home system which can run on a processor, and computer readable program instructions are used to execute the feedforward coefficient determination method of the PDFF controller in the above embodiments.

[0162] The computer readable storage medium provided by the embodiments of the present application may, for example, be a U disk, but is not limited to an electric, magnetic, optical, electromagnetic, infrared, or semiconductor system, system, or device, or any combination of the above. More specific examples of the computer readable storage medium may include, but are not limited to, an electric connection with one or more conductive wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the embodiments, the computer readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system, or device. The program code contained on the computer readable storage medium can be transmitted by any suitable medium, including but not limited to an electric wire, an optical cable, an RF (Radio Frequency), and the like, or any suitable combination of the above.

[0163] The computer readable storage medium described above may be contained in a servo driver, or may exist separately without being assembled into a servo driver.

[0164] The computer readable storage medium described above carries one or more programs, which, when executed by the servo driver, cause the servo driver to: obtain a to-be-used feedforward coefficient and a target performance index value, and control a PDFF controller to operate according to the to-be-used feedforward coefficient; calculate a first performance index value of the PDFF controller under the to-be-used feedforward coefficient; if the first performance index value is less than the target performance index value, take the first performance index value as a new target performance index value, update a candidate feedforward coefficient to the to-be-used feedforward coefficient, and detect whether the to-be-used feedforward coefficient reaches a preset coefficient value; detect whether the to-be-used feedforward coefficient reaches the preset coefficient value, if yes, take the candidate feedforward coefficient as a target feedforward coefficient; if no, adjust the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and return to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

[0165] Computer program code for carrying out operations of the present disclosure can be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C++ or the like, and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code can execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the latter scenario, the remote computer can be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or the connection can be made to an external computer (for example, through the Internet using an Internet Service Provider).

[0166] The flow diagrams and the block diagrams in the drawings are illustrations of architectures, functionalities, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flow diagrams or block diagrams can represent a module, a segment, or a portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that in some alternative implementations, the functions noted in the blocks can occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently or the blocks may

[0167] The modules involved in the embodiments of the present application can be implemented in the form of software or in the form of hardware. Among them, the name of the module does not constitute a limitation to the unit itself in some cases.

[0168] The computer readable storage medium provided by the embodiments of the present application stores computer readable program instructions for executing the above-mentioned PDFF controller feedforward coefficient determination method, which can conveniently determine the optimal feedforward coefficient of the PDFF controller. Compared with the prior art, the beneficial effects of the computer readable storage medium provided by the embodiments of the present application are the same as those of the PDFF controller feedforward coefficient determination method provided by the above-mentioned embodiments, which will not be repeated here.

[0169] The embodiment of the present application further provides a computer program product comprising a computer program, which, when executed by a processor, implements the steps of the feedforward coefficient determination method of the PDFF controller.

[0170] The computer program product provided by the embodiment of the present application can conveniently determine the optimal feedforward coefficient of the PDFF controller. Compared with the prior art, the beneficial effects of the computer program product provided by the embodiment of the present application are the same as those of the feedforward coefficient determination method of the PDFF controller provided by the above embodiment, and are not described herein.

[0171] The above is only the preferred embodiment of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent flow transformation using the content of the specification and drawings of the present application, or direct or indirect application in other related technical fields, is also included in the patent processing scope of the present application.

Claims

1. A method of determining a feedforward coefficient of a PDFF controller, the method comprising: The feedforward coefficient determination method of the PDFF controller comprises: acquiring a to-be-used feedforward coefficient and a target performance index value, and controlling the PDFF controller to operate according to the to-be-used feedforward coefficient; calculating a first performance index value of the PDFF controller under the to-be-used feedforward coefficient; if the first performance index value is less than the target performance index value, taking the first performance index value as a new target performance index value, updating a candidate feedforward coefficient to the to-be-used feedforward coefficient, and performing the step of detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value, wherein the performance index value is negatively correlated with the performance improvement effect of the PDFF controller on the servo system; if the to-be-used feedforward coefficient reaches the preset coefficient value, taking the candidate feedforward coefficient as a target feedforward coefficient; if not, adjusting the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and returning to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

2. The method of claim 1, wherein, After the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient, the method further comprises: if it is detected that the servo system where the PDFF controller is located does not vibrate, performing the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient; if it is detected that the servo system where the PDFF controller is located vibrates, adjusting the loop gain of the PDFF controller; controlling the PDFF controller to operate according to the to-be-used feedforward coefficient and the adjusted loop gain, and detecting whether the servo system where the PDFF controller is located vibrates in the process of the PDFF controller operating according to the to-be-used feedforward coefficient and the adjusted loop gain; if yes, returning to perform the step of adjusting the loop gain of the PDFF controller; if no, calculating a second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain; if the second performance index value is less than the target performance index value, taking the second performance index value as a new target performance index value, updating a candidate feedforward coefficient to the to-be-used feedforward coefficient, and performing the step of detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value.

3. The method of claim 2, wherein, After the step of calculating the second performance index value of the PDFF controller under the to-be-used feedforward coefficient and the adjusted loop gain, the method further comprises: restoring the loop gain of the PDFF controller to an initial loop gain; after the loop gain of the PDFF controller is restored to the initial loop gain, performing the step of detecting whether the to-be-used feedforward coefficient reaches a preset coefficient value.

4. The method of claim 1, wherein, After it is detected that the to-be-used feedforward coefficient reaches a preset coefficient value, the feedforward coefficient determination method of the PDFF controller further comprises: detecting whether a new performance index benchmark value used to calculate a performance index value is recorded in a preset data storage area; if yes, returning to perform the step of acquiring a to-be-used feedforward coefficient and a target performance index value based on the new performance index benchmark value used to calculate a performance index value; if no, performing the step of adjusting the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and returning to execute the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient. If not, the step of taking the candidate feedforward coefficient as the target feedforward coefficient is performed.

5. The method of claim 4, wherein, After the step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient, the method further comprises: If the first performance index value is detected to be less than a preset performance index threshold, a performance index reference value used to calculate the performance index value is reduced to obtain a new performance index reference value used to calculate the performance index value, and the new performance index reference value used to calculate the performance index value is stored in the data storage area.

6. The method of any one of claims 1 to 5, wherein, When the first performance index value comprises a first positioning time length, The step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient comprises: In the process in which the PDFF controller operates according to the to-be-used feedforward coefficient, a first time at which the PDFF controller receives a position instruction, and a second time at which the PDFF controller regulates a position error of itself to a preset position error reference value according to the position instruction are obtained. A difference between the second time and the first time is calculated to obtain the first positioning time length.

7. The method of any one of claims 1 to 5, wherein, When the first performance index value comprises a first speed overshoot amount, The step of calculating the first performance index value of the PDFF controller under the to-be-used feedforward coefficient comprises: In the process in which the PDFF controller operates according to the to-be-used feedforward coefficient, a real-time speed of the PDFF controller under the to-be-used feedforward coefficient is obtained. After the real-time speed reaches a preset speed reference value, a maximum speed of the PDFF controller in a preset time period thereafter is obtained. A difference between the maximum speed and the speed reference value is calculated to obtain the first speed overshoot amount.

8. A servo driver, characterized by, The servo driver comprises: a motion performance evaluation module configured to obtain a to-be-used feedforward coefficient and a target performance index value, and control a PDFF controller to operate according to the to-be-used feedforward coefficient, and calculate a first performance index value of the PDFF controller under the to-be-used feedforward coefficient; a numerical adjustment module configured to, if the first performance index value is less than the target performance index value, take the first performance index value as a new target performance index value, and update a candidate feedforward coefficient to the to-be-used feedforward coefficient, wherein the performance index value is negatively correlated with a performance improvement effect of the PDFF controller on a servo system; a parameter management module configured to detect whether the to-be-used feedforward coefficient reaches a preset coefficient value, if yes, take the candidate feedforward coefficient as a target feedforward coefficient, and if not, adjust the to-be-used feedforward coefficient based on a target adjustment direction to obtain a new to-be-used feedforward coefficient, and return to perform the step of controlling the PDFF controller to operate according to the to-be-used feedforward coefficient.

9. A servo driver, characterized by The servo driver comprises a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the feedforward coefficient determination method of the PDFF controller according to any one of claims 1 to 7.

10. A medium characterized by, The medium is a computer readable storage medium, and the computer readable storage medium stores a computer program. The computer program is executed by a processor to implement the steps of the feedforward coefficient determination method of the PDFF controller according to any one of claims 1 to 7.

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