Dynamic compensation control method and system of high-speed linear motor

Abstract

The invention provides a dynamic compensation control method and system for a high-speed linear motor, and the method comprises the steps: carrying out the frequency domain analysis of a vibration spectrum through collecting the vibration spectrum data and mechanical structure dynamic parameters of the motor, so as to separate a mechanical resonance component from an electromagnetic harmonic component. And determining a specific frequency band vibration energy value corresponding to mechanical resonance based on the mechanical structure dynamic parameters, taking the energy value and the electromagnetic harmonic component as reward function input together, calculating an optimal compensation voltage value in real time by using an iterative adaptive dynamic programming algorithm, and generating a compensation voltage instruction. Finally, dynamic compensation control over the high-speed linear motor is achieved by applying compensation voltage, and it is ensured that the high-speed linear motor stably operates along the target track. According to the invention, the trajectory control precision and the anti-interference capability of the high-speed linear motor under multi-source disturbance coupling are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of high-speed precision motion control, and in particular to a dynamic compensation control method and system for a high-speed linear motor. BACKGROUND

[0002] In the field of high-speed high-precision linear motor control, the coupling interference of electromagnetic harmonics and mechanical resonances can cause the instability of the motor operating trajectory. In scenarios such as semiconductor lithography and precision machining, micrometer-level trajectory deviation will directly affect the process quality. Traditional control methods are difficult to distinguish and suppress such multi-band coupled disturbances, and there is an urgent need for a control method that can identify disturbance components in real time and dynamically generate compensation strategies.

[0003] Currently, a typical solution uses a disturbance observer based on frequency domain filtering to separate high-frequency mechanical vibrations and low-frequency electromagnetic noise in the motor feedback signal through a pre-set filter, and designs a proportional-integral controller to compensate for each frequency band disturbance. This solution achieves a certain degree of anti-interference effect through a hardware filter and a multi-loop control structure.

[0004] However, the above solution relies on filter design with fixed parameters, and when the motor operating conditions change, the filter frequency band and the actual disturbance frequency band are prone to mismatch, resulting in incomplete disturbance separation. At the same time, the parameter setting of the multi-loop control is complex, and the dynamic response speed is limited, making it difficult to meet the real-time requirements of high-speed linear motors. SUMMARY

[0005] The present application provides a dynamic compensation control method and system for a high-speed linear motor to solve the problems of low trajectory control precision and weak anti-interference ability of high-speed linear motors under multi-source disturbance coupling in the prior art.

[0006] In a first aspect, the present application provides a dynamic compensation control method for a high-speed linear motor, comprising:

[0007] Collecting vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor;

[0008] Performing frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components;

[0009] Using the mechanical structure dynamics parameters to determine a specific frequency band vibration energy value corresponding to the mechanical resonance components;

[0010] Taking the specific frequency band vibration energy value and the electromagnetic harmonic components as input parameters of a reward function, using an iterative adaptive dynamic programming algorithm to calculate an optimal compensation voltage value in real time, and generating a compensation voltage instruction based on the optimal compensation voltage value;

[0011] Based on the compensation voltage instruction, dynamic compensation control is performed on the high-speed linear motor to make the high-speed linear motor move along a target running track.

[0012] Optionally, the specific frequency band vibration energy value and the electromagnetic harmonic component are taken as input parameters of the reward function, an iterative adaptive dynamic programming algorithm is used to calculate an optimal compensation voltage value in real time, a compensation voltage instruction is generated based on the optimal compensation voltage value, and the compensation voltage instruction comprises the following steps:

[0013] The specific frequency band vibration energy value and the amplitude of the electromagnetic harmonic component are input into the reward function, and a dynamic optimization index is output.

[0014] A plurality of control strategy candidate schemes are generated according to the dynamic optimization index through the iterative adaptive dynamic programming algorithm.

[0015] Instantaneous voltage calculation is performed on each control strategy candidate scheme to obtain a corresponding compensation voltage candidate value.

[0016] A target compensation voltage candidate value meeting a preset optimization condition is selected from all compensation voltage candidate values, and the target compensation voltage candidate value is taken as an optimal compensation voltage value.

[0017] The optimal compensation voltage value is converted into a compensation voltage instruction.

[0018] Optionally, the plurality of control strategy candidate schemes are generated according to the dynamic optimization index through the iterative adaptive dynamic programming algorithm, and the method comprises the following steps:

[0019] A difference value is calculated according to the dynamic optimization index and a preset target threshold value.

[0020] A control parameter adjustment step is set according to the difference value, wherein the control parameter comprises a proportional gain parameter and an integral gain parameter in a current loop controller of the high-speed linear motor.

[0021] Based on the adjustment step of the proportional gain parameter and the adjustment step of the integral gain parameter, a plurality of control strategy candidate schemes are generated in combination with an adjustment direction.

[0022] Optionally, the specific frequency band vibration energy value corresponding to the mechanical resonance component is determined by using the mechanical structure dynamics parameter, and the method comprises the following steps:

[0023] A resonance frequency range is determined according to the mechanical structure dynamics parameter.

[0024] The resonance frequency range is compared with the mechanical resonance component to determine a frequency band overlap region.

[0025] Vibration amplitudes corresponding to each frequency point in the frequency band overlap region are extracted from the vibration spectrum data.

[0026] convert the vibration amplitudes into vibration energy values, and superimpose all the vibration energy values to obtain a vibration energy value of a specific frequency band.

[0027] Optionally, the comparing the resonance frequency range with the mechanical resonance component to determine a frequency band overlap region comprises:

[0028] comparing the resonance frequency range with the mechanical resonance component, identifying a plurality of overlapping frequency points according to a comparison result, and forming an overlapping frequency point set based on the plurality of overlapping frequency points;

[0029] selecting a minimum frequency value and a maximum frequency value from the overlapping frequency point set;

[0030] correcting the minimum frequency value and the maximum frequency value according to mechanical system characteristics to obtain a corrected minimum frequency value and a corrected maximum frequency value;

[0031] determining a frequency band overlap region with the corrected minimum frequency value as a starting point and the corrected maximum frequency value as an ending point.

[0032] Optionally, the frequency domain analysis of the vibration frequency spectrum data to determine a mechanical resonance component and an electromagnetic harmonic component comprises:

[0033] dividing the vibration frequency spectrum data into first frequency band data and second frequency band data according to disturbance characteristics of the high-speed linear motor;

[0034] extracting a peak frequency point with an amplitude exceeding a preset amplitude threshold from the first frequency band data, and forming a peak frequency point set according to the peak frequency point, wherein the peak frequency point set is taken as the mechanical resonance component;

[0035] extracting a frequency spectrum component with a fixed frequency interval from the second frequency band data as the electromagnetic harmonic component.

[0036] Optionally, the dynamic compensation control of the high-speed linear motor based on the compensation voltage instruction to enable the high-speed linear motor to move along a target running trajectory comprises:

[0037] converting the compensation voltage instruction into a driving voltage signal;

[0038] superimposing the driving voltage signal and an original working voltage of the high-speed linear motor at an input end of the high-speed linear motor to generate a compensated voltage;

[0039] based on the compensated voltage, respectively suppressing interference of the mechanical resonance component and the electromagnetic harmonic component on operation of the high-speed linear motor to output a stable operation voltage;

[0040] The high-speed linear motor is controlled to move along a target operating trajectory by the stable operating voltage.

[0041] In a second aspect, the application provides a dynamic compensation control system of a high-speed linear motor, comprising:

[0042] a collection module, configured to collect vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor;

[0043] a first determination module, configured to perform frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components;

[0044] a second determination module, configured to determine vibration energy values of specific frequency bands corresponding to the mechanical resonance components by using the mechanical structure dynamics parameters;

[0045] a generation module, configured to take the vibration energy values of the specific frequency bands and the electromagnetic harmonic components as input parameters of a reward function, to calculate optimal compensation voltage values in real time by using an iterative adaptive dynamic programming algorithm, and to generate compensation voltage instructions based on the optimal compensation voltage values;

[0046] an execution module, configured to perform dynamic compensation control on the high-speed linear motor based on the compensation voltage instructions, so that the high-speed linear motor moves along a target operating trajectory.

[0047] In a third aspect, the application provides a computing device, comprising a processor and a memory, wherein the memory stores a computer program, and the processor is configured to execute the computer program to perform the dynamic compensation control method of the high-speed linear motor according to any one of the first aspect.

[0048] In a fourth aspect, the application provides a computer storage medium, which stores computer program instructions, and the computer program instructions are executed by a processor to implement the dynamic compensation control method of the high-speed linear motor according to any one of the first aspect.

[0049] In the application, a dynamic compensation control method of a high-speed linear motor is provided, which comprises: collecting vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor; performing frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components; determining vibration energy values of specific frequency bands corresponding to the mechanical resonance components by using the mechanical structure dynamics parameters; taking the vibration energy values of the specific frequency bands and the electromagnetic harmonic components as input parameters of a reward function, and using an iterative adaptive dynamic programming algorithm to calculate optimal compensation voltage values in real time, and generating compensation voltage instructions based on the optimal compensation voltage values; and performing dynamic compensation control on the high-speed linear motor based on the compensation voltage instructions, so that the high-speed linear motor moves along a target running track.

[0050] The technical scheme provided by the application has the following beneficial effects:

[0051] The application obtains multi-source disturbance characteristics and structure response characteristics when the motor is running. The accurate separation and identification of electromagnetic and mechanical disturbances are realized. The interference intensity of mechanical resonance is quantified. The optimization target of disturbance suppression is established. The adaptive compensation quantity matching the current disturbance is generated. The influence of multi-source disturbance on the motor track is offset in real time.

[0052] Further, the application inputs the vibration energy values of the specific frequency bands and the electromagnetic harmonic component amplitudes into a reward function to output dynamic optimization indexes, uses an iterative adaptive dynamic programming algorithm to generate multiple sets of control strategy candidate schemes and calculate corresponding compensation voltage candidate values, selects a target value meeting the optimization condition as an optimal compensation voltage value and converts it into a compensation voltage instruction.

[0053] Moreover, the scheme realizes the dynamic matching of multi-source disturbances and compensation strategies, generates accurate voltage compensation instructions through real-time optimization, and improves the track tracking stability of the linear motor under complex disturbances.

[0054] These aspects or other aspects of the application will be more apparent in the following description of the embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0055] In order to more clearly illustrate the technical solutions in the embodiments of the application or the prior art, the following will briefly introduce the drawings needed to be used in the embodiment or prior art description. Obviously, the drawings in the following description are some embodiments of the application, and other drawings can also be obtained by those skilled in the art without any creative effort.

[0056] Figure 1 A flowchart of a dynamic compensation control method of a high-speed linear motor provided by the embodiment of the application is shown in the following.

[0057] Figure 2A structural schematic diagram of a dynamic compensation control system of a high-speed linear motor is provided for an embodiment of the present application.

[0058] Figure 3 A structural schematic diagram of a computing device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0059] In order for those skilled in the art to better understand the scheme of the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application.

[0060] In some processes described in the specification and claims of the present application and the above-mentioned drawings, a plurality of operations appearing in a specific order are included, but it should be clearly understood that these operations can be executed or performed in parallel without the order in which they appear in the text, and the serial numbers of the operations, such as 101, 102, etc., are only used to distinguish different operations, and the serial numbers themselves do not represent any execution order. In addition, these processes can include more or fewer operations, and the operations can be executed in sequence or in parallel. It should be noted that the "first", "second", etc. in the text are used to distinguish different messages, devices, modules, etc., and do not represent the order, nor do "first" and "second" represent different types.

[0061] In the dynamic compensation control of the high-speed linear motor, the existing disturbance observer scheme based on frequency domain filtering has obvious limitations: it relies on the filter design of fixed parameters, and when the motor operating condition changes, the filter frequency band and the actual disturbance frequency band are prone to mismatch, resulting in incomplete separation of mechanical resonance components and electromagnetic harmonic components; at the same time, the parameter setting of the multi-loop control structure is complex, and the dynamic response speed is limited, which is difficult to meet the real-time compensation requirements of the high-speed linear motor. The root cause of this problem lies in the static processing method of the existing scheme for the coupling characteristics of multiple disturbance sources, which cannot adapt to the dynamic changes of the disturbance frequency band and intensity.

[0062] To solve the above problems, the present application provides a dynamic compensation control method for a high-speed linear motor, which is characterized by collecting vibration frequency spectrum data and mechanical structure dynamics parameters of the high-speed linear motor, performing frequency domain analysis on the vibration frequency spectrum data to accurately separate the mechanical resonance components and the electromagnetic harmonic components, and quantifying the vibration energy value of a specific frequency band using the mechanical structure dynamics parameters. Further, the vibration energy value and the electromagnetic harmonic component are used as input parameters of the reward function, and an iterative adaptive dynamic programming algorithm is used to generate an optimal compensation voltage value in real time, and finally the motor trajectory is stabilized through dynamic compensation control. This method breaks through the frequency band limitation of the fixed filter, solves the problems of incomplete disturbance separation and insufficient real-time compensation in the prior art through dynamic frequency band matching and adaptive optimization algorithm, and effectively improves the control accuracy and anti-interference ability of the high-speed linear motor under complex disturbance.

[0063] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative work fall within the scope of protection of the present application.

[0064] Figure 1 A flow chart of a dynamic compensation control method of a high-speed linear motor provided in the embodiments of the present application is shown in FIG. 1, and the method comprises the following steps. Figure 1

[0065] Step 101: collecting vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor.

[0066] In step 101, the vibration spectrum data refers to vibration signals collected by an acceleration sensor or a laser vibration meter during motor operation, and frequency domain distribution data obtained after Fourier transform, reflecting the vibration intensity of the motor at different frequencies. The mechanical structure dynamics parameters include modal frequency, damping ratio, mass distribution and the like of the motor, for describing mechanical resonance characteristics.

[0067] In the embodiments of the present application, during the operation of the motor, vibration signals are collected by an acceleration sensor installed on the motor frame, and mechanical structure dynamics parameters are obtained in combination with motor design parameters. The vibration signals are stored after analog-to-digital conversion, and the mechanical structure dynamics parameters are extracted from the finite element simulation or experimental modal analysis of the motor.

[0068] For example, taking a certain high-speed linear motor as an example, when running on the A production line, a B-type acceleration sensor is used to collect vibration signals, and the sampling frequency is set to several times the highest operating frequency of the motor, to ensure covering the frequency bands of mechanical resonance and electromagnetic harmonics. At the same time, modal analysis is performed based on the three-dimensional model of the motor, and the first few natural frequencies and damping ratios are extracted as mechanical structure dynamics parameters.

[0069] Step 102: performing frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components.

[0070] In step 102, the mechanical resonance component refers to a high-frequency vibration component caused by mechanical structure resonance in the vibration spectrum, which is characterized by a sudden increase in amplitude at a specific frequency. The electromagnetic harmonic component represents a low-frequency vibration component caused by motor current harmonics, which presents periodic fluctuation characteristics.

[0071] ​In the embodiments of the present application, the collected vibration spectrum data is subjected to fast Fourier transform to obtain a frequency spectrum. According to the mechanical resonance characteristics of the motor, a frequency band division threshold is set to divide the frequency spectrum into a high frequency band and a low frequency band. In the high frequency band, peak points with amplitudes exceeding background noise are identified as mechanical resonance components; in the low frequency band, periodic fluctuation components with a fixed frequency interval are extracted as electromagnetic harmonic components.

[0072] For example, in the motor operation data of the A production line, the spectrum analysis shows that there are multiple amplitude spikes above 800 Hz, which are confirmed as mechanical resonance components in combination with the mechanical structure dynamics parameters; below 200 Hz, there is a harmonic distribution with 50 Hz as the fundamental frequency, which is determined as an electromagnetic harmonic component.

[0073] Step 103: determining a specific frequency band vibration energy value corresponding to the mechanical resonance component by using the mechanical structure dynamics parameters.

[0074] In step 103, the specific frequency band vibration energy value refers to the vibration energy sum of the mechanical resonance component in the key frequency band, which is used to quantify the interference degree of the mechanical resonance component on the motor operation.

[0075] In the embodiments of the present application, the main influencing frequency band of the mechanical resonance component is determined according to the modal frequency in the mechanical structure dynamics parameters. The vibration amplitude in the frequency band is integrated to calculate the vibration energy value.

[0076] For example, in the motor of the A production line, the mechanical resonance component is concentrated in the 900-1200 Hz frequency band, and the vibration amplitude square of the frequency band is integrated to obtain the vibration energy value for subsequent compensation calculation.

[0077] Step 104: taking the specific frequency band vibration energy value and the electromagnetic harmonic component as input parameters of a reward function, and using an iterative adaptive dynamic programming algorithm to calculate an optimal compensation voltage value in real time, and generating a compensation voltage instruction based on the optimal compensation voltage value.

[0078] In step 104, the reward function represents a quantitative function for evaluating the pros and cons of the control strategy, and its formula is: R = a·E + b·A, where R is a dynamic optimization index, E is the specific frequency band vibration energy value, A is the amplitude of the electromagnetic harmonic component, and a and b are preset weight coefficients. The function is derived from the quantification of the system disturbance suppression requirement, and the mechanical vibration energy and the electromagnetic interference amplitude are unified into a single optimization index by means of weighted summation, wherein a and b are pre-set according to the relative importance of vibration and electromagnetic interference, for example, a = 0.6 and b = 0.4. The iterative adaptive dynamic programming algorithm refers to an algorithm for approaching the optimal control strategy through iterative optimization. The optimal compensation voltage value refers to the final compensation voltage quantity determined after iterative optimization and screening. The compensation voltage instruction refers to a control signal that can directly act on the motor driving system.

[0079] In the embodiments of the present application, the vibration energy value and the electromagnetic harmonic component amplitude are input into the reward function, and a dynamic optimization index is calculated. By iteratively adjusting the current loop control parameters, a plurality of candidate strategies are generated, the corresponding compensation voltage candidate values are calculated, the optimal value is screened and converted into a compensation voltage instruction.

[0080] For example, in the motor control of the A production line, after the reward function outputs the dynamic optimization index, the algorithm iteratively adjusts the proportional integral parameters to generate a compensation voltage instruction to offset the current disturbance.

[0081] Step 105: Based on the compensation voltage instruction, performing dynamic compensation control on the high-speed linear motor to make the high-speed linear motor move along the target running trajectory.

[0082] In step 105, dynamic compensation control refers to adjusting the motor input voltage according to the real-time calculated compensation voltage instruction to offset the disturbance effect.

[0083] In the embodiments of the present application, the compensation voltage instruction is superimposed on the motor drive signal, and the input current is adjusted to generate a reverse electromagnetic force to offset the mechanical resonance and electromagnetic harmonic interference, and ensure the stable operation of the motor along the target trajectory.

[0084] For example, in the motor of the A production line, after the compensation voltage instruction is adjusted in real time, the motor trajectory deviation is reduced, and the running stability is improved.

[0085] The method accurately separates and quantifies mechanical resonance and electromagnetic harmonic interference by dynamically collecting and analyzing vibration spectrum data, and generates a compensation voltage instruction in real time by combining an iterative optimization algorithm, thereby effectively improving the trajectory control accuracy and anti-interference ability of the high-speed linear motor under complex disturbance.

[0086] In order to solve the dynamic compensation control problem of the high-speed linear motor under multi-source disturbance and further improve the trajectory stability, in some embodiments, step 104: the specific frequency band vibration energy value and the electromagnetic harmonic component are input as input parameters of the reward function, and an iterative self-adaptive dynamic programming algorithm is used to calculate the optimal compensation voltage value in real time, and based on the optimal compensation voltage value, a compensation voltage instruction is generated, including:

[0087] Step 201: input the specific frequency band vibration energy value and the amplitude of the electromagnetic harmonic component into the reward function, and output a dynamic optimization index.

[0088] In step 201, the dynamic optimization index refers to a quantitative value for evaluating the pros and cons of the current control strategy, and the numerical value reflects the good or bad of the disturbance suppression effect.

[0089] In the embodiment of the present application, the specific frequency band vibration energy value and the electromagnetic harmonic component amplitude are input into a pre-constructed reward function, and the function outputs a dynamic optimization index value reflecting the current disturbance intensity through weighted calculation.

[0090] Step 202: generating a plurality of sets of control strategy candidate schemes according to the dynamic optimization index through an iterative adaptive dynamic programming algorithm.

[0091] In step 202, the control strategy candidate scheme refers to different combinations of control parameters proposed for the current disturbance state.

[0092] In the embodiment of the present application, according to the size of the dynamic optimization index value, the current loop control parameters are adjusted in multiple directions through the iterative adaptive dynamic programming algorithm, and a plurality of sets of control strategy candidate schemes containing different proportional and integral parameters are generated.

[0093] Step 203: performing transient voltage calculation on each set of control strategy candidate schemes to obtain corresponding compensation voltage candidate values.

[0094] In step 203, the transient voltage calculation process refers to substituting the proportional gain parameter and the integral gain parameter in each set of control strategy candidate schemes into the current loop control model, combining the currently detected mechanical resonance component and the electromagnetic harmonic component amplitude, and solving the compensation voltage value that can be generated under the strategy in real time. The calculation process uses the voltage-current conversion relationship in the closed-loop control theory, and obtains the corresponding transient compensation voltage candidate values of each strategy according to the electromagnetic force balance principle. The compensation voltage candidate value refers to the instantaneous compensation voltage value corresponding to each control strategy.

[0095] In the embodiment of the present application, for each set of control strategy candidate schemes, the compensation voltage value that can be generated under the current disturbance state is calculated through the current loop control model, and the corresponding compensation voltage candidate values of each strategy are obtained.

[0096] Step 204: selecting a target compensation voltage candidate value that meets a preset optimization condition from all compensation voltage candidate values, and taking the target compensation voltage candidate value as the optimal compensation voltage value.

[0097] In step 204, the preset optimization condition refers to the performance requirement that the compensation effect needs to meet. The target compensation voltage candidate value refers to the candidate value that can make the reward function output the optimal (i.e., the minimum dynamic optimization index) among all compensation voltage candidate values. The source is to select the voltage value that can most effectively suppress the current disturbance state as the target candidate value by evaluating the system response performance corresponding to each candidate value, and then determine the optimal compensation voltage value after verification.

[0098] In the embodiment of the present application, all compensation voltage candidate values are evaluated, and the candidate value that can make the dynamic optimization index optimal is selected as the target compensation voltage candidate value, that is, the optimal compensation voltage value.

[0099] Step 205: Convert the optimal compensation voltage value into a compensation voltage instruction.

[0100] In the embodiment of the present application, the optimal compensation voltage value is converted into an analog voltage signal by a digital signal processor, and then converted into a pulse width modulation signal by a PWM modulator. The signal is amplified by a power amplifier of a driving circuit to form a final executable compensation voltage instruction. For example, when the optimal compensation voltage value is 10V, it is first converted into a 10V analog signal, and then modulated into a PWM wave with a duty cycle of 50% (assuming that the power supply voltage is 20V). The PWM wave is amplified by a power MOS tube and output to the motor winding.

[0101] The following is a specific example:

[0102] In a scenario where a certain high-speed linear motor is applied to precision machining of production line A, the specific frequency band vibration energy value corresponding to the mechanical resonance component is 1850 (mm / s) 2 , the amplitude of the 100Hz component in the electromagnetic harmonic component is 0.25mm / s, and the amplitude of the 150Hz component is 0.18mm / s. These parameters are input into the pre-constructed reward function R=0.6xE+0.4xA to calculate, where E represents the normalized result of the vibration energy value, and A represents the normalized result of the electromagnetic harmonic amplitude. The dynamic optimization index value is 0.72 obtained by weighted calculation. According to the difference 0.13 between the index value and the target threshold 0.85, the adjustment step of the proportional gain parameter is determined to be 0.08, and the adjustment step of the integral gain parameter is determined to be 0.04. Based on the current proportional gain 1.2 and the integral gain 0.8, the positive and negative direction adjustments are performed respectively to generate four groups of control strategy candidate schemes including combinations of 1.28 and 0.84, 1.28 and 0.76, 1.12 and 0.84, and 1.12 and 0.76. The compensation voltage candidate values corresponding to the four groups of parameters are calculated by the current loop control model to be 8.5V, 9.2V, 7.8V and 8.1V respectively. The 8.5V that makes the trajectory deviation minimum is selected as the optimal compensation voltage value through evaluation, and finally the digital-to-analog conversion module converts the value into a PWM signal with a duty cycle of 42.5% as a compensation voltage instruction and outputs it to the motor driver.

[0103] In the embodiment of the present application, the method dynamically evaluates the disturbance state and intelligently generates the optimal compensation strategy, effectively improving the control accuracy and running stability of the high-speed linear motor in the complex disturbance environment.

[0104] To further improve the accuracy and adaptability of the dynamic compensation control of the high-speed linear motor, in some embodiments, step 202: generating a plurality of control strategy candidate schemes according to the dynamic optimization index by an iterative adaptive dynamic programming algorithm comprises:

[0105] Step 301: calculating a difference value according to the dynamic optimization index and a preset target threshold.

[0106] In step 301, the preset target threshold refers to a pre-set ideal value of the dynamic optimization index, which is used to measure the gap between the current control effect and the expected target. The difference value refers to the deviation between the dynamic optimization index and the preset target threshold, which is obtained by subtracting the pre-set ideal target value from the real-time calculated dynamic optimization index value. For example, if the target threshold is 0.9 and the current index is 0.7, the difference value is 0.2.

[0107] In the embodiments of the present application, the real-time calculated dynamic optimization index is compared with the preset target threshold, and the difference value between the two is obtained by subtraction operation. The difference value reflects the degree of improvement needed for the current control effect.

[0108] Step 302: setting an adjustment step length of a control parameter according to the difference value, wherein the control parameter includes a proportional gain parameter and an integral gain parameter in a current loop controller of the high-speed linear motor.

[0109] In step 302, the adjustment step length of the control parameter refers to the magnitude of the adjustment of the control parameter at each iteration. The proportional gain parameter represents the immediate response strength of the control system to the error, and the larger the value, the more rapid the correction effect on the deviation. The integral gain parameter reflects the cumulative correction ability of the system to the continuous error, and the larger the value, the more obvious the effect of eliminating the steady-state error. The proportional gain parameter and the integral gain parameter jointly determine the dynamic response characteristics of the current loop.

[0110] In the embodiments of the present application, the larger the difference value, the larger the set adjustment step length is realized through a preset difference value-step length mapping relationship, using a linear or nonlinear function relationship (such as step length = basic step length x difference coefficient), wherein the basic step length and the difference coefficient are pre-calibrated according to the system response characteristics. For example, when the difference value is 0.2, the proportional gain adjustment step length may be 0.15 and the integral gain adjustment step length may be 0.08.

[0111] Step 303: generating a plurality of control strategy candidate schemes based on the adjustment step length of the proportional gain parameter and the adjustment step length of the integral gain parameter, combined with the adjustment direction.

[0112] In step 303, the adjustment direction indicates two directions of increase and decrease: increase indicates increasing the parameter value to enhance the control effect, and decrease indicates decreasing the parameter value to reduce the control strength. For example, increasing the proportional gain can increase the response speed, but too large may cause oscillation; decreasing the integral gain can reduce the overshoot, but too small will increase the steady-state error.

[0113] In the embodiment of the present application, the proportional gain parameter and the integral gain parameter are adjusted in two directions of positive (increase) and negative (decrease) respectively, and a plurality of candidate schemes are generated by combination. Specifically, the current proportional gain P0 and the integral gain I0 are used to generate four schemes (P0+ΔP, I0+ΔI), (P0+ΔP, I0-ΔI), (P0-ΔP, I0+ΔI), (P0-ΔP, I0-ΔI) according to the step size ΔP and ΔI. For example, if the current P0=1.0, I0=0.5, the step size ΔP=0.1, and ΔI=0.05, then four parameter combinations (1.1, 0.55), (1.1, 0.45), (0.9, 0.55), and (0.9, 0.45) are generated.

[0114] The following is a specific example:

[0115] In the scenario of applying a certain high-speed linear motor to the precision machining of production line A, when the system detects that the current dynamic optimization index value is 0.72 and there is a difference of 0.13 from the preset target threshold value 0.85, the control algorithm first determines the parameter adjustment step size according to the difference size using a linear mapping relationship, wherein the adjustment step size of the proportional gain parameter is calculated to be 0.08 by the formula ΔP=0.6×difference, and the adjustment step size of the integral gain parameter is calculated to be 0.04 by the formula ΔI=0.3×difference. Based on the reference values of the current proportional gain parameter 1.2 and the integral gain parameter 0.8, the control algorithm adjusts the two parameters in two directions of positive increase and negative decrease, wherein the proportional gain parameter is adjusted to 1.2+0.08 to obtain 1.28 and 1.2-0.08 to obtain 1.12, and the integral gain parameter is adjusted to 0.8+0.04 to obtain 0.84 and 0.8-0.04 to obtain 0.76. Four complete control strategy candidate schemes are generated by permutation and combination, specifically including the first group of proportional gain 1.28 and integral gain 0.84, the second group of proportional gain 1.28 and integral gain 0.76, the third group of proportional gain 1.12 and integral gain 0.84, and the fourth group of proportional gain 1.12 and integral gain 0.76.

[0116] In the embodiment of the present application, the method realizes precise optimization of the compensation strategy of the high-speed linear motor by dynamically evaluating the control effect and intelligently adjusting the control parameters, and effectively improves the response speed and stability of the control system.

[0117] In order to more accurately quantify the influence of mechanical resonance on the high-speed linear motor, in some embodiments, step 103: determining the specific frequency band vibration energy value corresponding to the mechanical resonance component by using the mechanical structure dynamics parameters, comprises:

[0118] Step 401: Determine the resonance frequency range according to the mechanical structure dynamics parameters.

[0119] In step 401, the resonance frequency range refers to the frequency interval in which the mechanical structure of the motor is prone to resonance during operation.

[0120] In the embodiments of the present application, the frequency range in which the motor is likely to have mechanical resonance under the current working condition is calculated by analyzing the modal frequency and damping characteristics contained in the mechanical structure dynamics parameters.

[0121] Step 402: Compare the resonance frequency range with the mechanical resonance component to determine the frequency band overlap region.

[0122] In step 402, the frequency band overlap region refers to the frequency band in which the mechanical resonance component frequency and the structure resonance frequency range coincide.

[0123] In the embodiments of the present application, first, the structure resonance frequency range (such as 800-1300Hz) is compared with the peak frequency points (such as 850Hz, 950Hz, 1100Hz, 1250Hz) of the measured mechanical resonance component, and all frequency points that fall within both ranges are found to form an initial overlap set; then the frequency points in the set are sorted, and the minimum and maximum values are taken as the initial boundaries; finally, considering the damping characteristics of the mechanical system, the boundaries are expanded by a certain margin (such as ±20Hz), and the frequency band overlap region (such as 830-1270Hz) is finally determined. The basis for determining the frequency band overlap region is to include all resonance peaks and avoid introducing irrelevant noise due to a too large range.

[0124] Step 403: Extract the vibration amplitude corresponding to each frequency point in the frequency band overlap region from the vibration spectrum data.

[0125] In step 403, the vibration amplitude refers to the vibration intensity value corresponding to each frequency point in the vibration spectrum data.

[0126] In the embodiments of the present application, according to the determined frequency band overlap region, the vibration amplitude data corresponding to all frequency points in the frequency band is extracted from the original vibration spectrum data.

[0127] Step 404: Convert each vibration amplitude to a vibration energy value, and superimpose all the vibration energy values to obtain a specific frequency band vibration energy value.

[0128] In step 404, the vibration energy value is an energy representation calculated by the vibration amplitude.

[0129] In the embodiment of the present application, the vibration amplitude of each frequency point in the frequency band overlap region is squared to obtain a single-point energy value, and then all single-point energy values are summed. For example, assuming that the frequency band overlap region is 900-1200Hz (301 points with an interval of 1Hz), the vibration amplitudes of the points are A1, A2,..., and A301, respectively, then the vibration energy value E of a specific frequency band is Σ(Ai 2 ), i = 1 ~ 301. If the amplitudes of three adjacent frequency points are 0.5mm / s, 0.6mm / s, and 0.4mm / s, respectively, then the energy contribution of the three points is 0.25 + 0.36 + 0.16 = 0.77 (unit: (mm / s) 2 ).

[0130] The following is a specific example:

[0131] In a scenario where a certain high-speed linear motor is applied to precision machining of A production line, the mechanical structure dynamics parameters are extracted based on the modal analysis of the three-dimensional model of the motor, which shows that the first three natural frequencies are 850Hz, 1100Hz, and 1250Hz, respectively. The resonance frequency range is determined to be 800-1300Hz by combining the damping ratio parameter calculation. The vibration frequency spectrum data collected by the B-type acceleration sensor shows that there is a sudden increase in amplitude at 900Hz, 1050Hz, and 1200Hz, and these three peak frequency points constitute the mechanical resonance component. The resonance frequency range 800-1300Hz is matched with the peak frequency of the mechanical resonance component, and the actual effective overlap frequency band is determined to be 900-1200Hz. The vibration amplitude data of every 5Hz interval in the frequency band is extracted from the original vibration frequency spectrum data, and a total of 61 frequency point amplitudes are extracted, of which the amplitude at 900Hz is 0.5mm / s, the amplitude at 905Hz is 0.48mm / s, and so on to the amplitude at 1200Hz which is 0.3mm / s. The amplitudes of the frequency points are substituted into the formula E = Σ(Ai 2 ), where Ai represents the vibration amplitude of the i-th frequency point, and the amplitudes of all frequency points are squared and summed to obtain the vibration energy value of a specific frequency band as 1850(mm / s) 2 .

[0132] In the embodiment of the present application, the method accurately matches the mechanical resonance characteristics and the structure dynamics parameters, realizes accurate calculation of the energy of the key vibration frequency band, provides a reliable quantitative basis for subsequent compensation control, and effectively improves the pertinence of vibration suppression.

[0133] To more accurately determine the matching relationship between the mechanical resonance component and the structural resonance characteristics, in some embodiments, the step 402 of comparing the resonance frequency range with the mechanical resonance component to determine the frequency band overlap region includes:

[0134] The step 501 of comparing the resonance frequency range with the mechanical resonance component includes identifying a plurality of overlapping frequency points according to the comparison result, and forming an overlapping frequency point set based on the plurality of overlapping frequency points.

[0135] In the step 501, the overlapping frequency point set refers to a set of discrete frequency points that coincide with the mechanical resonance peak frequency in the resonance frequency range.

[0136] In the embodiments of the present application, first, two ordered frequency sets are established: the structural resonance frequency range (such as the continuous interval of 800-1300 Hz) and the measured mechanical resonance peak frequency point set (such as the discrete point set of [850, 920, 1050, 1180, 1250] Hz); then a double-pointer traversal algorithm is used to judge whether each peak frequency point falls within the resonance frequency range; finally, all peak frequency points that meet the conditions are collected to form the overlapping frequency point set. For example, when the peak frequency 920 Hz is traversed, it is judged that 800≤920≤1300 is true, and the point is included in the overlapping set, and finally the overlapping frequency point set such as [850, 920, 1050, 1180, 1250] Hz is obtained.

[0137] The step 502 of filtering the minimum frequency value and the maximum frequency value from the overlapping frequency point set.

[0138] In the step 502, the minimum frequency value represents the lowest frequency in the overlapping frequency point set. The maximum frequency value represents the highest frequency in the overlapping frequency point set.

[0139] In the embodiments of the present application, all the obtained overlapping frequency points are sorted and compared to find the two frequency points with the minimum and maximum values as the preliminary boundaries.

[0140] The step 503 of correcting the minimum frequency value and the maximum frequency value according to the mechanical system characteristics to obtain the corrected minimum frequency value and the corrected maximum frequency value.

[0141] In step 503, the mechanical system characteristics refer to three major dynamic characteristics that affect the frequency boundary correction: the first is the structural damping characteristic, which determines the decay rate of the resonance peak value, and the smaller the damping, the larger the frequency band expansion; the second is the modal shape coupling degree, which reflects the degree of mutual influence between modes; and the third is the frequency response function slope, which represents the amplitude change gradient of the resonance region edge. For example, the damping ratio of a certain motor second-order mode is 0.05, and the original boundary needs to be expanded by 3% to cover the actual resonance risk area. The correction process refers to the adjustment process of the boundary frequency considering the dynamic characteristics of the mechanical system.

[0142] In the embodiments of the present application, the minimum and maximum frequency values preliminarily determined are appropriately expanded by considering the damping characteristics and frequency response characteristics in the mechanical structure dynamics parameters, to ensure that all potential dangerous resonance frequency points are covered.

[0143] Step 504: determining the frequency band overlap region with the modified minimum frequency value as the starting point and the modified maximum frequency value as the ending point.

[0144] In the embodiments of the present application, a continuous frequency interval is determined as the final frequency band overlap region with the modified minimum frequency value as the starting point and the modified maximum frequency value as the ending point.

[0145] The following is a specific example:

[0146] In the scenario of a certain high-speed linear motor applied to A production line precision machining, the mechanical structure dynamics parameters are obtained based on the modal analysis of the three-dimensional model of the motor, and the resonance frequency range is determined to be 800-1300Hz. After collecting vibration signals by B-type acceleration sensor and performing frequency spectrum analysis, the peak frequency point set of mechanical resonance components is identified to contain four peak points of 850Hz, 920Hz, 1100Hz and 1250Hz. Comparing these peak frequencies with the resonance frequency range point by point, it is found that 850Hz, 920Hz, 1100Hz and 1250Hz all fall within the range of 800-1300Hz, forming an initial overlap frequency point set. From this set, the minimum frequency value 850Hz and the maximum frequency value 1250Hz are selected, and considering that the damping ratio of the second-order mode of the motor is low at 0.03, according to the vibration energy diffusion characteristics of the mechanical system, the minimum frequency value is adjusted downward by 20Hz to 830Hz, and the maximum frequency value is adjusted upward by 20Hz to 1270Hz, and finally the frequency band overlap region is determined to be 830-1270Hz.

[0147] In the embodiments of the present application, the method realizes accurate identification of the key vibration frequency band through a multi-stage matching and correction process, avoids both frequency band omission and excessive range, and provides accurate frequency range basis for subsequent vibration energy calculation and compensation control.

[0148] In order to separate different disturbance components in the high-speed linear motor more effectively, in some embodiments, step 102: the frequency domain analysis of the vibration spectrum data determines mechanical resonance components and electromagnetic harmonic components, including:

[0149] Step 601: According to the disturbance characteristics of the high-speed linear motor, the vibration spectrum data is divided into first frequency band data and second frequency band data.

[0150] In step 601, the disturbance characteristics refer to the frequency spectrum distribution of two typical interferences generated during the operation of the high-speed linear motor: mechanical vibration mainly shows discrete peaks in the high frequency band (such as above 500Hz), which is caused by mechanical structure resonance; electromagnetic interference shows equidistant harmonics in the low frequency band (such as below 500Hz), which is an integer multiple of the power supply frequency. This characteristic is obtained through statistical analysis of historical operation data of the motor. The first frequency band data and the second frequency band data refer to the vibration data in two different frequency intervals divided according to the disturbance characteristics of the motor, and the first frequency band data corresponds to the frequency band of the mechanical resonance component, and the second frequency band data corresponds to the frequency band of the electromagnetic harmonic component.

[0151] In the embodiments of the present application, based on the typical frequency distribution characteristics of mechanical vibration and electromagnetic interference of the high-speed linear motor, a dividing frequency value is set to divide the vibration spectrum data into a high frequency band reflecting mechanical vibration and a low frequency band reflecting electromagnetic interference.

[0152] Step 602: Extract peak frequency points with amplitude exceeding a preset amplitude threshold from the first frequency band data, form a peak frequency point set according to the peak frequency points, and take the peak frequency point set as the mechanical resonance component.

[0153] In step 602, the preset amplitude threshold refers to the critical amplitude level for determining the effective vibration peak, and the setting method is to collect the background vibration amplitude of the motor under no-load steady-state operation, and set several times (such as 3 times) of the amplitude as the threshold. For example, the measured background vibration amplitude is 0.1mm / s, and the threshold is set to 0.3mm / s. The peak frequency point refers to the frequency point in the first frequency band data that meets two conditions at the same time: the first condition is that the amplitude of the point is greater than the amplitudes of the adjacent two points (local maximum); the second condition is that the amplitude exceeds the preset threshold. Through traversal of the spectrum data and application of the two conditions, for example, the 650Hz point with amplitude 0.35mm / s (>0.3mm / s threshold) and local peak value is detected in the 600-800Hz frequency band. The peak frequency point set refers to the set composed of the frequency points corresponding to all vibration peaks in the first frequency band data.

[0154] In the embodiment of the present application, all local maximum points with amplitude exceeding a preset threshold value are identified in the first frequency band data, and the frequency values corresponding to these points are recorded to form a set, which represents the main frequency components of mechanical resonance.

[0155] Step 603: Extracting frequency spectrum components with a fixed frequency interval from the second frequency band data as electromagnetic harmonic components.

[0156] In step 603, the fixed frequency interval refers to the integer multiple frequency relationship characteristic of electromagnetic harmonics, which directly reflects the integer multiple frequency characteristics of electromagnetic harmonics (such as 50Hz fundamental frequency corresponding to 100Hz, 150Hz, etc. harmonics). The frequency spectrum component refers to a periodic signal element in the second frequency band data with the following characteristics: the first characteristic is that the frequency is an integer multiple of the fundamental frequency (such as 50Hz); the second characteristic is that the interval between adjacent peaks is equal; the third characteristic is that the amplitude decreases with the increase of frequency. For example, detecting 100Hz, 150Hz, 200Hz, etc. interval peaks, which constitute the frequency spectrum components of electromagnetic harmonics.

[0157] In the embodiment of the present application, it is detected whether there are equidistant frequency spectrum peaks with the motor power supply fundamental frequency as the interval in the second frequency band data, and these frequency spectrum components with regular intervals are identified as electromagnetic harmonic components.

[0158] The following is a specific example:

[0159] In the scenario of using a certain high-speed linear motor for precision machining of A production line, a B-type acceleration sensor is used to collect vibration signals at a sampling frequency of 10kHz, which is 5 times the highest operating frequency of the motor, ensuring complete coverage of the mechanical resonance and electromagnetic harmonic frequency bands. After converting the time domain signal into a frequency domain spectrum through fast Fourier transform, according to the typical disturbance characteristics of this type of motor, the frequency spectrum is divided into two parts: the first frequency band above 500Hz and the second frequency band below 500Hz. In the first frequency band, the vibration amplitudes of the three frequency points of 650Hz, 780Hz and 920Hz are found to exceed the preset threshold value of 0.3mm / s, which is three times the background vibration amplitude of 0.1mm / s measured when the motor is running at no load, and these three peak frequency points constitute the mechanical resonance component set. In the second frequency band, 100Hz, 150Hz and 200Hz, etc. interval frequency spectrum peaks with 50Hz as the fundamental frequency are detected, and their amplitudes decrease by 30% successively, which conforms to the characteristics of electromagnetic harmonics.

[0160] In the embodiment of the present application, the method realizes accurate differentiation of mechanical vibration and electromagnetic interference by scientifically dividing the frequency band and extracting characteristics, lays a reliable foundation for subsequent targeted compensation control, and effectively improves the accuracy of disturbance separation.

[0161] In order to more effectively realize the dynamic compensation control of the high-speed linear motor, in some embodiments, step 105: based on the compensation voltage instruction, performing dynamic compensation control on the high-speed linear motor to make the high-speed linear motor move along the target running track, comprises:

[0162] Step 701: converting the compensation voltage instruction into a driving voltage signal.

[0163] In step 701, the driving voltage signal refers to a control signal that can directly act on the motor driving circuit.

[0164] In the embodiments of the present application, the compensation voltage instruction in digital form is converted into an analog voltage signal through a digital-to-analog conversion module, and after power amplification, a voltage signal that can be used to drive the motor is formed.

[0165] Step 702: superimposing the driving voltage signal and the original working voltage of the high-speed linear motor at the input end of the high-speed linear motor to generate a compensated voltage.

[0166] In step 702, the compensated voltage refers to the actual working voltage superimposed with the compensation effect. The original working voltage is the normal running voltage of the high-speed linear motor when no compensation is applied, and its value is generated in real time by the motor control system according to the target running track and the load demand. The specific sources include the reference voltage output by the PWM modulation module of the motor driver according to the speed / position instruction; the voltage component required to maintain the target electromagnetic force calculated by the current loop controller; and the effective working voltage converted by the inverter from the supply bus voltage. This voltage exists at the input end of the motor before compensation control, and the compensation voltage signal is superimposed with it through the adder to form the compensated voltage.

[0167] In the embodiments of the present application, the voltage addition circuit is used to superimpose two signals in analog form. The driving voltage signal (compensation amount) is connected to the inverting input terminal of the adder after passing through the isolation amplifier, and the original working voltage is connected to the non-inverting input terminal. The summing operation is performed by the operational amplifier according to the set gain (usually 1), and the output end generates the compensated voltage. For example, when the original voltage is 100V and the compensation signal is +5V, the output is 105V compensated voltage. This process needs to ensure signal synchronization to avoid phase difference leading to cancellation effect.

[0168] Step 703: based on the compensated voltage, respectively suppressing the interference of the mechanical resonance component and the electromagnetic harmonic component on the operation of the high-speed linear motor to output a stable running voltage.

[0169] In step 703, the stable running voltage refers to the effective working voltage after the main interference is eliminated.

[0170] In the embodiments of the present application, the high-frequency component (corresponding to the mechanical resonance frequency band) in the compensated voltage generates a reverse electromagnetic force through the motor winding, which offsets the kinetic energy of the mechanical vibration transmission; at the same time, the low-frequency modulation waveform corrects the current harmonics, so that the three-phase current tends to be sinusoidal. For example, for 900Hz mechanical resonance, the compensation voltage generates a same-frequency reverse-phase magnetic field; for 50Hz electromagnetic harmonics, the compensation voltage injects a reverse-phase 150Hz component (3rd harmonic suppression). The final output stable operating voltage needs to be verified in real time by a voltage sensor to ensure that the interference suppression of each frequency band meets the standard.

[0171] Step 704: controlling the high-speed linear motor to move along a target operating trajectory by the stable operating voltage.

[0172] In step 704, the target operating trajectory refers to the motion path that the motor is expected to reach.

[0173] In the embodiments of the present application, the stable operating voltage drives the motor to move along the predetermined trajectory by precisely controlling the size and direction of the electromagnetic force, while the position feedback is monitored in real time for closed-loop adjustment.

[0174] The following is a specific example:

[0175] In the scenario where a certain high-speed linear motor is applied to the precision machining of A production line, after the control system generates an optimal compensation voltage instruction of 8.5V, the digital signal is first converted into an analog voltage signal of 8.5V by a digital-to-analog converter, and then the signal is amplified to the drive level by a power amplifier. The drive voltage signal is superimposed with the original 100V operating voltage of the motor through a voltage adder to generate a compensated voltage of 108.5V. The compensated voltage contains reverse high-frequency components for 900-1200Hz mechanical resonance components and a correction waveform for 50Hz fundamental wave and harmonics. When applied to the motor winding, the high-frequency component generates an electromagnetic force opposite to the direction of mechanical vibration, effectively reducing the vibration amplitude at 920Hz from 0.5mm / s to 0.2mm / s, and the low-frequency correction waveform reduces the current harmonic distortion rate from 15% to 5%. The stable operating voltage after compensation reduces the motion trajectory deviation of the motor on the A production line from 20μm before compensation to 6μm after compensation, and the real-time feedback of the position sensor shows that the motor has strictly operated according to the preset target trajectory.

[0176] In the embodiments of the present application, the method realizes the simultaneous suppression of multiple source disturbances through accurate superposition and real-time control of the voltage signal, so that the high-speed linear motor can stably operate according to the predetermined trajectory, and the precision and reliability of the motion control are improved.

[0177] Figure 2 A structural schematic diagram of a dynamic compensation control system of a high-speed linear motor provided in the embodiments of the present application is shown in FIG. 1. Figure 2As shown, the system comprises:

[0178] The acquisition module 21 is configured to acquire vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor.

[0179] The first determination module 22 is configured to perform frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components.

[0180] The second determination module 23 is configured to determine vibration energy values of specific frequency bands corresponding to the mechanical resonance components by using the mechanical structure dynamics parameters.

[0181] The generation module 24 is configured to take the vibration energy values of the specific frequency bands and the electromagnetic harmonic components as input parameters of a reward function, and to calculate an optimal compensation voltage value in real time by using an iterative self-adaptive dynamic programming algorithm, and to generate a compensation voltage instruction based on the optimal compensation voltage value.

[0182] The execution module 25 is configured to perform dynamic compensation control on the high-speed linear motor based on the compensation voltage instruction, so that the high-speed linear motor moves along a target running track.

[0183] Figure 2 The dynamic compensation control system of the high-speed linear motor can perform Figure 1 The dynamic compensation control method of the high-speed linear motor according to the embodiment has the same implementation principles and technical effects as the dynamic compensation control system of the high-speed linear motor. The specific implementation manners of the operations of each module and unit in the dynamic compensation control system of the high-speed linear motor have been described in the embodiment of the method, and will not be described here in detail.

[0184] In one possible design, Figure 2 The dynamic compensation control system of the high-speed linear motor according to the embodiment can be implemented as a computing device, such as a server or a terminal. Figure 3 As shown, the computing device can include a storage component 31 and a processing component 32.

[0185] The storage component 31 stores one or more computer instructions, wherein the one or more computer instructions are called and executed by the processing component 32.

[0186] The processing component 32 is configured to perform the above Figure 1 The dynamic compensation control method of the high-speed linear motor according to the embodiment.

[0187] The processing component 32 can include one or more processors to execute computer instructions to complete all or part of the steps in the above method. Of course, the processing component can also be one or more Application-Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Process Device (DSPD), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors or other electronic components, for executing the above method.

[0188] The storage component 31 is configured to store various types of data to support the operation of the terminal. The storage component can be implemented by any type of volatile or non-volatile storage devices or a combination thereof, such as Static Random-Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read-Only Memory (EPROM), Programmable Read-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk or optical disk.

[0189] Of course, the computing device can also include other components, such as an input / output interface, a display component, a communication component, etc.

[0190] The input / output interface provides an interface between the processing component and peripheral interface modules, which can be output devices, input devices, etc.

[0191] The communication component is configured to facilitate wired or wireless communication between the computing device and other devices, etc.

[0192] The computing device can be a physical device or an elastic computing host provided by a cloud computing platform, and the computing device can refer to a cloud server, and the processing component, the storage component, etc. can be basic server resources rented or purchased from the cloud computing platform.

[0193] The embodiment of the application further provides a computer storage medium, which stores a computer program, and the computer program can realize the above-mentioned method when being executed by a computer. Figure 1 The embodiment of the application further provides a dynamic compensation control method of a high-speed linear motor.

[0194] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-mentioned system, device and unit can refer to the corresponding processes in the foregoing method embodiments, and will not be described here.

[0195] The device embodiments described above are merely schematic, wherein the units described as separate components can or can not be physically separated, and the components displayed as units can or can not be physical units, that is, can be located in one place or distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.

[0196] Through the foregoing description of the embodiments, those skilled in the art can clearly understand that each embodiment can be realized by means of software and a necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the foregoing technical solutions can be embodied in the form of a software product, and the computer software product can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a plurality of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the method described in each embodiment or some parts of the embodiment.

[0197] Finally, it should be noted that: the foregoing embodiments are only used to illustrate the technical solutions of the application, rather than limit them; although the application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement to some technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the application.

Claims

1. A dynamic compensation control method for a high-speed linear motor, characterized by, The method comprises the following steps: Collecting vibration spectrum data and mechanical structure dynamics parameters of the high-speed linear motor; Performing frequency domain analysis on the vibration spectrum data to determine mechanical resonance components and electromagnetic harmonic components; Using the mechanical structure dynamics parameters to determine vibration energy values of specific frequency bands corresponding to the mechanical resonance components; Taking the vibration energy values of the specific frequency bands and the electromagnetic harmonic components as input parameters of a reward function, using an iterative adaptive dynamic programming algorithm to calculate optimal compensation voltage values in real time, and generating compensation voltage instructions based on the optimal compensation voltage values; Performing dynamic compensation control on the high-speed linear motor based on the compensation voltage instructions to make the high-speed linear motor move along a target running track.

2. The method of claim 1, wherein, The method of taking the vibration energy values of the specific frequency bands and the electromagnetic harmonic components as input parameters of a reward function, using an iterative adaptive dynamic programming algorithm to calculate optimal compensation voltage values in real time, and generating compensation voltage instructions based on the optimal compensation voltage values comprises the following steps: Inputting amplitudes of the vibration energy values of the specific frequency bands and the electromagnetic harmonic components into the reward function to output dynamic optimization indicators; Generating multiple sets of control strategy candidate schemes according to the dynamic optimization indicators through an iterative adaptive dynamic programming algorithm; Performing instantaneous voltage calculation on each set of control strategy candidate schemes to obtain corresponding compensation voltage candidate values; Selecting target compensation voltage candidate values that meet preset optimization conditions from all compensation voltage candidate values, and taking the target compensation voltage candidate values as optimal compensation voltage values; Converting the optimal compensation voltage values into compensation voltage instructions.

3. The method of claim 2, wherein, The method of generating multiple sets of control strategy candidate schemes according to the dynamic optimization indicators through an iterative adaptive dynamic programming algorithm comprises the following steps: Calculating a difference value according to the dynamic optimization indicators and a preset target threshold value; Setting an adjustment step length of a control parameter according to the difference value, wherein the control parameter includes a proportional gain parameter and an integral gain parameter in a current loop controller of the high-speed linear motor; Generating multiple sets of control strategy candidate schemes based on the adjustment step length of the proportional gain parameter and the adjustment step length of the integral gain parameter and in combination with an adjustment direction.

4. The method of claim 1, wherein, The method of using the mechanical structure dynamics parameters to determine vibration energy values of specific frequency bands corresponding to the mechanical resonance components comprises the following steps: Determining a resonance frequency range according to the mechanical structure dynamics parameters; Comparing the resonance frequency range with the mechanical resonance components to determine a frequency band overlap region; Extracting vibration amplitudes corresponding to each frequency point in the frequency band overlap region from the vibration spectrum data; Converting each vibration amplitude into a vibration energy value, and superimposing all the vibration energy values to obtain a specific frequency band vibration energy value.

5. The method of claim 4, wherein, The method of comparing the resonance frequency range with the mechanical resonance components to determine a frequency band overlap region comprises the following steps: Comparing the resonance frequency range with the mechanical resonance components, identifying multiple overlapping frequency points according to a comparison result, and forming an overlapping frequency point set based on the multiple overlapping frequency points; Selecting a minimum frequency value and a maximum frequency value from the overlapping frequency point set; According to the mechanical system characteristics, the minimum frequency value and the maximum frequency value are corrected to obtain a corrected minimum frequency value and a corrected maximum frequency value; The corrected minimum frequency value is taken as a starting point, and the corrected maximum frequency value is taken as an ending point to determine a frequency band overlap region.

6. The method of claim 1, wherein, The frequency domain analysis of the vibration frequency spectrum data to determine the mechanical resonance component and the electromagnetic harmonic component includes: According to the disturbance characteristics of the high-speed linear motor, the vibration frequency spectrum data is divided into first frequency band data and second frequency band data; From the first frequency band data, a peak frequency point with an amplitude exceeding a preset amplitude threshold is extracted, and a peak frequency point set is formed according to the peak frequency point, and the peak frequency point set is taken as the mechanical resonance component; From the second frequency band data, a frequency spectrum component with a fixed frequency interval is extracted as the electromagnetic harmonic component.

7. The method of claim 1, wherein, The dynamic compensation control of the high-speed linear motor based on the compensation voltage instruction to make the high-speed linear motor move along a target running track includes: The compensation voltage instruction is converted into a driving voltage signal; The driving voltage signal is superimposed with an original working voltage of the high-speed linear motor at an input end of the high-speed linear motor to generate a compensated voltage; Based on the compensated voltage, the interference of the mechanical resonance component and the electromagnetic harmonic component on the operation of the high-speed linear motor is suppressed respectively to output a stable operation voltage; The high-speed linear motor is controlled to move along the target running track through the stable operation voltage.

8. A dynamic compensation control system for a high speed linear motor, characterized by, It includes: The acquisition module is used to acquire vibration frequency spectrum data and mechanical structure dynamics parameters of the high-speed linear motor; The first determination module is used to perform frequency domain analysis on the vibration frequency spectrum data to determine the mechanical resonance component and the electromagnetic harmonic component; The second determination module is used to determine a specific frequency band vibration energy value corresponding to the mechanical resonance component by using the mechanical structure dynamics parameters; The generation module is used to take the specific frequency band vibration energy value and the electromagnetic harmonic component as input parameters of a reward function, adopt an iterative adaptive dynamic programming algorithm to calculate an optimal compensation voltage value in real time, and generate a compensation voltage instruction based on the optimal compensation voltage value; The execution module is used to perform dynamic compensation control of the high-speed linear motor based on the compensation voltage instruction to make the high-speed linear motor move along a target running track.

9. A computing device, comprising: It includes a processing component and a storage component; the storage component stores one or more computer instructions; the one or more computer instructions are used to be called and executed by the processing component to realize the dynamic compensation control method of the high-speed linear motor according to any one of claims 1-7.

10. A computer storage medium, characterized in that, A computer program is stored, and when the computer program is executed by a computer, the dynamic compensation control method of the high-speed linear motor according to any one of claims 1-7 is realized.

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