A servo control method and system based on instruction differential feedforward

Abstract

The application relates to the technical field of servo control, in particular to a servo control method and system based on instruction differential feedforward. The application relates to the technical field of servo control, in particular to a servo control method and system based on instruction differential feedforward. The servo control method comprises the following steps: a feedforward control channel and a feedforward control model based on instruction differential are constructed, the feedforward control channel is used for connecting a reference instruction input end and a control signal generation point; a target instruction signal of the input end is acquired through the feedforward control channel, a feedforward control amount is generated according to the target instruction signal, a differential signal of the target instruction signal and the feedforward control model; feedforward monitoring data is acquired according to a preset correction time node, whether a correction instruction of the feedforward control model is generated is judged according to the feedforward monitoring data; a parallel channel is established in the servo control system, superimposed output of a PID controller and the feedforward control model is realized, delay and distortion of an output instruction of the servo control system are reduced, a plurality of working frequency bands and disturbance working conditions are established, feedforward gain parameters are dynamically adjusted, and phase compensation and amplitude attenuation compensation efficiency of the feedforward control model are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo control, in particular to a servo control method and system based on instruction differential feedforward. BACKGROUND

[0002] Traditional servo control generally adopts PID (proportional-integral-differential) feedback control architecture. The architecture is simple in structure and easy to implement, but its control effect depends on the error between system output and instruction target, and has the inherent characteristics of error first and correction later. This hysteresis leads to obvious tracking lag and overshoot when the system responds to rapidly changing instructions (such as step signals and sine signals), and the dynamic performance is limited.

[0003] To overcome the above-mentioned defects, feedforward control technology is introduced to improve the response speed of the system. Among them, the model-based feedforward control (such as acceleration feedforward and differential feedforward) injects the differential signal of the instruction into the control system in advance by establishing a mathematical model of the controlled object, so as to compensate for the inertia lag of the system. However, the control effect of this kind of method is highly dependent on the accuracy of the model. In actual application, the load inertia, friction and other parameters of the servo system often change and are difficult to accurately identify, resulting in mismatch between the model and the actual object. This mismatch will greatly reduce the effect of feedforward control, and even introduce additional disturbance, which will worsen the system performance. SUMMARY

[0004] The purpose of the present application is to solve the above technical problems, and the present application provides a servo control method and system based on instruction differential feedforward, aiming to improve the servo control precision, ensure the system stability and improve the tracking performance.

[0005] In some embodiments of the present application, a parallel channel is established in the servo control system to realize the superimposed output of the PID controller and the feedforward control model, reduce the delay and distortion of the servo control system output instruction, and dynamically adjust the feedforward gain parameters by establishing multiple working frequency bands and disturbance working conditions, reduce the steady-state error, and improve the control precision.

[0006] In some embodiments of the present application, the feedforward control model is periodically updated and optimized to improve the phase compensation and amplitude attenuation compensation efficiency of the feedforward control model, effectively overcome the lack of flexibility of the servo system, and improve the precision and speed of load tracking.

[0007] In some embodiments of the present application, a servo control method based on instruction differential feedforward is provided, which comprises:

[0008] A feedforward control channel and a feedforward control model based on instruction differential are constructed, and the feedforward control channel is used to connect the reference instruction input end and the control signal generation point;

[0009] The target command signal at the input terminal is obtained through the feedforward control channel, and the feedforward control quantity is generated based on the target command signal, its differential signal, and the feedforward control model.

[0010] The feedforward monitoring data is obtained according to the preset correction time node, and the correction command of the feedforward control model is determined based on the feedforward monitoring data.

[0011] In some embodiments of this application, a feedforward control model is constructed, including:

[0012] Obtain historical operating data of the servo system;

[0013] Multiple operating frequency bands and multiple disturbance conditions are generated based on historical operating data; multiple feedforward sub-models are constructed based on the operating frequency bands and disturbance conditions;

[0014] The feedforward control model is constructed based on all feedforward sub-models.

[0015] In some embodiments of this application, generating the operating frequency band includes:

[0016] Generate the operating frequency range based on historical operating data; generate multiple initial frequency bands based on the operating frequency range;

[0017] Calculate the phase deviation of each initial frequency band, generate phase fluctuation values ​​based on the variance of all phase deviations, and determine the operating frequency band based on the phase fluctuation values.

[0018] In some embodiments of this application, the feedforward sub-model is constructed, including:

[0019] For each operating frequency band, a basic feedforward gain and multiple compensated feedforward gains are generated; the feedforward sub-model is constructed based on the basic feedforward gain and the compensated feedforward gains.

[0020] In some embodiments of this application, the feedforward control quantity includes:

[0021] Acquire the target command signal; perform differentiation processing on the target command signal to obtain the differential component of the command signal;

[0022] The target feedforward model is set based on the operating frequency and the feedforward control model; the current operating condition is constructed by acquiring the status monitoring data;

[0023] The execution feedforward gain is set according to the current operating conditions and the target feedforward model; the feedforward control quantity is generated according to the differential component of the command signal and the execution feedforward gain.

[0024] In some embodiments of this application, setting the execution feedforward gain includes:

[0025] Calculate the similarity between the current operating condition and the anchoring operating condition;

[0026] If the similarity is lower than the threshold, the basic feedforward gain is used; otherwise, the compensation feedforward gain is selected based on the disturbance condition and combined with the basic feedforward gain to generate the execution feedforward gain.

[0027] In some embodiments of the present application, determining whether to generate a correction instruction for the feedforward control model includes:

[0028] Obtain the feedforward monitoring data at the current correction time node;

[0029] Establish a series of feedforward sub-models D, D = ( , … … ), where is the feedforward sub-model of the i-th working frequency band; n is the number of feedforward sub-models;

[0030] Set as the feedforward model to be evaluated in turn;

[0031] Generate the performance evaluation value f of the feedforward model to be evaluated according to the feedforward monitoring data;

[0032] Preset the performance evaluation value threshold F1;

[0033] If f < F1, generate a first-level correction instruction for the feedforward model to be evaluated;

[0034] Judge in turn whether to generate the first-level correction instruction for each feedforward model to be evaluated.

[0035] In some embodiments of the present application, generating the performance evaluation value f of the feedforward model to be evaluated includes:

[0036] ;

[0037] where is the number of gain evaluation indicators; is the reference value of the i-th gain evaluation indicator in the feedforward model to be evaluated; is the reference value of the i-th gain evaluation model in the feedforward model to be evaluated generated according to the feedforward monitoring data.

[0038] In some embodiments of the present application, a servo control system based on command differential feedforward is provided, including:

[0039] A central control unit for constructing a feedforward control channel and a feedforward control model based on command differential;

[0040] A monitoring unit for obtaining the state monitoring data of the servo system;

[0041] The central control unit includes:

[0042] The first processing module is used to construct the feedforward control channel and acquire the target command signal;

[0043] The second processing module is used to construct the feedforward control model;

[0044] The third processing module is used to generate feedforward control quantities based on the target command signal, its differential signal, and the feedforward control model.

[0045] The first correction module is used to determine whether to generate a correction instruction based on the feedforward monitoring data.

[0046] In a preferred embodiment of this application, the second processing module further includes:

[0047] Obtain historical operating data of the servo system;

[0048] Multiple operating frequency bands and multiple disturbance conditions are generated based on historical operating data; multiple feedforward sub-models are constructed based on the operating frequency bands and disturbance conditions;

[0049] The feedforward control model is constructed based on all feedforward sub-models.

[0050] Compared with the prior art, the servo control method and system based on instruction differential feedforward described in this application have the following advantages:

[0051] In the servo control system, a parallel channel is established to realize the superposition output of the PID controller and the feedforward control model, thereby reducing the delay and distortion of the servo control system output command. Furthermore, by establishing multiple operating frequency bands and disturbance conditions, the feedforward gain parameter is dynamically adjusted to reduce steady-state error and improve control accuracy.

[0052] By periodically updating and optimizing the feedforward control model, the efficiency of phase compensation and amplitude attenuation compensation of the feedforward control model is improved, effectively overcoming the flexibility of the servo system and improving the accuracy and speed of load tracking. Attached Figure Description

[0053] Figure 1 This is a flowchart illustrating a servo control method based on instruction differential feedforward according to an embodiment of this application. Detailed Implementation

[0054] The specific embodiments of this application will be described in further detail below with reference to the accompanying drawings and examples. The following examples are used to illustrate this application, but are not intended to limit the scope of this application.

[0055] The terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of this application, unless otherwise stated, "a plurality of" means two or more.

[0056] In the description of this application, it should be noted that, unless otherwise expressly specified and limited, the terms "installation," "connection," and "linking" should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection between two components. Those skilled in the art can understand the specific meaning of the above terms in this application based on the specific circumstances.

[0057] like Figure 1 As shown, a preferred embodiment of the present application provides a servo control method based on instruction differential feedforward, comprising:

[0058] S101: Construct a feedforward control channel and a feedforward control model based on command differentiation. The feedforward control channel is used to connect the reference command input terminal and the control signal generation point.

[0059] S102: Obtain the target command signal from the input end through the feedforward control channel, and generate the feedforward control quantity based on the target command signal, its differential signal, and the feedforward control model;

[0060] S103: Obtain feedforward monitoring data according to the preset correction time node, and determine whether to generate a correction command for the feedforward control model based on the feedforward monitoring data.

[0061] Specifically, two parallel channels are set up in the servo control system. One is a traditional feedback channel, which consists of a PID controller and the controlled object connected in series; the other is a feedforward control channel, which directly leads the command signal to the control quantity synthesis point (i.e., the output of the control point), and together with the output of the former, drives the controlled object.

[0062] Specifically, the input terminal connected to the feedforward control channel is the input terminal of the controller. The target command signal received by the controller enters the feedforward control channel through the input terminal, and after processing according to the built-in feedforward control model, the corresponding feedforward control quantity is generated and sent to the control quantity synthesis point. After being superimposed with the feedback control quantity output by the PID controller, the total control quantity is generated. The obtained total control quantity is sent to the servo motor in the form of current command.

[0063] It is understood that in the above embodiments, a parallel channel is established in the servo control system to realize the superposition output of the PID controller and the feedforward control model, thereby reducing the delay and distortion of the servo control system output commands.

[0064] In a preferred embodiment of this application, the feedforward control model is constructed, including:

[0065] Obtain historical operating data of the servo system;

[0066] Multiple operating frequency bands and multiple disturbance conditions are generated based on historical operating data;

[0067] Based on the operating frequency band and disturbance conditions, multiple feedforward sub-models are constructed;

[0068] Construct a feedforward control model based on all feedforward sub-models.

[0069] Specifically, generating the operating frequency band includes:

[0070] Generate the operating frequency range based on historical operating data;

[0071] Multiple initial frequency bands are generated based on the operating frequency range;

[0072] Calculate the phase deviation of each initial frequency band, generate phase fluctuation values ​​based on the variance of all phase deviations, and determine the operating frequency band based on the phase fluctuation values.

[0073] Specifically, the system generates an operating frequency range based on historical operating data; generates multiple initial frequency bands based on the operating frequency range; generates the phase deviation of each initial frequency band; and generates a phase fluctuation value 'a' based on all phase deviations. ;in, This represents the initial number of frequency bands; Let be the phase deviation of the i-th initial frequency band; U1 is the average phase deviation of all initial frequency bands; U1 is the preset first conversion coefficient.

[0074] Specifically, a base bandwidth is set based on historical parameters, and the operating frequency range is evenly divided based on the base bandwidth to generate multiple initial frequency bands, where the bandwidth of each initial frequency band is the base bandwidth.

[0075] Specifically, historical operating data is filtered and processed based on the defined initial frequency bands to generate the average phase lag in each initial frequency band, and a corresponding phase deviation is set for this average phase lag. Then, the phase fluctuation value of the servo system is generated based on all phase deviations. The larger the phase fluctuation value, the greater the degree of interference from the operating frequency on the system's phase lag.

[0076] Specifically, by presetting a first conversion coefficient, the phase fluctuation value 'a' is kept within a preset range, and The larger the range of values, the greater the phase fluctuation value, and the mapping relationship between the two can be adjusted according to the first conversion coefficient.

[0077] Specifically, the first-level bandwidth is set according to the phase fluctuation value 'a'. The larger the phase fluctuation value, the greater the interference of the operating frequency on the phase lag of the system, and the smaller the corresponding first-level bandwidth. The mapping relationship between the two can be set according to historical parameters.

[0078] Specifically, the operating frequency range is evenly divided by a set primary bandwidth to generate multiple working frequency bands, where each working frequency band has the same bandwidth and is a primary bandwidth.

[0079] Specifically, the gain disturbance index includes, but is not limited to, multiple parameters that affect the execution effect of feedforward gain, such as operating temperature, mechanical position, mechanical attitude, operating speed and equipment aging degree. By quantifying each gain disturbance index, each gain disturbance index is made to be within the same value range, and multiple value intervals for each gain disturbance index are generated. Multiple disturbance conditions are generated based on the random combination of all value intervals.

[0080] Specifically, the range of values ​​with the longest percentage for each gain disturbance index is obtained when the servo system is running (i.e., the reference values ​​for each gain disturbance index when the servo system is in normal and most conventional operating conditions), and the anchoring condition is constructed.

[0081] In a preferred embodiment of this application, the construction of the feedforward sub-model includes:

[0082] For each operating frequency band, a base feedforward gain and multiple compensated feedforward gains are generated;

[0083] Construct a feedforward sub-model based on the basic feedforward gain and the compensated feedforward gain.

[0084] Specifically, the target working frequency band is selected sequentially from all working frequency bands, and all recorded data of the target working frequency band is obtained to generate a first-level association packet.

[0085] The data in the first-level associated packet is filtered by anchoring conditions to generate the corresponding training data packet. The training data packet contains all feedforward gain adjustment parameters under the target load operating frequency band and anchoring conditions (including gain adjustment parameters obtained through experimental debugging of the approximate model and gain adjustment data recorded in actual operation).

[0086] Specifically, the basic feedforward gain is generated by analyzing the full feedforward gain parameters in the first-level correlation packet. This basic feedforward gain includes: the differential component of the command signal in the current state and whether low-pass filtering is required.

[0087] Specifically, the process of generating each compensation feedforward gain is basically the same as the process of generating the basic feedforward gain. It also involves filtering the data in the first-level correlation packet based on the current disturbance condition to generate the corresponding training data packet, and then analyzing the data in the training data packet to generate the corresponding compensation feedforward gain. The compensation feedforward gain includes the compensation amount of each differential component of the command signal in the basic feedforward gain under the current state.

[0088] It is understood that, in the above embodiments, by establishing multiple operating frequency bands and disturbance conditions, the interference of operating frequency and equipment operating factors during the feedforward gain adjustment process is reduced, thereby improving the phase compensation capability.

[0089] In a preferred embodiment of this application, the feedforward control quantity includes:

[0090] Acquire the target command signal;

[0091] The target command signal is differentiated to obtain the differential component of the command signal.

[0092] The target feedforward model is set based on the operating frequency and the feedforward control model;

[0093] Acquire status monitoring data and construct the current operating condition;

[0094] The feedforward gain is set according to the current operating conditions and the target feedforward model.

[0095] The feedforward control quantity is generated based on the differential component of the command signal and the feedforward gain.

[0096] Specifically, setting the execution feedforward gain includes:

[0097] Calculate the similarity between the current operating condition and the anchoring operating condition;

[0098] If the similarity is below the threshold, the basic feedforward gain is used;

[0099] Otherwise, the compensation feedforward gain is selected based on the disturbance condition, and the execution feedforward gain is generated by combining the basic feedforward gain.

[0100] Specifically, the target command signal is processed to generate the corresponding operating frequency, and further processing is used to generate the differential components of each command signal. Then, by analyzing the current operating conditions, the optimal base feedforward gain and compensation feedforward gain are selected to generate the corresponding execution feedforward gain.

[0101] In the preferred embodiment of the present application, determining whether to generate a correction instruction for the feedforward control model includes:

[0102] Obtain the feedforward monitoring data at the current correction time node;

[0103] Establish a sequence of feedforward sub-models D, D = ( , … … ), where is the feedforward sub-model for the i-th working frequency band; n is the number of feedforward sub-models;

[0104] Set as the feedforward model to be evaluated in sequence;

[0105] Generate the performance evaluation value f of the feedforward model to be evaluated according to the feedforward monitoring data;

[0106] Preset the performance evaluation value threshold F1;

[0107] If f < F1, generate a first-level correction instruction for the feedforward model to be evaluated;

[0108] Judge in sequence whether to generate the first-level correction instruction for each feedforward model to be evaluated.

[0109] Specifically, generating the performance evaluation value f of the feedforward model to be evaluated includes:

[0110] ;

[0111] where is the number of gain evaluation indicators; is the reference value of the i-th gain evaluation indicator in the feedforward model to be evaluated; is the reference value of the i-th gain evaluation model in the feedforward model to be evaluated generated according to the feedforward monitoring data.

[0112] Specifically, the gain evaluation indicators include, but are not limited to, multiple parameters reflecting the feedforward gain adjustment effect such as the maximum tracking error, root mean square error, overshoot, disturbance rejection ratio, etc. By quantifying each parameter, the reference values of each gain evaluation indicator are within the same value range, and the larger the reference value of each gain evaluation indicator, the better the real-time value of the corresponding parameter represents the feedforward gain adjustment effect.

[0113] Specifically, the influence factors of each gain evaluation indicator can be set according to the degree of association with the feedforward gain adjustment. The greater the degree of association, the larger the reference value of the corresponding influence factor.

[0114] Specifically, the control evaluation value threshold can be set based on historical parameters. If the control evaluation value of the feedforward sub-model is lower than the preset control evaluation value threshold, it indicates that the phase compensation and amplitude attenuation compensation efficiency of the feedforward sub-model is low, and it needs to be optimized in a timely manner according to the first-level correction command.

[0115] Specifically, the first-level correction instruction refers to optimizing the basic feedforward gain and all compensated feedforward gains in the feedforward sub-model, or further subdividing the operating frequency band corresponding to the feedforward sub-model to construct multiple feedforward sub-models and improve the overall feedforward gain adjustment efficiency.

[0116] It is understood that in the above embodiments, by periodically updating and optimizing the feedforward control model, the efficiency of phase compensation and amplitude attenuation compensation of the feedforward control model is improved, effectively overcoming the flexibility of the servo system and improving the accuracy and speed of load tracking.

[0117] In another preferred embodiment of the servo control method based on command differential feedforward according to any of the above preferred embodiments, this preferred embodiment provides a servo control system based on command differential feedforward, including:

[0118] The central control unit is used to construct the feedforward control channel and the feedforward control model based on command differentiation;

[0119] The monitoring unit is used to acquire status monitoring data of the servo system;

[0120] The central control unit includes:

[0121] The first processing module is used to construct the feedforward control channel and acquire the target command signal;

[0122] The second processing module is used to construct the feedforward control model;

[0123] The third processing module is used to generate feedforward control quantities based on the target command signal, its differential signal, and the feedforward control model.

[0124] The first correction module is used to determine whether to generate a correction instruction based on the feedforward monitoring data.

[0125] In a preferred embodiment of this application, the second processing module further includes:

[0126] Obtain historical operating data of the servo system;

[0127] Multiple operating frequency bands and multiple disturbance conditions are generated based on historical operating data; multiple feedforward sub-models are constructed based on the operating frequency bands and disturbance conditions;

[0128] The feedforward control model is constructed based on all feedforward sub-models.

[0129] According to the first concept of this application, a parallel channel is established in the servo control system to realize the superposition output of the PID controller and the feedforward control model, thereby reducing the delay and distortion of the output command of the servo control system. Furthermore, by establishing multiple operating frequency bands and disturbance conditions, the feedforward gain parameter is dynamically adjusted to reduce steady-state error and improve control accuracy.

[0130] According to the second concept of this application, by periodically updating and optimizing the feedforward control model, the efficiency of phase compensation and amplitude attenuation compensation of the feedforward control model is improved, effectively overcoming the flexibility of the servo system and improving the accuracy and speed of load tracking.

[0131] The above description is only a preferred embodiment of this application. It should be noted that for those skilled in the art, several improvements and substitutions can be made without departing from the technical principles of this application, and these improvements and substitutions should also be considered within the scope of protection of this application.

Claims

1. A servo control method based on instruction differential feedforward, characterized in that, It includes: Construct a feedforward control channel and a feedforward control model based on instruction differentiation. The feedforward control channel is used to connect the reference instruction input end and the control signal generation point. Obtain the target instruction signal at the input end through the feedforward control channel, and generate a feedforward control quantity according to the target instruction signal, its differential signal, and the feedforward control model. Obtain the feedforward monitoring data according to the preset correction time node, and judge whether to generate a correction instruction for the feedforward control model according to the feedforward monitoring data. The feedforward control quantity includes: Obtain the target instruction signal. Perform differentiation processing on the target instruction signal to obtain the instruction signal differential component. Set the target feedforward model according to the operating frequency and the feedforward control model. Obtain the status monitoring data and construct the current working condition. Set the execution feedforward gain according to the current working condition and the target feedforward model; generate the feedforward control quantity according to the instruction signal differential component and the execution feedforward gain. Setting the execution feedforward gain includes: Calculate the similarity between the current working condition and the anchored working condition. If the similarity is lower than the threshold, use the basic feedforward gain. Otherwise, select the compensation feedforward gain based on the disturbance working condition, and generate the execution feedforward gain in combination with the basic feedforward gain.

2. The servo control method based on instruction differential feedforward as described in claim 1, characterized in that, Constructing the feedforward control model includes: Obtain the historical operation data of the servo system. Generate multiple working frequency bands and multiple disturbance working conditions according to the historical operation data. Based on the working frequency bands and disturbance working conditions, construct multiple feedforward sub-models. Construct the feedforward control model according to all the feedforward sub-models.

3. The servo control method based on instruction differential feedforward as described in claim 2, characterized in that, Generating the working frequency band includes: Generate the operating frequency range according to the historical operation data. Generate multiple initial frequency bands according to the operating frequency range. Calculate the phase deviation amount of each initial frequency band, generate the phase fluctuation value according to the variance of all the phase deviation amounts, and determine the working frequency band based on the phase fluctuation value.

4. The servo control method based on instruction differential feedforward as described in claim 3, characterized in that, Constructing the feedforward sub-model includes: For each working frequency band, generate the basic feedforward gain and multiple compensation feedforward gains. Construct the feedforward sub-model according to the basic feedforward gain and the compensation feedforward gains.

5. The servo control method based on instruction differential feedforward as described in claim 4, characterized in that, Judging whether to generate a correction instruction for the feedforward control model includes: Obtain the feedforward monitoring data at the current correction time node. Establish the feedforward sub-model sequence D, D=( , … … ),in, For the i-th operating frequency band, is the feedforward sub-model; n is the number of feedforward sub-models. Set sequentially according to the feedforward sub-model The feedforward model to be evaluated; Generate the performance evaluation value f of the to-be-evaluated feedforward model according to the feedforward monitoring data. Preset the performance evaluation value threshold F1. If f < F1, generate the first-level correction instruction for the to-be-evaluated feedforward model. Judge in turn whether to generate the first-level correction instruction for each to-be-evaluated feedforward model.

6. The servo control method based on instruction differential feedforward as described in claim 5, characterized in that, Generating the performance evaluation value f of the to-be-evaluated feedforward model includes: ; in, The number of gain evaluation indicators; This is the reference value for the i-th gain evaluation index in the feedforward model to be evaluated; It is the reference value of the i-th gain evaluation model in the feedforward model to be evaluated, generated based on the feedforward monitoring data.

7. A servo control system based on command differential feedforward, employing the servo control method based on command differential feedforward as described in any one of claims 1-6, characterized in that, It includes: The central control unit is used to construct the feedforward control channel and the feedforward control model based on instruction differentiation. The monitoring unit is used to obtain the status monitoring data of the servo system. The central control unit includes: The first processing module is used to construct the feedforward control channel and obtain the target instruction signal. The second processing module is used to construct the feedforward control model. The third processing module is used to generate the feedforward control quantity according to the target instruction signal, its differential signal, and the feedforward control model. The first correction module is used to judge whether to generate a correction instruction according to the feedforward monitoring data. The feedforward control quantity includes: Obtain the target instruction signal. Perform differentiation processing on the target instruction signal to obtain the instruction signal differential component. Set the target feedforward model according to the operating frequency and the feedforward control model. Acquire status monitoring data and construct the current operating condition; The execution feedforward gain is set according to the current operating conditions and the target feedforward model; the feedforward control quantity is generated according to the differential component of the command signal and the execution feedforward gain; Setting the feedforward gain includes: Calculate the similarity between the current operating condition and the anchoring operating condition; If the similarity is below the threshold, the basic feedforward gain is used; Otherwise, the compensation feedforward gain is selected based on the disturbance condition, and the execution feedforward gain is generated by combining the basic feedforward gain.

8. The servo control system based on instruction differential feedforward as described in claim 7, characterized in that, The second processing module further includes: Obtain historical operating data of the servo system; Multiple operating frequency bands and multiple disturbance conditions are generated based on historical operating data; Based on the operating frequency band and disturbance conditions, multiple feedforward sub-models are constructed; The feedforward control model is constructed based on all feedforward sub-models.

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