Control device of motor speed bandwidth, servo driver and servo control system

Abstract

The application discloses a motor speed bandwidth control device, a servo driver and a servo control system, and relates to the technical field of motor control. The device comprises a parameter output module and a to-be-driven module connected with the parameter output module. The to-be-driven module comprises a speed input interface and a current input interface. The parameter output module comprises a controller unit. One end of the controller unit is connected with the speed input interface, and the other end of the controller unit is connected with the current input interface. The controller unit generates an output current value based on an input speed instruction and an output speed. A controlled object unit is connected with the output end of the controller unit at one end and connected with the speed input interface at the other end. The controlled object unit generates a speed feedback value and a current feedback value based on the output current value. The to-be-driven module performs motor driving control based on the received current feedback value and speed feedback value, so as to realize motor speed bandwidth control. The application improves the motor speed bandwidth.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and in particular to a motor speed bandwidth control device, servo driver, and servo control system. Background Technology

[0002] With the development of motor control technology, users have put forward higher requirements for motor control. As a part of motor control, motor speed control has also put forward higher design requirements.

[0003] The traditional method of controlling motor speed is to directly input the given speed command into the motor control system to control the motor speed. This method of motor speed control will result in a low motor speed bandwidth (the frequency of the periodic signal that the motor can respond to at the fastest frequency) due to waveform smoothness errors in the given speed command.

[0004] The above content is only used to help understand the technical solution of this application and does not represent an admission that the above content is prior art. Summary of the Invention

[0005] The main objective of this application is to provide a motor speed bandwidth control device, servo driver, and servo control system, aiming to solve the technical problem of low motor speed bandwidth.

[0006] To achieve the above objectives, this application provides a motor speed bandwidth control device, which includes a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a speed input interface and a current input interface. The parameter output module includes:

[0007] A controller unit, wherein the input terminal of the controller unit is connected to the speed input interface, and the output terminal of the controller unit is connected to the current input interface, the controller unit is used to receive a given speed command and the output speed at the previous moment, and generate an output current value based on the given speed command and the output speed;

[0008] The controlled object unit has its input terminal connected to the output terminal of the controller unit and its output terminal connected to the speed input interface. The controlled object unit is used to generate speed feedback value and current feedback value based on the output current value.

[0009] The module to be driven is used to perform motor drive control based on the current feedback value received by the current input interface and the speed feedback value received by the speed input interface, so as to realize motor speed bandwidth control.

[0010] In one embodiment, the controller unit includes:

[0011] A first subtractor, wherein the first input terminal of the first subtractor is connected to the speed command interface, and the second input terminal of the first subtractor is connected to the output terminal of the controlled object unit;

[0012] A control subunit, wherein the input terminal of the control subunit is connected to the output terminal of the first subtractor, and the output terminal of the control subunit is connected to the input terminal of the controlled object unit and the current input interface.

[0013] In one embodiment, the control subunit includes:

[0014] A speed gainer, the input of which is connected to the output of the first subtractor;

[0015] The first multiplier has its input connected to the output of the speed gain unit, and its output connected to the current-speed input interface and the input of the controlled object unit.

[0016] In one embodiment, the controlled object unit includes a first processing subunit, the first processing subunit comprising:

[0017] A second multiplier, the input of which is connected to the output of the first multiplier;

[0018] A first integrator, the input of which is connected to the output of a second multiplier, and the output of which is connected to the speed input interface and the second input of the first subtractor.

[0019] In one embodiment, the controlled object unit includes a second processing subunit, the second processing subunit comprising:

[0020] A first integrator, the input of which is connected to the input of the speed gainer, and the output of which is connected to the speed input interface and the second input of the first subtractor.

[0021] In one embodiment, the controlled object unit further includes:

[0022] A first coefficient multiplier, wherein the input terminal of the first coefficient multiplier is connected to the output terminal of the first coefficient multiplier, and the output terminal of the first coefficient multiplier is connected to the current input interface.

[0023] In one embodiment, the module to be driven includes:

[0024] The second subtractor has its first input terminal serving as the speed input interface and connected to the output terminal of the first integrator and the second input terminal of the first subtractor.

[0025] The first differentiator has its input terminal connected to the motor speed feedback terminal, and its output terminal connected to the second input terminal of the second subtractor.

[0026] A first proportional-integral unit, the input of which is connected to the output of the second subtractor;

[0027] A third multiplier, the input of which is connected to the output of the first proportional-integral unit;

[0028] A current control unit is provided, the input terminal of which is connected to the output terminal of the third multiplier, the output terminal of which is connected to the motor control terminal, and the input terminal of which also serves as the current input interface.

[0029] In one embodiment, the current control unit includes:

[0030] An arithmetic unit, wherein the first input terminal of the arithmetic unit serves as the current input interface, the second input terminal of the arithmetic unit is connected to the output terminal of the third multiplier, and the third input terminal of the arithmetic unit is connected to the motor current feedback terminal;

[0031] The second proportional-integral unit has its input connected to the output of the arithmetic unit and its output connected to the motor control unit.

[0032] In addition, to achieve the above objectives, this application also provides a servo driver, which includes the aforementioned motor speed bandwidth control device.

[0033] In addition, to achieve the above objectives, this application also provides a servo control system, which includes a servo motor and the aforementioned servo driver connected to the servo motor.

[0034] This application proposes a motor speed bandwidth control device, including a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a speed input interface and a current input interface. The parameter output module includes: a controller unit, the input terminal of which is connected to the speed input interface, and the output terminal of which is connected to the current input interface. The controller unit is used to receive a given speed command and the output speed at the previous moment, and to generate an output current value based on the given speed command and the output speed; and a controlled object unit, the input terminal of which is connected to the output terminal of the controller unit, and the output terminal of which is connected to the speed input interface. The controlled object unit is used to generate a speed feedback value and a current feedback value based on the output current value. The driveable module is used to perform motor drive control based on the current feedback value received by the current input interface and the speed feedback value received by the speed input interface, so as to realize motor speed bandwidth control. The controller unit and the controlled object unit process the given speed command and the output speed at the previous moment to obtain speed feedback value and current feedback value. The speed feedback value and current feedback value are then input into the corresponding input interface. After speed and current compensation (feedback control through feedback value), the error of the given speed command is reduced to achieve motor speed bandwidth control. This avoids the waveform smoothness error problem in the given speed command that exists when directly inputting the given speed command into the motor control system to control the motor speed, thus improving the motor speed bandwidth. Attached Figure Description

[0035] Figure 1 This is a schematic diagram of one module of the motor speed bandwidth control device of this application;

[0036] Figure 2 This is a circuit diagram of the controller unit in the motor speed bandwidth control device of this application;

[0037] Figure 3 This is a circuit diagram of the controlled object unit in the motor speed bandwidth control device of this application;

[0038] Figure 4 This is another circuit diagram of the controlled object unit in the motor speed bandwidth control device of this application;

[0039] Figure 5 This is a circuit diagram of the module to be driven in the motor speed bandwidth control device of this application;

[0040] Figure 6 This is a schematic diagram of the servo control system of this application;

[0041] Figure 7This is a circuit diagram of the motor speed bandwidth control device of this application.

[0042] The realization of the purpose, functional features and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings.

[0043] Explanation of icon numbers:

[0044] 100. Parameter output module; 110. Controller unit; 120. Controlled object unit; 200. Driven module; 210. Speed ​​input interface; 220. Current input interface; 300. Servo driver; 400. Servo motor; ωM, speed command; ωlM, speed feedback value (output speed); △ωM, output speed error value; αlM, output acceleration value; iM, current feedback value (output current value); TM, output torque value; 111. Control subunit; ωm, actual output speed value; irm, current input value; ωrm, speed input... Input values; θm, actual output position value; im, actual output current value; ir, current value; αr, acceleration value; △ωr, velocity error value; S1-S2, first subtractor-second subtractor; K1, velocity gain unit; D1, first multiplier; D2, second multiplier; D21, third multiplier; D22, fourth multiplier; J1, first integrator; X1, first coefficient multiplier; P1-P2, first proportional integrator-second proportional integrator; M1, arithmetic unit; D3, fifth multiplier; W1, first differentiator; 230, current control unit. Detailed Implementation

[0045] It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit this application.

[0046] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.

[0047] Bandwidth is an important performance indicator for motors, influenced by factors such as inertia, damping, and control methods. Increasing bandwidth can improve the motor's response performance, thereby increasing production efficiency. Taking speed bandwidth as an example, a common method for controlling motor speed is to directly input the given speed command into the motor control system. However, this method can introduce waveform smoothness errors in the given speed command, resulting in poor motor response performance, or low motor speed bandwidth.

[0048] Therefore, based on the shortcomings of the above motor speed bandwidth control schemes, this application proposes a motor speed bandwidth control device. The main solution of this application embodiment is: the controller unit and the controlled object unit process the input given speed command and the output speed at the previous moment to obtain speed feedback value and current feedback value, and input the speed feedback value and current feedback value into the corresponding input interface. Then, by compensating for speed and current (feedback value for feedback control), the error of the given speed command is reduced to achieve motor speed bandwidth control. This avoids the problem of waveform smoothness error in the given speed command when directly inputting the given speed command into the motor control system to control the motor speed, thus improving the motor speed bandwidth.

[0049] Based on this, embodiments of this application provide a control device for motor speed bandwidth, referring to... Figure 1 , Figure 1 This is a schematic diagram of one module of the motor speed bandwidth control device of this application.

[0050] Reference Figure 1 This application provides a motor speed bandwidth control device, which includes a parameter output module 100 and a driveable module 200 connected to the parameter output module 100. The driveable module 200 includes a speed input interface 210 and a current input interface 220. The parameter output module 100 includes:

[0051] The controller unit 110 has its input terminal connected to the speed input interface 210 and its output terminal connected to the current input interface 220. The controller unit 110 is used to receive a given speed command and the output speed at the previous moment, and to generate an output current value based on the given speed command and the output speed.

[0052] The controlled object unit 120 has its input terminal connected to the output terminal of the controller unit 110 and the current input interface 220, and its output terminal connected to the speed input interface 210 and the input terminal of the controller unit 110. The controlled object unit 120 is used to generate speed feedback value and current feedback value based on the output current value.

[0053] The module to be driven 200 is used to perform motor drive control based on the current feedback value received by the current input interface 210 and the speed feedback value received by the speed input interface 220, so as to realize motor speed bandwidth control.

[0054] In this embodiment, the parameter output module 100 is connected to the drive module 200. The parameter output module 100 then processes the speed command ωM and the output speed ωlM from the previous moment through the controller unit 110 and the controlled object unit 120, obtaining values ​​such as the output current value iM and the speed feedback value ωlM. These values ​​are then input to the speed input interface 210 and the current input interface 220 of the drive module 200 to achieve motor speed bandwidth control. At this point, the drive control needs to be based on the obtained speed and current, thus avoiding the direct input of the given speed command to the motor control system for speed control, which can lead to waveform smoothness errors in the given speed command. This improves the motor speed bandwidth (in one form, by improving the system's amplitude and phase response), further enhancing the servo motor control accuracy.

[0055] In one embodiment, the controller unit 110 processes the input speed command ωM (input by the user through the speed command interface or generated by the speed command interface) and the output speed ωlM (actually acquired speed information, which can be a numerical value, such as 30 RPM) to obtain the output current value iM (the current value output by the controller unit 110). The processing method can be integration, differentiation, product, addition, or subtraction, and is not limited here. The output current value iM is then input to the controlled object unit 120, which processes it to obtain the speed feedback value ωlM (the speed value output by the controlled object unit 120). The difference between this and the previous output speed ωlM is that one is obtained through processing by the controller unit 110 and the controlled object unit 120, while the other is actually acquired, or it can be obtained from the previous processing by the controller unit 110 and the controlled object unit 120. At this point, the output current value iM (current feedback value), speed feedback value ωlM, and other values ​​are obtained. Combining these values ​​with the connection relationships between the speed input interface 210 and the current input interface 220, the speed feedback value ωlM is input to the speed input interface 210, and the output current value iM is input to the current input interface 220. At this time, the driven module 200 not only controls based on the original current and speed values ​​but also considers the speed and current output by the parameter output module 100. The current and speed output by the parameter output module 100 compensate for the control parameters of the driven module 200, thereby avoiding the waveform smoothness error problem in the given speed command that exists when directly inputting the given speed command to the motor control system for speed control, thus improving the motor speed bandwidth.

[0056] In this embodiment, a motor speed bandwidth control device is provided, including a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a speed input interface and a current input interface. The parameter output module includes: a controller unit, the input terminal of which is connected to the speed input interface, and the output terminal of which is connected to the current input interface. The controller unit is used to receive a given speed command and the output speed at the previous moment, and to generate an output current value based on the given speed command and the output speed; and a controlled object unit, the input terminal of which is connected to the output terminal of the controller unit, and the output terminal of which is connected to the speed input interface. The controlled object unit is used to generate a speed feedback value and a current feedback value based on the output current value. The driveable module is used to perform motor drive control based on the current feedback value received by the current input interface and the speed feedback value received by the speed input interface, so as to realize motor speed bandwidth control. The controller unit and the controlled object unit process the given speed command and the output speed at the previous moment to obtain speed feedback value and current feedback value. The speed feedback value and current feedback value are then input into the corresponding input interface. After speed and current compensation (feedback control through feedback value), the error of the given speed command is reduced to achieve motor speed bandwidth control. This avoids the waveform smoothness error problem in the given speed command that exists when directly inputting the given speed command into the motor control system to control the motor speed, thus improving the motor speed bandwidth.

[0057] Furthermore, based on the first embodiment of this application described above, a second embodiment of the motor speed bandwidth control device of this application is proposed. In this embodiment, reference is made to... Figure 2 , Figure 2 This is a circuit diagram of a controller unit 110 in the motor speed bandwidth control device of this application. The controller unit 110 includes:

[0058] The first subtractor S1 has its first input terminal connected to the speed command interface and its second input terminal connected to the output terminal of the controlled object unit 120.

[0059] The control subunit 111 has its input terminal connected to the output terminal of the first subtractor S1, and its output terminal connected to the input terminal of the controlled object unit 120 and the current input interface 220.

[0060] Specifically, the control subunit 111 includes:

[0061] Speed ​​gainer K1, the input of which is connected to the output of the first subtractor S1;

[0062] The first multiplier D1 has its input terminal connected to the output terminal of the speed gainer K1, and its output terminal connected to the current measurement input interface 220 and the input terminal of the controlled object unit 120.

[0063] In this embodiment, the speed command ωM and the speed feedback value ωlM (which corresponds to the output speed ωlM acquired, calculated previously, or obtained by differentiating the model output position) are input to the first subtractor S1. The first subtractor S1 determines the speed command ωM minus the speed feedback value ωlM to obtain the output speed error value ΔωM. The output speed error value ΔωM is then input to the control subunit 111 for processing to obtain the output current value iM, which is then input to the current input port 220 in the module to be driven 200. The control subunit 111 includes a speed gain unit K1, where the gain value KvpM can be set between 1-2000Hz. The output acceleration value αlM is obtained by multiplying the output speed error value ΔωM by the gain value KvpM. Finally, the output acceleration value αlM is input to the first multiplier D1. In the first multiplier D1, the output acceleration value αlM is multiplied by the system inertia Jr and divided by the motor torque coefficient Kt to obtain the output current value iM. Here, the system inertia Jr and the motor torque coefficient Kt are parameters of the actual system and can be obtained from the actual system. Then, through the above processing, the speed command ωM and the output speed ωlM at the previous moment are input to the controller unit 110 to obtain the output current value iM, which provides the processing basis for subsequent processing. That is, to realize the filtering processing of the speed command ωM and the processing of the real-time command based on the feedback value, ensuring the smoothness of the speed command ωM waveform, so as to ensure the amplitude and phase response of the system based on the speed command ωM, thereby achieving the purpose of improving the motor speed bandwidth.

[0064] Furthermore, based on the first and / or second embodiments of this application described above, a third embodiment of the motor speed bandwidth control device of this application is proposed. In this embodiment, reference is made to... Figure 3 , Figure 3 This is a circuit diagram of a controlled object unit 120 in the motor speed bandwidth control device of this application. The controlled object unit 120 includes a first processing subunit, which includes:

[0065] The second multiplier D2 has its input connected to the output of the first multiplier D1.

[0066] The first integrator J1 has its input terminal connected to the output terminal of the second multiplier D2, and its output terminal connected to the speed input interface 210 and the second input terminal of the first subtractor S1.

[0067] In one embodiment, reference is made to Figure 4 , Figure 4 This is another circuit diagram of the controlled object unit in the motor speed bandwidth control device of this application. The controlled object unit includes a second processing subunit, which includes:

[0068] The first integrator J1 has its input terminal connected to the input terminal of the speed gainer K1, and its output terminal connected to the speed input interface 210 and the second input terminal of the first subtractor S1.

[0069] Specifically, the controlled object unit 120 further includes:

[0070] The first coefficient multiplier X1 has its input terminal connected to the output terminal of the first multiplier D1, and its output terminal connected to the current input interface 220.

[0071] In this embodiment, the controlled object unit 120 outputs a speed feedback value ωlM. It is worth noting that the speed feedback value ωlM can be determined in two ways. One method involves the controlled object unit 120 including a first processing subunit. This subunit multiplies the output current value iM by the motor torque coefficient Kt to obtain the output torque value TM. Then, it divides the output torque value TM by the system inertia Jr to obtain the output acceleration value αlM, essentially re-obtaining the output acceleration value αlM. The second multiplier D2 includes a third multiplier D21 and a fourth multiplier D22. The output acceleration value αlM can then be integrated in the first integrator J1 to obtain the speed feedback value ωlM. Furthermore, the speed feedback value ωlM is integrated again in the third integrator J3 to obtain the position feedback value θlM, which is then used for other processing (not required in this embodiment). Another approach involves the controlled object unit 120 including a second processing subunit. This second processing subunit directly connects the first integrator J1 to the input of the first multiplier D1. Since the input of the first multiplier D1 is the output acceleration value αlM, the cost of using the second multiplier D2 can be eliminated. The controlled object unit 130 then outputs the speed feedback value ωlM, providing a basis for subsequent current and speed compensation. Providing the speed feedback value ωlM for the next moment ensures the continuity of the entire control process, while feedback control based on speed and current ensures the accuracy of the entire motor speed control.

[0072] Furthermore, based on the first, second, and / or third embodiments of this application described above, a fourth embodiment of the motor speed bandwidth control device of this application is proposed. In this embodiment, reference is made to... Figure 5 , Figure 5 This is a circuit diagram of a drive module 200 in the motor speed bandwidth control device of this application. The drive module 200 includes:

[0073] The second subtractor S2 has its first input terminal serving as the speed input interface 210, and is connected to the output terminal of the first integrator J1 and the second input terminal of the first subtractor S1.

[0074] The first differentiator W1 has its input terminal connected to the motor speed feedback terminal, and its output terminal connected to the second input terminal of the second subtractor S2.

[0075] A first proportional-integral unit P1 is connected to the output of the second subtractor S2.

[0076] The third multiplier D3, the input of which is connected to the output of the first proportional integrator P1;

[0077] The current control unit 230 has its input terminal connected to the output terminal of the third multiplier D3, its output terminal connected to the motor control terminal, and its input terminal also serving as the current input interface 220.

[0078] Specifically, the current control unit 230 includes:

[0079] The arithmetic unit M1 has its first input terminal serving as the current input interface 220, its second input terminal connected to the output terminal of the third multiplier D3, and its third input terminal connected to the motor current feedback terminal.

[0080] The second proportional-integral unit P2 has its input connected to the output of the arithmetic unit M1, and its output connected to the motor control unit.

[0081] In this embodiment, the module to be driven 200 includes a second subtractor S2. The first input terminal of the second subtractor S2 is connected to the speed input value ωrm (the speed value output by the actual parameter output module 100), and the second input terminal of the second subtractor S2 is connected to the actual output speed value ωm (the actual speed value). The second subtractor S2 is used to determine the speed error value Δωr between the speed input value ωrm and the actual output speed value ωm. The actual output speed value ωm comes from the first differentiator W1. The input terminal of the first differentiator W1 is connected to the inverter acquisition terminal (that is, the motor speed feedback terminal, which is used to feed back the actual speed of the motor), and the output terminal of the first differentiator W1 is connected to the second input terminal of the second subtractor S2. The first differentiator W1 is used to differentiate the actual output position value θm to obtain the actual output speed value ωm. At this time, the speed error value Δωr of the second subtractor S2 can be processed based on the first proportional-integral unit P1. The input of the first proportional-integral unit P1 is connected to the output of the second subtractor S2. The first proportional-integral unit P1 is used to proportionally integrate the speed error value Δωr to obtain the acceleration value αr. The fifth multiplier D3 is connected to the output of the first proportional-integral unit P1. The product coefficient of the fifth multiplier D3 is the system inertia Jr and the motor torque coefficient Kt. The fifth multiplier D3 is used to multiply the acceleration value αr to obtain the current value ir. This leads to the current processing stage, which is achieved through the current control unit 230. The current control unit 230 includes an arithmetic unit M1. The first input terminal of the arithmetic unit M1 is connected to the current input value irm (the current value output by the actual parameter output module 100). The second input terminal of the arithmetic unit M1 is connected to the output terminal of the fifth multiplier D3. The third input terminal of the arithmetic unit M1 is connected to the actual output current value im (the actual collected current value) output by the acquisition terminal of the inverter (that is, the motor current feedback terminal, which is used to feed back the actual current of the motor). The arithmetic unit M1 is used to determine the sum between the current input value irm and the current value ir, and to determine the current difference between the sum and the actual output current value im. A second proportional-integral unit P2 is also included. The input terminal of the second proportional-integral unit P2 is connected to the output terminal of the arithmetic unit M1, and the output terminal of the second proportional-integral unit P2 is connected to the inverter. After performing proportional-integral processing on the current difference, the inverter controls the motor to drive the load. The load transmits control transformer commands Tc and torque commands Tm back. It is worth noting that the above is only an example connection relationship of the module 200 to be driven, and other connection relationships are also possible, which are not limited here.

[0082] In one embodiment, after determining the output current value iM and the speed feedback value ωlM, their respective input interfaces are entered. The obtained speed feedback value ωlM is directly input as the speed input value ωrm to the module to be driven 200, and the difference between the speed input value ωrm and the actual output speed value ωm is processed as a new speed command. The output current value iM is processed by a first coefficient multiplier X1, that is, the first coefficient multiplier X1 multiplies the output current value iM to obtain the current input value irm. The coefficient iffgain of the first coefficient multiplier X1 can be between 0 and 1. At this time, the difference between the current input value irm and the actual output current value im is determined in the module to be driven 200, and the sum of the difference and the current value ir is processed as a new current command. Furthermore, by controlling the motor through new speed and current commands (equivalent to performing low-pass filtering on the speed command ωM and feedforward on the first coefficient multiplier X1 to ensure the smoothness of the speed command ωM waveform), the smoothness of the speed command ωM waveform can be guaranteed, thus ensuring the amplitude and phase response of the system based on the speed command ωM, thereby achieving the goal of improving the motor speed bandwidth.

[0083] Furthermore, based on the above embodiments, this application also provides a servo driver, which includes the aforementioned motor speed bandwidth control device.

[0084] Based on the above embodiments, the present invention also proposes a servo control system, which includes the above-mentioned servo driver.

[0085] like Figure 6 As shown, the servo control system of this embodiment may include: a servo motor 400 and a servo driver 300.

[0086] The servo driver 300 is connected to the input power supply on its input side, and the servo motor 400 is connected to the load on its output side. By compensating for speed and current, the error of the given speed command is reduced to achieve motor speed bandwidth control. This avoids the problem of waveform smoothness error in the given speed command, which exists when the given speed command is directly input into the motor control system to control the motor speed, thus improving the motor speed bandwidth.

[0087] The above description is merely a preferred embodiment of this application and does not limit the patent scope of this application. Any equivalent structural transformations made based on the inventive concept of this application and the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included within the patent protection scope of this application.

Claims

1. A control device for motor speed bandwidth, characterized in that, The motor speed bandwidth control device includes a parameter output module and a driveable module connected to the parameter output module. The driveable module includes a speed input interface and a current input interface. The parameter output module includes: The controller unit has its input terminal connected to the speed input interface and its output terminal connected to the current input interface. The controller unit is used to receive a given speed command and the output speed at the previous moment, and to generate an output current value based on the given speed command and the output speed through a first subtractor, a speed gainer and a first multiplier. A controlled object unit, wherein the input terminal of the controlled object unit is connected to the output terminal of the controller unit, and the output terminal of the controlled object unit is connected to the speed input interface, the controlled object unit is used to generate a speed feedback value based on the output current value, wherein the controlled object unit includes a first processing subunit, the first processing subunit including: a second multiplier, the input terminal of the second multiplier being connected to the output terminal of the first multiplier in the controller unit; and a first integrator, the input terminal of the first integrator being connected to the output terminal of the second multiplier, the output terminal of the first integrator being connected to the speed input interface and the second input terminal of the first subtractor, the first integrator being used to output the speed feedback value, and the first multiplier being used to output the output current value; The module to be driven is used to perform motor drive control based on the output current value received by the current input interface and the speed feedback value received by the speed input interface, so as to realize motor speed bandwidth control.

2. The motor speed bandwidth control device as described in claim 1, characterized in that, The controller unit includes: The first subtractor has its first input terminal connected to the speed command interface and its second input terminal connected to the output terminal of the controlled object unit. A control subunit, wherein the input terminal of the control subunit is connected to the output terminal of the first subtractor, and the output terminal of the control subunit is connected to the input terminal of the controlled object unit and the current input interface.

3. The motor speed bandwidth control device as described in claim 2, characterized in that, The control subunit includes: A speed gainer, the input of which is connected to the output of the first subtractor; The first multiplier has its input connected to the output of the speed gain unit, and its output connected to the current input interface and the input of the controlled object unit.

4. The motor speed bandwidth control device as described in claim 3, characterized in that, The controlled object unit further includes: A first coefficient multiplier, wherein the input terminal of the first coefficient multiplier is connected to the output terminal of the first coefficient multiplier, and the output terminal of the first coefficient multiplier is connected to the current input interface.

5. The motor speed bandwidth control device as described in claim 4, characterized in that, The module to be driven includes: The second subtractor has its first input terminal serving as the speed input interface and connected to the output terminal of the first integrator and the second input terminal of the first subtractor. The first differentiator has its input terminal connected to the motor speed feedback terminal, and its output terminal connected to the second input terminal of the second subtractor. A first proportional-integral unit, the input of which is connected to the output of the second subtractor; A third multiplier, the input of which is connected to the output of the first proportional-integral unit; A current control unit is provided, the input terminal of which is connected to the output terminal of the third multiplier, the output terminal of which is connected to the motor control terminal, and the input terminal of which also serves as the current input interface.

6. The motor speed bandwidth control device as described in claim 5, characterized in that, The current control unit includes: An arithmetic unit, wherein the first input terminal of the arithmetic unit serves as the current input interface, the second input terminal of the arithmetic unit is connected to the output terminal of the third multiplier, and the third input terminal of the arithmetic unit is connected to the motor current feedback terminal; The second proportional-integral unit has its input connected to the output of the arithmetic unit and its output connected to the motor control unit.

7. A servo driver, characterized in that, The servo driver includes a motor speed bandwidth control device as described in any one of claims 1 to 6.

8. A servo control system, characterized in that, The servo control system includes a servo motor and a servo driver as described in claim 7, which is connected to the servo motor.

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