Parameter adjustment method and device, equipment and storage medium

Abstract

The invention relates to a parameter adjustment method and device, equipment and a storage medium. The method comprises the following steps: acquiring open-loop frequency response data of the drive control system after a sweep frequency signal with a preset amplitude is injected; obtaining a plurality of target characteristic parameters based on the open-loop frequency response data; and adjusting the parameters of the compensation module based on the plurality of target characteristic parameters and a preset compensation mapping rule to obtain the adjusted target characteristic parameters. The accuracy of parameter adjustment can be improved, and the debugging period can be shortened.

Description

Technical Field

[0001] This application relates to the field of drive control technology, and in particular to a parameter adjustment method, device, equipment and storage medium. Background Technology

[0002] As a core component in industrial automation, robotics, CNC machine tools, and other fields, the performance of the drive control system directly affects the control accuracy, response speed, and stability of the entire system. The tuning quality of the drive controller parameters is a key factor determining system performance.

[0003] Traditional drive controller parameter tuning mainly adopts the manual trial-and-error method, that is, engineers gradually adjust the PID parameters and filter parameters based on experience, and judge whether the parameter settings are reasonable by observing the system's step response, frequency response and other characteristics. However, the manual trial-and-error method relies heavily on the engineer's experience level, the debugging process is time-consuming, the parameter settings are often conservative, and when the system parameters change, they need to be re-tuned, which is quite cumbersome.

[0004] Based on this, the relevant technology adopts an automatic tuning method based on time-domain rules. This is mainly because some servo drives are equipped with automatic tuning functions based on rules such as the critical proportional method. Although this method improves tuning efficiency to a certain extent, the tuning process usually requires the application of a large excitation signal, which causes the motor to rotate significantly and may impact precision mechanical equipment. Summary of the Invention

[0005] This application provides a parameter adjustment method, apparatus, device, and storage medium, aiming to solve the problem that the tuning process of traditional drive control systems requires the application of a large excitation signal, which causes the motor to rotate significantly and impacts precision mechanical equipment.

[0006] In a first aspect, embodiments of this application provide a parameter adjustment method for a drive control system, applied to a drive control system including a drive controller and an actuator connected to each other, wherein the drive controller includes a compensation module, and the method includes: Obtain the open-loop frequency response data of the drive control system after injecting a frequency sweep signal of a preset amplitude; Based on the open-loop frequency response data, multiple target feature parameters are obtained; Based on multiple target feature parameters and preset compensation mapping rules, the parameters of the compensation module are adjusted to obtain the adjusted target feature parameters.

[0007] In some embodiments, acquiring the open-loop frequency response data of the drive control system after injecting a frequency sweep signal of a preset amplitude includes: Obtain the feedback signal of the drive control system after injecting a frequency sweep signal of a preset amplitude; The open-loop frequency response data is obtained based on the feedback signal and the frequency sweep signal with the preset amplitude.

[0008] In some embodiments, the preset compensation mapping rule includes a mapping relationship between frequency domain performance defects and adjustment strategies. Adjusting the parameters of the compensation module based on multiple target feature parameters and the preset compensation mapping rule includes: Based on the target feature parameters, frequency domain performance defects are determined; Based on the mapping relationship between the frequency domain performance defects and the adjustment strategy, the parameters of the compensation module are adjusted.

[0009] In some embodiments, the compensation module includes a low-pass filter, a notch filter, a lead compensator, and a lag compensator. Adjusting the parameters of the compensation module based on the mapping relationship between the frequency domain performance defects and the adjustment strategy includes: If the frequency domain performance defect is insufficient phase margin, then adjust the zero and pole positions of the lead compensator. If the frequency domain performance defect is insufficient amplitude margin, then adjust the gain parameter of the lead compensator or the lag compensator. If the frequency domain performance defect is the presence of a mechanical resonance peak, then adjust the center frequency and notch depth of the notch filter. If the frequency domain performance defect is insufficient low-frequency gain, then adjust the gain parameter of the hysteresis compensator. If the frequency domain performance defect is that the high-frequency attenuation is too slow, then the cutoff frequency of the low-pass filter is gradually adjusted.

[0010] In some embodiments, after obtaining the adjusted target feature parameters, the method further includes: Determine whether the adjusted target feature parameters meet the preset requirements; If the adjusted target feature parameters do not meet the preset requirements, the process returns to the step of adjusting the parameters of the compensation module based on multiple target feature parameters and a preset compensation mapping rule, until the adjusted target feature parameters meet the preset requirements.

[0011] In some embodiments, the plurality of target feature parameters include magnitude margin and phase margin, and the process of obtaining the plurality of target feature parameters based on the open-loop frequency response data includes: Based on the open-loop frequency response data, the phase crossover frequency and cutoff frequency are obtained; The magnitude margin is obtained based on the phase crossover frequency; and The phase margin is obtained based on the cutoff frequency.

[0012] In some embodiments, the plurality of target characteristic parameters include resonant frequency and resonant peak value, and the process of obtaining the plurality of target characteristic parameters based on the open-loop frequency response data includes: The maximum positive peak frequency is selected as the resonant frequency from the open-loop frequency response data; The peak value corresponding to the resonant frequency is taken as the resonant peak value.

[0013] Secondly, embodiments of this application also provide a parameter adjustment device for a drive control system, including a unit for performing the method described above.

[0014] Thirdly, embodiments of this application also provide a computer device, the computer device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the above-described method.

[0015] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0016] This application provides a parameter adjustment method, apparatus, device, and storage medium. The method includes: acquiring open-loop frequency response data of the drive control system after injecting a sweep signal of a preset amplitude; obtaining multiple target characteristic parameters based on the open-loop frequency response data; and adjusting the parameters of the compensation module based on the multiple target characteristic parameters and a preset compensation mapping rule to obtain adjusted target characteristic parameters.

[0017] This application embodiment injects a frequency sweep signal of preset amplitude into the drive control system. This ensures that the processing will not cause large movements or mechanical shocks in the actuator, thereby improving the problem of large motor movements or mechanical shocks caused by the large step excitation required by the traditional critical proportional method, and improving the safety of system operation. Furthermore, this application automatically extracts multiple target feature parameters based on open-loop frequency response data and performs qualitative and directional adjustments to the parameters of the compensation module according to preset compensation mapping rules. This eliminates the need for engineers to repeatedly try and adjust based on experience, thereby improving the accuracy of parameter adjustment and shortening the debugging cycle. Attached Figure Description

[0018] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0019] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0021] Figure 1 This is a flowchart illustrating the first embodiment of a parameter adjustment method for a drive control system provided in this application.

[0022] Figure 2 This is a schematic diagram of the compensation module in the drive controller provided in the embodiments of this application.

[0023] Figure 3 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application.

[0024] Explanation of icon numbers: Current loop controller 11, position loop controller 12, speed loop controller 13, low-pass filter 21, notch filter 22, lead compensator 23, lag compensator 24. Detailed Implementation

[0025] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0026] The following disclosure provides many different embodiments or examples for implementing different structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. Of course, these are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0027] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0028] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0029] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0030] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0031] To address the aforementioned issues, this application provides a parameter adjustment method. This method can be used for adjusting the parameters of a drive control system, which can improve the accuracy of parameter adjustment and shorten the debugging cycle. It is suitable for on-site debugging of precision equipment and production lines.

[0032] This application provides a parameter adjustment method for a drive control system, which is applied to the drive control system. The drive control system includes a drive controller and an actuator connected to each other. The drive controller has a compensation module. (See reference...) Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of a parameter adjustment method for a drive control system provided in this application. The parameter adjustment method for the drive control system includes the following steps: Step 110: Obtain the open-loop frequency response data of the drive control system after injecting a sweep frequency signal of preset amplitude.

[0033] In some embodiments, the rotational speed disturbance caused by the frequency sweep signal of the preset amplitude is less than a preset percentage threshold of the rated rotational speed of the actuator.

[0034] The preset percentage threshold can be 1%, 2%, etc., and can be set and adjusted according to the actual situation.

[0035] Step 120: Based on the open-loop frequency response data, obtain multiple target feature parameters.

[0036] Step 130: Based on the multiple target feature parameters and the preset compensation mapping rules, adjust the parameters of the compensation module to obtain the adjusted target feature parameters.

[0037] This embodiment injects a frequency sweep signal of preset amplitude into the drive control system, and the speed disturbance caused by the frequency sweep signal is limited to a preset percentage threshold of the rated speed of the actuator (e.g., no more than 1%). This ensures that the processing will not cause large movements or mechanical shocks to the actuator, thereby improving the problem of large motor movements or mechanical shocks caused by the traditional critical proportional method which requires large step excitation, and improving the safety of system operation. Furthermore, this embodiment automatically extracts multiple target feature parameters based on open-loop frequency response data and performs qualitative and directional adjustments to the parameters of the compensation module according to preset compensation mapping rules, eliminating the need for engineers to repeatedly try and adjust based on experience, thereby improving the accuracy of parameter adjustment and shortening the debugging cycle.

[0038] Referring to a second embodiment of a parameter adjustment method for a drive control system provided in this application, the parameter adjustment method for the drive control system includes the following steps: Step 210: Obtain the feedback signal of the drive control system after injecting a sweep frequency signal of a preset amplitude.

[0039] The drive control system may include, but is not limited to, servo systems, frequency conversion systems, and electric drive systems.

[0040] Wherein, the speed disturbance caused by the frequency sweep signal of the preset amplitude is less than a preset percentage threshold of the rated speed of the actuator.

[0041] Step 220: Based on the feedback signal and the frequency sweep signal with the preset amplitude, obtain the open-loop frequency response data.

[0042] Step 230: Based on the open-loop frequency response data, obtain multiple target feature parameters.

[0043] Step 240: Based on the multiple target feature parameters and the preset compensation mapping rules, adjust the parameters of the compensation module to obtain the adjusted target feature parameters.

[0044] See Figure 2In some possible implementations, the compensation module includes a low-pass filter 21, a notch filter 22, a lead compensator 23, and a lag compensator 24. Taking a servo controller as an example, the positions of the low-pass filter 21, notch filter 22, lead compensator 23, and lag compensator 24 can be as follows: Figure 2 As shown.

[0045] The servo controller includes a current loop controller 11, a position loop controller 12, and a speed loop controller 13. The lead corrector 23 and the lag corrector 24 are both located between the position loop controller 12 and the speed loop controller 13. The low-pass filter 21 and the notch filter 22 are both located at the input terminal of the current loop controller 11.

[0046] For example, a low-pass filter is mainly used to suppress high-frequency noise and can employ a transfer function as shown in Equation 1: , Formula 1.

[0047] in, Let Laplace's complex variable be the low-pass filter. The damping ratio of the low-pass filter. The undamped natural frequency determines the approximate location of the low-pass filter's cutoff frequency. The cutoff frequency is set above the system bandwidth but below the noise frequency to correct the high-frequency response.

[0048] For example, notch filters are mainly used to suppress oscillations at specific frequencies, such as mechanical resonances, and can employ a transfer function as shown in Equation 2: , Formula 2.

[0049] in, Let Laplace's complex variable be the notch filter. The damping ratio of the notch filter is 1. The center frequency.

[0050] It should be noted that notch filters are typically placed in the feedback loop, as close as possible to the resonant source. In drive control systems, suppression is generally required in the current loop. The center frequency of the notch filter is set to the resonant frequency, and the bandwidth of the notch filter needs to cover the width of the resonant peak. The depth of the notch filter can be determined based on the height of the resonant peak.

[0051] For example, the lead compensator is mainly used to improve the phase margin and increase stability, and can adopt a transfer function as shown in Equation 3: , Formula 3.

[0052] in, For the gain of the lead compensator, Let Laplace's complex variable be the lead compensator. The pole position of the lead compensator. This is the zero point position of the lead compensator.

[0053] It should be noted that lead compensators are generally placed where phase lead is required, such as in the position or velocity loop controller. Because lead compensators amplify high-frequency noise, they are typically placed in locations with minimal noise impact, such as near the reference input or in the low-frequency range. The zero-pole locations are determined by the required amount of phase lead.

[0054] For example, the hysteresis compensator is mainly used to improve low-frequency gain and reduce steady-state error, and can adopt a transfer function as shown in Equation 4: , Formula 4.

[0055] in, For the gain of the hysteresis compensator, Let Laplace be the complex variable of the lag corrector. The pole locations of the hysteresis compensator. This is the zero point position of the hysteresis corrector.

[0056] It should be noted that since the lag compensator introduces phase lag while improving low-frequency gain and reducing steady-state error, the lead compensator is usually placed in the low-frequency band, and the zero-point frequency of the lag compensator is set at a position much lower than the gain crossover frequency.

[0057] It should be noted that during closed-loop operation of the drive control system, a small-amplitude chirp sweep signal (i.e., a preset amplitude sweep signal) can be injected into either the speed loop or the position loop. Specifically, when injected into the speed loop, the output feedback data is w; when injected into the position loop, the output feedback data is... (like Figure 2 (As shown).

[0058] in addition, Figure 2 In It is the transfer function from speed to torque. It is the transfer function from the load-side speed to the motor-side speed.

[0059] In some possible implementations, the preset compensation mapping rule includes a mapping relationship between frequency domain performance defects and adjustment strategies. Step 240, which is adjusting the parameters of the compensation module based on multiple target feature parameters and the preset compensation mapping rule, may include the following steps: Step 241: Determine the frequency domain performance defects based on the target feature parameters.

[0060] Step 242: Adjust the parameters of the compensation module based on the mapping relationship between the frequency domain performance defects and the adjustment strategy.

[0061] In some possible implementations, the preset compensation mapping rules may include the following: 1) When the phase margin is lower than the target value, increase the phase lead of the lead compensator or decrease the effect of the lag compensator. 2) When the gain margin is lower than the target gain margin value, reduce the gain in the mid-frequency and high-frequency bands; 3) When there is a significant resonance peak, set the center frequency of the notch filter to the resonance frequency, and set the notch depth according to the resonance amplitude and the notch bandwidth according to the resonance peak width. 4) When the low-frequency gain is lower than the target value of the low-frequency gain, increase the gain compensation of the hysteresis compensator; 5) When the high-frequency band attenuation is insufficient, reduce the cutoff frequency of the low-pass filter.

[0062] In some possible implementations, the adjustment strategy can adopt a rule-based incremental adjustment strategy. For example, for lead compensators and lag compensators, their zero position, pole position or gain can be adjusted in preset steps according to the phase margin or the deviation value of low-frequency gain. For notch filters, the notch depth can be adjusted according to the amplitude of the resonance peak in preset steps. For low-pass filters, the cutoff frequency can be adjusted by a preset step size based on the deviation of the slope in the high-frequency band.

[0063] In some embodiments, the establishment of the rule base can be specifically referred to in Table 1 below: Table 1

[0064] Based on the above-preset compensation mapping rules, in some possible implementations, adjusting the parameters of the compensation module based on the mapping relationship between the frequency domain performance defects and the adjustment strategy may include the following: 1) If the frequency domain performance defect is insufficient phase margin, then adjust the zero and pole positions of the lead compensator; For example, increasing the distance between the pole and the zero position can provide a greater phase lead.

[0065] 2) If the frequency domain performance defect is insufficient amplitude margin, then adjust the gain parameter of the lead compensator or the lag compensator; 3) If the frequency domain performance defect is the presence of a mechanical resonance peak, then adjust the center frequency and notch depth of the notch filter; To ensure stability, the zero frequency z of the notch filter needs to always be kept much lower than the current cutoff frequency. .

[0066] 4) If the frequency domain performance defect is insufficient low-frequency gain, then adjust the gain parameter of the hysteresis compensator; 5) If the frequency domain performance defect is that the high-frequency attenuation is too slow, then gradually adjust the cutoff frequency of the low-pass filter.

[0067] In some possible implementations, the plurality of target characteristic parameters include amplitude margin and phase margin, wherein the amplitude margin is the amplitude corresponding to the frequency (i.e., the phase crossover frequency) at which the phase first equals -180° on the phase-frequency curve; and the phase margin is the phase corresponding to the frequency point (i.e., the cutoff frequency) at which the gain first crosses 0dB on the amplitude-frequency curve.

[0068] Step 230, namely, obtaining multiple target feature parameters based on the open-loop frequency response data, includes: 1) Based on the open-loop frequency response data, the phase crossover frequency and cutoff frequency are obtained.

[0069] In the closed-loop operation of the servo drive, a chirp sweep signal with a small amplitude (e.g., ensuring motor speed fluctuations are less than 1% of the rated speed) and an exponentially varying frequency is superimposed on the speed loop command. Simultaneously acquiring the injected sweep signal and the speed feedback signal, the open-loop frequency response data of the system can be obtained. The open-loop frequency response data includes amplitude. and phase information.

[0070] Open-loop frequency response data The calculation can be performed using the following formula 5.

[0071] , Formula 5.

[0072] in, The transfer function of the frequency sweep signal with a preset amplitude. This is the transfer function for the speed feedback signal.

[0073] Based on open-loop frequency response data This yields a Bode plot, which includes amplitude-frequency curves and phase-frequency curves.

[0074] 2) Based on the phase crossover frequency, the amplitude margin is obtained.

[0075] For example, the gain margin can be calculated using the following formula 6: , Formula 6.

[0076] in, It is the phase crossover frequency, which satisfies .

[0077] 3) Based on the cutoff frequency, the phase margin is obtained.

[0078] The phase margin can be calculated using the following formula 7: , Formula 7.

[0079] in, It is the phase crossover frequency, which satisfies .

[0080] In some possible implementations, the plurality of target characteristic parameters includes resonant frequency and resonant peak value, and the plurality of target characteristic parameters are obtained based on the open-loop frequency response data, including: 1) Select the maximum positive peak frequency from the open-loop frequency response data as the resonant frequency; 2) Take the peak value corresponding to the resonant frequency as the resonant peak value.

[0081] The calculation of the resonance peak value can be found in formulas 8 and 9: , Formula 8.

[0082] , Formula 9.

[0083] That is, find the frequency point where the maximum positive peak value occurs on the entire amplitude-frequency curve, and then find the resonant frequency. By reading the peak value of the amplitude-frequency curve at that point, the resonant peak value can be obtained.

[0084] In some possible implementations, the plurality of target characteristic parameters include low-frequency gain, mid-frequency bandwidth, and frequency band slope. The plurality of target characteristic parameters are obtained based on the open-loop frequency response data, including: 1) Select the lowest frequency point from the open-loop frequency response data; take the gain value corresponding to the lowest frequency point as the low-frequency gain; that is, at the lowest test frequency point of the amplitude-frequency curve. The gain value read (e.g., 0.1Hz or 1Hz) is the low-frequency gain.

[0085] , Formula 10.

[0086] 2) Based on the open-loop frequency response data, determine the mid-frequency band start frequency and the mid-frequency band crossover frequency; based on the mid-frequency band start frequency and the mid-frequency band crossover frequency, obtain the mid-frequency band width; The starting frequency of the mid-frequency band is the frequency at which the slope of the amplitude-frequency curve first stabilizes near -20dB / decade. The mid-frequency crossover frequency is the frequency at which the slope of the amplitude-frequency curve becomes significantly steeper (e.g., to -40 dB / decade) starting from -20 dB / decade. The mid-frequency bandwidth can be calculated using the following formula 11: , Formula 11.

[0087] 3) Based on the open-loop frequency response data, obtain the cutoff frequency; based on the cutoff frequency, select a first frequency and a second frequency from the open-loop frequency response data, wherein the first frequency is less than the second frequency; based on the first frequency and the second frequency, obtain the frequency band slope.

[0088] The frequency band slope includes the low-frequency band slope, the mid-frequency band slope, and the high-frequency band slope. For example, in the low-frequency band (such as...) arrive By performing linear fitting, the slope of the low-frequency band can be obtained. For details, please refer to the following formula 12.

[0089] , Formula 12.

[0090] That is, in the low-frequency band, the first frequency can be The second frequency can be .

[0091] For example, with cutoff frequency Centered on, in A linear fit is performed on the amplitude-frequency curve within the specified frequency range. The slope of this fitted line is the mid-frequency slope. Mid-frequency slope The ideal value is typically -20 dB / decade.

[0092] That is, in the mid-frequency band, the first frequency can be The second frequency can be .

[0093] For example, in high-frequency bands much higher than the cutoff frequency (e.g., more than 5 times the cutoff frequency) A linear fit is performed on the amplitude-frequency curve, and the slope of the fitted line is the slope S in the high-frequency band. high The ideal value for the slope in the high-frequency band is usually -40dB / decade. For specific calculations, please refer to Formula 13.

[0094] , Formula 13.

[0095] That is, in the mid-frequency band, the first frequency can be The second frequency can be .

[0096] Referring to a third embodiment of a parameter adjustment method for a drive control system provided in this application, the parameter adjustment method for the drive control system includes the following steps: Step 310: Obtain the open-loop frequency response data of the drive control system after injecting a sweep frequency signal of preset amplitude.

[0097] Wherein, the speed disturbance caused by the frequency sweep signal of the preset amplitude is less than a preset percentage threshold of the rated speed of the actuator.

[0098] Step 320: Based on the open-loop frequency response data, obtain multiple target feature parameters.

[0099] Step 330: Based on the multiple target feature parameters and the preset compensation mapping rules, adjust the parameters of the compensation module to obtain the adjusted target feature parameters.

[0100] Step 340: Determine whether the adjusted target feature parameters meet the preset requirements.

[0101] Step 350: If the adjusted target feature parameters do not meet the preset requirements, return to the step of adjusting the parameters of the compensation module based on multiple target feature parameters and preset compensation mapping rules, until the adjusted target feature parameters meet the preset requirements.

[0102] Combining the third embodiment and Figure 2 The parameter adjustment process for the drive controller may include the following steps: Step 1: Automatic acquisition of frequency domain characteristics; That is, when the drive control system is running in closed loop, a small-amplitude Chirp sweep signal is injected into the setpoint of the speed loop or position loop, and the system input and output response data are collected synchronously. The open-loop frequency response characteristics of the system are automatically obtained by estimating the frequency response function.

[0103] Step 2: Automatic extraction of target feature parameters; Step 3: Regular configuration and adjustment of the compensation module; Step 4: Iterative convergence judgment; The iterative processing procedure may include the following: 1) Initial test: First execute steps 1 and 2 to obtain the Bode plot and all target feature parameters without compensation.

[0104] 2) Initial Adjustment: Based on the rule base, identify the most severe performance defects (such as severe resonance peaks) and prioritize the configuration and adjustment of the corresponding compensators (such as notch filters). Execute the adjustment action.

[0105] 3) Verification and readjustment: 3.1) Repeat steps 1 and 2 to obtain new Bode plots and target feature parameters.

[0106] 3.2) Compare the new target feature parameters with the corresponding target values.

[0107] 3.3) If all target characteristic parameters meet the requirements, the process ends and the parameters of the drive control system are fixed.

[0108] If the target characteristic parameters are still not met, the system will fine-tune again by applying the rule base based on the most significant defect. For example, after suppressing resonance, it may be found that the phase margin becomes the main problem, at which point the adjustment of the lead compensator will be initiated.

[0109] (4) Looping and Termination: Repeat the above process to form a closed loop. To avoid infinite loops, the system sets a maximum number of iterations (e.g., 5 times). The iteration terminates once the maximum number of iterations is reached or all target feature parameters are within an acceptable range.

[0110] In this way, by systematically encoding the qualitative frequency domain debugging mindset that relies on the personal experience of engineers into a set of automatically executable rules, the debugging threshold is lowered. Moreover, without relying on complex optimization algorithms, the optimal solution is gradually approached through a closed-loop iteration of "analysis-adjustment-verification". This reduces the implementation difficulty and computational burden on resource-constrained embedded processors, improves the reliability and robustness of the system, and enhances the accuracy and efficiency of parameter adjustment.

[0111] Furthermore, through the rule base, multiple compensation strategies can be flexibly combined (such as simultaneously suppressing resonance and improving phase margin), and the iterative mechanism can be used to gradually make the system performance meet all preset requirements, which is particularly effective for systems with complex mechanical resonance.

[0112] Furthermore, since each adjustment step has clear rules and guidelines, the logic of the entire adjustment process is clear, easy to understand and trust, and avoids the uncertainty brought about by "black box" optimization algorithms.

[0113] Corresponding to the parameter adjustment method of the drive control system described above, this application also provides a parameter adjustment device for a drive control system. This parameter adjustment device includes a unit for executing the parameter adjustment method of the drive control system described above, and can be configured in a desktop computer, tablet computer, laptop computer, or other terminal.

[0114] like Figure 3As shown in the figure, this application provides a computer device including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114. Memory 113 is used to store computer programs; In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the parameter adjustment method of the drive control system provided in any of the foregoing method embodiments, including: The open-loop frequency response data of the drive control system after injecting a sweep frequency signal of a preset amplitude is obtained, wherein the speed disturbance caused by the sweep frequency signal of the preset amplitude is less than a preset percentage threshold of the rated speed of the actuator. Based on the open-loop frequency response data, multiple target feature parameters are obtained; Based on multiple target feature parameters and preset compensation mapping rules, the parameters of the compensation module are adjusted to obtain the adjusted target feature parameters.

[0115] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0116] Therefore, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements the steps of the parameter adjustment method for the drive control system provided in any of the foregoing method embodiments, including: The open-loop frequency response data of the drive control system after injecting a sweep frequency signal of a preset amplitude is obtained, wherein the speed disturbance caused by the sweep frequency signal of the preset amplitude is less than a preset percentage threshold of the rated speed of the actuator. Based on the open-loop frequency response data, multiple target feature parameters are obtained; Based on multiple target feature parameters and preset compensation mapping rules, the parameters of the compensation module are adjusted to obtain the adjusted target feature parameters.

[0117] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0118] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0119] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0120] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0121] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0122] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0123] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0124] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parameter adjustment method for a drive control system, characterized in that, Applied to a drive control system, the drive control system including a drive controller and an actuator connected together, the drive controller having a compensation module, the method includes: Obtain the open-loop frequency response data of the drive control system after injecting a frequency sweep signal of a preset amplitude; Based on the open-loop frequency response data, multiple target feature parameters are obtained; Based on multiple target feature parameters and preset compensation mapping rules, the parameters of the compensation module are adjusted to obtain the adjusted target feature parameters.

2. The method according to claim 1, characterized in that, The acquisition of the open-loop frequency response data of the drive control system after injecting a frequency sweep signal of a preset amplitude includes: Obtain the feedback signal of the drive control system after injecting a frequency sweep signal of a preset amplitude; The open-loop frequency response data is obtained based on the feedback signal and the frequency sweep signal with the preset amplitude.

3. The method according to claim 1, characterized in that, The preset compensation mapping rule includes a mapping relationship between frequency domain performance defects and adjustment strategies. The adjustment of the parameters of the compensation module based on multiple target feature parameters and the preset compensation mapping rule includes: Based on the target feature parameters, frequency domain performance defects are determined; Based on the mapping relationship between the frequency domain performance defects and the adjustment strategy, the parameters of the compensation module are adjusted.

4. The method according to claim 3, characterized in that, The compensation module includes a low-pass filter, a notch filter, a lead compensator, and a lag compensator. The adjustment of the parameters of the compensation module based on the mapping relationship between the frequency domain performance defects and the adjustment strategy includes: If the frequency domain performance defect is insufficient phase margin, then adjust the zero and pole positions of the lead compensator. If the frequency domain performance defect is insufficient amplitude margin, then adjust the gain parameter of the lead compensator or the lag compensator. If the frequency domain performance defect is the presence of a mechanical resonance peak, then adjust the center frequency and notch depth of the notch filter. If the frequency domain performance defect is insufficient low-frequency gain, then adjust the gain parameter of the hysteresis compensator. If the frequency domain performance defect is that the high-frequency attenuation is too slow, then the cutoff frequency of the low-pass filter is gradually adjusted.

5. The method according to claim 1, characterized in that, After obtaining the adjusted target feature parameters, the method further includes: Determine whether the adjusted target feature parameters meet the preset requirements; If the adjusted target feature parameters do not meet the preset requirements, the process returns to the step of adjusting the parameters of the compensation module based on multiple target feature parameters and a preset compensation mapping rule, until the adjusted target feature parameters meet the preset requirements.

6. The method according to claim 1, characterized in that, The multiple target feature parameters include magnitude margin and phase margin. The multiple target feature parameters obtained based on the open-loop frequency response data include: Based on the open-loop frequency response data, the phase crossover frequency and cutoff frequency are obtained; The magnitude margin is obtained based on the phase crossover frequency; and The phase margin is obtained based on the cutoff frequency.

7. The method according to claim 1, characterized in that, The multiple target characteristic parameters include resonant frequency and resonant peak value. Based on the open-loop frequency response data, the multiple target characteristic parameters are obtained, including: The maximum positive peak frequency is selected as the resonant frequency from the open-loop frequency response data; The peak value corresponding to the resonant frequency is taken as the resonant peak value.

8. A parameter adjustment device for a drive control system, characterized in that, Includes a unit for performing the method as described in any one of claims 1-7.

9. A computer device, characterized in that, The computer device includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The storage medium stores a computer program that, when executed by a processor, can implement the method as described in any one of claims 1-7.

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