Cooperative control detection system and device for vcm motor

Abstract

The invention relates to the technical field of control optimization, in particular to a cooperative control detection system and device for a vcm motor, and the system comprises a data obtaining module which is used for obtaining a control current subsequence and a control displacement subsequence of each shaft transmission motor in each operation period, the first determination module is used for determining the self-driving hysteresis index of each shaft transmission motor in the transmission motor cooperative control system, the second determination module is used for determining the cooperative control influence index of each shaft transmission motor in the current operation period, and the third determination module is used for determining the speed change index of the cooperative control system; the fourth determination module is used for determining the optimization compensation adjustment coefficient of each shaft transmission motor in the current operation period, and the cooperative control module is used for adjusting the control of each shaft transmission motor according to the optimization compensation adjustment coefficient. According to the method, the probability of image acquisition blurring in the vcm motor detection process is reduced by ensuring the stability of cooperative control, so that the six-surface detection precision of the vcm motor is improved.

Description

Technical Field

[0001] This invention relates to the field of control optimization technology, specifically to a collaborative control and detection system and device for VCM motors. Background Technology

[0002] A VCM (Voice Coil Motor) is a linear or rotary actuator based on electromagnetic principles. Its working principle is similar to the drive unit in a loudspeaker, utilizing a coil moving within a fixed magnetic field. When the current through the coil changes, it generates a corresponding force, which in turn drives the moving parts of the motor. It features high frequency response and high precision. Due to the unique structure of the VCM motor's spring contacts, visual inspection has always been a challenge, as traditional VCM motor inspection methods may only be limited to inspecting the surface or a portion of the spring contacts, failing to comprehensively identify potential defects.

[0003] To achieve comprehensive defect identification, six-sided visual inspection has emerged as a comprehensive and precise quality control method. It allows for detailed inspection of each side of the spring contact, ensuring that the surface quality of the voice coil motor, such as its shape and dimensions, does not affect performance. Furthermore, the implementation of six-sided visual inspection requires multiple conveyor motors to transport the motor to different conveyor belt positions on the inspection equipment to achieve six-sided inspection. To improve the accuracy of multi-motor control, coordinated control is typically necessary.

[0004] However, when the conveying device operates for a long time, the control system may be affected by factors such as vibration transmission and control signal interference, resulting in nonlinear errors. This further increases the synchronization error of the control speed of several conveying motors in the same conveying device, that is, poor coordination between the conveying motors may lead to violent movement of the conveyor belt or other mechanical parts, resulting in vibration, shaking, transmission instability and other phenomena. This phenomenon will cause the acquired VCM motor image to be blurry, which will affect the accuracy of the VCM motor detection results. Summary of the Invention

[0005] To address the technical problem of poor collaborative control stability of VCM motors leading to blurred images and affecting the accuracy of VCM motor detection results, this invention aims to provide a collaborative control detection system and device for VCM motors. The specific technical solution adopted is as follows: One embodiment of the present invention provides a cooperative control and detection system for VCM motors, comprising: The data acquisition module is used to acquire the control current sequence and control displacement sequence of each axis transmission motor in the six-sided detection device of the VCM motor during the current time period, and then acquire the operating cycle of each axis transmission motor. The first determining module is used to determine the self-drive hysteresis index of each axis conveyor motor in the conveyor motor cooperative control system based on the control current subsequence and control displacement subsequence of each axis conveyor motor in each operating cycle. The second determining module is used to acquire a number of sine waves of different frequency components corresponding to the control current signal in each operating cycle, analyze the difference in coordinated control between the transmission motor and its predecessor transmission motor based on the phase and frequency information of each sine wave, and determine the coordinated control influence index of each axis transmission motor in the current operating cycle in combination with the self-driving hysteresis index. The third determining module is used to determine the amplitude difference of each axis transmission motor under different frequency components, and to determine the speed change index of the cooperative control system based on the degree of dispersion of each amplitude difference of each axis transmission motor in the frequency amplitude difference coordinate space. The fourth determining module is used to adjust the collaborative control influence index under the current operating cycle using the speed change index of the collaborative control system, and to determine the optimized compensation adjustment coefficient of each axis transmission motor under the current operating cycle. The collaborative control module is used to adjust the control of each axis transmission motor in the collaborative control system of the transmission motor in the VCM motor six-sided detection equipment according to the optimized compensation adjustment coefficient, thereby detecting the VCM motor.

[0006] Furthermore, obtaining the operating cycle of each axis transmission motor includes: For any transmission motor, a linear fit is performed on the control displacement sequence corresponding to the transmission motor to obtain the control displacement fitting curve; where the horizontal axis of the control displacement fitting curve represents the time point and the vertical axis represents the control displacement data. All minimum points are determined in the control current fitting curve, and the time interval between each two adjacent minimum points is taken as the operating cycle of the transmission motor.

[0007] Further, determining the self-driving hysteresis index of each axis conveyor motor in the conveyor motor cooperative control system based on the control current sub-sequence and control displacement sub-sequence of each axis conveyor motor in each operating cycle includes: Based on the control current subsequence and control displacement subsequence of each axis transmission motor in each operating cycle, the consistency between the control current change and the drive speed change is analyzed, and the first hysteresis characteristic index of each axis transmission motor in each operating cycle is determined. Based on the control current subsequence and control displacement subsequence of each axis transmission motor in each operating cycle, the driving consistency of control current on control displacement is analyzed, and the second hysteresis characteristic index of each axis transmission motor in each operating cycle is determined. By combining the first hysteresis characteristic index and the second hysteresis characteristic index of each axis transmission motor in each operating cycle, the self-drive hysteresis index of each axis transmission motor in the transmission motor cooperative control system is determined.

[0008] Furthermore, the analysis of the consistency between the control current change and the drive speed change determines the first hysteresis characteristic index of each axis transmission motor in each operating cycle, including: Obtain the control current fitting curve corresponding to each operating cycle of each axis transmission motor. The horizontal axis of the control current signal waveform graph represents the time point, and the vertical axis represents the control current data in the control current subsequence. Calculate the first derivative of the control current fitting curve at each time point as the current change rate at the corresponding time point, and arrange the current change rates in chronological order to obtain a current change rate sequence. Calculate the second derivative of the control displacement fitting curve at each time point as the velocity change rate at the corresponding time point, and arrange the velocity change rates in chronological order to obtain a velocity change rate sequence. Based on the correlation between the current change rate sequence and the speed change rate sequence of each axis transmission motor in the same operating cycle, the first hysteresis characteristic index of each axis transmission motor in each operating cycle is determined.

[0009] Furthermore, the analysis of the consistency of the control current in driving the control displacement, and the determination of the second hysteresis characteristic index of each axis transmission motor in each operating cycle, include: For any transmission motor, take any operating cycle as the target operating cycle, determine the time points of each maximum point on the control displacement fitting curve of the target operating cycle as the target time points, and then determine the control current data of each target time point on the control current fitting curve of the target operating cycle. The positive current direction is defined as the direction of the current driven by the transmission motor to move from the starting time point. Based on the sign of the control current data at each target time point, the control current fitting curve of the target running cycle is segmented to obtain the positive current segment. The control current data between the two endpoints of the nearest positive current segment before the current time point is selected to form the actual drive current subsequence. Then, the definite integral of the actual drive current subsequence is calculated to obtain the motor drive displacement index of the transmission motor under the target operating cycle. The difference between the motor drive displacement index of the transmission motor under the target operating cycle and the average value of the motor drive displacement index under all operating cycles is defined as the first difference, and the difference between the maximum displacement value of the transmission motor under the target operating cycle and the average value of the maximum displacement value under all operating cycles is defined as the second difference. Based on the similarity between the first difference and the second difference, a second hysteresis characteristic index of the transmission motor under the target operating cycle is determined.

[0010] Furthermore, the step of analyzing the collaborative control differences between the transmission motor and its preceding transmission motor based on the phase and frequency information of each sine wave, and combining this with the self-driving hysteresis index, to determine the collaborative control influence index of each axis transmission motor in the current operating cycle includes: For any given transmission motor, the adjacent transmission motor preceding the transmission motor in the motor sequence is taken as the preceding transmission motor; the absolute value of the phase difference between each frequency component of the control current signal of the transmission motor in each short-time window of the current operating cycle and the corresponding frequency component of the control current signal of the preceding transmission motor in the corresponding short-time window of the current operating cycle is calculated; wherein, the motor sequence is a sequence obtained by sorting all transmission motors according to the maximum current value. Based on the frequency of each frequency component of the control current signal of the transmission motor in each short-time window of the current operating cycle, the absolute value of the phase difference, and the self-driving hysteresis index, the cooperative control influence index of the transmission motor in the current operating cycle is determined.

[0011] Furthermore, the formula for calculating the collaborative control influence index is as follows: In the formula, F represents the cooperative control influence index of the transmission motor in the current operating cycle, Z represents the self-drive hysteresis index of the transmission motor in the transmission motor cooperative control system, m represents the number of short-time windows of the transmission motor in the current operating cycle, and j represents the short-time window sequence number of the transmission motor in the current operating cycle. Let represent the number of frequency components within the j-th short-time window, k represent the index of the frequency component within the j-th short-time window, and norm represent the linear normalization function. This represents the frequency of the k-th frequency component within the j-th short-time window of the transmission motor during the current operating cycle. This represents the absolute value of the phase difference of the k-th frequency component within the j-th short-time window of the current operating cycle of the transmission motor.

[0012] Further, determining the amplitude difference corresponding to each axis transmission motor at different frequency components includes: For any transmission motor, obtain the amplitude of each frequency component of the control current signal of the transmission motor in each short time window under the current operating cycle, and the amplitude of each frequency component in each short time window under the previous operating cycle. The difference between the amplitudes of the same frequency components within the corresponding short-time window during the current operating cycle and the previous operating cycle of the drive motor is calculated and denoted as the amplitude difference.

[0013] Furthermore, determining the optimized compensation adjustment coefficients for each axis transmission motor in the current operating cycle includes: For any transmission motor, determine the negative correlation value of the speed change index of the cooperative control system, calculate the product of the negative correlation value and the cooperative control influence index of the transmission motor in the current operating cycle; normalize the product to obtain a normalized value, and multiply the normalized value by a preset positive integer to obtain the optimized compensation adjustment coefficient of the transmission motor in the current operating cycle.

[0014] Another embodiment of the present invention provides a cooperative control detection device for VCM motors. The detection device includes a memory and a processor. The processor is used to process instructions stored in the memory to implement the execution process of a cooperative control detection system for VCM motors.

[0015] The present invention has the following beneficial effects: This invention provides a collaborative control detection system and device for VCM motors. First, since the input drive control current of the conveyor motor may not be completely consistent during each transmission run, to facilitate subsequent analysis of the actual operation of the conveyor motor, the motor operation data collected at the current moment needs to be segmented. This involves obtaining the control current subsequence and control displacement subsequence under the operating cycle of each axis conveyor motor. This facilitates subsequent data analysis and improves the analysis and evaluation accuracy of the collaborative control system of the conveyor motor in the VCM motor detection device. Second, compared with existing technologies, a collaborative control influence index is determined. This index considers the nonlinear factors generated by the conveyor motor during operation during the collaborative control adjustment process, reducing the degree of nonlinear interference experienced by the deviation coupling control structure when controlling the conveyor motor. Furthermore, by combining the compensation process of the multi-segment conveyor belt collaborative control system with the compensation process of the motor, the impact of motor nonlinear factors on the compensation of each motor in the system is analyzed, further improving the numerical accuracy and reliability of the collaborative control influence index. Third, the collaborative control influence index under the current operating cycle is adjusted using the speed change index of the collaborative control system. This improves the control stability and collaboration of the conveyor motor, thereby reducing the probability of image blurring during VCM motor detection and improving the six-sided detection accuracy of the VCM motor. Attached Figure Description

[0016] To more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1This is a structural diagram of a collaborative control and detection system for VCM motors according to an embodiment of the present invention; Figure 2 This is a flowchart illustrating the execution of the first determining module 202 in one embodiment of the present invention; Figure 3 This is a flowchart of step S301 in one embodiment of the present invention; Figure 4 This is a flowchart illustrating the steps for determining a second hysteresis characteristic index in one embodiment of the present invention; Figure 5 This is a flowchart illustrating the steps for determining the collaborative control influence index in one embodiment of the present invention. Detailed Implementation

[0018] To further illustrate the technical means and effects adopted by the present invention to achieve its intended purpose, the specific implementation methods, structures, features, and effects of the technical solution proposed according to the present invention are described in detail below with reference to the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" do not necessarily refer to the same embodiment. Furthermore, specific features, structures, or characteristics in one or more embodiments can be combined in any suitable form.

[0019] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains.

[0020] The application scenarios targeted by this invention can be: The VCM motor six-sided inspection system includes a loading module, a conveying module, a conveying control module, a VCM motor six-sided image acquisition module, and an image defect detection module. In the collaborative control inspection process, a loading robot first picks up the device to be inspected, i.e., the VCM motor, and places it on the transmission system's placement platform. The transmission motor then transports the device to the various image acquisition components within the inspection equipment. After acquiring images from all six sides of the VCM motor, the system evaluates and analyzes the motor based on the acquired images.

[0021] The quality of the acquired images is crucial to ensuring the accuracy of the detection. To ensure the quality of image acquisition during the VCM motor detection process, it is necessary to ensure the stability of the transmission process. This means that the transmission motor in the VCM motor detection equipment needs to be controlled in a coordinated manner. However, the transmission motor may experience unstable factors such as jitter during long-term operation, which can lead to quality problems such as blurry images and affect the accuracy of VCM motor quality detection.

[0022] To improve the accuracy of VCM motor quality inspection, one embodiment of the present invention provides a collaborative control and inspection system for VCM motors, such as... Figure 1As shown, it includes: The data acquisition module 201 is used to acquire the control current sequence and control displacement sequence of each axis transmission motor in the six-sided detection device of the VCM motor during the current time period, and then acquire the operating cycle of each axis transmission motor.

[0023] First, it should be noted that in high-precision VCM six-sided inspection equipment, multiple conveyor motors need to work collaboratively to ensure stable conveying and accurate positioning. Therefore, a multi-segment conveyor belt collaborative control system is required to connect the conveyor motors and coordinate the control of all drive motors. This multi-segment conveyor belt collaborative control system is also known as a multi-motor collaborative control system.

[0024] Here, before acquiring control current and control displacement data, the multiple transmission motors of the six-sided detection equipment's drive system are first acquired, and the transmission motors are connected to hardware devices such as the controller, current sensor, and encoder sensor to ensure stable power supply and correct communication line connections. The data acquisition module 201 can be implemented through steps S211 to S221 (not shown in the diagram): S211, Obtain the control current sequence and control displacement sequence of each axis transmission motor in the six-sided detection device of the VCM motor in the current time period.

[0025] Specifically, current sensors are used to collect control current data of each axis of the VCM motor in the six-sided detection device during the current time period. These data are then arranged into a control current sequence according to time. The current serves as the direct control signal for the transmission motor, affecting its torque and motion; in other words, the magnitude of the control current influences the operating power of the transmission motor. High-precision encoders are used to collect control displacement data of each axis of the VCM motor in the six-sided detection device during the current time period, which is then arranged into a control displacement sequence according to time. This control displacement data is the control target of the motor monitoring equipment, representing the actual motor operating results, and needs to be fed back promptly for synchronous control.

[0026] The operating data of the transmission motor includes control current data and control displacement data. The data acquisition frequency can be 50Hz, and the data is continuously collected from the start of this VCM motor inspection and transportation to the current moment. Furthermore, the data acquisition frequency can be set by the implementer according to specific circumstances; no specific limitation is made here.

[0027] S221, obtain the operating cycle of each axis transmission motor according to the control displacement sequence corresponding to each axis transmission motor.

[0028] Here, in the multi-transfer motor collaborative control system of the six-sided VCM motor inspection equipment, multiple transfer motors move in coordination, involving multiple sections of conveyor belts on different sides of the VCM motor. For a particular transfer motor in the multi-transfer motor collaborative control system, the direction of the current in the transfer motor changes during one round trip. The rate and magnitude of this change in the control current will affect the speed and position of the transfer motor during this round trip. In the deviation-coupled synchronous structure, after the current-driven motor completes one transfer, the control current is adjusted to complete the next transfer based on the actual movement of the motor (such as the influence of transport inertia). That is, the input drive current of the transfer motor may not be completely consistent each time it runs. Therefore, when analyzing the operating status of multiple transfer motors, it is necessary to combine the actual displacement of each axis of the transfer motor to determine the operating cycle of different transmission motors. This helps to improve the analysis and evaluation accuracy of the multi-transfer motor collaborative control system of the six-sided inspection equipment.

[0029] The operating cycles of different transmission motors may differ, but the method for determining the operating cycle is the same. Taking any transmission motor as an example, we can determine the operating cycle of the transmission motor.

[0030] Specifically, the least squares method is used to linearly fit the control displacement sequence corresponding to the transmission motor to obtain the control displacement fitting curve. The horizontal axis of the control displacement fitting curve represents the time point, and the vertical axis represents the control displacement data. The implementation process of the least squares method is existing technology and will not be described in detail here. All the minimum points are determined in the control current fitting curve, and the time period between every two adjacent minimum points is taken as the operating cycle of the transmission motor.

[0031] In this embodiment, in the control displacement fitting curve, the minimum point can usually represent the initial position of the transmission motor in this drive position, while the maximum point can represent the farthest position in this drive displacement process. Therefore, this embodiment can use the time interval between a certain minimum point and the next minimum point to represent the time taken for one reciprocating motion of the transmission motor. The minimum point is used as the endpoint of the reciprocating motion, and the endpoint is used as the time sequence segmentation point of the control current sequence and control displacement sequence. The time sequence is divided into multiple intervals, which determines the control current subsequence and control displacement subsequence of each axis transmission motor in each operating cycle. Each operating cycle has its corresponding control current subsequence and control displacement subsequence.

[0032] Thus, this embodiment has obtained the control current sequence and control displacement sequence corresponding to each axis transmission motor, and determined the operating cycle of each axis transmission motor.

[0033] The first determining module 202 is used to determine the self-driving hysteresis index of each axis conveyor motor in the conveyor motor cooperative control system based on the control current subsequence and control displacement subsequence of each axis conveyor motor in each operating cycle.

[0034] First, it should be noted that the transmission motor coordinated control system in VCM motor testing equipment requires that the speed, position, or torque of each shaft drive motor remain consistent or change in coordination according to a preset pattern. The transmission motors on each shaft need to exchange information in real time to achieve coordinated motion. Therefore, in a stable transmission motor control system, the driving process of each shaft drive motor exhibits similar periodic patterns. However, under the influence of hysteresis, the response of the transmission motor is not simply linear. In a deviation-coupled synchronous system, analyzing the displacement response of the transmission motor solely through a speed compensator is insufficient to achieve good coordinated control results.

[0035] As one specific implementation method, the first determining module 202 described above can be... Figure 2 Steps S301 to S303 shown are implemented as follows: S301, based on the control current subsequence and control displacement subsequence of each axis transmission motor in each operating cycle, analyze the consistency between the control current change and the drive speed change, and determine the first hysteresis characteristic index of each axis transmission motor in each operating cycle.

[0036] As the above analysis shows, the transmission motor is affected by hysteresis during operation, resulting in nonlinear speed characteristics. To assess this hysteresis, it's necessary to analyze the actual operating conditions of the motor. Specifically, the control current of the transmission motor is directly proportional to its drive speed. Hysteresis slows down the motor's response in a changing magnetic field because it needs to overcome additional energy losses in the hysteresis loop, thus reducing its response speed. Therefore, analyzing the consistency between changes in control current and drive speed can be used as one factor in evaluating the hysteresis effect of the transmission motor.

[0037] As one specific implementation method, step S301 above can be achieved by... Figure 3 Steps S311 to S341 shown are implemented as follows: S311, obtain the control current fitting curve corresponding to each operating cycle of each axis transmission motor. The horizontal axis of the control current signal waveform graph represents the time point, and the vertical axis represents the control current data in the control current subsequence.

[0038] In this embodiment, for each axis transmission motor, the control current fitting curve corresponding to each operating cycle is calculated using the least squares method based on the control current subsequence of each operating cycle.

[0039] S321, calculate the first derivative of the control current fitting curve at each time point, and use it as the current change rate at the corresponding time point. Arrange the current change rates in time order to obtain the current change rate sequence.

[0040] In this embodiment, the process of calculating the first derivative is a prior art and will not be described in detail here.

[0041] S331, calculate the second derivative of the control displacement fitting curve at each time point, and use it as the velocity change rate at the corresponding time point. Arrange the velocity change rates in chronological order to obtain the velocity change rate sequence.

[0042] In this embodiment, the rate of change of speed is acceleration, and the rate of change of speed can characterize the change in the speed of the conveyor belt driven by the motor. Furthermore, the process of calculating the second derivative is existing technology and will not be described in detail here.

[0043] S341, based on the correlation between the current change rate sequence and speed change rate sequence of each axis transmission motor in the same operating cycle, determine the first hysteresis characteristic index of each axis transmission motor in each operating cycle.

[0044] Here, when the transmission motor exhibits hysteresis, changes in the control current cannot promptly cause changes in the actual speed of the motor. Therefore, after obtaining the current change rate sequence and speed change rate sequence for the same operating cycle, the hysteresis characteristics of the transmission motor are evaluated by comparing the correlation between the two sequences, thus determining the first hysteresis characteristic index.

[0045] Specifically, for each axis transmission motor, the Pearson correlation coefficient between the current change rate sequence and the speed change rate sequence for the same operating cycle is calculated. Since the Pearson correlation coefficient ranges from -1 to 1, for ease of subsequent calculation, the Pearson correlation coefficient is first added by 1 and then divided by 2, so that the processed Pearson correlation coefficient ranges from 0 to 1. The processed Pearson correlation coefficient is then subjected to negative correlation processing, such as taking the reciprocal and adding 0.1 to the denominator, and the resulting negative correlation value is used as the first hysteresis characteristic index. Of course, implementers can also quantify the correlation between the current change rate sequence and the speed change rate sequence in other ways, which are not specifically limited here.

[0046] It should be noted that the smaller the first hysteresis characteristic index, the less obvious the hysteresis characteristic, and the faster the response speed of the transmission motor in the corresponding operating cycle; conversely, the larger the first hysteresis characteristic index, the more obvious the hysteresis characteristic, indicating that the response speed of the transmission motor in the corresponding operating cycle is slower.

[0047] S302, based on the control current subsequence and control displacement subsequence of each axis transmission motor in each operating cycle, analyze the driving consistency of the control current on the control displacement, and determine the second hysteresis characteristic index of each axis transmission motor in each operating cycle.

[0048] Here, evaluating hysteresis solely based on response speed is significantly affected by the synchronization of the data acquisition equipment. Therefore, it's necessary to analyze the consistency of the control displacement drive of the transmission motor in conjunction with the current input to reassess the hysteresis characteristics of the transmission motor. Due to the hysteresis effect, the same current input may not produce consistent displacement. This deviation needs to be comprehensively reflected by combining the maximum displacement value and the magnitude of the current driving the current stroke. Therefore, by analyzing the control current subsequence and control displacement subsequence of the transmission motor in each operating cycle, a second hysteresis characteristic index of the transmission motor in each operating cycle can be obtained.

[0049] Taking any transmission motor as an example, and taking any operating cycle as the target operating cycle, the second hysteresis characteristic index of the transmission motor under the target operating cycle is determined. The second hysteresis characteristic index can be determined by... Figure 4 Steps S312 to S352 shown include: S312, determine the time points of each maximum point on the control displacement fitting curve of the target operating cycle as the target time points, and then determine the control current data of each target time point on the control current fitting curve of the target operating cycle.

[0050] In this embodiment, the control current at the target time point refers to the magnitude of the current that can drive the current displacement, which can be used to further segment the target operating cycle.

[0051] S322 defines the positive current direction as the direction of the current driving the transmission motor from the starting time point. Based on the positive and negative status of the control current data at each target time point, the control current fitting curve of the target running cycle is segmented to obtain the positive current segment.

[0052] In this embodiment, the current direction changes during one round trip of the transmission motor. That is, after the device to be detected is transmitted to the corresponding image acquisition position, it returns to the original initial position. Here, the current direction that drives the transmission motor to move from the starting position is the positive direction, and the current direction that drives the transmission motor to move from the ending position is the reverse direction. One operating cycle contains a positive control current data segment and a reverse control current data segment. Here, only the positive control current data segment, i.e. the positive current segment, is analyzed.

[0053] S332: Select the control current data between the two endpoints of the nearest positive current segment before the current time point to form the actual drive current subsequence, and then calculate the definite integral of the actual drive current subsequence to obtain the motor drive displacement index of the transmission motor under the target operating cycle.

[0054] In this embodiment, the current time point refers to the present moment, which is the last time point of the target operating cycle. The two endpoints of the positive current segment are the start point and the end point. The actual drive current subsequence can represent the actual drive current driving the transmission motor in the forward direction. Taking the time range as the upper and lower limits and the control current as the integral subject, the definite integral of the actual drive current subsequence is calculated. The definite integral can represent the driving process of the transmission motor by the control current from the starting position to the displacement maximum point in the target operating cycle. Here, the definite integral is used as the motor drive displacement index of the transmission motor in the target operating cycle. The larger the motor drive displacement index, the larger the motor drive displacement should ideally be in the target operating cycle.

[0055] S342, the difference between the motor drive displacement index of the transmission motor under the target operating cycle and the average value of the motor drive displacement index under all operating cycles is determined as the first difference, and the difference between the maximum displacement value of the transmission motor under the target operating cycle and the average value of the maximum displacement value under all operating cycles is determined as the second difference.

[0056] In this embodiment, in order to reflect the consistency of current drive in different operating cycles, it is necessary to compare the differences between the maximum displacement and the current drive process in different operating cycles. That is, to analyze the relationship between the control displacement and control current drive in the overall drive process under the target operating cycle, the first difference and the second difference are calculated first.

[0057] Specifically, referring to the calculation process of the motor drive displacement index under the target operating cycle, the motor drive displacement index of the transmission motor under each operating cycle can be obtained; firstly, the average value of the motor drive displacement index of the transmission motor under all operating cycles is calculated, and then the absolute value of the difference between the motor drive displacement index under the target operating cycle and the average value of the motor drive displacement index is calculated as the first difference; there is only one displacement maximum value in each target operating cycle, the average value of the displacement maximum value of the transmission motor under all operating cycles is calculated, and then the absolute value of the difference between the displacement maximum value under the target operating cycle and the average value of the displacement maximum value is calculated as the second difference.

[0058] S352, based on the similarity between the first difference and the second difference, determine the second hysteresis characteristic index of the transmission motor under the target operating cycle.

[0059] Specifically, range normalization is first used to normalize the first and second differences to eliminate the influence of dimensions. The normalized values ​​of the first and second differences are labeled as follows: and For driver processes with high consistency, and They should be fairly close, therefore the calculation... and The ratio of 1 to the ratio is used as the absolute value of the difference between 1 and the ratio as the second hysteresis characteristic index of the transmission motor under the target operating cycle.

[0060] S303, combining the first hysteresis characteristic index and the second hysteresis characteristic index of each axis transmission motor in each operating cycle, determines the self-drive hysteresis index of each axis transmission motor in the transmission motor cooperative control system.

[0061] In this embodiment, taking any transmission motor as an example, the displacement drive hysteresis of the transmission motor is evaluated by combining response consistency and drive consistency characteristics, so as to calculate the self-drive hysteresis index of the transmission motor in the transmission motor cooperative control system. The calculation formula can be: In the formula, Z represents the self-drive hysteresis index of the transmission motor in the transmission motor cooperative control system, n represents the number of operation cycles of the transmission motor, and i represents the sequence number of the operation cycle of the transmission motor. This represents the processed Pearson correlation coefficient between the current change rate sequence and the speed change rate sequence of the transmission motor in the i-th operating cycle. This represents the first hysteresis characteristic index of the transmission motor in the i-th operating cycle. This represents the normalized value of the first difference in the transmission motor during the i-th operating cycle. This represents the normalized value of the second difference of the transmission motor in the i-th operating cycle. This represents the second hysteresis characteristic index of the transmission motor in the i-th operating cycle. This represents the mean of the Pearson correlation coefficients between the current change rate sequences and speed change rate sequences corresponding to all operating cycles of the transmission motor.

[0062] In the formula for calculating the self-driving hysteresis index, The denominator of a fraction is used to adjust the logical relationships. The smaller the value, the slower the response speed of the transmission motor in the current time period, and the larger its own drive hysteresis index will be; the first hysteresis characteristic index can be represented as the weight of the second hysteresis characteristic index. When the response consistency characteristic is more significant, the drive consistency is stronger and the characteristic is more reliable, that is, the confidence level is higher; for The purpose of performing cumulative processing is to analyze the cumulative lag of the transmission motor in multiple different operating cycles. The larger the self-drive lag index, the higher the degree of drive lag of the transmission motor.

[0063] Thus, this embodiment obtains the self-drive hysteresis index of each axis transmission motor in the transmission motor cooperative control system.

[0064] The second determining module 203 is used to acquire a number of sine waves of different frequency components corresponding to the control current signal in each operating cycle, analyze the difference in coordinated control between the transmission motor and its predecessor transmission motor based on the phase and frequency information of each sine wave, and determine the coordinated control influence index of each axis transmission motor in the current operating cycle in combination with its own drive hysteresis index.

[0065] First, it should be noted that in the VCM motor testing equipment, in the multi-section conveyor belt collaborative control system, in order to optimize the control parameters of each conveyor motor, in addition to analyzing the driving lag of each axis conveyor motor itself, it is also necessary to further analyze the collaborative control influence relationship caused by the driving lag of each axis conveyor motor.

[0066] Here, the short-time Fourier transform is used to decompose the motor drive current signal. Specifically, the window length is set to 50ms. Within each short-time window of each operating cycle of different transmission motors, the control current signal corresponding to the control current sequence is subjected to Fourier transform to obtain several sine waves of different frequencies, while retaining the time domain information. The implementation process of the short-time Fourier transform is existing technology and will not be described in detail here.

[0067] For the drive current signals of different conveyor motors in a multi-section conveyor belt cooperative control system, when they change cooperatively according to a preset pattern, under ideal operating conditions of the multi-section conveyor belt cooperative control system, the control current data of each axis conveyor motor exhibit similar periodic patterns. Therefore, the cooperative relationship can be analyzed using the phase frequency information of the decomposed multiple frequency components.

[0068] The phase is expressed in degrees. To facilitate subsequent calculations, the phase angle needs to be converted into a numerical form. The specific conversion process can be achieved using the following formula: In the formula, Represents phase information, cos represents the cosine function, Indicates the phase angle.

[0069] After obtaining the sine waves of different frequency components corresponding to the control current signal, in order to reflect the differences in the coordinated control between each axis transmission motor and other transmission motors, the sine wave phase information within each short time window can be combined to analyze its drive deviation information. This deviation information can reflect the operating relationship of each axis motor in the coordinated control of transmission motors in the VCM motor detection equipment.

[0070] Taking any transmission motor as an example, the collaborative control influence index of the transmission motor in the current operating cycle is determined. The specific implementation process can be achieved through... Figure 5 Steps S213 to S223 shown are implemented as follows: S213, take the adjacent transmission motor that precedes the transmission motor in the motor sequence as the preceding transmission motor; calculate the absolute value of the phase difference between each frequency component of the transmission motor's control current signal in each short window of the current operating cycle and the corresponding frequency component of the preceding transmission motor's control current signal in the corresponding short window of the current operating cycle.

[0071] First, all the transmission motors are sorted according to their maximum current value in the current operating cycle to obtain a motor sequence. For any transmission motor, the preceding transmission motor in the sequence is taken as its predecessor transmission motor, and the time interval corresponding to the current operating cycle is selected as the cooperative control influence interval for that transmission motor. The current operating cycle refers to the most recent operating cycle within the current time period.

[0072] It is worth noting that for the first transmission motor in a multi-transmission motor cooperative control system, its cooperative influence range is the previous operating cycle of the current operating cycle of the last transmission motor.

[0073] Secondly, calculate the absolute value of the phase difference between the control current signal of the transmission motor and the control current signal segment of the preceding transmission motor in each short-time window of the time interval corresponding to the current operating cycle, in the same frequency component of the sine wave. When calculating the absolute value of the phase difference, only the frequency components existing in the control current signal segment of the current operating cycle are considered.

[0074] Among them, the absolute value of the phase difference of different frequency components can represent the difference after the speed compensator adjusts the transmission motor during a single control process. In addition, in the transmission motor cooperative control system of the deviation-coupled VCM motor detection equipment, the high-frequency components in the current signal are usually related to the high-frequency coupling effect in the system. Especially for DC driven transmission motors, the high-frequency components often correspond to nonlinear interference in the system.

[0075] S223, based on the frequency and absolute value of the phase difference of each frequency component of the control current signal of the transmission motor in each short window of the current operating cycle, and its own drive hysteresis index, determine the cooperative control influence index of the transmission motor in the current operating cycle.

[0076] It should be noted that since the speed compensator only adjusts based on the displacement information of the transmission motor, it does not take into account the nonlinear behavior of the force-displacement relationship that occurs after the transmission motor itself generates hysteresis. Therefore, it is necessary to analyze the cooperative effect between the transmission motors of each axis in combination with the degree of drive hysteresis of each axis transmission motor.

[0077] As an example, the formula for calculating the collaborative control influence index of the transmission motor in the current operating cycle can be: In the formula, F represents the cooperative control influence index of the transmission motor in the current operating cycle, Z represents the self-drive hysteresis index of the transmission motor in the transmission motor cooperative control system, m represents the number of short-time windows of the transmission motor in the current operating cycle, and j represents the short-time window sequence number of the transmission motor in the current operating cycle. Let represent the number of frequency components within the j-th short-time window, k represent the index of the frequency component within the j-th short-time window, and norm represent the linear normalization function. This represents the frequency of the k-th frequency component within the j-th short-time window of the transmission motor during the current operating cycle. This represents the absolute value of the phase difference of the k-th frequency component within the j-th short-time window of the current operating cycle of the transmission motor.

[0078] In the calculation formula of the collaborative control influence index, the frequency of different frequency components is used as the analysis weight of the absolute value of the phase difference. This helps to amplify the interference caused by nonlinear disturbances to the current motor under the deviation coupling structure. By using the phase calculation results of the drive hysteresis adjustment current of the preceding motor, the collaborative control influence index can represent the degree of collaborative control influence of each shaft drive motor in the current operating cycle.

[0079] Thus, this embodiment obtains the collaborative control influence index of each axis transmission motor in the current operating cycle.

[0080] The third determining module 204 is used to determine the amplitude difference of each axis transmission motor under different frequency components, and to determine the speed change index of the cooperative control system based on the degree of dispersion of each amplitude difference in the frequency amplitude difference coordinate space.

[0081] First, it should be noted that evaluating the impact of a multi-axis conveyor motor cooperative control system on the adjustment deviation of motor current solely through phase relationships can easily overlook the changes in conveyor motor current under different operating cycles. Specifically, for a multi-axis conveyor motor cooperative control system operating at variable speeds, both the operating frequency and speed of the conveyor motors will change. At this time, the phase of different frequency components of the input current of each axis conveyor motor will experience a certain normal shift. Therefore, it is also necessary to adjust the cooperative influence index of each axis conveyor motor in conjunction with the overall input signal of the multi-axis conveyor belt cooperative control system; that is, to first determine the speed change index of the cooperative control system.

[0082] In this embodiment, when the multi-segment conveyor belt coordinated control system of the conveyor motors is in variable speed operation, the system will adjust the control current of each axis conveyor motor to achieve a new output power. In actual operation, to increase or decrease the system operating efficiency, and to ensure the system's coordination, it is necessary to adjust the control current of each axis conveyor motor separately. Therefore, the overall operating characteristics of the system are analyzed by observing the changes in the control current of each axis conveyor motor in the current operating cycle.

[0083] The aforementioned third determining module 204 can be implemented through steps S214 to S224 (not shown in the figure): S214, determine the amplitude difference of each axis transmission motor under different frequency components.

[0084] In this embodiment, the overall operating power of the multi-section conveyor belt collaborative control system can be analyzed by the amplitude of the control current signal. For each axis conveyor motor, the difference in amplitude of different frequency components can more precisely reflect the change in system operating power. Therefore, it is necessary to calculate the difference in amplitude of the same frequency component in the corresponding short time window between the previous operating cycle and the current operating cycle for each axis conveyor motor.

[0085] Specifically, for any transmission motor, the amplitude of each frequency component of the control current signal of the transmission motor in each short-time window under the current operating cycle, and the amplitude of each frequency component in each short-time window under the previous operating cycle are obtained; the difference between the amplitudes of the same frequency components in the corresponding short-time windows under the previous operating cycle and the current operating cycle is calculated and denoted as amplitude difference, where amplitude difference refers to the absolute value of the difference between two amplitudes.

[0086] It should be noted that in this embodiment, it is not necessary to ensure that the number and type of frequency components are the same within the short-time window corresponding to two adjacent running cycles. If they exist, the amplitude of the non-existent frequency components will be directly assigned to 0 for subsequent calculation and analysis.

[0087] S224, determine the speed change index of the cooperative control system based on the degree of dispersion of the amplitude difference corresponding to each axis transmission motor in the frequency amplitude difference coordinate space.

[0088] In this embodiment, when the operating power of the multi-section conveyor belt cooperative control system changes, taking the increase in system operating power as an example, the sine waves in different short-time windows typically exhibit a shift in the overall frequency components of the signal towards higher frequencies to increase motor operating power. Therefore, for a multi-section conveyor belt cooperative control system operating at variable speeds, the amplitude differences of different frequency components of each axis conveyor motor should be relatively concentrated in the frequency amplitude difference coordinate system. That is, the speed change index of the cooperative control system can be quantified by the degree of concentration of the amplitude differences corresponding to different frequency components of each axis conveyor motor, and thus used to evaluate the overall operating status of the current multi-section conveyor belt cooperative control system.

[0089] As an example, taking any transmission motor as an example, the formula for calculating the speed change index of the coordinated control system of the transmission motor can be: In the formula, N represents the speed change index of the coordinated control system of the transmission motor, exp represents the exponential function with the natural constant as the base, exp(-) is used to normalize the data to achieve negative correlation, v represents the number of frequency components, and u represents the frequency component index. This represents the frequency corresponding to the u-th frequency component of the transmission motor. This represents the average frequency of the transmission motor across all frequency components. This represents the amplitude difference of the transmission motor at the u-th frequency component. This represents the average amplitude difference of the transmission motor across all frequency components. This represents the function for finding the absolute value.

[0090] In the calculation formula of the speed change index of the cooperative control system, the frequency component is obtained from the control current signal corresponding to the current operating cycle. Each transmission motor has its corresponding cooperative control system speed change index. The larger the value, the greater the dispersion of the amplitude difference between different frequency components of the same transmission motor. This results in a smaller speed change index for the coordinated control system of the transmission motor, and consequently, a lower degree of speed change operation in the current multi-axis system. Of course, implementers can also quantify the dispersion of the amplitude difference between different frequency components through other calculation methods, such as calculating variance, standard deviation, or range.

[0091] Thus, this embodiment obtains the speed change index of the coordinated control system for each axis transmission motor, which is used to adjust the coordinated control influence index of the transmission motor in the current operating cycle.

[0092] The fourth determination module 205 uses the speed change index of the collaborative control system to adjust the collaborative control influence index under the current operating cycle, and determines the optimized compensation adjustment coefficient of each axis transmission motor under the current operating cycle.

[0093] Here, in order to improve the operating accuracy of the transmission motor in the collaborative control system of the transmission motor in the six-sided detection equipment of VCM motor, it is necessary to compare the deviation that occurs in the actual operation of the transmission motor in the current period, that is, to determine the optimized compensation adjustment coefficient of each axis transmission motor in the current operating cycle.

[0094] In this embodiment, for a multi-segment conveyor belt collaborative control system operating at variable speed, it is necessary to reduce the system interference of the collaborative control influence index assessment obtained from the phase analysis process, and then obtain the optimized compensation adjustment coefficient of each axis conveyor motor under the current operating cycle.

[0095] Specifically, for any transmission motor, the negative correlation value of the speed change index of the coordinated control system is determined, and the product of the negative correlation value and the coordinated control influence index of the transmission motor in the current operating cycle is calculated. The product is normalized to obtain a normalized value, which is then multiplied by a preset positive integer to obtain the optimized compensation adjustment coefficient of the transmission motor in the current operating cycle. The preset positive integer is taken as an empirical value of 2, and the implementer can set the size of the preset positive integer according to the specific actual situation without specific limitations.

[0096] As an example, the formula for calculating the optimal compensation adjustment coefficient of the transmission motor in the current operating cycle can be: In the formula, denoted by , where tanh represents the hyperbolic tangent function, N represents the speed change index of the coordinated control system for the transmission motor, and F represents the coordinated control influence index of the transmission motor in the current operating cycle.

[0097] In the calculation formula for the optimized compensation adjustment coefficient, the hyperbolic tangent function tanh sets the value range of the adjusted result between 0 and 1. Subsequently, by multiplying by 2, the value range of the adjustment coefficient is set between 0 and 2. This can optimize the adjustment process, that is, compensate more for the gain of the transmission motor that has a greater impact.

[0098] Thus, this embodiment obtains the optimized compensation adjustment coefficients for each axis transmission motor under the current operating cycle.

[0099] The collaborative control module 206 is used to adjust the control of each axis transmission motor in the collaborative control system of the transmission motor in the VCM motor six-sided detection equipment according to the optimized compensation adjustment coefficient, so as to detect the VCM motor.

[0100] In this embodiment, a PID (Proportional-Integral-Derivative) controller is used to adjust the operating speed of each axis transmission motor. Each axis transmission motor has its corresponding PID controller. The initial parameters of the PID controller corresponding to each axis transmission motor are first obtained using the Ziegler-Nichols method. , as well as Then, the proportional gain coefficient is adjusted by optimizing the compensation adjustment coefficient of each axis transmission motor.

[0101] It should be noted that the proportional gain coefficient is a direct adjustment parameter of the controller, which determines the system's sensitivity to errors and can be used to eliminate the deviation between the system's input and output. In this embodiment, the input is current and the output is speed and displacement. Therefore, the adjustment of the proportional gain coefficient has a significant impact on the system performance. The adjustment of other compensation coefficients usually plays an auxiliary role in the stability and accuracy adjustment of the system. Moreover, the size of the VCM motor detection equipment is limited, and the transmission time of a VCM motor is short. Under the premise of short time, the effect of adjusting the cumulative error and system deviation trend is poor. Therefore, this embodiment only adjusts the proportional gain coefficient.

[0102] Taking any transmission motor as an example, the formula for adjusting the proportional gain coefficient can be: In the formula, This represents the adjusted proportional gain coefficient corresponding to the transmission motor, i.e., the proportional gain coefficient adjusted in real time using the transport losses. This represents the optimized compensation adjustment coefficient of the transmission motor in the current operating cycle. This represents the initial proportional gain coefficient of the transmission motor.

[0103] After obtaining the adjusted proportional gain coefficient, , as well as The input is fed into a PID controller, which calculates and outputs a control signal. This control signal is then transmitted to the transmission motor drive device to adjust the control result of the transmission motor. This process, in turn, allows for the acquisition of six-sided images of the VCM motor, enabling the detection of surface defects. The six-sided inspection process for the VCM motor is existing technology and is not within the scope of this invention; therefore, it will not be described in detail here.

[0104] It should be noted that by adjusting the control of each axis of the conveyor motor in the six-sided inspection equipment's conveyor motor collaborative control system, the control stability of the conveyor motor collaborative control system is improved. This can effectively avoid phenomena such as jitter and transmission instability during the conveying process, which is beneficial to enhancing the quality of the images acquired by the inspection equipment. The enhancement of image quality helps to improve the inspection accuracy of the VCM motor.

[0105] Thus, this embodiment completes the accurate testing of the VCM motor.

[0106] Another embodiment of the present invention provides a cooperative control detection device for VCM motors. The detection device includes a memory and a processor. The processor is used to process instructions stored in the memory to implement the execution process of a cooperative control detection system for VCM motors.

[0107] In summary, firstly, since the input drive control current of the conveyor motor may not be completely consistent during each transmission run, it is necessary to segment the motor operation data collected at the current moment to facilitate subsequent analysis of the actual operation of the conveyor motor. This involves obtaining the control current subsequence and control displacement subsequence under the operating cycle of each axis conveyor motor. This facilitates subsequent data analysis and improves the analysis and evaluation accuracy of the conveyor motor collaborative control system in the VCM motor detection equipment. Secondly, compared with existing technologies, a collaborative control influence index is determined. This index considers the nonlinear factors generated by the conveyor motor during operation during the collaborative control adjustment process, reducing the degree of nonlinear interference experienced by the deviation coupling control structure when controlling the conveyor motor. Furthermore, by combining the compensation process of the multi-segment conveyor belt collaborative control system with the analysis of the compensation effect of motor nonlinear factors on each motor in the system, the numerical accuracy and reliability of the collaborative control influence index are further improved. Thirdly, the collaborative control influence index under the current operating cycle is adjusted using the speed change index of the collaborative control system. This improves the control stability and coordination of the conveyor motor, thereby reducing the probability of image blurring during VCM motor detection and improving the six-sided detection accuracy of the VCM motor.

[0108] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention, and should all be included within the protection scope of the present invention.

Claims

1. A cooperative control detection system for a vcm motor, characterized by, The method comprises the following steps: The data acquisition module is used to acquire the control current sequence and the control displacement sequence corresponding to each axis conveying motor in the six-surface detection device of the vcm motor in the current period, and then acquire the operation period of each axis conveying motor; The first determination module is used to determine the self-driving hysteresis index of each axis conveying motor in the conveying motor cooperative control system according to the control current sub-sequence and the control displacement sub-sequence of each axis conveying motor in each operation period; The second determination module is used to acquire a plurality of different frequency components of the sinusoidal wave corresponding to the control current signal in each operation period, analyze the cooperative control difference between the conveying motor and the previous conveying motor according to the phase and frequency information of each sinusoidal wave, and determine the cooperative control influence index of each axis conveying motor in the current operation period in combination with the self-driving hysteresis index; The third determination module is used to determine the amplitude difference corresponding to each axis conveying motor under different frequency components, and determine the speed change index of the cooperative control system according to the dispersion degree of each amplitude difference corresponding to each axis conveying motor in the frequency amplitude difference coordinate space; The fourth determination module is used to adjust the cooperative control influence index in the current operation period by using the speed change index of the cooperative control system, and determine the optimized compensation adjustment coefficient of each axis conveying motor in the current operation period; The cooperative control module is used to adjust the control of each axis conveying motor in the conveying motor cooperative control system in the six-surface detection device of the vcm motor according to the optimized compensation adjustment coefficient, and then detect the vcm motor.

2. The vcm motor oriented cooperative control detection system of claim 1, wherein, The operation period of each axis conveying motor is acquired, comprising: For any conveying motor, the control displacement sequence corresponding to the conveying motor is linearly fitted to obtain a control displacement fitting curve; wherein the horizontal axis of the control displacement fitting curve represents the time point, and the vertical axis represents the control displacement data; All minimum points in the control current fitting curve are determined, and the time period corresponding to each two adjacent minimum points is taken as the operation period of the conveying motor.

3. The vcm motor oriented collaborative control detection system of claim 2, wherein, The self-driving hysteresis index of each axis conveying motor in the conveying motor cooperative control system is determined according to the control current sub-sequence and the control displacement sub-sequence of each axis conveying motor in each operation period, comprising: The consistency of the control current change and the driving speed change is analyzed according to the control current sub-sequence and the control displacement sub-sequence of each axis conveying motor in each operation period, and the first hysteresis characteristic index of each axis conveying motor in each operation period is determined; The driving consistency of the control current to the control displacement is analyzed according to the control current sub-sequence and the control displacement sub-sequence of each axis conveying motor in each operation period, and the second hysteresis characteristic index of each axis conveying motor in each operation period is determined; The self-driving hysteresis index of each axis conveying motor in the conveying motor cooperative control system is determined in combination with the first hysteresis characteristic index and the second hysteresis characteristic index of each axis conveying motor in each operation period.

4. The vcm motor oriented collaborative control detection system of claim 3, wherein, The consistency of the control current change and the driving speed change is analyzed, and the first hysteresis characteristic index of each axis conveying motor in each operation period is determined, comprising: Obtaining a control current fitting curve corresponding to each operation cycle of each axis conveying motor, wherein the horizontal axis of the control current signal waveform diagram represents time points, and the vertical axis represents control current data in the control current subsequence; Calculating the first derivative of each time point on the control current fitting curve as the current change rate at the corresponding time point, and arranging the current change rates in time sequence to obtain a current change rate sequence; Calculating the second derivative of each time point on the control displacement fitting curve as the speed change rate at the corresponding time point, and arranging the speed change rates in time sequence to obtain a speed change rate sequence; According to the correlation between the current change rate sequence and the speed change rate sequence of the same operation cycle of each axis conveying motor, determining the first hysteresis characteristic index of each axis conveying motor in each operation cycle.

5. The vcm motor oriented collaborative control detection system of claim 3, wherein, The analysis of the consistency of the driving of the control current on the control displacement determines the second hysteresis characteristic index of each axis conveying motor in each operation cycle, including: For any conveying motor, taking any operation cycle as a target operation cycle, determining the time points of each maximum point on the control displacement fitting curve of the target operation cycle as target time points, and then determining the control current data of each target time point on the control current fitting curve of the target operation cycle; Defining the current forward direction as the current direction in which the conveying motor drives the movement starting from the starting time point, segmenting the control current fitting curve of the target operation cycle according to the positive and negative situations of the control current data of the target time points to obtain a positive current segment; Selecting the control current data between the two endpoints of the nearest positive current segment before the current time point to form an actual driving current subsequence, and then calculating the definite integral of the actual driving current subsequence to obtain the motor driving displacement index of the conveying motor in the target operation cycle; Determining the difference between the motor driving displacement index of the conveying motor in the target operation cycle and the average of the motor driving displacement indices in all operation cycles as a first difference, and determining the difference between the displacement maximum of the conveying motor in the target operation cycle and the average of the displacement maximums in all operation cycles as a second difference; According to the similarity of the first difference and the second difference, determining the second hysteresis characteristic index of the conveying motor in the target operation cycle.

6. The vcm motor oriented collaborative control detection system of claim 1, wherein, The analysis of the cooperative control difference between the conveying motor and its previous conveying motor according to the phase and frequency information of each sine wave, combined with the self-driving hysteresis index, determines the cooperative control influence index of each axis conveying motor in the current operation cycle, including: For any conveying motor, taking one of the neighboring conveying motors before the conveying motor in the motor sequence as a previous conveying motor; calculating the absolute value of the phase difference between each frequency component of the control current signal of the conveying motor in each short-time window of the current operation cycle and the corresponding frequency component of the control current signal of the previous conveying motor in the corresponding short-time window of the current operation cycle; wherein the motor sequence is obtained by sorting all conveying motors according to the current maximum value. According to the frequency and the phase difference absolute value of each frequency component of the control current signal of the transmission motor in each short-time window of the current operation period, and the self-driving hysteresis index, a cooperative control influence index of the transmission motor in the current operation period is determined.

7. The vcm motor oriented collaborative control detection system of claim 6, wherein, The formula of the cooperative control influence index is: ; wherein F represents a cooperative control influence index of the conveyor motor at a current operation cycle, Z represents a self-driving hysteresis index of the conveyor motor in a conveyor motor cooperative control system, m represents a number of short-time windows of the conveyor motor at the current operation cycle, j represents a short-time window sequence number of the conveyor motor at the current operation cycle, represents a frequency component number in the jth short-time window, k represents a frequency component sequence number in the jth short-time window, and norm represents a linear normalization function, represents a frequency of the kth frequency component in the jth short-time window of the conveyor motor at the current operation cycle, represents an absolute value of a phase difference of the kth frequency component in the jth short-time window of the conveyor motor at the current operation cycle.

8. The vcm motor oriented collaborative control detection system of claim 6, wherein, The determination of the amplitude difference of each axis transmission motor under different frequency components comprises: For any transmission motor, the amplitude of each frequency component of the control current signal of the transmission motor in each short-time window of the current operation period is obtained, and the amplitude of each frequency component in each short-time window of the last operation period of the current operation period is obtained. The difference between the amplitudes of the same frequency components in the corresponding short-time windows between the last operation period and the current operation period of the transmission motor is calculated, and is recorded as the amplitude difference.

9. The vcm motor oriented collaborative control detection system of claim 1, wherein, The determination of the optimization compensation adjustment coefficient of each axis transmission motor in the current operation period comprises: For any transmission motor, the negative correlation value of the variable speed index of the cooperative control system is determined, the product of the negative correlation value and the cooperative control influence index of the transmission motor in the current operation period is calculated, the product is normalized to obtain a normalized value, and the normalized value is multiplied by a preset positive integer to obtain the optimization compensation adjustment coefficient of the transmission motor in the current operation period.

10. A cooperative control detection device for a vcm motor, characterized by, The detection device comprises a memory and a processor, and the processor is used to process instructions stored in the memory to realize an execution process of a cooperative control detection system for a vcm motor.

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