Servo turntable low-temperature friction self-adaptive compensation method

Abstract

The invention discloses a servo turntable low-temperature friction adaptive compensation method, which belongs to the field of antenna servo control, and comprises the following steps: acquiring environment temperature, air pressure, wind speed and current parameters, and generating feature vectors; generating a working condition diagnosis label through pattern recognition; dynamically constructing an instantaneous friction response model from the physical effect library; executing an asymmetric high-frequency current pulse sequence in an extremely low temperature starting stage to break through static friction; based on model output and encoder micro-motion spectrum characteristics, a compensation mode is decided and activated through multi-mode collaborative logic; and calculating a composite compensation amount and superposing the composite compensation amount to a position loop for output. A multi-source environment perception and physical effect library dynamic combination mechanism is adopted, precise compensation can be achieved for severe working conditions such as plateau low pressure and strong wind disturbance, and the pointing precision and operation stability of the servo rotary table in the extremely cold complex environment are improved.

Description

Technical Field

[0001] This invention relates to the field of antenna servo control, and in particular to a low-temperature friction adaptive compensation method for a servo turntable. Background Technology

[0002] Antenna servo mechanisms are an important component of radar, communication, and telemetry systems, playing a crucial role in achieving precise antenna pointing, dynamic tracking, and target parameter measurement. During the operation of the antenna servo mechanism, effective compensation for frictional interference during movement is necessary to ensure pointing accuracy and stability.

[0003] Among related technologies, Chinese invention patent CN120523136A discloses a multi-axis servo turntable system and control method, including a drive mechanism, a control unit, and a turntable body. This technology utilizes a fuzzy adaptive sliding mode iterative learning control algorithm to control the servo motor, dynamically adjusts the sliding mode parameters through fuzzy logic, and compensates for periodic disturbances by combining iterative learning, aiming to reduce system chattering and improve dynamic response speed.

[0004] Regarding the aforementioned technologies, the inventors believe that while fuzzy sliding mode and iterative learning algorithms can handle certain periodic disturbances, under harsh conditions such as extremely low temperatures and low atmospheric pressure at high altitudes, the physical properties of the lubricating medium change drastically, and the friction force exhibits complex asymmetric hysteresis effects and time-varying characteristics. Existing technologies struggle to perceive the coupled influence of multidimensional environmental parameters on friction characteristics in real time, cannot achieve accurate adaptive compensation for specific complex environmental stages, and have low measurement and compensation accuracy, which is detrimental to long-term stable use. Summary of the Invention

[0005] To address the aforementioned issues, this invention provides a low-temperature friction adaptive compensation method for servo turntables. This method employs a strategy of fusing multi-source information for operational condition diagnosis and dynamic model construction, and executes multi-modal collaborative compensation control. This enables high-precision and stable control of the servo turntable under complex and variable environments such as low temperatures.

[0006] To achieve the above objectives, this application adopts the following technical solution:

[0007] Firstly, a method for adaptive low-temperature friction compensation of a servo turntable is provided, comprising: acquiring the ambient temperature, air pressure, wind speed, and motor operating current during the operation of the servo turntable, and fusing them to generate a set of multi-source environmental characteristic parameters and a set of operating state characteristic parameters; performing pattern recognition processing on the multi-source environmental characteristic parameters and the operating state characteristic parameters to generate a working condition diagnostic label characterizing the current working environment and operating stage of the servo turntable; dynamically selecting a combination target from a library storing several basic physical effects based on the working condition diagnostic label, and combining it with the real-time acquired ambient temperature and air pressure parameters to construct an instantaneous friction response model matching the current working condition; when the working condition diagnostic label is obtained, the method is applied to the servo turntable. When the label contains an extremely low temperature start-up indication and the servo turntable receives a displacement command but does not generate macroscopic displacement, a static friction breakthrough program is triggered, injecting a set of asymmetric high-frequency micro-amplitude current pulse sequences into the servo driver. Based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained from the encoder feedback signal analysis, a decision is made through multi-modal collaborative switching logic to activate several corresponding compensation control modes. According to the activated compensation control modes and their corresponding parameters from the instantaneous friction response model, a composite compensation amount is calculated and superimposed on the output of the position loop controller to generate the final control command, which is then output to the servo driver.

[0008] Based on the above technical solution, in the servo turntable low-temperature friction adaptive compensation method provided in this application, a strategy of integrating multi-source information for working condition diagnosis and dynamic model construction, and executing multi-modal collaborative compensation control is adopted, which can realize high-precision and stable control of the servo turntable in complex and variable environments such as low temperature.

[0009] In conjunction with the first aspect mentioned above, in one possible implementation, performing pattern recognition processing on the multi-source environmental characteristic parameters and operating status characteristic parameters to generate operating condition diagnostic labels characterizing the current working environment and operating stage of the servo turntable includes: analyzing the real-time changing trends of the multi-source environmental characteristic parameters and extracting trend feature vectors containing temperature drop rate, air pressure fluctuation frequency, and wind pressure fluctuation energy spectrum; logically comparing and matching the trend feature vectors with a set of threshold intervals stored in the controller memory; and outputting operating condition diagnostic labels composed of several labels from the extremely low temperature start-up state, high-altitude low air pressure state, strong wind disturbance dynamics, and operating temperature rise transition state based on the matching results.

[0010] In conjunction with the first aspect described above, in one possible implementation, based on the operating condition diagnostic label, dynamically selecting a combination of targets from a library containing several basic physical effects, and combining this with the real-time collected ambient temperature and air pressure parameters, constructing an instantaneous friction response model matching the current operating condition includes: parsing the operating condition diagnostic label to determine the currently dominant friction physical effect type; based on the friction physical effect type, calling the corresponding low-temperature viscosity effect, boundary lubrication effect, and air pressure lubrication effect from the library containing several basic physical effects; using the real-time collected ambient temperature and air pressure as input, performing parameter interpolation calculations on the called effects, and generating an instantaneous friction response model output containing the equivalent viscosity coefficient and Coulomb friction force.

[0011] In conjunction with the first aspect above, in one possible implementation, the decision-making via multimodal collaborative switching logic includes: the multimodal collaborative switching logic receiving the operating condition diagnostic tag, the output of the instantaneous friction response model, and the micro-motion spectrum characteristics; if the operating condition diagnostic tag includes an extremely low temperature start-up state and the static friction threshold output by the instantaneous friction response model is greater than a preset torque threshold, then the static friction breakthrough mode is activated; if the encoder feedback signal indicates a micro-displacement exceeding the noise reference, then the system switches to a dynamic friction smoothing mode as the primary mode; if the micro-motion spectrum characteristics identify a frequency component that matches the wind load spectrum characteristics, then the disturbance feedforward cancellation mode in the compensation control mode is activated in parallel superimposed.

[0012] In conjunction with the first aspect above, in one possible implementation, after the dynamic friction smoothing mode is activated, the method further includes: estimating the cumulative heat dissipation characterizing the temperature rise of the servo turntable's mechanical structure based on the motor operating current and time in the operating state characteristic parameters; determining the compensation gain attenuation coefficient by querying a mapping table that defines the correspondence between heat dissipation and attenuation coefficient based on the cumulative heat dissipation; and dynamically reducing the compensation gain of the dynamic friction smoothing mode using the compensation gain attenuation coefficient.

[0013] In conjunction with the first aspect above, in one possible implementation, after the static friction breakthrough procedure is executed, the method further includes: monitoring the motor current response and encoder signal after the asymmetric high-frequency micro-amplitude current pulse sequence is injected; analyzing the motor current response and the encoder signal to determine whether a quasi-slip state has been established; generating a quasi-slip state establishment signal indicating whether the quasi-slip state has been established, and feeding the signal back to the multi-mode cooperative switching logic as a trigger condition for switching from the static friction breakthrough mode to the dynamic friction smoothing mode.

[0014] In conjunction with the first aspect above, in one possible implementation, the calculation of the composite compensation amount based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model includes: assigning a basic weight coefficient to each activated compensation control mode based on the contribution of the corresponding physical effect in the instantaneous friction response model; dynamically adjusting the corresponding weight of the disturbance feedforward cancellation mode in the activated compensation control mode according to the amplitude of the matching frequency component in the micro-motion spectrum characteristics; and vector-superimposing the compensation outputs of each compensation control mode after weighting according to their respective weights to generate the composite compensation amount.

[0015] In conjunction with the first aspect above, in one possible implementation, the method further includes: after the servo turntable completes one task cycle, recording and generating a position tracking error sequence and a motor current sequence; performing statistical analysis on the position tracking error sequence and the motor current sequence to generate a set of performance evaluation indicators; comparing the performance evaluation indicators with a set of benchmark indicators representing the optimal performance state of the system; if the performance degradation exceeds the tolerance, generating a model calibration command to trigger fine-tuning of specific parameters in the basic physical effects library.

[0016] In conjunction with the first aspect above, in one possible implementation, the method further includes: when the operating condition diagnostic label includes a high-altitude low-pressure state, increasing the selection priority and parameter weight of the air pressure lubrication effect when constructing the instantaneous friction response model; and adjusting the judgment threshold used to determine the temperature rise transition state in the operating condition diagnostic label in a linked manner, so that it is more sensitive to temperature rise in a low-pressure environment.

[0017] Secondly, a low-temperature friction adaptive compensation system for a servo turntable is provided, comprising: a multi-source feature extraction module for acquiring ambient temperature, air pressure, wind speed, and motor operating current during servo turntable operation, and fusing them to generate a set of multi-source environmental feature parameters and a set of operating state feature parameters; a working condition diagnosis module for performing pattern recognition processing on the multi-source environmental feature parameters and operating state feature parameters to generate working condition diagnosis labels characterizing the current working environment and operating stage of the servo turntable; a model dynamic construction module for dynamically selecting combined targets from a library containing several basic physical effects based on the working condition diagnosis labels, and combining them with the real-time acquired ambient temperature and air pressure parameters to construct an instantaneous friction response model matching the current working condition; and a static friction breakthrough execution module. The system comprises the following modules: a block for triggering a static friction breakthrough program and injecting a sequence of asymmetric high-frequency micro-amplitude current pulses into the servo driver when the operating condition diagnostic tag contains an extremely low temperature start indication and the servo turntable receives a displacement command but does not generate macroscopic displacement; a multi-modal collaborative decision module for making decisions based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained by analyzing the encoder feedback signal, and activating several corresponding compensation control modes; and a composite compensation calculation module for calculating the composite compensation amount based on the activated compensation control modes and their corresponding parameters from the instantaneous friction response model, superimposing the composite compensation amount onto the output of the position loop controller to generate the final control command, and outputting it to the servo driver.

[0018] Compared with the prior art, the present invention has the following advantages:

[0019] This invention integrates multi-source features of the environment and operating status to perform working condition diagnosis and dynamically construct an instantaneous friction response model that matches the current working condition. This enables accurate real-time prediction of the friction characteristics of the servo turntable, thereby making compensation control no longer dependent on a fixed, universal model. This improves the pertinence and accuracy of compensation and ensures the high-precision tracking performance of the servo turntable in variable environments.

[0020] This invention proposes a multi-modal cooperative switching control strategy, particularly for the static friction breakthrough procedure during ultra-low temperature startup and the smooth compensation mode during dynamic operation. Through precise switching based on physical state feedback, it effectively solves the contradiction between static friction breakthrough and dynamic smooth control that is difficult to achieve in traditional methods, realizes a smooth transition from stationary to moving, and suppresses stick-slip phenomenon and position overshoot during startup.

[0021] The method of this invention comprehensively considers multiple environmental factors such as temperature, air pressure, and wind speed, as well as the thermal effects of the system itself. By dynamically adjusting compensation strategies and parameters, it achieves comprehensive self-adaptation to complex working conditions. This comprehensive environmental adaptability enables the servo turntable to maintain stable and reliable operating performance under harsh and coupled external conditions such as high altitudes, low temperatures, and strong winds.

[0022] This invention establishes a self-learning calibration mechanism based on post-task performance evaluation. By analyzing actual operating data, it fine-tunes the model parameters in the basic physical effects library. This mechanism endows the system with long-term self-optimization capabilities, compensating for model mismatch caused by slow time-varying factors such as mechanical wear and grease aging, thus ensuring the long-term effectiveness and robustness of the compensation system.

[0023] It should be understood that the descriptions of technical features, technical solutions, beneficial effects, or similar language in this application do not imply that all features and advantages can be achieved in any single embodiment. Rather, it is understood that the description of a feature or beneficial effect means that a specific technical feature, technical solution, or beneficial effect is included in at least one embodiment. Therefore, the descriptions of technical features, technical solutions, or beneficial effects in this specification do not necessarily refer to the same embodiment. Furthermore, the technical features, technical solutions, and beneficial effects described in this embodiment can be combined in any suitable manner. Those skilled in the art will understand that embodiments can be implemented without one or more specific technical features, technical solutions, or beneficial effects of a particular embodiment. In other embodiments, additional technical features and beneficial effects may be identified in specific embodiments that do not embody all embodiments. Attached Figure Description

[0024] To more clearly illustrate the technical solutions 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 some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0025] Figure 1 A structural architecture diagram of a servo turntable low-temperature friction adaptive compensation system provided in this application embodiment;

[0026] Figure 2 A flowchart illustrating a servo turntable low-temperature friction adaptive compensation method provided in this application embodiment;

[0027] Figure 3 This is a graph showing the frictional torque characteristics under different ambient temperatures, as provided in the embodiments of this application.

[0028] Figure 4 This is a distribution diagram of the compensation gain attenuation coefficient as a function of heat dissipation and ambient temperature, provided in the embodiments of this application. Detailed Implementation

[0029] In the description of this application, unless otherwise stated, " / " means "or," for example, A / B can mean A or B. The "and / or" in this document is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, and B alone. Furthermore, "at least one" means one or more, and "multiple" means two or more. The terms "first," "second," etc., do not limit the quantity or order of execution, and "first," "second," etc., do not necessarily imply differences.

[0030] It should be noted that, in this application, the terms "exemplary" or "for example" are used to indicate that something is being described as an example, illustration, or illustration. Any embodiment or design described as "exemplary" or "for example" in this application should not be construed as being more preferred or advantageous than other embodiments or design solutions. Specifically, the use of terms such as "exemplary" or "for example" is intended to present the relevant concepts in a concrete manner.

[0031] The servo turntable low-temperature friction adaptive compensation method provided in this application embodiment can be applied to, for example... Figure 1 In a servo turntable low-temperature friction adaptive compensation system 100 shown, such as Figure 1 As shown, the system includes:

[0032] The multi-source feature extraction module is used to obtain the ambient temperature, air pressure, wind speed and motor operating current when the servo turntable is running, and to fuse them to generate a set of multi-source environmental feature parameters and a set of operating status feature parameters.

[0033] The working condition diagnosis module is used to perform pattern recognition processing on the multi-source environmental feature parameters and operating status feature parameters to generate working condition diagnosis labels that characterize the current working environment and operating stage of the servo turntable.

[0034] The model dynamic construction module is used to dynamically select combined targets from a library containing several basic physical effects based on the working condition diagnostic labels, and combine them with the real-time collected ambient temperature and air pressure generation parameters to construct an instantaneous friction response model that matches the current working condition.

[0035] The static friction breakthrough execution module is used to trigger the execution of the static friction breakthrough program when the working condition diagnostic label contains an extremely low temperature start indication and the servo turntable receives a displacement command but does not generate macroscopic displacement, and injects a set of asymmetric high-frequency micro-amplitude current pulse sequence into the servo driver.

[0036] The multimodal collaborative decision-making module is used to make decisions based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained by analyzing the encoder feedback signal, and to activate several corresponding compensation control modes through multimodal collaborative switching logic.

[0037] The composite compensation calculation module is used to calculate the composite compensation amount based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model, and to superimpose the composite compensation amount onto the output of the position loop controller to generate the final control command and output it to the servo driver.

[0038] like Figure 2 As shown in the figure, this application provides a servo turntable low-temperature friction adaptive compensation method, including:

[0039] The ambient temperature, air pressure, wind speed and motor operating current of the servo turntable are obtained during operation, and a set of multi-source environmental characteristic parameters and a set of operating status characteristic parameters are generated.

[0040] The multi-source environmental feature parameters and operating status feature parameters are processed by pattern recognition to generate working condition diagnostic labels that characterize the current working environment and operating stage of the servo turntable.

[0041] Based on the operating condition diagnostic labels, a combination of targets is dynamically selected from a library containing several basic physical effects, and combined with the real-time collected ambient temperature and air pressure generation parameters, an instantaneous friction response model matching the current operating condition is constructed.

[0042] When the working condition diagnostic label contains an extremely low temperature start indication and the servo turntable receives a displacement command but does not produce macroscopic displacement, the static friction breakthrough program is triggered to inject a set of asymmetric high-frequency micro-amplitude current pulse sequences into the servo driver.

[0043] Based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained by analyzing the encoder feedback signal, a decision is made through multi-modal cooperative switching logic to activate several corresponding compensation control modes.

[0044] Based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model, the composite compensation amount is calculated and superimposed on the output of the position loop controller to generate the final control command, which is then output to the servo driver.

[0045] It should be noted that by constructing a complete information closed loop from environmental perception to control execution, real-time, dynamic, and precise compensation for frictional characteristics is achieved. First, by fusing multi-source data on the environment and operating status, pattern recognition technology is used to diagnose the current operating condition, quantifying it into labels with clear physical meaning. Next, based on this prediction, an instantaneous frictional response model highly matched to the current environment and operating stage is dynamically constructed. This model can predict key parameters of frictional force in real time. Under specific operating conditions, such as extremely low-temperature static start-up, a dedicated static friction breakthrough program is triggered. By injecting a micro-amplitude high-frequency current, the frictional contact state is actively changed, creating conditions for subsequent smooth motion. Then, the multi-modal collaborative switching logic intelligently decides to activate one or more compensation control modes based on the predicted output of the friction model and real-time micro-motion feedback signals. Finally, based on the activated modes and their parameters, a composite compensation amount is calculated and superimposed on the conventional position control loop to directly correct the control command, thereby offsetting the complex and time-varying frictional effects.

[0046] In one possible implementation of the embodiments of this application, combined with Figure 2 The multi-source environmental characteristic parameters and operating status characteristic parameters are processed by pattern recognition to generate working condition diagnostic labels characterizing the current working environment and operating stage of the servo turntable, including:

[0047] Analyze the real-time changing trends of the multi-source environmental characteristic parameters and extract trend feature vectors including temperature drop rate, air pressure fluctuation frequency and wind pressure fluctuation energy spectrum;

[0048] The trend feature vector is logically compared and matched with a set of threshold intervals stored in the controller's memory.

[0049] Based on the matching results, the output consists of several labels from the following states: extremely low temperature start-up state, high altitude low pressure state, strong wind disturbance state, and operating temperature rise transition state.

[0050] In some implementations, time-domain analysis is performed on the collected multi-source environmental characteristic parameters, namely ambient temperature, air pressure, and wind speed, to extract their dynamic change characteristics, thereby constructing a trend feature vector. The calculation process of this vector is as follows: First, calculate the temperature drop rate. This parameter characterizes the severity of ambient temperature changes, with particular attention to the material shrinkage and grease viscosity surge caused by sudden cooling during the start-up phase of the servo turntable. Its calculation formula is:

[0051] ;

[0052] in, This is the ambient temperature value sampled at the current moment and then low-pass filtered. for Temperature value before one sampling period The sampling period for the controller is typically between 1 and 10 milliseconds. This is the number of sampling points within the time window, for example, N=100. This parameter is calculated to identify potential cryogenic initiation states. Second, the dominant frequency of pressure fluctuations is calculated. This parameter is used to identify periodic pressure disturbances caused by atmospheric instability or specific scenarios such as changes in the flight attitude of an airborne platform. The system performs a Fast Fourier Transform on the continuously acquired pressure data sequence and determines the peak frequency point in the spectrum, which is the dominant frequency. Third, the energy spectrum of wind pressure fluctuations is calculated. This parameter quantifies the intensity and energy distribution of wind load disturbances. Real-time wind speed data is first converted into equivalent wind pressure, and then its energy integral within the relevant frequency band is calculated. The frequency band typically focused on is 0.1-10 Hz, covering most of the frequency range of natural wind and platform structure resonance. After obtaining the trend feature vector containing the temperature drop rate, the dominant frequency of air pressure fluctuations, and the energy spectrum of wind pressure fluctuations, the controller performs a logical comparison and matching with a set of preset threshold intervals in non-volatile memory. These threshold intervals are calibrated based on historical experimental data and simulation analysis of the servo turntable. For example, when the ambient temperature is below -40 degrees Celsius and the temperature drop rate... When the absolute value exceeds a certain set value, it is determined to enter the extremely low temperature start-up state. When the air pressure value is below 70 kPa, it is determined to enter the high-altitude low-pressure state. When the wind pressure fluctuation energy spectrum When the wind disturbance tolerance threshold is exceeded, the system is determined to be in a strong wind disturbance state. When the internal temperature rise estimated based on the motor operating current exceeds a preset temperature difference, such as 15 degrees Celsius, the system is determined to be in a temperature rise transition state. Based on the matching results of the above logical comparisons, a set of operating condition diagnostic labels consisting of one or more tags is finally generated and output. For example, when starting a turntable in a high-altitude winter morning in the field, its operating condition diagnostic labels may simultaneously include three tags: "extremely low temperature start-up state," "high-altitude low air pressure state," and "strong wind disturbance state," comprehensively characterizing the complex working environment and operating stage currently faced by the servo turntable.

[0053] For example, ambient temperature, air pressure, and wind speed data are collected in real time, and a sampling period is set. ,exist Within the time window, if the current filtered temperature value And the temperature value 1 second ago Then, substituting into the formula, the rate of temperature drop is calculated as follows: Because the temperature is lower than Furthermore, the absolute value of the temperature drop rate was relatively large, initially identifying characteristics of drastic environmental change. Simultaneously, a Fast Fourier Transform was performed on the collected air pressure sequence to identify the dominant frequency of air pressure fluctuations. and calculate The energy spectrum of wind pressure fluctuations within the frequency band, if the energy integral is calculated based on the current wind speed. The controller will contain Comparing the trend feature vector with the memory threshold, if the extreme low temperature threshold is set to... The threshold for low air pressure on plateaus is Assuming the current air pressure is The threshold value of the energy spectrum of strong wind disturbance is The logical matching result directly outputs a working condition diagnostic label consisting of "extremely low temperature start-up state", "high plateau low air pressure state" and "strong wind disturbance state", thus providing discretized decision support for subsequent instantaneous friction response models based on different physical effect libraries.

[0054] In one possible implementation, combining Figure 2 Based on the operating condition diagnostic tags, a combination of targets is dynamically selected from a library containing several basic physical effects, and combined with the real-time collected ambient temperature and air pressure generation parameters, an instantaneous friction response model matching the current operating condition is constructed, including:

[0055] Analyze the operating condition diagnostic tags to determine the currently dominant type of tribophysical effect;

[0056] Based on the type of frictional physical effect, the corresponding low-temperature viscosity effect, boundary lubrication effect, and air pressure lubrication effect are retrieved from the library containing several basic physical effects;

[0057] Using the real-time collected ambient temperature and air pressure as input, the parameters of the invoked effect are interpolated to generate an instantaneous friction response model output that includes the equivalent viscosity coefficient and Coulomb friction force.

[0058] In some implementations, the diagnostic labels for operating conditions are parsed. The parsing process is a logical mapping, translating the label combinations into a set of dominant frictional physical effect types. For example, when the label contains "extremely low temperature start-up state," the low-temperature viscosity effect is identified as the most critical physical effect, because the viscosity of lubricating grease increases exponentially at low temperatures, becoming the main source of frictional torque. If the label also contains "high-altitude low-pressure state," the air pressure lubrication effect is also activated to correct the impact of reduced film lubrication capacity caused by thin air on friction. Based on the determined physical effect type, the corresponding calculation model or data table is called from its internally stored library of basic physical effects. This library is pre-established through offline experiments or high-precision simulations and contains parameterized models describing key physical phenomena such as low-temperature viscosity, boundary lubrication, and air pressure lubrication. The calling process is not a simple model selection, but rather determines the combination of one or more basic physical effect models based on the combination of diagnostic labels for operating conditions. The real-time collected ambient temperature and air pressure are used as core input variables to perform parameter interpolation calculations on the called effect models. This calculation process aims to transform discrete, pre-stored model data into friction parameters that precisely match the current continuously changing operating conditions. For example, a simplified instantaneous friction torque model can be represented as follows:

[0059] ;

[0060] in, This represents the total frictional torque output by the instantaneous frictional response model. Representing Coulomb friction, its magnitude is influenced by both boundary lubrication and air pressure lubrication effects, and its value is obtained by bilinear interpolation through a two-dimensional lookup table indexed by temperature and air pressure. The equivalent viscosity coefficient is mainly determined by the low-temperature viscosity effect, and its value is obtained by linear interpolation of a one-dimensional lookup table indexed by temperature. The real-time angular velocity of the servo turntable is calculated from the encoder feedback signal after differential and low-pass filtering. A set of key parameters characterizing the frictional properties under the current operating condition is output, namely the Coulomb friction force corrected for real-time environmental data. and equivalent viscosity coefficient This set of parameters constitutes the final output of the instantaneous friction response model and is transmitted downstream as the direct basis for real-time friction compensation. For example... Figure 3 The figure shows the friction torque characteristic curves under different ambient temperatures. It can be seen from the figure that at extremely low temperatures... Below, the intercept of the curve represents the Coulomb friction force. The slope represents the viscosity coefficient. All of these are significantly higher than at room temperature. This invention can capture and quantify these drastic changes in physical properties in real time through dynamic model construction.

[0061] For example, the model dynamically resolves the current operating condition diagnostic labels as "extremely low temperature start-up state" and "high altitude low air pressure state," and accordingly calls the low temperature viscosity effect and air pressure lubrication effect models from the basic physical effect library. The ambient temperature is collected in real time. air pressure is In the parameter interpolation calculation, a pre-stored two-dimensional lookup table is retrieved, if the temperature... And air pressure The corresponding Coulomb friction force is ,temperature And air pressure The corresponding Coulomb friction force is The instantaneous Coulomb friction force is calculated using bilinear interpolation. At the same time, according to temperature Linear interpolation is performed on the one-dimensional viscosity coefficient table to obtain the equivalent viscosity coefficient. If the encoder feeds back and filters to calculate the real-time angular velocity at this time... Then, substituting this into the instantaneous friction torque formula, we can obtain the predicted value of the total friction torque. The final output shows the corrected key parameters. and This provides accurate real-time descriptions of the tribophysical properties of downstream applications.

[0062] In one possible implementation, combining Figure 2 The decision-making process via multimodal cooperative switching logic includes:

[0063] The multimodal cooperative switching logic receives the operating condition diagnostic tag, the output of the instantaneous friction response model, and the micro-motion spectrum characteristics;

[0064] If the operating condition diagnostic label includes an extremely low temperature start-up state and the static friction threshold output by the instantaneous friction response model is greater than the preset torque threshold, then the static friction breakthrough mode is activated.

[0065] If the encoder feedback signal indicates a micro-displacement exceeding the noise reference, the mode is switched to be primarily dynamic friction smoothing mode.

[0066] If the micro-motion spectrum features identify frequency components that match the wind load spectrum features, then the disturbance feedforward cancellation mode in the compensation control mode is activated in parallel superposition.

[0067] In some implementations, the multimodal collaborative switching logic acts as a rule set engine, running within each control cycle and receiving three types of key input information. The first type is a condition diagnostic label, providing a qualitative description of the macroscopic environment and operational phase. The second type is the output of the instantaneous friction response model, specifically the quantified static friction threshold and equivalent viscosity coefficient, providing a quantitative prediction of the current friction characteristics. The third type is micro-vibration spectrum characteristics, obtained through short-time Fourier transform or wavelet analysis of the position signal fed back by the high-resolution encoder, used to identify minute vibration characteristics caused by external disturbances or internal nonlinearities in real time. Based on the above inputs, the logic makes decisions according to a set of preset, prioritized rules. It checks the conditions related to startup. If the input condition diagnostic label explicitly includes "ultra-low temperature startup state," and the instantaneous friction response model predicts the static friction threshold, i.e., the Coulomb friction force... It exceeded the preset torque threshold. If the friction is detected, the logic unit immediately activates the static friction breakthrough mode. This torque threshold is typically set to around 75% of the motor's rated output torque to determine if the friction is too great for a conventional PID controller to overcome smoothly without overshoot. Activating this mode is a prerequisite for subsequent execution of the static friction breakthrough procedure. After receiving the command and attempting movement, the logic unit continuously monitors the encoder feedback. Once a micro-displacement exceeding a preset noise baseline is detected in the servo turntable's position feedback signal, such as a small angular change corresponding to several encoder pulses, it indicates that the servo turntable has entered the pre-slip or macro-slip stage from a purely stationary state. At this point, the logic unit switches the core of the control strategy from static friction processing to dynamic friction processing, setting the dynamic friction smoothing mode as the primary activation mode. The logic unit processes external disturbances in parallel, continuously analyzing the micro-motion spectrum characteristics and comparing them with typical wind load spectrum characteristics stored in the controller. If a significant frequency component matching the wind load spectrum characteristics is identified, such as an energy peak in the 0.2 to 5 Hz band, it is determined that a strong wind disturbance is occurring. In this scenario, the logic unit will simultaneously superimpose the activated disturbance feedforward cancellation mode onto the already activated dynamic friction smoothing mode. The parallel activation of these two modes achieves synchronous and decoupled compensation for internal friction nonlinearity and external wind load disturbance.

[0068] For example, the multimodal cooperative switching logic receives the operating condition diagnostic tag "extremely low temperature start-up state" during the control cycle, and the static friction threshold output by the instantaneous friction response model. And the micro-motion spectrum characteristics. If the rated torque of the servo motor is Preset torque threshold Calculated as Because of the detection Furthermore, being in an extremely low-temperature startup state, the logic unit immediately activates the static friction breakthrough mode. When attempting to execute a displacement command, if the high-resolution encoder detects a change in position... It has exceeded the preset displacement noise benchmark. Upon determining that the turntable has established a quasi-sliding state, the main control mode is automatically switched to the dynamic friction smoothing mode. Simultaneously, if the micro-motion spectrum characteristics are displayed... A significant energy peak exists at a frequency that matches the pre-stored wind load spectrum characteristics. Logic units are superimposed in parallel to activate the perturbation feedforward cancellation mode, achieving internal [control / control] through multi-mode collaboration. Synchronous decoupling control of frictional torque and external wind load frequency components.

[0069] In one possible implementation, combining Figure 2 After the dynamic friction smoothing mode is activated, the method further includes:

[0070] Based on the motor operating current and time in the operating state characteristic parameters, the cumulative heat dissipation characterizing the temperature rise of the servo turntable mechanical structure is estimated.

[0071] Based on the accumulated heat dissipation, the compensation gain attenuation coefficient is determined by querying a mapping table that defines the correspondence between heat dissipation and attenuation coefficient.

[0072] The compensation gain of the dynamic friction smoothing mode is dynamically reduced using the aforementioned compensation gain attenuation coefficient.

[0073] In some implementations, the cumulative heat dissipation, characterizing the temperature rise of the servo turntable's mechanical structure, is estimated online based on the motor operating current and operating time, which are characteristic parameters of the operating state. This estimation primarily considers the Joule heating effect of the motor windings, as this is the most significant and predictable internal heat source during servo turntable operation. The cumulative heat dissipation is approximated by integrating the motor power consumption over time, and the formula is as follows:

[0074] ;

[0075] in, The amount of accumulated heat dissipation is directly related to the energy conducted to the bearing and grease. The effective value of the motor operating current is collected in real time for each control cycle, which is a core operating status characteristic parameter. This is the equivalent resistance of the motor windings, which is a pre-calibrated constant. This is the sampling period for the control system. This cumulative calculation begins at the moment the dynamic friction smoothing mode is activated, providing a quantified temperature rise indicator for subsequent gain adjustments. The calculated cumulative heat dissipation is then used as the basis for further calculations. The compensation gain attenuation coefficient is determined by querying a mapping table pre-stored in the controller's memory. This mapping table defines a one-to-one correspondence between accumulated heat dissipation and the attenuation coefficient, and is obtained through offline experiments calibrating the temperature rise and friction torque variation curves of the servo turntable under different operating conditions. The compensation gain attenuation coefficient is a dimensionless value between 0 and 1. For example, when... A value of zero represents a cold start state, with a decay coefficient of 1.0, indicating no decay occurs. As... As the coefficient increases, the attenuation coefficient decreases non-linearly. When thermal equilibrium is reached, its value may stabilize at a low level, such as 0.3. Using this real-time queried compensation gain attenuation coefficient, the compensation gain of the dynamic friction smoothing mode is dynamically adjusted downwards. This means that the compensation torque amplitude output by this mode will be multiplied by this attenuation coefficient. This operation enables friction compensation to intelligently adapt to the internal temperature rise effect caused by the motor's own operation. When the viscosity of the lubricating grease decreases due to heat, and friction naturally decreases, the compensation effect also weakens accordingly. This ensures that the servo turntable maintains stable and accurate tracking performance throughout the entire process from cold start to stable hot operation, effectively preventing system oscillations caused by overcompensation. Figure 4 The figure shows a thermogram illustrating the distribution of the compensation gain attenuation coefficient as a function of cumulative heat dissipation and ambient temperature. The darker areas in the figure represent the high-gain compensation region, where the cumulative heat dissipation increases with operation. As the attenuation coefficient increases, it exhibits a non-linear downward trend, which intuitively reflects the active compensation and retraction logic of this invention for internal mechanical temperature rise.

[0076] For example, when the dynamic friction smoothing mode is activated, the motor operating current is monitored in real time and the cumulative heat dissipation is calculated, and the equivalent resistance of the motor windings is set. Control the sampling period If the effective current of the motor remains at a certain level for a period of time... Then the increase in heat energy generated in each cycle is After running for a period of time, the accumulated heat dissipation reaches Based on this If the heat dissipation is defined in the memory mapping table, then... The corresponding attenuation coefficient is Then, the compensation gain attenuation coefficient is extracted. If the original dynamic compensation torque calculated from the instantaneous friction response model is at this time... The final output compensation torque is dynamically adjusted to... This method counteracts the physical effect of reduced frictional torque caused by temperature rise in the mechanical structure, effectively preventing overcompensation of fixed gain under hot operating conditions.

[0077] In one possible implementation, combining Figure 2 After the static friction breakthrough procedure is executed, the method further includes:

[0078] Monitor the motor current response and encoder signal after injecting the asymmetric high-frequency micro-amplitude current pulse sequence;

[0079] Analyze the motor current response and the encoder signal to determine whether a quasi-slip state has been established;

[0080] A quasi-slip state establishment signal is generated to indicate whether the quasi-slip state has been established, and the signal is fed back to the multi-mode cooperative switching logic as a trigger condition for switching from the static friction breakthrough mode to the dynamic friction smoothing mode.

[0081] In some implementations, after the static friction breakthrough procedure is executed—that is, after injecting a set of preset asymmetric high-frequency micro-amplitude current pulse sequences into the servo driver—the control system immediately enters a high-frequency monitoring state. In this state, the actual current response of the motor and the position feedback signal from the high-resolution encoder are continuously acquired. Monitoring the motor current response confirms whether the driver accurately executed the injection command, while monitoring the encoder signal is the core of judging the breakthrough effect. Real-time analysis of the acquired signal sequences determines whether a key intermediate state, namely the quasi-slip state, has been established. The quasi-slip state is an engineering term describing a situation where, macroscopically, the friction pair does not produce continuous displacement, but microscopically, the intermolecular bonds of static friction have been broken, resulting in a critical "waiting-to-slip" state under high-frequency micro-amplitude vibration. The algorithm for determining whether this state has been established is as follows: calculate the standard deviation of the encoder position signal within a short time window and compare it with a preset threshold. The judgment criteria are expressed as follows:

[0082] ;

[0083] ;

[0084] in, This is the signal for establishing the quasi-sliding state. A value of 1 indicates that the state has been established, and a value of 0 indicates that it has not been established. This represents the function for calculating standard deviation. to Represents the current moment and the preceding moments. The encoder position reading sequence within one sampling period, Typically, a value of 20 to 50 is used to form an analysis window of tens of milliseconds. It is a tiny position standard deviation threshold, calibrated based on the background noise level of the encoder signal when the servo turntable is in a completely stationary locked state, used to distinguish between real micro-vibrations and measurement noise. The generated quasi-slip state establishment signal This information is fed back in real time to the multimodal collaborative switching logic. Within the internal state machine of this logic, The core transition condition is that the system is currently in the static friction breakthrough mode and receives [the necessary parameters]. When the signal changes from 0 to 1, the state machine is triggered, immediately and seamlessly switching the dominant compensation control mode from the static friction breakthrough mode to the dynamic friction smoothing mode. This precise switching mechanism based on physical state feedback ensures that the control system can immediately switch to smooth compensation for dynamic friction the moment static friction is effectively overcome, thereby achieving a smooth start-up of the servo turntable from a stationary position to motion.

[0085] For example, after injecting an asymmetric current pulse sequence in the static friction breakthrough procedure, high-frequency monitoring is enabled, and the number of sampling points in the analysis window is set. Real-time acquisition of encoder position sequences; if the background noise standard deviation threshold is calibrated to... Within the current time window, if the standard deviation of the collected location reading sequence is calculated... Substituting into the criterion formula because The static friction key was determined to be microscopically damaged, and a quasi-sliding state establishment signal was generated. The signal immediately changes from 0 to 1. This signal is fed back to the multi-modal collaborative switching logic in real time, triggering the state machine to seamlessly switch the compensation mode from the static friction breakthrough mode to the dynamic friction smoothing mode. This ensures that after the servo turntable detects the critical sliding state at the physical level, it immediately switches from pulse injection to continuous dynamic compensation, effectively avoiding system startup vibration that may be caused by delayed switching.

[0086] In one possible implementation, combining Figure 2 The composite compensation amount calculated based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model includes:

[0087] For each activated compensation control mode, a basic weight coefficient is assigned based on the contribution of the corresponding physical effect in the instantaneous friction response model;

[0088] For the disturbance feedforward cancellation mode in the activated compensation control mode, its corresponding weight is dynamically adjusted according to the amplitude of the matching frequency component in the micro-motion spectrum characteristics.

[0089] The compensation outputs of each compensation control mode are weighted according to their respective weights and then vector-superimposed to generate a composite compensation quantity.

[0090] In some implementations, a basic weight coefficient is assigned to each compensation control mode activated by the multimodal collaborative switching logic. This coefficient is determined based on the relative contribution of each physical effect in the instantaneous friction response model. For example, by analyzing the Coulomb friction and equivalent viscosity coefficient output by the model, and considering the current operating speed of the servo turntable, it is assessed whether static / Coulomb friction or viscous friction is dominant. This results in a basic weight proportional to the strength of the dominant effect for the dynamic friction smoothing mode; this basic weight coefficient is a dimensionless number between 0 and 1. Based on this, the weights of specific compensation control modes are dynamically fine-tuned. Specifically, for disturbance feedforward cancellation modes activated in parallel, their weights are dynamically adjusted above the basic weight based on the real-time amplitude of the frequency component matching the wind load spectrum in the micro-motion spectrum characteristics. This means that the stronger the wind disturbance, the more dynamically the weight of this mode increases, enhancing its role in feedforward compensation. All activated compensation control modes are weighted according to their final weights, and the weighted compensation outputs are vector-superimposed to generate the final composite compensation amount. The calculation formula is as follows:

[0091] ;

[0092] in, The final composite compensation amount is added to the output of the position loop controller in torque units. For the first The final weight of an activated mode is determined by the base weight coefficient and the possible dynamic adjustment. For the first The compensation torque value is calculated independently for each mode, for example, the dynamic friction smoothing mode. The output is directly derived from the instantaneous friction response model, while the perturbation feedforward cancellation mode... This is a torque signal generated by a disturbance observer or adaptive filter to counteract disturbances at a specific frequency. The generation of this composite compensation ensures that the control system can focus on compensating for the dominant disturbance source while also taking into account secondary factors, achieving optimal control performance under multiple objectives.

[0093] For example, when the dynamic friction smoothing mode and the disturbance feedforward cancellation mode are activated in parallel, the basic weighting coefficients are first assigned to the dynamic friction smoothing mode based on the ratio of Coulomb friction force to viscosity coefficient output by the instantaneous friction response model. For the disturbance feedforward cancellation mode, its basic weight is set to 0.3. Based on the micro-motion spectrum characteristics, the wind load frequency component amplitude is identified as having a strong amplitude. Its weight is increased by 0.1 through dynamic adjustment to obtain the final weight. If the compensation torque is calculated independently for the dynamic friction smoothing mode at this time... Compensation torque calculated for disturbance feedforward cancellation mode Execute the vector superposition formula Substitute the data to calculate the final composite compensation amount. This composite compensation is superimposed on the output of the position loop controller, ensuring that while maintaining the dominant friction compensation, the feedforward cancellation effect can be dynamically enhanced based on the real-time wind disturbance energy spectrum intensity, thus achieving accurate torque synthesis under multi-source disturbances.

[0094] In one possible implementation, combining Figure 2 The method further includes:

[0095] After the servo turntable completes one task cycle, the position tracking error sequence and the motor current sequence are recorded and generated.

[0096] Statistical analysis is performed on the position tracking error sequence and the motor current sequence to generate a set of performance evaluation indicators;

[0097] The performance evaluation index is compared with a set of benchmark indexes representing the optimal performance state of the system. If the performance degradation exceeds the tolerance limit, a model calibration instruction is generated to trigger fine-tuning of specific parameters in the basic physical effects library.

[0098] In some implementations, this step aims to establish a long-term offline self-learning and model optimization closed loop for the entire adaptive compensation system. This ensures that the parameters in the basic physical effects library do not gradually become invalid due to slow time-varying factors such as mechanical wear of the servo turntable and grease aging, thereby maintaining the compensation accuracy of the system over the long term. This process is triggered after the servo turntable completes a complete and representative task cycle, such as a full-range scan or a typical tracking task. First, two key time-series data are recorded and cached: the position tracking error sequence, i.e., the difference between the commanded position and the encoder feedback position in each control cycle; and the motor current sequence, i.e., the actual current value output from the servo driver to the motor. Offline statistical analysis is performed on these two recorded sequences to extract a set of performance evaluation metrics that can quantify the performance of this task. These metrics include, but are not limited to: the root mean square value of the position tracking error, used to evaluate the overall tracking accuracy; the maximum absolute value of the position tracking error, used to evaluate the instantaneous deviation in the worst case; and the variance of the motor current fluctuation, used to indirectly evaluate the smoothness of the control output and the energy efficiency of the system. For example, the formula for calculating the root mean square value of the position tracking error is:

[0099] ;

[0100] in, This is the root mean square value of the position tracking error in the performance evaluation metrics. The first in the position tracking error sequence The value of each sampling point. This represents the total number of sampling points for the sequence. This set of freshly calculated performance evaluation metrics is compared to a set of benchmark metrics stored in the controller's non-volatile memory. These benchmark metrics represent the optimal performance level of the servo turntable under ideal or initial calibration conditions. The comparison results are used to determine if unacceptable performance degradation has occurred. If the relative deviation between the current performance evaluation metrics and the benchmark metrics exceeds a preset tolerance, for example, if the root mean square error deteriorates by more than 20%, a model mismatch is determined, and a digital model calibration command is generated. This model calibration command triggers a background parameter fine-tuning program. This program does not re-identify the entire model, but rather makes targeted minor adjustments to specific parameters in the basic physical effects library based on the specific characteristics of performance degradation. For example, if the analysis finds that the error is mainly concentrated at low-speed reversing points, the fine-tuning program will prioritize adjusting the Coulomb friction parameters related to boundary lubrication effects; if it finds that the current consumption at high speeds is significantly higher than the benchmark, it will fine-tune the equivalent viscosity coefficient related to low-temperature viscosity effects. This fine-tuning mechanism based on post-task evaluation ensures the long-term effectiveness of the friction model and the robustness of the compensation system.

[0101] For example, after the servo turntable completes one omnidirectional scan task, the position tracking error sequence is recorded and its root mean square value is calculated, and the number of sampling points is set. If the sum of squared errors at each point is Substituting into the formula, we get Compare this measured metric with a benchmark metric stored in non-volatile memory, such as... By comparison, the performance degradation was calculated to be... Because the degree of deterioration exceeded the preset limit. The tolerance is determined, and model mismatch is identified due to mechanical wear or grease aging. A model calibration command is then generated. If the analysis reveals that the error is mainly concentrated in the low-speed commutation phase, the fine-tuning program will target the Coulomb friction parameters corresponding to the boundary lubrication effects in the basic physics effects library. Make minor adjustments to keep it within the original range. Slight increase on the basis That is, updated to This allows for closed-loop optimization of compensation accuracy through a long-cycle self-learning mechanism.

[0102] In one possible implementation, combining Figure 2 The method further includes:

[0103] When the operating condition diagnostic label includes the high-altitude low-pressure state, the selection priority and parameter weight of the air pressure lubrication effect are increased when constructing the instantaneous friction response model;

[0104] The threshold for determining the temperature rise transition state in the generated operating condition diagnostic label is adjusted in a coordinated manner, making it more sensitive to temperature rise under low pressure conditions.

[0105] In some implementations, this step aims to achieve deep coupling and optimization of the internal logic of the adaptive compensation method for the specific operating condition of high-altitude low-pressure environments, which significantly impacts servo performance. This improves the compensation's specificity and robustness under low-pressure conditions. The method is triggered by the appearance of "high-altitude low-pressure state" in the operating condition diagnostic label. Once activated, two interconnected adjustment actions are executed in parallel. The first action affects the construction process of the instantaneous friction response model. During this process, when the model dynamic construction module selects a combination target from the library of basic physical effects, it forcibly increases the selection priority of the air pressure lubrication effect. This means that even if other effects, such as low-temperature viscosity, also exist, the friction change model related to air pressure will be prioritized and assigned higher parameter weights. In practice, this means that when calculating the total friction torque, the contribution of the friction increment caused by the reduced air film support and damping due to thin air will be amplified in the model, ensuring that the friction prediction accurately reflects the physical reality of the high-altitude environment. The second action is a linked adjustment that acts inversely on the judgment logic for generating the operating condition diagnostic label. The system automatically adjusts the threshold parameters used to determine the "operational temperature rise transition state," making it more sensitive to temperature rise in low-pressure environments. The engineering principle behind this is that in low-pressure environments, the thin air and significantly lower convective heat dissipation efficiency compared to sea level result in a faster rate of temperature rise for the internal structure and lubricating grease under the same load, making it more likely to reach temperatures that affect lubrication performance. Therefore, the internal temperature rise threshold required to trigger the "operational temperature rise transition state" label is dynamically lowered. For example, under standard atmospheric pressure, this threshold might be set at an estimated internal temperature rise exceeding the ambient temperature by 15 degrees Celsius, while in high-altitude, low-pressure conditions, this threshold is automatically lowered to 10 degrees Celsius. This coordinated adjustment ensures earlier identification of changes in frictional characteristics caused by poor heat dissipation and timely activation of corresponding compensation gain attenuation strategies, preventing compensation inaccuracies due to excessively rapid temperature rise in high-altitude environments.

[0106] For example, when the generated operating condition diagnostic label includes "high-altitude low-pressure state," the model dynamically increases the weighting coefficient of the air pressure lubrication effect. If the weighting of the air pressure lubrication effect was 0.33 when all effects were initially equally weighted, it is forcibly increased to 0.6. Simultaneously, the judgment threshold is lowered, reducing the temperature rise judgment threshold representing the "operational temperature rise transition state" from the standard air pressure threshold. Dynamically adjusted to If the internal cumulative temperature rise estimated based on the motor current is at this time... Under standard operating conditions, the tag will not be triggered, but under the current low-pressure conditions at high altitudes, due to... The system immediately determines that it has entered a "heating transition state," thereby activating the compensation gain attenuation strategy in advance. Through this deep coupling mechanism, it effectively compensates for the weakened air film lubrication caused by the thin air and solves the problem of excessively rapid temperature rise caused by the decrease in convective heat dissipation efficiency under high-altitude and low-pressure environments.

[0107] It should be noted that the electrical connections between the various units described above do not necessarily represent direct or indirect connections. Any indirect connection method can be applied to the embodiments of the present invention as long as it achieves the purpose of the present invention. The above descriptions are merely exemplary embodiments of the present invention and should not be construed as limiting the scope of the present invention.

[0108] All equivalent changes and modifications made in accordance with the teachings of this invention are still within the scope of this invention. Those skilled in the art will readily conceive of other embodiments of this invention upon considering the specification and the disclosure of practical truth. This application is intended to cover any variations, uses, or adaptations of this invention that follow the general principles of this invention and include common knowledge or conventional techniques in the art not described herein.

Claims

1. A low-temperature friction adaptive compensation method for a servo turntable, characterized in that, The method includes: The ambient temperature, air pressure, wind speed and motor operating current of the servo turntable are obtained during operation, and a set of multi-source environmental characteristic parameters and a set of operating status characteristic parameters are generated. The multi-source environmental feature parameters and operating status feature parameters are processed by pattern recognition to generate working condition diagnostic labels that characterize the current working environment and operating stage of the servo turntable. Based on the operating condition diagnostic labels, a combination of targets is dynamically selected from a library containing several basic physical effects, and combined with the real-time collected ambient temperature and air pressure generation parameters, an instantaneous friction response model matching the current operating condition is constructed. When the working condition diagnostic label contains an extremely low temperature start indication and the servo turntable receives a displacement command but does not produce macroscopic displacement, the static friction breakthrough program is triggered to inject a set of asymmetric high-frequency micro-amplitude current pulse sequences into the servo driver. Based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained by analyzing the encoder feedback signal, a decision is made through multi-modal cooperative switching logic to activate several corresponding compensation control modes. Based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model, the composite compensation amount is calculated and superimposed on the output of the position loop controller to generate the final control command, which is then output to the servo driver.

2. The servo turntable low-temperature friction adaptive compensation method according to claim 1, characterized in that, Pattern recognition processing is performed on the multi-source environmental characteristic parameters and operating status characteristic parameters to generate condition diagnostic labels that characterize the current working environment and operating stage of the servo turntable, including: Analyze the real-time changing trends of the multi-source environmental characteristic parameters and extract trend feature vectors including temperature drop rate, air pressure fluctuation frequency and wind pressure fluctuation energy spectrum; The trend feature vector is logically compared and matched with a set of threshold intervals stored in the controller's memory. Based on the matching results, the output consists of several labels from the following states: extremely low temperature start-up state, high altitude low pressure state, strong wind disturbance state, and operating temperature rise transition state.

3. The servo turntable low-temperature friction adaptive compensation method according to claim 1, characterized in that, Based on the aforementioned operating condition diagnostic tags, a combination of targets is dynamically selected from a library containing several basic physical effects, and combined with the real-time collected ambient temperature and air pressure generation parameters, an instantaneous friction response model matching the current operating condition is constructed, including: Analyze the operating condition diagnostic tags to determine the currently dominant type of tribophysical effect; Based on the type of frictional physical effect, the corresponding low-temperature viscosity effect, boundary lubrication effect, and air pressure lubrication effect are retrieved from the library containing several basic physical effects; Using the real-time collected ambient temperature and air pressure as input, the parameters of the invoked effect are interpolated to generate an instantaneous friction response model output that includes the equivalent viscosity coefficient and Coulomb friction force.

4. The servo turntable low-temperature friction adaptive compensation method according to claim 1, characterized in that, The decision-making process via multimodal cooperative switching logic includes: The multimodal cooperative switching logic receives the operating condition diagnostic tag, the output of the instantaneous friction response model, and the micro-motion spectrum characteristics; If the operating condition diagnostic label includes an extremely low temperature start-up state and the static friction threshold output by the instantaneous friction response model is greater than the preset torque threshold, then the static friction breakthrough mode is activated. If the encoder feedback signal indicates a micro-displacement exceeding the noise reference, the mode is switched to be primarily dynamic friction smoothing mode. If the micro-motion spectrum features identify frequency components that match the wind load spectrum features, then the disturbance feedforward cancellation mode in the compensation control mode is activated in parallel superposition.

5. The servo turntable low-temperature friction adaptive compensation method according to claim 4, characterized in that, After the dynamic friction smoothing mode is activated, the method further includes: Based on the motor operating current and time in the operating state characteristic parameters, the cumulative heat dissipation characterizing the temperature rise of the servo turntable mechanical structure is estimated. Based on the accumulated heat dissipation, the compensation gain attenuation coefficient is determined by querying a mapping table that defines the correspondence between heat dissipation and attenuation coefficient. The compensation gain of the dynamic friction smoothing mode is dynamically reduced using the aforementioned compensation gain attenuation coefficient.

6. The servo turntable low-temperature friction adaptive compensation method according to claim 4, characterized in that, After the static friction breakthrough procedure is executed, the method further includes: Monitor the motor current response and encoder signal after injecting the asymmetric high-frequency micro-amplitude current pulse sequence; Analyze the motor current response and the encoder signal to determine whether a quasi-slip state has been established; A quasi-slip state establishment signal is generated to indicate whether the quasi-slip state has been established, and the signal is fed back to the multi-mode cooperative switching logic as a trigger condition for switching from the static friction breakthrough mode to the dynamic friction smoothing mode.

7. The servo turntable low-temperature friction adaptive compensation method according to claim 1, characterized in that, The composite compensation amount calculated based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model includes: For each activated compensation control mode, a basic weight coefficient is assigned based on the contribution of the corresponding physical effect in the instantaneous friction response model; For the disturbance feedforward cancellation mode in the activated compensation control mode, its corresponding weight is dynamically adjusted according to the amplitude of the matching frequency component in the micro-motion spectrum characteristics. The compensation outputs of each compensation control mode are weighted according to their respective weights and then vector-superimposed to generate a composite compensation quantity.

8. The servo turntable low-temperature friction adaptive compensation method according to claim 1, characterized in that, The method further includes: After the servo turntable completes one task cycle, the position tracking error sequence and the motor current sequence are recorded and generated. Statistical analysis is performed on the position tracking error sequence and the motor current sequence to generate a set of performance evaluation indicators; The performance evaluation index is compared with a set of benchmark indexes representing the optimal performance state of the system. If the performance degradation exceeds the tolerance limit, a model calibration instruction is generated to trigger fine-tuning of specific parameters in the basic physical effects library.

9. The servo turntable low-temperature friction adaptive compensation method according to claim 2, characterized in that, The method further includes: When the operating condition diagnostic label includes the high-altitude low-pressure state, the selection priority and parameter weight of the air pressure lubrication effect are increased when constructing the instantaneous friction response model; The threshold for determining the temperature rise transition state in the generated operating condition diagnostic label is adjusted in a coordinated manner, making it more sensitive to temperature rise under low pressure conditions.

10. A servo turntable low-temperature friction adaptive compensation system, characterized in that, The system is used in a servo turntable low-temperature friction adaptive compensation method as described in any one of claims 1-9, the system comprising: The multi-source feature extraction module is used to obtain the ambient temperature, air pressure, wind speed and motor operating current when the servo turntable is running, and to fuse them to generate a set of multi-source environmental feature parameters and a set of operating status feature parameters. The working condition diagnosis module is used to perform pattern recognition processing on the multi-source environmental feature parameters and operating status feature parameters to generate working condition diagnosis labels that characterize the current working environment and operating stage of the servo turntable. The model dynamic construction module is used to dynamically select combined targets from a library containing several basic physical effects based on the working condition diagnostic labels, and combine them with the real-time collected ambient temperature and air pressure generation parameters to construct an instantaneous friction response model that matches the current working condition. The static friction breakthrough execution module is used to trigger the execution of the static friction breakthrough program when the working condition diagnostic label contains an extremely low temperature start indication and the servo turntable receives a displacement command but does not generate macroscopic displacement, and injects a set of asymmetric high-frequency micro-amplitude current pulse sequence into the servo driver. The multimodal collaborative decision-making module is used to make decisions based on the output of the instantaneous friction response model and the micro-motion spectrum characteristics obtained by analyzing the encoder feedback signal, and to activate several corresponding compensation control modes through multimodal collaborative switching logic. The composite compensation calculation module is used to calculate the composite compensation amount based on the activated compensation control mode and its corresponding parameters from the instantaneous friction response model, and to superimpose the composite compensation amount onto the output of the position loop controller to generate the final control command and output it to the servo driver.

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