Parameter self-adjustment method and device, equipment and storage medium

Abstract

The invention relates to a parameter self-adjustment method and device, equipment and a storage medium. The method comprises the steps that mechanical open-loop characteristic parameters obtained after a first preset sweep frequency signal is injected into the drive control system are obtained, and the first preset sweep frequency signal is an incomplete open-loop sweep frequency signal; based on the mechanical open-loop characteristic parameter, obtaining an amplitude-frequency characteristic of the driving control system; and adjusting controller parameters of the driving control system based on the amplitude-frequency characteristics. According to the invention, the parameter adjustment time can be shortened and the accuracy of controller parameter adjustment can be improved.

Description

Parameter self-adjustment method, apparatus, equipment and storage medium Technical Field

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

[0002] In the field of industrial automation, drive control systems, as core components of high-precision motion control, are widely used in complex equipment such as CNC machine tools, robots, semiconductor equipment, and robotic arms. In practical applications, drive control systems typically use a motor to drive the load through a flexible transmission mechanism (such as a coupling, reducer, or belt). Their overall mechanical dynamics can be modeled as a typical dual-inertia system. This model includes the motor-side inertia, the load-side inertia, and the equivalent stiffness and damping between them. Its dynamic response has a decisive impact on control performance.

[0003] Existing drive control systems mainly perform self-tuning based on time-domain parameters. For example, by applying step, ramp, or reciprocating sinusoidal motion commands, the system response is observed and the controller parameters are iteratively adjusted.

[0004] However, in order to stimulate the dynamic characteristics of the system, the self-tuning method based on time-domain parameters requires the motor to rotate rapidly and repeatedly. The high-frequency reciprocating motion will directly stimulate the mechanical resonance mode, causing the motor to whistle and vibrate, thus making the parameter tuning time relatively long. Summary of the Invention

[0005] This application provides a parameter self-tuning method, apparatus, device, and storage medium, aiming to solve the problem that traditional self-tuning methods using time-domain parameters result in long parameter tuning times.

[0006] In a first aspect, embodiments of this application provide a parameter self-adjustment method, the parameter self-adjustment method comprising:

[0007] The mechanical open-loop characteristic parameters of the drive control system are obtained after the first preset sweep frequency signal is injected, wherein the first preset sweep frequency signal is an incomplete open-loop sweep frequency signal;

[0008] Based on the aforementioned mechanical open-loop characteristic parameters, the amplitude-frequency characteristics of the drive control system are obtained.

[0009] Based on the amplitude-frequency characteristics, the controller parameters of the drive control system are adjusted.

[0010] In some embodiments, obtaining the mechanical open-loop characteristic parameters of the drive control system after injecting the first preset frequency sweep signal includes:

[0011] Obtain the first open-loop feedback signal output by the drive control system after the first preset sweep frequency signal is injected;

[0012] The mechanical open-loop characteristic parameters are obtained based on the first open-loop feedback signal and the first preset frequency sweep signal.

[0013] In some embodiments, the mechanical open-loop characteristic parameters include the open-loop cutoff frequency, the natural resonant frequency, and the anti-resonant frequency; obtaining the mechanical open-loop characteristic parameters based on the first open-loop feedback signal and the first preset frequency sweep signal includes:

[0014] The amplitude in the frequency domain is obtained based on the first open-loop feedback signal and the first preset frequency sweep signal;

[0015] The frequency corresponding to zero amplitude in the frequency domain is taken as the open-loop cutoff frequency;

[0016] The multiple amplitudes located after the open-loop cutoff frequency are sorted, and the frequency corresponding to the largest amplitude is selected as the natural resonant frequency.

[0017] The multiple amplitudes located between the open-loop cutoff frequency and the natural resonant frequency are sorted, and the frequency corresponding to the smallest amplitude is selected as the anti-resonant frequency.

[0018] In some embodiments, adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics includes:

[0019] Based on the amplitude-frequency characteristics, calculate the amplitude margins corresponding to the natural resonant frequency and the crossover frequency, respectively.

[0020] Determine whether the amplitude margin is within the preset amplitude margin range;

[0021] If not, adjust the controller parameters of the drive control system.

[0022] In some embodiments, before adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics, the method further includes:

[0023] Based on the natural resonant frequency and the preset closed-loop bandwidth of the current loop, the desired open-loop cutoff frequency of the velocity loop is obtained.

[0024] Based on the desired open-loop cutoff frequency of the speed loop and the moment of inertia of the drive control system, the initial values ​​of the controller parameters in the drive control system are obtained.

[0025] In some embodiments, obtaining the amplitude-frequency characteristics of the drive control system based on the mechanical open-loop characteristic parameters includes:

[0026] Based on the aforementioned mechanical open-loop characteristic parameters, the resonance of the drive control system is suppressed;

[0027] A second preset frequency sweep signal is injected into the suppressed drive control system to obtain a second open-loop feedback signal;

[0028] Based on the second preset sweep frequency signal and the second open-loop feedback signal, the amplitude-frequency characteristic is obtained, wherein the second preset sweep frequency signal is an incomplete open-loop sweep frequency signal, and the frequency range of the first preset sweep frequency signal is greater than the frequency range of the second preset sweep frequency signal.

[0029] In some embodiments, suppressing the resonance of the drive control system includes:

[0030] In the first preset frequency band, the anti-resonance frequency is suppressed;

[0031] In the second preset frequency band, the natural resonant frequency is suppressed, wherein the frequency of the first preset frequency band is less than the frequency of the second preset frequency band.

[0032] Secondly, embodiments of this application also provide a parameter self-adjustment device, which includes a unit for performing the above-described method.

[0033] Thirdly, embodiments of this application also provide a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement the above-described method.

[0034] Fourthly, embodiments of this application also provide a computer-readable storage medium storing a computer program that, when executed by a processor, can implement the above-described method.

[0035] This application provides a parameter self-adjustment method, apparatus, device, and storage medium. The method includes: acquiring mechanical open-loop characteristic parameters of the drive control system after injecting a first preset frequency sweep signal, wherein the first preset frequency sweep signal is an incomplete open-loop frequency sweep signal; obtaining the amplitude-frequency characteristic of the drive control system based on the mechanical open-loop characteristic parameters; and adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristic.

[0036] This application embodiment injects a partially open-loop first preset frequency sweep signal into the drive control system, i.e., introduces a partially open-loop frequency sweep strategy. This allows for accurate acquisition of the mechanical open-loop characteristic parameters of the drive control system in a closed-loop state without requiring the motor to perform reciprocating motion. This avoids situations where the open loop cannot carry a load, as well as motor noise and vibration caused by mechanical resonance induced by the high-frequency reciprocating motion of the motor. Consequently, it shortens the parameter adjustment time. Furthermore, based on the mechanical open-loop characteristic parameters, the amplitude-frequency characteristics of the drive control system are obtained. Then, based on these amplitude-frequency characteristics, the controller parameters of the drive control system are adjusted, which improves the accuracy of controller parameter adjustment. Attached Figure Description

[0037] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.

[0038] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0039] One or more embodiments are illustrated by way of example with reference numerals in the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements with the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0040] Figure 1 is a flowchart illustrating a first embodiment of a parameter self-adjustment method provided in this application;

[0041] Figure 2 is a schematic diagram of the signal processing flow provided in this application;

[0042] Figure 3 is a schematic diagram of adjusting the gain based on the amplitude-frequency response provided in this application;

[0043] Figure 4 is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0045] The following disclosure provides numerous different embodiments or examples for implementing various structures of this application. To simplify the disclosure, specific examples of components and arrangements are described below. These are merely examples and are not intended to limit the scope of this application. Furthermore, reference numerals and / or letters may be repeated in different examples. Such repetition is for simplification and clarity and does not in itself indicate a relationship between the various embodiments and / or arrangements discussed.

[0046] It should be understood that, when used in this specification and the appended claims, the terms "comprising" and "including" indicate the presence of the described features, integrals, steps, operations, elements and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or collections thereof.

[0047] It should also be understood that the terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the scope of the application. As used in this specification and the appended claims, the singular forms “a,” “an,” and “the” are intended to include the plural forms unless the context clearly indicates otherwise.

[0048] It should also be further understood that the term “and / or” as used in this application specification and the appended claims means any combination of one or more of the associated listed items and all possible combinations, and includes such combinations.

[0049] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrases "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0050] To address the aforementioned issues, this application provides a parameter self-adjustment method that can shorten parameter adjustment time and improve the accuracy of controller parameter adjustment.

[0051] Referring to Figure 1, which is a flowchart illustrating a first embodiment of a parameter self-adjustment method provided in this application, the parameter self-adjustment method includes the following steps:

[0052] Step 110: Obtain the mechanical open-loop characteristic parameters of the drive control system after injecting the first preset sweep frequency signal.

[0053] Step 120: Based on the mechanical open-loop characteristic parameters, obtain the amplitude-frequency characteristics of the drive control system.

[0054] Step 130: Based on the amplitude-frequency characteristics, adjust the controller parameters of the drive control system.

[0055] This embodiment injects a partially open-loop first preset frequency sweep signal into the drive control system, i.e., introduces a partially open-loop frequency sweep strategy. This allows for accurate acquisition of the mechanical open-loop characteristic parameters of the drive control system in a closed-loop state without requiring the motor to perform reciprocating motion. This avoids situations where the open loop cannot carry a load, as well as motor noise and vibration caused by mechanical resonance induced by the high-frequency reciprocating motion of the motor. Consequently, it shortens the parameter adjustment time. Furthermore, based on the mechanical open-loop characteristic parameters, the amplitude-frequency characteristics of the drive control system are obtained. Then, based on these amplitude-frequency characteristics, the controller parameters of the drive control system are adjusted, which improves the accuracy of controller parameter adjustment.

[0056] In other words, this embodiment can identify mechanical parameters, suppress vibration, and adjust parameters in a short time under load and at a standstill, enabling the drive control system to have high responsiveness without vibration, adapt to more working conditions, and greatly shorten the parameter adjustment time.

[0057] Referring to a second embodiment of a parameter self-adjustment method provided in this application, the parameter self-adjustment method includes the following steps:

[0058] Step 210: Obtain the mechanical open-loop characteristic parameters of the drive control system after injecting the first preset sweep frequency signal.

[0059] The drive control system may include, but is not limited to, servo systems, frequency conversion systems, and electric drive systems.

[0060] In some possible implementations, the mechanical open-loop characteristic parameters include the open-loop cutoff frequency, natural resonant frequency, anti-resonant frequency, phase crossover frequency, etc.

[0061] In some possible implementations, step 210, namely obtaining the mechanical open-loop characteristic parameters of the drive control system after injecting the first preset frequency sweep signal, includes:

[0062] Step 211: Obtain the first open-loop feedback signal output by the drive control system after injecting the first preset sweep frequency signal.

[0063] The first preset frequency sweep signal is an incomplete open-loop frequency sweep signal. That is, a frequency sweep method with incomplete open-loop frequency sweep can be used, such as adding a low-pass filter (Filter1 as shown in Figure 2) at the speed closed-loop end and the feedback sine signal acquisition end to filter out the injected sine signal and close the loop to the controller to ensure that the drive device (such as the motor) operates stably in a closed loop at zero speed, and obtain the open-loop feedback signal before the low-pass filter (Filter1 as shown in Figure 2) to obtain the mechanical open-loop characteristic parameters and moment of inertia of the drive control system.

[0064] Additionally, Filter2 in Figure 2 is a bandpass filter used to obtain feedback signals, such as the first open-loop feedback signal in this embodiment.

[0065] In some embodiments, a wide-range Chirp sweep signal (i.e., a first preset sweep signal) may be injected at the speed command terminal. The Chirp signal is a sinusoidal signal with a frequency that varies from low to high, and the frequency can vary from 0Hz to 3000Hz.

[0066] Step 212: Based on the first open-loop feedback signal and the first preset frequency sweep signal, obtain the mechanical open-loop characteristic parameters.

[0067] In some possible implementations, the mechanical open-loop characteristic parameters include the open-loop cutoff frequency, the natural resonant frequency, and the anti-resonant frequency; step 212, based on the first open-loop feedback signal and the first preset frequency sweep signal, obtains the mechanical open-loop characteristic parameters, including:

[0068] Step 2121: Take the frequency with an amplitude of zero in the frequency domain as the open-loop cutoff frequency.

[0069] In some embodiments, the amplitude in the frequency domain can be calculated using the following formula 1:

[0070]

[0071] Among them, G 给定1 (jω) is the transfer function of the first preset frequency sweep signal, G 反馈1 (jω) is the transfer function of the first open-loop feedback signal, and Mag(dB) is the amplitude in the frequency domain. When the ratio of the first preset sweep signal to the first open-loop feedback signal is 1, that is, when Mag(dB) is zero, the corresponding frequency is the open-loop cutoff frequency.

[0072] Step 2122: Sort the multiple amplitudes located after the open-loop cutoff frequency, and select the frequency corresponding to the largest amplitude as the natural resonant frequency.

[0073] Step 2123: Sort the multiple amplitudes located between the open-loop cutoff frequency and the natural resonant frequency, and select the frequency corresponding to the smallest amplitude as the anti-resonant frequency.

[0074] Step 220: Based on the mechanical open-loop characteristic parameters, suppress the resonance of the drive control system.

[0075] In some possible implementations, step 220, namely the suppression of resonance in the drive control system, includes:

[0076] Step 221: Suppress the anti-resonance frequency in the first preset frequency band.

[0077] Step 222: In the second preset frequency band, suppress the natural resonant frequency.

[0078] Wherein, the frequency of the first preset frequency band is less than the frequency of the second preset frequency band. For example, the first preset frequency band is a low frequency band, such as (0-100Hz), and the second preset frequency band is a mid-frequency band and a high-frequency band, such as (100-1000Hz) or greater than 1000Hz.

[0079] In some embodiments, a notch filter can be used to suppress the natural resonant frequency or a velocity observer can be used to suppress the natural resonant frequency; a perturbation observer can be used to suppress the anti-resonant frequency.

[0080] Step 230: Obtain the amplitude-frequency characteristics of the suppressed drive control system.

[0081] By actively suppressing the resonance of the drive control system using the mechanical open-loop characteristic parameters, and then finely adjusting the controller parameters based on the amplitude-frequency characteristics obtained after suppression, the accuracy of controller parameter adjustment is improved.

[0082] In some possible implementations, step 230, namely obtaining the suppressed amplitude-frequency characteristics of the drive control system, includes:

[0083] Step 231: Inject a second preset frequency sweep signal into the suppressed drive control system to obtain a second open-loop feedback signal.

[0084] Step 232: Obtain the amplitude-frequency characteristics based on the second preset sweep frequency signal and the second open-loop feedback signal.

[0085] Wherein, the second preset frequency sweep signal is an incomplete open-loop frequency sweep signal, and the frequency range of the first preset frequency sweep signal is greater than the frequency range of the second preset frequency sweep signal.

[0086] In this way, by adjusting the controller parameters through a narrow frequency range of incomplete open-loop frequency sweep, not only can the parameter adjustment time be shortened, but the system resonance can also be precisely oriented, enabling the system to obtain good control performance.

[0087] Step 240: Based on the amplitude-frequency characteristics, adjust the controller parameters of the drive control system.

[0088] In some possible implementations, step 240, namely adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics, includes:

[0089] Step 241: Based on the amplitude-frequency characteristics, calculate the amplitude margins corresponding to the natural resonant frequency and the crossover frequency, respectively.

[0090] In some embodiments, the cross-frequency point can be obtained in the following manner:

[0091] Assuming the input signal (i.e. the first preset sweep frequency signal) is A1*sin(wt) and the feedback signal (i.e. the first open-loop feedback signal) is A2*sin(wt+φ), multiplying the two together yields Formula 2.

[0092]

[0093] Where A1 is the amplitude of the input signal, A2 is the amplitude of the feedback signal, wt is the trigonometric function frequency, and φ is the phase.

[0094] According to the product-to-sum formulas for trigonometric functions, as shown in Formula 3 below:

[0095]

[0096] In some embodiments, a low-pass filter can be used to filter out the high-frequency components and retain only the DC components, as shown in Formula 4.

[0097]

[0098] Since the frequency corresponding to a 180° lag between the input and feedback signals is the phase crossover frequency, based on this, when the phase lag is 180°, the result of the lock-in amplifier is: Therefore, the crossover frequency point can be obtained through a lock-in amplifier.

[0099] Step 242: Determine whether the amplitude margin is within the preset amplitude margin range.

[0100] For steps 241-242, taking the gain adjustment of the amplitude-frequency characteristic as an example, referring to Figure 3, when the loop gain parameter is increased, the amplitude-frequency curve will shift upward. If the amplitude margin at the natural resonant frequency position (i.e., the resonant frequency in Figure 3) exceeds the 0dB line, it is easy to cause vibration at the load end. If the amplitude margin at the crossover frequency position exceeds the 0dB line, the system is easy to become unstable. Therefore, it is necessary to ensure that the amplitude margin is greater than 0dB at the natural resonant frequency and the crossover frequency position.

[0101] In some embodiments, the gain margin can be calculated using the following formula 5:

[0102]

[0103] Where PM(dB) is the gain margin, G 给定2 (jω) is the transfer function of the second preset sweep frequency signal, G 反馈2 (jω) is the transfer function of the second open-loop feedback signal obtained after injecting the second preset sweep frequency signal.

[0104] In some embodiments, the preset amplitude margin range can be [3dB, 5dB], which can better ensure that the dual-inertia system does not cause resonance.

[0105] It should be noted that the preset amplitude margin range can be set and adjusted according to the actual situation, and this application does not limit it here.

[0106] Step 243: If not, adjust the controller parameters of the drive control system.

[0107] In some possible implementations, before adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics, the method further includes:

[0108] 1) Based on the natural resonant frequency and the preset closed-loop bandwidth of the current loop, the desired open-loop cutoff frequency of the velocity loop is obtained;

[0109] The desired open-loop cutoff frequency of the speed loop can be obtained based on the relationship between the desired open-loop cutoff frequency of the speed loop and the preset closed-loop bandwidth of the current loop, as well as the relationship between the desired open-loop cutoff frequency of the speed loop and the natural resonant frequency. See Formulas 6 and 7 below for details.

[0110]

[0111] Where, ω sc Let ω be the desired open-loop cutoff frequency of the velocity loop. cb ω is the known closed-loop bandwidth of the current loop in the system, i.e., the preset closed-loop bandwidth of the current loop.res It is the natural resonant frequency.

[0112] 2) Based on the desired open-loop cutoff frequency of the speed loop and the moment of inertia of the drive control system, the initial values ​​of the controller parameters in the drive control system are obtained.

[0113] For example, assuming the controller is a proportional-integral (PI) controller, the controller parameters include the proportional gain parameter and the integral gain parameter of the speed loop. The initial values ​​of the proportional gain parameter and the integral gain parameter can be calculated using the following formula 8:

[0114]

[0115] Where J is the moment of inertia, B is the damping coefficient, and K... t It is the torque constant, k sp It is the proportional gain parameter of the velocity loop, k si It is the integral gain parameter of the velocity loop.

[0116] Therefore, determining reasonable initial values ​​for the controller parameters before adjusting them can greatly shorten the time required for subsequent parameter adjustments.

[0117] In some embodiments, the moment of inertia can be calculated using the following formula 9:

[0118]

[0119] Where J is the moment of inertia and B is the damping coefficient. T is the rate of change of angular velocity. e For electromagnetic torque, T L For the load torque, ω m This represents the actual mechanical angular velocity of the motor.

[0120] Since the injected speed command is a sine wave, it can be measured... The total moment of inertia of the motor and load is obtained by measuring Te. In addition, the use of sine wave peak measurement can avoid the influence of load torque position.

[0121] In some embodiments, after adjusting the controller parameters of the drive control system, closed-loop verification can also be performed. For example, a narrow-range closed-loop frequency sweep can be used to inject a resonant signal in the closed loop to excite resonance in order to verify whether there is still vibration at that point. Finally, the optimal gain value is output and stored.

[0122] Furthermore, by utilizing the identified mechanical open-loop characteristic parameters, the transfer function of the entire drive control system can be obtained, which facilitates the drawing of the Bode plot of the entire drive control system and aids in the analysis of system characteristics.

[0123] Corresponding to the above parameter self-adjustment method, this application also provides a parameter self-adjustment device. This parameter self-adjustment device includes a unit for performing the above parameter self-adjustment method, and can be configured in a desktop computer, tablet computer, laptop computer, or other terminal.

[0124] As shown in Figure 4, this embodiment of the application provides a computer device, including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114.

[0125] Memory 113 is used to store computer programs;

[0126] In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the parameter self-adjustment method provided in any of the foregoing method embodiments, including:

[0127] The mechanical open-loop characteristic parameters of the drive control system are obtained after the first preset sweep frequency signal is injected, wherein the first preset sweep frequency signal is an incomplete open-loop sweep frequency signal;

[0128] Based on the aforementioned mechanical open-loop characteristic parameters, the amplitude-frequency characteristics of the drive control system are obtained.

[0129] Based on the amplitude-frequency characteristics, the controller parameters of the drive control system are adjusted.

[0130] It will be understood by those skilled in the art that all or part of the processes in the methods of the above embodiments can be implemented by a computer program instructing related hardware. The computer program may be stored in a storage medium, which is a computer-readable storage medium. The computer program is executed by at least one processor in the computer system to implement the process steps of the embodiments of the above methods.

[0131] Therefore, embodiments of this application also provide a computer-readable storage medium storing a computer program thereon, wherein when the computer program is executed by a processor, it implements the steps of the parameter self-adjustment method provided in any of the foregoing method embodiments, including:

[0132] The mechanical open-loop characteristic parameters of the drive control system are obtained after the first preset sweep frequency signal is injected, wherein the first preset sweep frequency signal is an incomplete open-loop sweep frequency signal;

[0133] Based on the aforementioned mechanical open-loop characteristic parameters, the amplitude-frequency characteristics of the drive control system are obtained.

[0134] Based on the amplitude-frequency characteristics, the controller parameters of the drive control system are adjusted.

[0135] The storage medium is a physical, non-transient storage medium, such as a USB flash drive, external hard drive, read-only memory (ROM), magnetic disk, or optical disk, or any other physical storage medium capable of storing program code. The computer-readable storage medium can be non-volatile or volatile.

[0136] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of both. To clearly illustrate the interchangeability of hardware and software, the components and steps of the various examples have been generally described in terms of functionality in the foregoing description. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementations should not be considered beyond the scope of this application.

[0137] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative. For example, the division of each unit is merely a logical functional division, and there may be other division methods in actual implementation. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed.

[0138] The steps in the methods of this application embodiment can be adjusted, merged, or deleted according to actual needs. The units in the apparatus of this application embodiment can be merged, divided, or deleted according to actual needs. Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit.

[0139] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, a terminal, or a network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application.

[0140] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0141] Obviously, those skilled in the art can make various modifications and variations to this application without departing from the spirit and scope of this application. Since these modifications and variations fall within the scope of the claims and their equivalents, this application also intends to include these modifications and variations.

[0142] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any person skilled in the art can easily conceive of various equivalent modifications or substitutions within the technical scope disclosed in this application, and these modifications or substitutions should all be covered within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.

Claims

1. A parameter self-adjustment method, characterized in that, The parameter self-adjustment method, applied to a drive control system, includes: acquiring the mechanical open-loop characteristic parameters of the drive control system after injecting a first preset frequency sweep signal, wherein the first preset frequency sweep signal is an incomplete open-loop frequency sweep signal; obtaining the amplitude-frequency characteristics of the drive control system based on the mechanical open-loop characteristic parameters; and adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics.

2. The method according to claim 1, characterized in that, The step of obtaining the mechanical open-loop characteristic parameters of the drive control system after injecting the first preset frequency sweep signal includes: obtaining the first open-loop feedback signal output by the drive control system after injecting the first preset frequency sweep signal; and obtaining the mechanical open-loop characteristic parameters based on the first open-loop feedback signal and the first preset frequency sweep signal.

3. The method according to claim 2, characterized in that, The mechanical open-loop characteristic parameters include the open-loop cutoff frequency, the natural resonant frequency, and the anti-resonant frequency. Obtaining the mechanical open-loop characteristic parameters based on the first open-loop feedback signal and the first preset frequency sweep signal includes: obtaining the amplitude in the frequency domain based on the first open-loop feedback signal and the first preset frequency sweep signal; taking the frequency corresponding to zero amplitude in the frequency domain as the open-loop cutoff frequency; sorting multiple amplitudes after the open-loop cutoff frequency and selecting the frequency corresponding to the largest amplitude as the natural resonant frequency; sorting multiple amplitudes between the open-loop cutoff frequency and the natural resonant frequency and selecting the frequency corresponding to the smallest amplitude as the anti-resonant frequency.

4. The method according to claim 1, characterized in that, The step of adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics includes: calculating the amplitude margin corresponding to the natural resonant frequency and the crossover frequency based on the amplitude-frequency characteristics; determining whether the amplitude margin is within a preset amplitude margin range; if not, adjusting the controller parameters of the drive control system.

5. The method according to claim 1, characterized in that, Before adjusting the controller parameters of the drive control system based on the amplitude-frequency characteristics, the method further includes: obtaining the desired open-loop cutoff frequency of the speed loop based on the natural resonant frequency and a preset current loop closed-loop bandwidth; and obtaining the initial values ​​of the controller parameters in the drive control system based on the desired open-loop cutoff frequency of the speed loop and the moment of inertia of the drive control system.

6. The method according to claim 1, characterized in that, The step of obtaining the amplitude-frequency characteristics of the drive control system based on the mechanical open-loop characteristic parameters includes: suppressing the resonance of the drive control system based on the mechanical open-loop characteristic parameters; injecting a second preset sweep frequency signal into the suppressed drive control system to obtain a second open-loop feedback signal; and obtaining the amplitude-frequency characteristics based on the second preset sweep frequency signal and the second open-loop feedback signal, wherein the second preset sweep frequency signal is an incomplete open-loop sweep frequency signal, and the frequency range of the first preset sweep frequency signal is greater than the frequency range of the second preset sweep frequency signal.

7. The method according to claim 6, characterized in that, The method of suppressing the resonance of the drive control system includes: suppressing the anti-resonance frequency in a first preset frequency band; and suppressing the natural resonance frequency in a second preset frequency band, wherein the frequency of the first preset frequency band is less than the frequency of the second preset frequency band.

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

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

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

Images