Control system of servo motor

Abstract

The invention discloses a control system of a servo motor, relates to the technical field of motor control, and solves the technical problems that in the actual working condition of an existing self-adaptive PID control technology, the bearing ranges of different servo motors are different, when excessive adjustment occurs, the servo motors may break down, and the service life of the servo motors is affected. The method comprises the following steps: acquiring target working data and real-time operation data of a servo motor; dividing working stages of the servo motor according to the target working data of the servo motor; determining a parameter adjustment range of the servo motor based on the divided working stages; monitoring the current load of the servo motor, and adjusting the control parameters of the servo motor according to the monitoring data and the parameter adjustment range; testing the servo motor according to the parameter adjustment value to obtain test data; analyzing a reasonable coefficient of the parameter adjustment value according to the test data; and optimizing the adjustment value of the control parameter according to the reasonable coefficient.

Description

Technical Field

[0001] This application belongs to the field of motor control, specifically a control system for a servo motor. Background Technology

[0002] A servo motor is a precision actuator that combines a motor body, a drive controller, and a feedback device. Its core feature is the high-precision position, speed, and torque control achieved through a closed-loop control system. The servo motor control system employs a closed-loop feedback mechanism, which can precisely adjust the motor's rotation angle and position to achieve high-precision positioning control. It can also precisely control the motor's speed, achieving stepless speed regulation. Whether operating at low or high speeds, it can maintain speed stability and accuracy. Furthermore, it can adjust the motor's output torque in real time according to load changes, ensuring that the motor provides suitable torque under different operating conditions.

[0003] Existing technologies typically employ adaptive PID control to control servo motors. This involves using a three-loop closed-loop negative feedback PID control system (current loop, speed loop, and position loop) to form a complete control chain from electrical to mechanical aspects. The system is gradually optimized through proportional adjustment, then integral adjustment, and finally derivative adjustment, enabling stable and rapid response. However, existing adaptive PID control technologies require real-time acquisition of parameters such as the servo motor's equivalent moment of inertia and damping coefficient to establish a mathematical model. In actual operating conditions, different servo motors have different tolerance ranges. Over-adjustment can lead to servo motor failure and affect its lifespan. Summary of the Invention

[0004] This application aims to at least solve one of the technical problems existing in the prior art; to this end, this application proposes a servo motor control system to solve the technical problem that in actual working conditions, different servo motors have different tolerance ranges, and when over-adjustment occurs, it may cause servo motor failure and affect the service life of the servo motor.

[0005] To achieve the above objectives, the first aspect of this application provides a control system for a servo motor, comprising: a control adjustment module, and a data acquisition module and a control testing module connected thereto; Data acquisition module: Acquires target working data and real-time operating data of the servo motor; Control and adjustment module: Divides the working stages of the servo motor according to the target working data of the servo motor; determines the parameter adjustment range of the servo motor based on the divided working stages; monitors the current load of the servo motor, and adjusts the control parameters of the servo motor according to the monitoring data and the parameter adjustment range; Control test module: Tests the servo motor based on the parameter adjustment values ​​to obtain test data; analyzes the reasonable coefficient of the parameter adjustment values ​​based on the test data; and optimizes the adjustment values ​​of the control parameters based on the reasonable coefficient.

[0006] Based on the above system, the control and adjustment module divides the servo motor's operating stages according to the target working data acquired by the data acquisition module and determines the corresponding parameter adjustment range. This helps improve the motor's performance under different operating conditions, making its operation more efficient and stable. The control and adjustment module monitors the servo motor's current load in real time and adjusts the control parameters based on the pre-determined parameter adjustment range. This ensures that the servo motor maintains a good operating state under different load conditions, avoiding performance degradation or failure due to load changes, and improving the system's reliability and adaptability. The control and testing module tests the servo motor based on the parameter adjustment values ​​and acquires test data. By analyzing the test data, it derives the reasonable coefficient of the parameter adjustment values ​​and optimizes the adjustment values. Through continuous testing and optimization, the servo motor's control parameters gradually approach the optimal value, effectively improving the overall performance of the servo motor, reducing operating errors, and increasing working accuracy.

[0007] Preferably, the step of dividing the working stages of the servo motor according to the target working data of the servo motor includes: Retrieve the target operating data of the servo motor; the target operating data includes: target position, target speed, target torque, inertia matching coefficient, and friction coefficient; The servo motor's travel distance is determined based on the target position; the travel distance is matched with the corresponding stage division table to obtain the corresponding working stage of the servo motor; the working stage includes: start-up acceleration stage, constant speed operation stage, deceleration and braking stage, and positioning and holding stage.

[0008] It should be noted that the inertia matching coefficient is obtained as the ratio of load inertia to motor inertia; the motor inertia is obtained from the motor model or the motor specification sheet.

[0009] Preferably, determining the parameter adjustment range of the servo motor based on the divided working stages includes: Retrieve target working data; based on expression The total inertia of the system is calculated; where, Indicates the total inertia of the system; Indicates the inertia of the motor; Indicates the inertial matching coefficient; Based on expression The frictional torque of the servo motor is calculated; based on the expression The maximum acceleration of the servo motor was calculated. Based on expression The speed change time of the servo motor is calculated; based on the expression The displacement of the variable-speed motion is calculated; if the displacement is less than the travel distance of the servo motor, the parameter adjustment range of the servo motor is determined; otherwise, the constant-speed motion is reset; among these, Indicates the coefficient of friction; The set value indicating uniform motion; Set the servo motor's speed to (0, ]; Set the torque of the servo motor during variable speed motion to (0, Set the torque of the servo motor during uniform motion to [ ]; , During the positioning and holding phase, the torque of the servo motor is set to (0, ...). ];in, Based on the friction coefficient and the expected disturbance, the value range is [1.1]. 1.5 The motion speed range and torque range are matched with the corresponding conversion parameter library to obtain the corresponding control parameter adjustment range; among which, the control parameters include: torque limit, speed loop gain and position loop gain.

[0010] Preferably, adjusting the control parameters of the servo motor based on monitoring data and parameter adjustment range includes: Retrieve monitoring data; the monitoring data includes: real-time torque, real-time speed, real-time position, and motor temperature; The torque utilization rate is obtained by calculating the percentage of the quotient of the real-time torque and the rated torque; the speed tracking error is obtained by calculating the difference between the target speed and the real-time speed; the position tracking error is obtained by calculating the difference between the target position and the real-time position; the torque utilization rate, speed tracking error and position tracking error are integrated into a key indicator. Key indicators, motor temperature, and parameter adjustment range are integrated into a parameter adjustment sequence; the parameter adjustment model is called, and the parameter adjustment sequence is input into the parameter adjustment model to obtain the corresponding parameter adjustment value; the parameter adjustment model is built based on an artificial intelligence model.

[0011] Preferably, the parameter adjustment model is constructed based on an artificial intelligence model, including: Select models and deep learning frameworks from the artificial intelligence model library; build models based on deep learning frameworks to obtain the constructed models; Obtain the standard dataset; the standard dataset includes standard input data with content attributes consistent with the parameter adjustment sequence; and standard output data with content attributes consistent with the parameter adjustment values. The standard dataset is divided into a training set, a validation set, and a test set according to a preset ratio; the model is trained using the training set; the internal parameters of the model are adjusted using the validation set; and the model is tested using the test set to obtain test metrics. Obtain the indicator threshold; compare the test indicator with the indicator threshold; if all test indicators are greater than the indicator threshold, mark the constructed model as a parameter tuning model; otherwise, reconstruct and train the parameter tuning model.

[0012] It should be noted that the split ratio of the standard dataset is set by technical personnel, and is generally set to 8:1:1; the test metrics include: accuracy, recall, F1 score, and stability; the thresholds for the metrics are set by technical personnel after experimental simulation; when it is necessary to retrain the model with adjusted parameters, the model and deep learning framework are reselected or the split ratio of the dataset is adjusted.

[0013] Preferably, the step of testing the servo motor according to the parameter adjustment value to obtain test data includes: The system retrieves parameter adjustment values ​​and adjusts the control parameters accordingly. It then uses the adjusted control parameters to control the servo motor and monitors the servo motor's operating data, including operating voltage, operating current, motor temperature, operating speed, and real-time position. The distance difference is obtained by calculating the difference between the real-time position and the target position; the estimated arrival time is obtained by calculating the quotient between the distance difference and the running speed; the time difference is obtained by calculating the difference between the set time and the estimated arrival time; and the time difference, running voltage, running current and motor temperature are integrated into test data.

[0014] Preferably, the reasonable coefficient for adjusting the parameter values ​​based on test data analysis includes: Retrieve test data; Construct the time difference performance function: ; in, This is the time difference; This is the overshoot penalty coefficient; This is the delay sensitivity coefficient; The system time constant; Construct the electrical efficiency function: ; in, For ideal efficiency; The optimal operating voltage; To achieve the optimal operating current; The allowable voltage fluctuation range; the expression is: ; This refers to the nominal voltage of the servo motor. Operating voltage; This is the operating current; ; The power factor angle; Rated power; Construct the thermal stability function: ; in, Motor temperature; The safe temperature threshold; Ambient temperature; Indicates the standard deviation of temperature distribution; Indicates the coefficient of thermal recovery; Represents the error function; Construct a reasonable coefficient calculation function: ;in, , as well as All are weighting coefficients greater than 0; the reasonable coefficients of the servo motor are calculated based on the reasonable coefficient calculation function.

[0015] Preferably, the optimization of the control parameter adjustment value based on a reasonable coefficient includes: Retrieve reasonable coefficients and their corresponding thresholds; whereby the coefficient thresholds include: primary coefficient thresholds and secondary coefficient thresholds; When the reasonable coefficient is greater than the first-level coefficient threshold, there is no need to optimize the adjustment value of the control parameter; otherwise, the reasonable coefficient is compared with the second-level coefficient threshold. When the reasonable coefficient is greater than the secondary coefficient threshold, the reasonable coefficient is matched with the coefficient adjustment library to obtain the optimized value of the control parameter; the control parameter is adjusted according to the optimized value; otherwise, the servo motor is stopped.

[0016] A second aspect of this application provides a method for controlling a servo motor, including: Acquire the target working data and real-time operating data of the servo motor; The working stages of the servo motor are divided according to the target working data of the servo motor. The parameter adjustment range of the servo motor is determined based on the divided working stages; The current load of the servo motor is monitored, and the control parameters of the servo motor are adjusted according to the monitoring data and parameter adjustment range. The servo motor was tested based on the parameter adjustment values ​​to obtain test data; Analyze the test data to determine the appropriate coefficient for adjusting the parameter values; The adjustment values ​​of the control parameters are optimized based on reasonable coefficients.

[0017] A third aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a control system of a servo motor, cause the control system of the servo motor to perform the methods described in the first aspect and any possible implementation thereof.

[0018] Compared with the prior art, the beneficial effects of this application are: 1. This application retrieves comprehensive target working data, including target position, target speed, target torque, inertia matching coefficient, and friction coefficient, to determine the servo motor's travel distance and matches it with a stage division table to obtain the working stages. It can consider the complex requirements of the servo motor under different working scenarios, making the division results more consistent with actual working conditions. By calculating the system's total inertia and friction torque, it can accurately reflect the inertial characteristics of the servo motor during operation and estimate the torque loss caused by friction during operation. Based on the above calculation results, it further calculates the maximum acceleration, speed change time, and displacement during speed change. This provides a scientific basis for determining the servo motor's operating parameters and parameter adjustment range. Based on the comparison between the displacement of the speed change motion and the servo motor's travel distance, it flexibly... The system determines the parameter adjustment range; when the displacement of the variable-speed motion is less than the travel distance, the parameter adjustment range is determined; otherwise, the uniform motion speed is reset; it can adjust the parameter adjustment range in a timely manner according to the actual operating conditions, so that the servo motor can obtain appropriate parameter settings under different operating conditions, improving the system's adaptability and stability; it precisely sets the motion speed and torque range of the servo motor in different motion stages, which can meet the special needs of the servo motor in different working stages and ensure that the motor can operate with optimal parameters in each stage; it retrieves real-time torque, real-time speed, real-time position, and motor temperature monitoring data, and comprehensively evaluates the servo motor's operating status by calculating key indicators such as torque utilization rate, speed tracking error, and position tracking error; this makes the evaluation results more accurate.

[0019] 2. This application precisely adjusts the control parameters based on the parameter adjustment values ​​and uses the adjusted parameters to control the operation of the servo motor, enabling the servo motor to operate according to the expected performance indicators and improving the accuracy and stability of motor operation. It comprehensively monitors the servo motor's operating voltage, operating current, motor temperature, operating speed, and real-time position. This data covers multiple aspects of the motor's operation, including electrical, thermal, and mechanical aspects, providing rich and comprehensive data support for subsequent performance evaluation and parameter optimization. By calculating the distance difference between the real-time position and the target position, the estimated arrival time, and the time difference, the time difference is used as an important indicator for evaluating the motor's operating time performance. The time difference, operating voltage, operating current, and motor temperature are integrated into test data, providing comprehensive input information for subsequent function construction, which helps to more accurately evaluate the overall performance of the motor. The evaluation results of time difference performance, electrical efficiency, and thermal stability are comprehensively weighted to obtain a comprehensive and reasonable coefficient. This coefficient can comprehensively reflect the overall performance of the servo motor in multiple dimensions such as time control, electrical efficiency, and thermal stability; it helps to ensure the comprehensiveness of the evaluation results; it adopts a hierarchical threshold decision mechanism to analyze reasonable coefficients and take corresponding measures based on the analysis results; it can avoid safety problems and further damage that may result from the motor continuing to operate under poor performance, thus ensuring the safety of equipment and personnel. Attached Figure Description

[0020] 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, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0021] Figure 1 This is a schematic diagram of the system structure connection in this application; Figure 2 This is a schematic diagram illustrating the steps for adjusting the control parameters of the servo motor in this application; Figure 3 This is a schematic diagram illustrating the steps for testing and analyzing the rationality of the control parameters of the servo motor in this application; Figure 4 This is a schematic diagram of the overall method steps of this application. Detailed Implementation

[0022] The technical solutions of this application will be clearly and completely described below with reference to the embodiments. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of this application.

[0023] Please see Figure 1 The first aspect of this application provides a control system for a servo motor, including: a control adjustment module, and a data acquisition module and a control test module connected thereto; Data acquisition module: Acquires target working data and real-time operating data of the servo motor; Control and adjustment module: Divides the working stages of the servo motor according to the target working data of the servo motor; determines the parameter adjustment range of the servo motor based on the divided working stages; monitors the current load of the servo motor, and adjusts the control parameters of the servo motor according to the monitoring data and the parameter adjustment range; Control test module: Tests the servo motor based on the parameter adjustment values ​​to obtain test data; analyzes the reasonable coefficient of the parameter adjustment values ​​based on the test data; and optimizes the adjustment values ​​of the control parameters based on the reasonable coefficient.

[0024] Based on the above system, the control and adjustment module divides the servo motor's operating stages according to the target working data acquired by the data acquisition module and determines the corresponding parameter adjustment range. This helps improve the motor's performance under different operating conditions, making its operation more efficient and stable. The control and adjustment module monitors the servo motor's current load in real time and adjusts the control parameters based on the pre-determined parameter adjustment range. This ensures that the servo motor maintains a good operating state under different load conditions, avoiding performance degradation or failure due to load changes, and improving the system's reliability and adaptability. The control and testing module tests the servo motor based on the parameter adjustment values ​​and acquires test data. By analyzing the test data, it derives the reasonable coefficient of the parameter adjustment values ​​and optimizes the adjustment values. Through continuous testing and optimization, the servo motor's control parameters gradually approach the optimal value, effectively improving the overall performance of the servo motor, reducing operating errors, and increasing working accuracy.

[0025] In one possible implementation of the embodiments of this application, combined with Figure 1 ,like Figure 2 The following are the specific steps for adjusting the control parameters of a servo motor: S201. Retrieve the target working data of the servo motor; determine the moving distance of the servo motor based on the target position; match the moving distance with the corresponding stage division table to obtain the working stage corresponding to the servo motor.

[0026] The target working data includes: target position, target speed, target torque, inertia matching coefficient, and friction coefficient; the working stages include: start-up acceleration stage, constant speed operation stage, deceleration and braking stage, and positioning and holding stage.

[0027] Example: Obtain target working data from the production line control system. The target position is a material storage point 500mm away from the current position. The target speed is 2000 rpm, the target torque is 5 rpm, the inertia matching coefficient GX=0.2, and the friction coefficient b=0.1. Based on the target position, determine the servo motor's moving distance to be 500mm. Match the 500mm travel distance with the stage division table: 0-100mm is the start-up acceleration stage, 100-400mm is the constant speed operation stage, 400-450mm is the deceleration and braking stage, and 450-500mm is the positioning and holding stage.

[0028] S202, Retrieve target working data; based on expression The total inertia of the system is calculated; based on the expression The frictional torque of the servo motor is calculated; based on the expression The maximum acceleration of the servo motor is calculated; based on the expression The speed change time of the servo motor is calculated; based on the expression The displacement of the variable-speed motion is calculated.

[0029] in, Indicates the total inertia of the system; Indicates the inertia of the motor; Indicates the inertial matching coefficient; Indicates the coefficient of friction; This represents the set value for uniform motion.

[0030] Example: Given the motor inertia of 0.01, the total system inertia can be obtained from the expression as 0.012; the set value for uniform motion is 2000 r / min ≈ 209.44 rad / s; the friction torque can be obtained from the expression as 20.944; the maximum acceleration can be obtained from the expression as 3000; the speed change time can be obtained from the expression as 0.07; and the displacement of the speed change motion can be obtained from the expression as 14.7.

[0031] S203. When the displacement of the variable speed motion is less than the moving distance of the servo motor, the parameter adjustment range of the servo motor is determined; otherwise, the constant speed motion speed is reset.

[0032] Example: Since the displacement of the variable speed motion is 14.7mm, which is less than the movement distance of the servo motor is 500mm, proceed to the next step.

[0033] S204. Set the range of servo motor's motion speed, torque during variable speed motion, torque during uniform speed motion, and torque range during the positioning and holding phase; match the motion speed range and torque range with the corresponding conversion parameter library to obtain the corresponding control parameter adjustment range.

[0034] The servo motor's speed is set to (0, The torque of the servo motor during variable speed motion is set to (0, The torque of the servo motor during uniform motion is set to [ ]; , During the positioning and holding phase, the torque of the servo motor is set to (0, ...). ]; Based on the friction coefficient and the expected disturbance, the value range is [1.1]. 1.5 The control parameters include: torque limit, speed loop gain, and position loop gain.

[0035] Example: Set the servo motor speed to (0, 209.44 rad / s); set the torque during variable speed motion to (0, 30); set the torque during constant speed motion to [20.944, 30]; during the positioning and holding phase, if the expected disturbance is small, then... Therefore, the torque during the positioning and holding phase is set to (0, 25.1328); the speed loop gain range is matched to (100, 500), and the position loop gain range is (50, 200).

[0036] S205. Retrieve monitoring data; obtain torque utilization rate by calculating the percentage of the quotient of real-time torque and rated torque; obtain speed tracking error by calculating the difference between target speed and real-time speed; obtain position tracking error by calculating the difference between target position and real-time position; integrate torque utilization rate, speed tracking error and position tracking error into key indicators.

[0037] The monitoring data includes: real-time torque, real-time speed, real-time position, and motor temperature.

[0038] Example: Real-time torque 25, real-time speed 1900 r / min, real-time position 400 mm, and motor temperature 40 are obtained from the servo motor's sensors; based on the expression, the torque utilization rate is calculated to be 83.33%; the speed tracking error is 100 r / min; and the position tracking error is 100 mm; the torque utilization rate, speed tracking error, and position tracking error are integrated into key indicators.

[0039] S206. Integrate key indicators, motor temperature, and parameter adjustment range into a parameter adjustment sequence; call the parameter adjustment model, input the parameter adjustment sequence into the parameter adjustment model, and obtain the corresponding parameter adjustment values.

[0040] In some possible implementations, the parameter tuning model is built upon an artificial intelligence model, including: Select models and deep learning frameworks from the artificial intelligence model library; build models based on deep learning frameworks to obtain the constructed models; Obtain the standard dataset; the standard dataset includes standard input data with content attributes consistent with the parameter adjustment sequence; and standard output data with content attributes consistent with the parameter adjustment values. The standard dataset is divided into a training set, a validation set, and a test set according to a preset ratio; the model is trained using the training set; the internal parameters of the model are adjusted using the validation set; and the model is tested using the test set to obtain test metrics. Obtain the indicator threshold; compare the test indicator with the indicator threshold; if all test indicators are greater than the indicator threshold, mark the constructed model as a parameter tuning model; otherwise, reconstruct and train the parameter tuning model.

[0041] It should be noted that the split ratio of the standard dataset is set by technical personnel, and is generally set to 8:1:1; the test metrics include: accuracy, recall, F1 score, and stability; the thresholds for the metrics are set by technical personnel after experimental simulation; when it is necessary to retrain the model with adjusted parameters, the model and deep learning framework are reselected or the split ratio of the dataset is adjusted.

[0042] Example: Integrate key indicators, motor temperature, and parameter adjustment range into a parameter adjustment sequence; input the parameter adjustment sequence into the pre-trained parameter adjustment model to obtain a torque limit adjustment of 28, a speed loop gain adjustment of 300, and a position loop gain adjustment of 100.

[0043] Based on the above steps: comprehensive target working data, including target position, target speed, target torque, inertia matching coefficient, and friction coefficient, are retrieved to determine the servo motor's travel distance and match it with the stage division table to obtain the working stages; this approach considers the complex requirements of the servo motor under different working scenarios, making the division results more consistent with actual working conditions; by calculating the system's total inertia and friction torque, the inertial characteristics of the servo motor during operation can be accurately reflected, and the torque loss caused by friction during operation can be estimated; based on the above calculation results, the maximum acceleration, speed change time, and displacement during speed change are further calculated; this provides a scientific basis for determining the servo motor's operating parameters and parameter adjustment range; based on the comparison between the displacement of the speed change motion and the servo motor's travel distance, the system can achieve optimal performance. The system accurately determines the parameter adjustment range; when the displacement of the variable-speed motion is less than the travel distance, the parameter adjustment range is determined; otherwise, the uniform motion speed is reset; it can adjust the parameter adjustment range in a timely manner according to the actual operating conditions, so that the servo motor can obtain appropriate parameter settings under different operating conditions, improving the system's adaptability and stability; it precisely sets the motion speed and torque range of the servo motor in different motion stages, which can meet the special needs of the servo motor in different working stages and ensure that the motor can operate with optimal parameters in each stage; it retrieves real-time torque, real-time speed, real-time position, and motor temperature monitoring data, and comprehensively evaluates the servo motor's operating status by calculating key indicators such as torque utilization rate, speed tracking error, and position tracking error; this makes the evaluation results more accurate.

[0044] In one possible implementation of the embodiments of this application, combined with Figure 1 ,like Figure 3 The following are the specific steps for testing and analyzing the rationality of the control parameters of a servo motor: S301. Retrieve parameter adjustment values, adjust control parameters according to parameter adjustment values, control servo motor using adjusted control parameters, and monitor servo motor operating data.

[0045] The operating data includes: operating voltage, operating current, motor temperature, operating speed, and real-time position.

[0046] Example: Based on the obtained parameter adjustment values, adjust the control parameters of the servo motor, use the adjusted control parameters to control the servo motor, and monitor its operating data. Assume the monitored operating voltage is 220V, operating current is 5A, and motor temperature is 45°C. C, operating speed 1950r / min, real-time position 480mm.

[0047] S302. By calculating the difference between the real-time position and the target position, the corresponding distance difference is obtained; by calculating the quotient between the distance difference and the running speed, the estimated arrival time is obtained; by calculating the difference between the set time and the estimated arrival time, the time difference is obtained; the time difference, running voltage, running current and motor temperature are integrated into test data.

[0048] Example: The difference between the real-time location and the target location is 500. 480 = 20mm; the quotient of the distance difference and the running speed is 20 / 1950 × 60 / 2π ≈ 0.1s; the set time is 0.08s, then the time difference is 0.1. 0.08 = 0.02s; The time difference of 0.02s, operating voltage of 220V, operating current of 5A, and motor temperature of 45°C are integrated into the test data.

[0049] S303. Retrieve test data; construct time difference performance function, electrical efficiency function, and thermal stability function; construct a reasonable coefficient calculation function based on the time difference performance function, electrical efficiency function, and thermal stability function; calculate the reasonable coefficient of the servo motor based on the reasonable coefficient calculation function.

[0050] Among them, the time difference performance function is: Electrical efficiency function: Thermal stability function: Reasonable coefficient calculation function: ; This is the time difference; This is the overshoot penalty coefficient; This is the delay sensitivity coefficient; The system time constant; For ideal efficiency; The optimal operating voltage; To achieve the optimal operating current; The allowable voltage fluctuation range; the expression is: ; This refers to the nominal voltage of the servo motor. Operating voltage; This is the operating current; ; The power factor angle; Rated power; Motor temperature; The safe temperature threshold; Ambient temperature; Indicates the standard deviation of temperature distribution; Indicates the coefficient of thermal recovery; Represents the error function; , as well as All are weighting coefficients greater than 0.

[0051] It should be noted that the overshoot penalty coefficient, delay sensitivity coefficient, system time constant, heat recovery coefficient, and weighting coefficient are set by technical personnel based on practical experience. Generally, the overshoot penalty coefficient, delay sensitivity coefficient, system time constant, and heat recovery coefficient are set to 0.5, 0.3, 0.1, and 0.1, respectively; and the weighting coefficients are set to 0.4, 0.4, and 0.2, respectively. Technical personnel can adjust the above parameter values ​​according to the actual application scenario.

[0052] It should be noted that the error function, denoted as erf(x), is a very important special function in probability theory, statistics, and partial differential equations; its standard expression is: .

[0053] Example: ; ; ; calculated based on the time difference performance function ; ; ; ; ; ; , ; calculated based on the electrical efficiency function ; ; ; ; ; calculated based on thermal stability function ;Will , as well as If we set the values ​​to 0.4, 0.4, and 0.2 respectively, the calculated reasonable coefficient is 0.92.

[0054] S304. Retrieve the reasonable coefficient and its corresponding threshold; if the reasonable coefficient is greater than the first-level threshold, then there is no need to optimize the adjustment value of the control parameter; otherwise, compare the reasonable coefficient with the second-level threshold.

[0055] The coefficient thresholds include: primary coefficient thresholds and secondary coefficient thresholds.

[0056] S305. When the reasonable coefficient is greater than the secondary coefficient threshold, the reasonable coefficient is matched with the coefficient adjustment library to obtain the optimized value of the control parameter; the control parameter is adjusted according to the optimized value; otherwise, the servo motor is stopped.

[0057] For example: if the threshold value of the first-level coefficient is 0.85 and the threshold value of the second-level coefficient is 0.75; and the calculated reasonable coefficient of 0.92 is greater than the threshold value of the first-level coefficient of 0.85, then there is no need to optimize the adjustment value of the control parameter.

[0058] Based on the above steps, the control parameters are precisely adjusted according to the parameter adjustment values, and the adjusted parameters are used to control the servo motor. This enables the servo motor to operate according to the expected performance indicators, improving the accuracy and stability of motor operation. Comprehensive monitoring of operating data such as the servo motor's operating voltage, operating current, motor temperature, operating speed, and real-time position is conducted. This data covers multiple aspects of the motor's operation, including electrical, thermal, and mechanical aspects, providing rich and comprehensive data support for subsequent performance evaluation and parameter optimization. By calculating the distance difference between the real-time position and the target position, the estimated arrival time, and the time difference, the time difference is used as an important indicator for evaluating the motor's operating time performance. Integrating the time difference, operating voltage, operating current, and motor temperature into test data provides comprehensive input information for subsequent function construction, helping to more accurately evaluate the overall performance of the motor. A comprehensive and reasonable coefficient is obtained by comprehensively weighting the evaluation results of time difference performance, electrical efficiency, and thermal stability. This coefficient can comprehensively reflect the overall performance of the servo motor in multiple dimensions such as time control, electrical efficiency, and thermal stability; it helps to ensure the comprehensiveness of the evaluation results; it adopts a hierarchical threshold decision mechanism to analyze reasonable coefficients and take corresponding measures based on the analysis results; it can avoid safety problems and further damage that may result from the motor continuing to operate under poor performance, thus ensuring the safety of equipment and personnel.

[0059] Please see Figure 4 The second aspect of this application provides a method for controlling a servo motor, including: Acquire the target working data and real-time operating data of the servo motor; The working stages of the servo motor are divided according to the target working data of the servo motor. The parameter adjustment range of the servo motor is determined based on the divided working stages; The current load of the servo motor is monitored, and the control parameters of the servo motor are adjusted according to the monitoring data and parameter adjustment range. The servo motor was tested based on the parameter adjustment values ​​to obtain test data; Analyze the test data to determine the appropriate coefficient for adjusting the parameter values; The adjustment values ​​of the control parameters are optimized based on reasonable coefficients.

[0060] A third aspect of this application provides a computer-readable storage medium storing instructions that, when executed on a servo motor control system, cause the servo motor control system to perform the method described in the first aspect and any possible implementation thereof. Some of the data in the above formula are calculated by removing dimensions and taking their numerical values. The formula is the closest to the real situation obtained by software simulation of a large amount of collected data. The preset parameters and preset thresholds in the formula are set by those skilled in the art according to the actual situation or obtained through simulation of a large amount of data.

[0061] The working principle of this application is as follows: This application acquires the target working data and real-time operating data of the servo motor; divides the working stages of the servo motor according to the target working data; determines the parameter adjustment range of the servo motor based on the divided working stages; monitors the current load of the servo motor, and adjusts the control parameters of the servo motor according to the monitoring data and the parameter adjustment range; tests the servo motor according to the parameter adjustment values ​​to obtain test data; analyzes the reasonable coefficient of the parameter adjustment values ​​based on the test data; and optimizes the adjustment values ​​of the control parameters according to the reasonable coefficient.

[0062] The above embodiments are only used to illustrate the technical methods of this application and are not intended to limit it. Although this application has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical methods of this application without departing from the spirit and scope of the technical methods of this application.

Claims

1. A control system for a servo motor, characterized in that, include: The control and adjustment module, and the connected data acquisition module and control testing module; Data acquisition module: Acquires target working data and real-time operating data of the servo motor; Control and adjustment module: Divides the working stages of the servo motor according to the target working data of the servo motor; determines the parameter adjustment range of the servo motor based on the divided working stages; monitors the current load of the servo motor, and adjusts the control parameters of the servo motor according to the monitoring data and the parameter adjustment range; Control test module: Tests the servo motor based on the parameter adjustment values ​​to obtain test data; analyzes the reasonable coefficient of the parameter adjustment values ​​based on the test data; and optimizes the adjustment values ​​of the control parameters based on the reasonable coefficient.

2. The control system for a servo motor according to claim 1, characterized in that, The step of dividing the working stages of the servo motor according to the target working data of the servo motor includes: Retrieve the target operating data of the servo motor; the target operating data includes: target position, target speed, target torque, inertia matching coefficient, and friction coefficient; The servo motor's travel distance is determined based on the target position; the travel distance is matched with the corresponding stage division table to obtain the corresponding working stage of the servo motor; the working stage includes: start-up acceleration stage, constant speed operation stage, deceleration and braking stage, and positioning and holding stage.

3. The control system for a servo motor according to claim 1, characterized in that, The determination of the servo motor parameter adjustment range based on the divided working stages includes: Retrieve target working data; based on expression The total inertia of the system is calculated; where, Indicates the total inertia of the system; Indicates the inertia of the motor; Indicates the inertial matching coefficient; Based on expression The frictional torque of the servo motor is calculated; based on the expression The maximum acceleration of the servo motor was calculated. Based on expression The speed change time of the servo motor is calculated; based on the expression The displacement of the variable-speed motion is calculated; if the displacement is less than the travel distance of the servo motor, the parameter adjustment range of the servo motor is determined; otherwise, the constant-speed motion is reset; among these, Indicates the coefficient of friction; The set value indicating uniform motion; Set the servo motor's speed to (0, ]; Set the torque of the servo motor during variable speed motion to (0, Set the torque of the servo motor during uniform motion to [ ]; , During the positioning and holding phase, the torque of the servo motor is set to (0, ...). ];in, Based on the friction coefficient and the expected disturbance, the value range is [1.1]. 1.5 The motion speed range and torque range are matched with the corresponding conversion parameter library to obtain the corresponding control parameter adjustment range; among which, the control parameters include: torque limit, speed loop gain and position loop gain.

4. The control system for a servo motor according to claim 1, characterized in that, The adjustment of the servo motor control parameters based on monitoring data and parameter adjustment range includes: Retrieve monitoring data; the monitoring data includes: real-time torque, real-time speed, real-time position, and motor temperature; The torque utilization rate is obtained by calculating the percentage of the quotient of the real-time torque and the rated torque; the speed tracking error is obtained by calculating the difference between the target speed and the real-time speed; the position tracking error is obtained by calculating the difference between the target position and the real-time position; the torque utilization rate, speed tracking error and position tracking error are integrated into a key indicator. Key indicators, motor temperature, and parameter adjustment range are integrated into a parameter adjustment sequence; the parameter adjustment model is called, and the parameter adjustment sequence is input into the parameter adjustment model to obtain the corresponding parameter adjustment value; the parameter adjustment model is built based on an artificial intelligence model.

5. The control system for a servo motor according to claim 4, characterized in that, The parameter adjustment model is built based on an artificial intelligence model and includes: Select models and deep learning frameworks from the artificial intelligence model library; build models based on deep learning frameworks to obtain the constructed models; Obtain the standard dataset; the standard dataset includes standard input data with content attributes consistent with the parameter adjustment sequence; and standard output data with content attributes consistent with the parameter adjustment values. The standard dataset is divided into a training set, a validation set, and a test set according to a preset ratio; the model is trained using the training set; the internal parameters of the model are adjusted using the validation set; and the model is tested using the test set to obtain test metrics. Obtain the indicator threshold; compare the test indicator with the indicator threshold; if all test indicators are greater than the indicator threshold, mark the constructed model as a parameter tuning model; otherwise, reconstruct and train the parameter tuning model.

6. The control system for a servo motor according to claim 1, characterized in that, The test data obtained by testing the servo motor based on the parameter adjustment values ​​includes: The system retrieves parameter adjustment values ​​and adjusts the control parameters accordingly. It then uses the adjusted control parameters to control the servo motor and monitors the servo motor's operating data, including operating voltage, operating current, motor temperature, operating speed, and real-time position. The distance difference is obtained by calculating the difference between the real-time position and the target position; the estimated arrival time is obtained by calculating the quotient between the distance difference and the running speed; the time difference is obtained by calculating the difference between the set time and the estimated arrival time; and the time difference, running voltage, running current and motor temperature are integrated into test data.

7. The control system for a servo motor according to claim 1, characterized in that, The reasonable coefficients for adjusting parameters based on test data analysis include: Retrieve test data; Construct the time difference performance function: ； in, This is the time difference; This is the overshoot penalty coefficient; This is the delay sensitivity coefficient; The system time constant; Construct the electrical efficiency function: ； in, For ideal efficiency; The optimal operating voltage; To achieve the optimal operating current; The allowable voltage fluctuation range; the expression is: ; This refers to the nominal voltage of the servo motor. Operating voltage; This is the operating current; ; The power factor angle; Rated power; Construct the thermal stability function: ； in, Motor temperature; The safe temperature threshold; Ambient temperature; Indicates the standard deviation of temperature distribution; Indicates the coefficient of thermal recovery; Represents the error function; Construct a reasonable coefficient calculation function: ;in, , as well as All are weighting coefficients greater than 0; the reasonable coefficients of the servo motor are calculated based on the reasonable coefficient calculation function.

8. The control system for a servo motor according to claim 1, characterized in that, The optimization of the control parameter adjustment value based on a reasonable coefficient includes: Retrieve reasonable coefficients and their corresponding thresholds; whereby the coefficient thresholds include: primary coefficient thresholds and secondary coefficient thresholds; When the reasonable coefficient is greater than the first-level coefficient threshold, there is no need to optimize the adjustment value of the control parameter; otherwise, the reasonable coefficient is compared with the second-level coefficient threshold. When the reasonable coefficient is greater than the secondary coefficient threshold, the reasonable coefficient is matched with the coefficient adjustment library to obtain the optimized value of the control parameter; the control parameter is adjusted according to the optimized value; otherwise, the servo motor is stopped.

9. A control method for a servo motor, applied to the control system of a servo motor as described in any one of claims 1-8, characterized in that, include: Acquire the target working data and real-time operating data of the servo motor; The working stages of the servo motor are divided according to the target working data of the servo motor. The parameter adjustment range of the servo motor is determined based on the divided working stages; The current load of the servo motor is monitored, and the control parameters of the servo motor are adjusted according to the monitoring data and parameter adjustment range. The servo motor was tested based on the parameter adjustment values ​​to obtain test data; Analyze the test data to determine the appropriate coefficient for adjusting the parameter values; The adjustment values ​​of the control parameters are optimized based on reasonable coefficients.

10. A servo motor control system according to claim 1, characterized in that, A computer-readable storage medium storing instructions that, when executed on a control system of a servo motor, cause the control system of the servo motor to perform the steps as described in any one of claims 1-8.

Images