Processing method for driving device control system, computer device and storage medium

Abstract

The application relates to a processing method of a driving device control system, a computer device and a storage medium. The method comprises the following steps: in the running process of a driving device, calculating the feedback data deviation change amount between an encoder and an observer in two adjacent control periods; judging whether the feedback data deviation change amount meets preset requirements; if the feedback data deviation change amount meets the preset requirements, controlling the running of the driving device based on the data fed back by the encoder; and if the feedback data deviation change amount does not meet the preset requirements, controlling the running of the driving device based on the data fed back by the observer. The application can effectively inhibit the inherent deviation between the encoder and the observer and the large deviation in a dynamic process, and improve the accuracy of fault judgment.

Description

Technical Field

[0001] This application relates to the field of drive equipment control technology, and in particular to a processing method, computer equipment and storage medium for a drive equipment control system. Background Technology

[0002] Modern high-performance AC drive equipment control systems generally employ field-oriented vector control, which requires real-time and accurate feedback of the rotor position and speed. To achieve high-precision control, encoders (including photoelectric, magnetoelectric, and rotary transformer types) are typically installed at the end of the drive equipment. However, encoders face multiple failure risks when operating in complex and harsh industrial environments. Once a failure occurs, the control system may receive incorrect positions, leading to severe vibrations, speed loss, or abnormal stress in the drive equipment.

[0003] To improve system reliability, traditional solutions often employ redundant dual-encoder configurations at the hardware level. However, this method is costly and bulky, and requires solving engineering challenges such as initial alignment and online synchronization of the two sensors, making it difficult to promote in cost-sensitive applications. Therefore, existing technologies are increasingly shifting towards software-based fault-tolerant solutions: by comparing the deviation between the encoder feedback value (angle or speed) and the estimated value from a state observer (such as a full-order flux linkage observer), and setting a preset threshold; when the deviation exceeds the threshold, an encoder failure is determined, and the system switches to an observer-based closed-loop control mode.

[0004] However, in actual systems, the encoder angle and the observer angle may have inherent deviations due to factors such as the accuracy of the drive device parameters and the adaptability of the control parameters, or there may be large deviations during the dynamic process. Therefore, relying solely on whether the absolute deviation between the encoder and the observer exceeds the limit as a fault criterion can easily misjudge normal operating conditions as faults, leading to incorrect switching and thus affecting the stability of the control system. Summary of the Invention

[0005] This application provides a processing method, computer device, and storage medium for a drive device control system, aiming to solve the problem that traditional methods rely solely on whether the absolute deviation between the encoder and the observer exceeds the limit as a fault criterion, which easily leads to misjudging normal operating conditions as faults, resulting in incorrect switching and thus affecting the stability of the control system.

[0006] In a first aspect, embodiments of this application provide a processing method for a drive device control system, the drive device control system including an encoder and an observer, the method comprising: During the operation of the drive device, the change in the feedback data deviation between the encoder and the observer is calculated within two adjacent control cycles. Determine whether the change in the feedback data deviation meets the preset requirements; If the change in the feedback data deviation meets the preset requirements, the operation of the drive device is controlled based on the data fed back by the encoder. If the change in the feedback data deviation does not meet the preset requirements, the operation of the control drive device is based on the data fed back by the observer.

[0007] In some embodiments, the two adjacent control cycles include a first control cycle and a second control cycle, and calculating the change in feedback data deviation between the encoder and the observer within the two adjacent control cycles includes: Obtain the first feedback data deviation between the encoder and the observer in the first control cycle, and the second feedback data deviation in the second control cycle; Based on the first feedback data deviation and the second feedback data deviation, the change in feedback data deviation between the encoder and the observer is obtained.

[0008] In some embodiments, the first feedback data deviation includes a first feedback angle deviation and a first feedback speed deviation, and the second feedback data deviation includes a second feedback angle deviation and a second feedback speed deviation. The step of obtaining the first feedback data deviation between the encoder and the observer within the first control cycle, and the second feedback data deviation within the second control cycle, includes: The encoder is obtained with a first encoding angle and a first encoding speed within a first control cycle; and the observer is obtained with a first observation angle and a first observation speed within a first control cycle. Based on the first encoding angle and the first observation angle, the first feedback angle deviation is obtained; Based on the first encoding speed and the first observation speed, the first feedback speed deviation is obtained.

[0009] And to obtain the second encoding angle and the second encoding speed of the encoder within the second control cycle; and the second observation angle and the second observation speed of the observer within the second control cycle; Based on the second encoding angle and the second observation angle, the second feedback angle deviation is obtained; The second feedback speed deviation is obtained based on the second encoding speed and the second observation speed.

[0010] In some embodiments, the change in feedback data deviation includes the change in feedback speed deviation and the change in feedback angle deviation; determining whether the change in feedback data deviation meets preset requirements includes: Determine whether the change in the feedback speed deviation is less than a preset speed deviation threshold, and whether the change in the feedback angle deviation is less than a preset angle deviation threshold; If the change in the feedback speed deviation is less than a preset speed deviation threshold, and the change in the feedback angle deviation is less than a preset angle deviation threshold, then the change in the feedback data deviation is determined to meet the preset requirements.

[0011] In some embodiments, the step of controlling the operation of the drive device based on the data fed back by the observer if the change in the feedback data deviation does not meet a preset requirement includes: If the change in the feedback data deviation does not meet the preset requirements, the operation of the drive device will be controlled based on the preset command speed within the preset fault accumulation time. After a preset fault accumulation time, it is determined whether the encoder is still in a fault state; If the encoder is determined to be faulty, the operation of the control device is controlled based on the data fed back by the observer.

[0012] In some embodiments, the operation of the drive device based on a preset command speed control includes: The preset command speed is used as the corresponding feedback speed in the second control cycle; Calculate the integral value of the preset command speed during the second control cycle; The sum of the integral value and the first encoding angle corresponding to the encoder in the first control cycle is calculated to obtain the feedback angle corresponding to the second control cycle. The operation of the drive device is controlled based on the feedback speed and the feedback angle.

[0013] In some embodiments, determining whether the encoder is still faulty includes: If it is determined that the encoder is not faulty, the operation of the drive device is controlled based on the data fed back by the encoder.

[0014] In some embodiments, after obtaining the change in feedback data deviation between the encoder and the observer based on the first feedback data deviation and the second feedback data deviation, the method further includes: The first feedback data deviation between the encoder and the observer during the first control cycle is updated to the second feedback data deviation.

[0015] In some embodiments, after obtaining the change in feedback data deviation between the encoder and the observer based on the first feedback data deviation and the second feedback data deviation, the method further includes: The first feedback data deviation between the encoder and the observer during the first control cycle is updated to the second feedback data deviation.

[0016] Secondly, 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.

[0017] Thirdly, 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.

[0018] This application provides a processing method, computer device, and storage medium for a drive device control system. The method includes: during the operation of the drive device, calculating the change in feedback data deviation between the encoder and the observer within two adjacent control cycles; determining whether the change in feedback data deviation meets a preset requirement; if the change in feedback data deviation meets the preset requirement, controlling the operation of the drive device based on the data fed back by the encoder; if the change in feedback data deviation does not meet the preset requirement, controlling the operation of the drive device based on the data fed back by the observer.

[0019] The embodiments of this application calculate the change in feedback deviation between adjacent control cycles. Since this change is close to zero in steady state, even if there is a large static deviation between the encoder and the observer, it will not trigger fault determination, thus fundamentally avoiding erroneous switching under steady-state conditions. Secondly, during dynamic processes such as acceleration / deceleration or sudden load changes in the drive equipment, the observer's response lag may cause a significant increase in the instantaneous angular deviation between the encoder and the observer. However, such deviations are usually gradual, and the amount of change between adjacent cycles remains at a low level, that is, the amount of deviation change is much smaller than the deviation itself. Based on this, by detecting the amount of deviation change, it is possible to effectively distinguish between normal dynamic disturbances and real faults such as encoder signal jumps or loss, thereby reducing the false alarm rate under dynamic operating conditions and improving the accuracy of fault diagnosis. Attached Figure Description

[0020] 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.

[0021] 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.

[0022] 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.

[0023] Figure 1 A flowchart illustrating the first embodiment of a processing method for a drive device control system provided in this application; Figure 2 This is a schematic diagram of the feedback angle deviation between the encoder and the observer; Figure 3 A schematic diagram of the overall process of a drive device control system provided in this application; Figure 4 A schematic diagram of encoder fault-free switching operation waveform at low speed (5% of rated speed) provided in this application; Figure 5 A schematic diagram of encoder fault-free switching operation waveform at medium speed (50% of rated speed) provided in this application; Figure 6 A schematic diagram of encoder fault-free switching operation waveforms at high speed (100% rated speed) provided in this application; Figure 7 A schematic diagram of encoder fault-free switching operation waveforms during acceleration and deceleration provided in this application; Figure 8 This is a schematic diagram of the structure of a computer device provided in an embodiment of this application. Detailed Implementation

[0024] 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.

[0025] 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.

[0026] 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.

[0027] 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.

[0028] 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.

[0029] As used in this specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if [described condition or event] is detected" may be interpreted, depending on the context, as "once determined," "in response to determination," "once [described condition or event] is detected," or "in response to detection of [described condition or event]."

[0030] To address the aforementioned problems, this application provides a processing method for a drive equipment control system, which can effectively suppress the inherent deviation between the encoder and the observer, as well as large deviations during the dynamic process, thereby improving the accuracy of fault diagnosis.

[0031] See Figure 1 , Figure 1 This is a flowchart illustrating a first embodiment of a processing method for a drive device control system provided in this application. The processing method for a drive device control system provided in this application includes an encoder and a observer, and may include the following steps: Step 110: During the operation of the drive device, calculate the change in feedback data deviation between the encoder and the observer within two adjacent control cycles.

[0032] Step 120: Determine whether the change in the feedback data deviation meets the preset requirements.

[0033] Step 130: If the change in the feedback data deviation meets the preset requirements, then control the operation of the drive device based on the data fed back by the encoder.

[0034] Step 140: If the change in the feedback data deviation does not meet the preset requirements, then the operation of the control drive device is based on the data fed back by the observer.

[0035] This embodiment calculates the change in feedback deviation between adjacent control cycles. Since this change approaches zero in steady state, even if there is a large static deviation between the encoder and the observer, it will not trigger fault determination, thus fundamentally avoiding erroneous switching under steady-state conditions. Secondly, during dynamic processes such as acceleration / deceleration or sudden load changes in the drive equipment, the observer's response lag may cause a significant increase in the instantaneous angular deviation between the encoder and the observer. However, such deviations are usually gradual, and the amount of change between adjacent cycles remains at a low level, that is, the amount of deviation change is much smaller than the deviation itself. Based on this, by detecting the amount of deviation change, it is possible to effectively distinguish between normal dynamic disturbances and real faults such as encoder signal jumps or loss, thereby reducing the false alarm rate under dynamic operating conditions and improving the accuracy of fault diagnosis.

[0036] In some embodiments, the driving device may be a motor, a pneumatic component, or a hydraulic component, etc., which are not limited herein.

[0037] In some embodiments, the two adjacent control cycles include a first control cycle and a second control cycle. Referring to a second embodiment of a processing method for a drive device control system provided in this application, the processing method for the drive device control system includes the following steps: Step 210: During the operation of the drive device, calculate the change in feedback data deviation between the encoder and the observer within two adjacent control cycles.

[0038] In some embodiments, step 210, namely calculating the change in feedback data deviation between the encoder and the observer within two adjacent control cycles, includes: Step 211: Obtain the first feedback data deviation between the encoder and the observer in the first control cycle, and the second feedback data deviation in the second control cycle.

[0039] In some embodiments, the first feedback data deviation corresponding to the first control cycle may be collected when the drive device is not running.

[0040] In some embodiments, the first feedback data deviation includes a first feedback angle deviation and a first feedback speed deviation, and obtaining the first feedback data deviation between the encoder and the observer within the first control cycle includes: 1) Obtain the first encoding angle and first encoding speed of the encoder within the first control cycle; and the first observation angle and first observation speed of the observer within the first control cycle; 2) Based on the first encoding angle and the first observation angle, the first feedback angle deviation is obtained; 3) Based on the first encoding speed and the first observation speed, the first feedback speed deviation is obtained; The calculation of the first feedback angle deviation and the first feedback speed deviation can be referred to the following formula 1: , Formula 1.

[0041] in, The first feedback angle deviation is for the first control cycle k-1. The first feedback speed deviation in the first control cycle k-1 The encoder's first encoding angle is defined in the first control cycle k-1. The encoder's first encoding speed is given in the first control cycle k-1. The first observation angle of the observer in the first control period k-1, The first observation velocity of the observer in the first control period k-1.

[0042] Similarly, in some embodiments, the second feedback data deviation includes a second feedback angle deviation and a second feedback speed deviation, and obtaining the second feedback data deviation between the encoder and the observer within the second control cycle includes: 1) Obtain the second encoding angle and second encoding speed of the encoder within the second control cycle; and the second observation angle and second observation speed of the observer within the second control cycle; 2) Based on the second encoding angle and the second observation angle, the second feedback angle deviation is obtained; 3) Based on the second encoding speed and the second observation speed, the second feedback speed deviation is obtained.

[0043] The calculation of the second feedback angle deviation and the second feedback speed deviation can be referred to the following formula 2: , Formula 2.

[0044] in, The second feedback angle deviation is for the second control cycle k. The second feedback speed deviation in the second control cycle k The encoder's second encoding angle is defined in the second control cycle k. The encoder's second encoding speed is given in the second control cycle k. The second observation angle of the observer during the second control period k. The second observation velocity of the observer during the second control period k.

[0045] Step 212: Based on the first feedback data deviation and the second feedback data deviation, obtain the change in feedback data deviation between the encoder and the observer.

[0046] The change in feedback data deviation includes the change in feedback speed deviation and the change in feedback angle deviation, which can be calculated using the following formula 3: , Formula 3.

[0047] in, This is the amount of change in the feedback angle deviation. This represents the change in feedback speed deviation.

[0048] like Figure 2 As shown, during steady-state operation, the feedback angle deviation between the encoder and the observer is calculated using the traditional method as follows: The feedback angle deviation change calculated in this application is 0. Based on this, even if there is a large static deviation between the encoder and the observer, it will not trigger fault judgment, thus fundamentally avoiding erroneous switching under steady-state conditions.

[0049] During dynamic operation, the maximum deviation of the feedback angle between the encoder and the observer, calculated using traditional methods, is: The change in feedback angle deviation calculated by this application at the same time is... - , - much smaller Therefore, this application uses feedback deviation change, which can effectively suppress the inherent deviation between the encoder and the observer and the large deviation in the dynamic process, thereby improving the accuracy of fault detection.

[0050] In some embodiments, after obtaining the change in feedback data deviation between the encoder and the observer based on the first feedback data deviation and the second feedback data deviation, the method further includes: updating the first feedback data deviation between the encoder and the observer within the first control cycle to the second feedback data deviation.

[0051] For example, update the feedback deviation between the encoder and the observer within the first control cycle k-1, as detailed in Formula 4 below: , Formula 4.

[0052] The first feedback angle deviation between the encoder and the observer within the first control cycle k-1. Updated to second feedback angle deviation The first feedback speed deviation between the encoder and the observer within the first control period k-1 is... Updated to second feedback speed deviation .

[0053] Step 220: Determine whether the change in the feedback data deviation meets the preset requirements.

[0054] In some embodiments, the change in feedback data deviation includes the change in feedback speed deviation and the change in feedback angle deviation; step 220 may be to determine whether the change in feedback speed deviation is less than a preset speed deviation threshold and whether the change in feedback angle deviation is less than a preset angle deviation threshold.

[0055] Preferably, in some embodiments, a preset speed deviation threshold is used. A preset angle deviation threshold can be set for 5% of the rated speed. It can be 40 degrees.

[0056] In addition, the specific values ​​of the preset speed deviation threshold and the preset angle deviation threshold can be set and adjusted according to the actual situation, and this application does not limit them here.

[0057] Specifically, if the change in feedback speed deviation is less than a preset speed deviation threshold, and the change in feedback angle deviation is less than a preset angle deviation threshold, then the encoder is determined to meet the preset requirements. In other words, the change in feedback speed deviation... Less than the preset speed deviation threshold And the change in feedback angle deviation Less than the preset angle deviation threshold If the change in the feedback data deviation meets the preset requirements, then the encoder is considered to be functioning normally.

[0058] If the change in feedback speed deviation Less than the preset speed deviation threshold The change in feedback angle deviation Greater than the preset angle deviation threshold If the change in the feedback data deviation does not meet the preset requirements, then the encoder is abnormal.

[0059] If the change in feedback speed deviation Greater than the preset speed deviation threshold The change in feedback angle deviation Less than the preset angle deviation threshold If the change in the feedback data deviation does not meet the preset requirements, then the encoder is abnormal.

[0060] If the change in feedback speed deviation Greater than the preset speed deviation threshold And the change in feedback angle deviation Greater than the preset angle deviation threshold If the change in the feedback data deviation does not meet the preset requirements, then the encoder is abnormal.

[0061] Step 230: If the change in the feedback data deviation meets the preset requirements, then control the operation of the drive device based on the data fed back by the encoder.

[0062] The operation of the drive device based on the data feedback from the encoder can be controlled by setting the second encoding angle of the encoder within the second control cycle. As the final feedback perspective , will increase the second encoding speed As the final feedback speed .

[0063] Step 240: If the change in the feedback data deviation does not meet the preset requirements, then control the operation of the driving device based on the data fed back by the observer.

[0064] In some embodiments, step 240, namely, if the feedback data from the encoder does not meet the preset requirements, controlling the operation of the drive device based on the data fed back by the observer, includes: Step 241: If the feedback data of the encoder does not meet the preset requirements, the operation of the drive device is controlled based on the preset command speed within the preset fault accumulation time.

[0065] In some embodiments, the preset fault accumulation time can be 50ms, which can be set and adjusted according to the actual situation, and this application does not limit it.

[0066] In some embodiments, the operation of the drive device based on a preset command speed control includes: 1) Use the preset command speed as the corresponding feedback speed within the second control cycle; 2) Calculate the integral value of the preset command speed within the second control cycle; 3) Calculate the sum of the integral value and the first encoding angle corresponding to the encoder in the first control cycle to obtain the feedback angle corresponding to the second control cycle; 4) Control the operation of the drive device based on the feedback speed and the feedback angle.

[0067] Within the preset fault accumulation time, the feedback speed and feedback angle can be obtained according to the following formula 5: , Formula 5.

[0068] in, From a feedback perspective, For feedback speed, The integral value of the preset command speed within the second control cycle.

[0069] In some embodiments, it is possible to To update, refer to Formula 6 below.

[0070] , Formula 6.

[0071] The encoder will be at its first encoding angle in the first control cycle k-1. Updated to .

[0072] Step 242: After a preset fault accumulation time, determine whether the encoder is still in a fault state.

[0073] In some embodiments, determining whether the encoder is still faulty in step 242 may involve determining the second feedback angle deviation within the second control cycle. Is it less than the preset angle deviation threshold? and the second feedback speed deviation Is it less than the preset speed deviation threshold? .

[0074] If the second feedback angle deviates Less than the preset angle deviation threshold And the second feedback speed deviation Less than the preset speed deviation threshold If so, the encoder is determined to be normal; If the second feedback angle deviates Less than the preset angle deviation threshold The second feedback speed deviation Greater than the preset speed deviation threshold If the encoder is faulty, it is determined to be abnormal, meaning it is still in a faulty state. If the second feedback angle deviates Greater than the preset angle deviation threshold The second feedback speed deviation Less than the preset speed deviation threshold If the encoder is faulty, it is determined to be abnormal, meaning it is still in a faulty state. If the second feedback angle deviates Greater than the preset angle deviation threshold And the second feedback speed deviation Greater than the preset speed deviation threshold If the encoder is faulty, it is determined to be abnormal, meaning it is still in a faulty state.

[0075] Step 243: If it is determined that the encoder is still faulty, then control the operation of the drive device based on the data fed back by the observer.

[0076] The operation of the device is controlled based on the data feedback from the observer, which may involve setting the second observation angle corresponding to the observer within the second control cycle. As the final feedback perspective The second observation speed As the final feedback speed Specifically, as shown in Formula 7 below: , Formula 7.

[0077] In some embodiments, determining whether the encoder is still faulty includes: If it is determined that the encoder is not faulty, the operation of the drive device is controlled based on the data fed back by the encoder.

[0078] The operation of the drive device based on the data feedback from the encoder can be controlled by setting the second encoding angle of the encoder within the second control cycle. As the final feedback perspective , will increase the second encoding speed As the final feedback speed Specifically, as shown in Formula 8 below: , Formula 8.

[0079] Based on the above embodiments, combined with Figure 3 Taking a motor as an example, the processing method of the drive device control system provided in this application can be referred to the following process: 1) Determine if the motor is running; If not, proceed to step 2-1); if yes, proceed to step 2-2). 2-1) Record the feedback deviation Δ between the encoder and the observer in the (k-1)th cycle (i.e., the first control cycle). θ 1(k-1), Δ w 1(k-1); 2-2) Record the feedback deviation Δ between the encoder and the observer in the Kth cycle (i.e., the second control cycle). θ 1(k), Δ w 1(k); 3) Calculate the change in deviation between the two timeframes (i.e., the change in feedback data deviation) Δ θ 2(k), Δ w 2(k); 4) Update the deviation Δ between the k-1 encoder and the observer. θ 1(k-1)=Δ θ 1(k), Δ w 1(k-1)=Δ w 1(k); 5) Determine Δ θ 2(k)||Δ w Is 2(k) less than the threshold? That is, to determine the change in feedback speed deviation. Is it less than the preset speed deviation threshold? And the change in feedback angle deviation Is it less than the preset angle deviation threshold? .

[0080] 6) Determine if the accumulated fault time has been reached; If not, proceed to step 7-1); if so, proceed to step 7-2). 7-1) θ fdb (k)= θ FVC (k-1)+ w ref (k)T s , w fdb (k)= w ref (k), θ FVC (k-1)= θ fdb (k); That is, the feedback speed is based on the preset command speed, and the feedback angle is the integral value of the encoder's normal angle and the preset command speed.

[0081] 7-2) Determine if the encoder is faulty; If yes, then execute step 8); otherwise, run according to the closed-loop vector FVC and return to perform the next round of detection and judgment.

[0082] 8) Run using open-loop vector SVC.

[0083] This embodiment, by employing a two-stage deviation method, can suppress the inherent deviation between the encoder and the observer, as well as large deviations during the dynamic process. It ensures the accuracy and speed of fault diagnosis while making fault threshold selection easy, and is applicable to different types of drive equipment and different types of encoders, making it easy for engineering applications.

[0084] For example, taking a 2.2kW asynchronous motor encoder as an example, the fault-free switching operation waveform of the 2.2kW asynchronous motor encoder can be found in [reference needed]. Figures 4-7 Among them, channel 1 is the U-phase current, channel 2 is the motor speed, channel 3 is the q-axis current, and channel 4 is the encoder status. A non-zero encoder status indicates an encoder fault. Figure 4 This is a schematic diagram of the encoder fault-free switching operation waveform at low speed (5% of rated speed); Figure 5 This is a schematic diagram of the encoder fault-free switching operation waveform at medium speed (50% of rated speed); Figure 6 This is a schematic diagram of the encoder fault-free switching operation waveform at high speed (100% rated speed); Figure 7 This is a schematic diagram of the waveform for seamless switching of operation during acceleration and deceleration in the event of an encoder fault.

[0085] Corresponding to the above-described processing method for a drive device control system, this application also provides a processing apparatus for a drive device control system. This processing apparatus includes a unit for executing the aforementioned processing method for the drive device control system, and can be configured in a terminal such as a desktop computer, tablet computer, or laptop computer.

[0086] like Figure 8 As shown in the figure, this application provides a computer device including a processor 111, a communication interface 112, a memory 113, and a communication bus 114, wherein the processor 111, the communication interface 112, and the memory 113 communicate with each other through the communication bus 114. Memory 113 is used to store computer programs; In one embodiment of this application, when the processor 111 executes the program stored in the memory 113, it implements the processing method of the drive device control system provided in any of the foregoing method embodiments, including: During the operation of the drive device, the change in the feedback data deviation between the encoder and the observer is calculated within two adjacent control cycles. Determine whether the change in the feedback data deviation meets the preset requirements; If the change in the feedback data deviation meets the preset requirements, the operation of the drive device is controlled based on the data fed back by the encoder. If the change in the feedback data deviation does not meet the preset requirements, the operation of the control drive device is based on the data fed back by the observer.

[0087] 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.

[0088] 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 processing method of the drive device control system provided in any of the foregoing method embodiments, including: During the operation of the drive device, the change in the feedback data deviation between the encoder and the observer is calculated within two adjacent control cycles. Determine whether the change in the feedback data deviation meets the preset requirements; If the change in the feedback data deviation meets the preset requirements, the operation of the drive device is controlled based on the data fed back by the encoder. If the change in the feedback data deviation does not meet the preset requirements, the operation of the control drive device is based on the data fed back by the observer.

[0089] 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.

[0090] 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.

[0091] 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.

[0092] 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.

[0093] 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.

[0094] 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.

[0095] 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.

[0096] 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 processing method for a drive equipment control system, characterized in that, The drive device control system includes an encoder and a monitor, and the method includes: During the operation of the drive device, the change in the feedback data deviation between the encoder and the observer is calculated within two adjacent control cycles. Determine whether the change in the feedback data deviation meets the preset requirements; If the change in the feedback data deviation meets the preset requirements, the operation of the drive device is controlled based on the data fed back by the encoder. If the change in the feedback data deviation does not meet the preset requirements, the operation of the control drive device is based on the data fed back by the observer.

2. The method according to claim 1, characterized in that, The two adjacent control cycles include a first control cycle and a second control cycle. The calculation of the change in feedback data deviation between the encoder and the observer within the two adjacent control cycles includes: Obtain the first feedback data deviation between the encoder and the observer in the first control cycle, and the second feedback data deviation in the second control cycle; Based on the first feedback data deviation and the second feedback data deviation, the change in feedback data deviation between the encoder and the observer is obtained.

3. The method according to claim 2, characterized in that, The first feedback data deviation includes a first feedback angle deviation and a first feedback speed deviation; the second feedback data deviation includes a second feedback angle deviation and a second feedback speed deviation; obtaining the first feedback data deviation between the encoder and the observer within the first control cycle, and the second feedback data deviation within the second control cycle, includes: The encoder is obtained with a first encoding angle and a first encoding speed within a first control cycle; and the observer is obtained with a first observation angle and a first observation speed within a first control cycle. Based on the first encoding angle and the first observation angle, the first feedback angle deviation is obtained; Based on the first encoding speed and the first observation speed, the first feedback speed deviation is obtained. And to obtain the second encoding angle and the second encoding speed of the encoder within the second control cycle; and the second observation angle and the second observation speed of the observer within the second control cycle; Based on the second encoding angle and the second observation angle, the second feedback angle deviation is obtained; The second feedback speed deviation is obtained based on the second encoding speed and the second observation speed.

4. The method according to claim 1, characterized in that, The change in feedback data deviation includes the change in feedback speed deviation and the change in feedback angle deviation; determining whether the change in feedback data deviation meets preset requirements includes: Determine whether the change in the feedback speed deviation is less than a preset speed deviation threshold, and whether the change in the feedback angle deviation is less than a preset angle deviation threshold; If the change in the feedback speed deviation is less than a preset speed deviation threshold, and the change in the feedback angle deviation is less than a preset angle deviation threshold, then the change in the feedback data deviation is determined to meet the preset requirements.

5. The method according to claim 1, characterized in that, If the change in the feedback data deviation does not meet the preset requirements, the operation of the drive device is controlled based on the data fed back by the observer, including: If the change in the feedback data deviation does not meet the preset requirements, the operation of the drive device will be controlled based on the preset command speed within the preset fault accumulation time. After a preset fault accumulation time, it is determined whether the encoder is still in a fault state; If the encoder is determined to be faulty, the operation of the control device is controlled based on the data fed back by the observer.

6. The method according to claim 5, characterized in that, The operation of the drive device based on the preset command speed control includes: The preset command speed is used as the corresponding feedback speed in the second control cycle; Calculate the integral value of the preset command speed during the second control cycle; The sum of the integral value and the first encoding angle corresponding to the encoder in the first control cycle is calculated to obtain the feedback angle corresponding to the second control cycle. The operation of the drive device is controlled based on the feedback speed and the feedback angle.

7. The method according to claim 5, characterized in that, The step of determining whether the encoder is still faulty includes: If it is determined that the encoder is not faulty, the operation of the drive device is controlled based on the data fed back by the encoder.

8. The method according to claim 2, characterized in that, After obtaining the change in feedback data deviation between the encoder and the observer based on the first feedback data deviation and the second feedback data deviation, the method further includes: The first feedback data deviation between the encoder and the observer during the first control cycle is updated to the second feedback data deviation.

9. A computer device, characterized in that, The computer device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method as described in any one of claims 1-8.

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 1-8.

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