Galvanometer servo system decoupling feedforward compensation method and system based on residence index

Abstract

The embodiment of the application provides a galvanometer servo system decoupling feedforward compensation method and system based on a dwell index. The method comprises the following steps: a weighted Play operator network is used to extract a normalized shape factor, and the normalized shape factor is used to represent the geometric shape and path memory characteristics of the system hysteresis loop; an adaptive amplitude function is calculated based on the dwell index and a Stribeck model containing an empirical attenuation factor, wherein the dwell index is determined based on a speed threshold and an acceleration threshold criterion; a composite feedforward control law is constructed according to the normalized shape factor and the adaptive amplitude function, and a feedforward compensation amount is calculated based on the composite feedforward control law; and the feedforward compensation amount and the output of a PID feedback controller are added to obtain a control signal, which is used to drive a voice coil type galvanometer motor to operate. Based on this, the embodiment of the application can solve the problems of large commutation error and obvious hysteresis residual of the existing galvanometer servo system in low-speed reciprocating scanning.

Description

Technical Field

[0001] The embodiments of the present invention relate to the field of precision servo control technology, and in particular to a decoupling feedforward compensation method and system for a galvanometer servo system based on the dwell index. Background Technology

[0002] In low-speed reciprocating scanning and commutation sections, voice coil galvanometer systems are extremely sensitive to friction, hysteresis, and local structural nonlinearities, easily leading to problems such as increased commutation error, low-speed creep, and residual hysteresis. Existing compensation methods based on friction mechanisms mainly rely on velocity information, making it difficult to effectively distinguish between the instantaneous zero crossing during commutation and the actual dwell state. Near the reciprocating commutation point, the system is in a dynamic reversal process; if compensation is based on strong static friction, local overcompensation is highly likely. Existing phenomenological hysteresis model compensation methods often encode hysteresis shape and amplitude changes in the same set of model parameters, resulting in strong parameter coupling, difficulty in model identification, and poor ability to transfer operating conditions. Summary of the Invention

[0003] This invention provides a decoupling feedforward compensation method and system for a galvanometer servo system based on the dwell index. It can decouple the hysteresis shape and amplitude changes and dynamically identify the dwell state to prevent overcompensation during commutation, thereby solving the problems of large commutation error and obvious hysteresis residue in existing galvanometer servo systems during low-speed reciprocating scanning.

[0004] In a first aspect, embodiments of the present invention provide a decoupling feedforward compensation method for a galvanometer servo system based on the dwell index, comprising: A weighted Play operator network is used to extract a normalized shape factor, wherein the normalized shape factor is used to characterize the geometry and path memory features of the system's hysteresis loop; An adaptive amplitude function is calculated based on the dwell index and the Stribeck model with an empirical decay factor, wherein the dwell index is determined based on velocity threshold and acceleration threshold criteria. Based on the normalized shape factor and the adaptive amplitude function, a composite feedforward control law is constructed, and the feedforward compensation amount is calculated based on the composite feedforward control law. The feedforward compensation amount is added to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

[0005] In some embodiments, the extraction of normalized shape factors using a weighted Play operator network includes: Calculate the first The output of the Play operator is ,in, For reference input, For the corresponding threshold; The output of the weighted network is calculated as follows: ,in, In order to speed The relevant weighting coefficients, The number of Play operators; The weighted network output is normalized to obtain the normalized shape factor. ,in, This is the normalization coefficient.

[0006] In some embodiments, the formula for calculating the adaptive amplitude function is: ; in, It is an adaptive amplitude function. This is the equivalent amplitude corresponding to the maximum static friction. For Coulomb friction term, Stribeck characteristic velocity, For shape parameters, The viscosity coefficient, The so-called residency index, The static friction enhancement coefficient, is the empirical attenuation factor.

[0007] In some embodiments, the empirical attenuation factor The calculation formula is: ; in, The empirical attenuation coefficient is... This is the reference speed for the high-speed section. This is the decay index.

[0008] In some embodiments, the process of determining the residency index includes: Set the speed threshold and the acceleration threshold ; When both conditions are met and At that time, the system is determined to be in the quasi-static candidate region, and the cumulative dwell time is updated. ,in, The sampling period; When not satisfied and When the system is in a dynamic operating region, the cumulative resident count is updated. ,in, The decay rate when exiting the dwell state. As the reference attenuation coefficient, The acceleration penalty coefficient, Normalized reference acceleration; Map the cumulative residence volume to a dimensionless residence index. ,in, To achieve the characteristic time required for full stay, It is a monotonically continuous smooth mapping function.

[0009] In some embodiments, the calculation formula for the composite feedforward control law is: ,in, This is the feedforward compensation amount. The linear viscosity compensation coefficient is... The normalized shape factor, This refers to the adaptive amplitude function.

[0010] Secondly, embodiments of the present invention also provide a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index. The system includes a digital controller, a digital-to-analog converter, an analog-to-digital converter, a power amplifier, a voice coil motor, and a position detection unit. The digital controller executes the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in any one of claims 1 to 6 to output the control signal. The control command is converted into an analog control voltage by the digital-to-analog converter and then sent to the power amplifier operating in current loop mode, thereby driving the voice coil motor to perform reciprocating scanning motion. The position detection unit collects the angular position signal of the voice coil motor in real time and feeds it back to the digital controller via the analog-to-digital converter to achieve closed loop.

[0011] Thirdly, embodiments of the present invention also provide a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index, the system comprising: The shape factor extraction module is used to extract normalized shape factors using a weighted Play operator network, wherein the normalized shape factors are used to characterize the geometry and path memory features of the system's hysteresis loop. The dwelling index and amplitude calculation module is used to calculate an adaptive amplitude function based on the dwelling index and the Stribeck model containing an empirical decay factor, wherein the dwelling index is determined based on velocity threshold and acceleration threshold criteria; The composite feedforward calculation module is used to construct a composite feedforward control law based on the normalized shape factor and the adaptive amplitude function, and to calculate the feedforward compensation amount based on the composite feedforward control law. The control output module is used to add the feedforward compensation amount to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

[0012] Fourthly, embodiments of the present invention also provide an electronic device, including: a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in the first aspect.

[0013] Fifthly, embodiments of the present invention also provide a computer-readable storage medium storing computer-executable instructions for performing the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in the first aspect.

[0014] The present invention provides a decoupling feedforward compensation method and system for a galvanometer servo system based on the dwell index. The decoupling feedforward compensation method includes: extracting a normalized shape factor using a weighted Play operator network, wherein the normalized shape factor characterizes the geometry and path memory features of the system's hysteresis loop; calculating an adaptive amplitude function based on the dwell index and a Stribeck model containing an empirical attenuation factor, wherein the dwell index is determined based on velocity and acceleration threshold criteria; constructing a composite feedforward control law based on the normalized shape factor and the adaptive amplitude function, and calculating the feedforward compensation amount based on the composite feedforward control law; adding the feedforward compensation amount to the output of a PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor. Based on this, the present invention can decouple the hysteresis shape and amplitude changes and dynamically identify the dwell state to prevent overcompensation during commutation, thereby solving the problems of large commutation errors and significant hysteresis residues in existing galvanometer servo systems during low-speed reciprocating scanning. Attached Figure Description

[0015] Figure 1A This is the main flowchart of a decoupling feedforward compensation method for a galvanometer servo system based on the dwell index, provided in one embodiment of the present invention. Figure 1B This is a general framework diagram of a decoupling feedforward compensation method for a galvanometer servo system based on the dwell index, provided in one embodiment of the present invention. Figure 2 This is a block diagram of the hardware composition and control structure of a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index, provided in one embodiment of the present invention. Figure 3 This is a schematic diagram of the structure of a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index, provided in one embodiment of the present invention. Figure 4 This is a schematic diagram of an electronic device provided in one embodiment of the present invention. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0017] It should be noted that although functional modules are divided in the system diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first," "second," etc., in the specification, claims, and the following figures are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence.

[0018] In this embodiment of the invention, the terms "furthermore," "exemplarily," or "optionally" are used as examples, illustrations, or descriptions and should not be construed as being more preferred or advantageous than other embodiments or designs. The use of the terms "furthermore," "exemplarily," or "optionally" is intended to present the relevant concepts in a specific manner.

[0019] To facilitate a more convenient description of the working principle of the embodiments of the present invention, the following introduction of relevant technical scenarios is given first.

[0020] In low-speed reciprocating scanning and commutation sections, voice coil galvanometer systems are extremely sensitive to friction, hysteresis, and local structural nonlinearities, easily leading to problems such as increased commutation error, low-speed creep, and residual hysteresis. Existing compensation methods based on friction mechanisms mainly rely on velocity information, making it difficult to effectively distinguish between the instantaneous zero crossing during commutation and the actual dwell state. Near the reciprocating commutation point, the system is in a dynamic reversal process; if compensation is based on strong static friction, local overcompensation is highly likely. Existing phenomenological hysteresis model compensation methods often encode hysteresis shape and amplitude changes in the same set of model parameters, resulting in strong parameter coupling, difficulty in model identification, and poor ability to transfer operating conditions.

[0021] Based on this, the present invention provides a decoupling feedforward compensation method and system for a galvanometer servo system based on the dwelling index. The decoupling feedforward compensation method for a galvanometer servo system based on the dwelling index includes: extracting a normalized shape factor using a weighted Play operator network, wherein the normalized shape factor is used to characterize the geometry and path memory features of the system's hysteresis loop; calculating an adaptive amplitude function based on the dwelling index and a Stribeck model containing an empirical attenuation factor, wherein the dwelling index is determined based on velocity and acceleration threshold criteria; constructing a composite feedforward control law according to the normalized shape factor and the adaptive amplitude function, and calculating the feedforward compensation amount based on the composite feedforward control law; adding the feedforward compensation amount to the output of a PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor. Based on this, the embodiments of the present invention can achieve decoupling of hysteresis shape and amplitude changes, and can dynamically identify the dwelling state to prevent overcompensation during commutation, thereby solving the problems of large commutation errors and significant hysteresis residues in existing galvanometer servo systems during low-speed reciprocating scanning.

[0022] The embodiments of the present invention will be further described below with reference to the accompanying drawings.

[0023] like Figure 1A As shown, Figure 1A This is a flowchart of a decoupling feedforward compensation method for a galvanometer servo system based on the dwell index, provided in an embodiment of the present invention. The decoupling feedforward compensation method for a galvanometer servo system based on the dwell index may include, but is not limited to, steps S101 to S104.

[0024] Step S101: The weighted Play operator network is used to extract the normalized shape factor, wherein the normalized shape factor is used to characterize the geometry and path memory features of the system's hysteresis loop. Step S102: Calculate the adaptive amplitude function based on the dwelling index and the Stribeck model with an empirical decay factor, wherein the dwelling index is determined based on velocity threshold and acceleration threshold criteria. Step S103: Construct a composite feedforward control law based on the normalized shape factor and the adaptive amplitude function, and calculate the feedforward compensation amount based on the composite feedforward control law. In step S104, the feedforward compensation amount is added to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

[0025] Understandably, this invention aims to address the problems of large commutation errors and significant residual hysteresis in existing galvanometer servo systems during low-speed reciprocating scanning. It proposes a complex feedforward control method that decouples shape and amplitude and can dynamically identify dwell states to prevent overcompensation during commutation. The overall framework of this method is shown in the figure below. Figure 1B As shown.

[0026] It is understandable that, in step S101, the specific process of extracting the normalized shape factor using a weighted Play operator network may include: Using the weighted Play operator to characterize the memory properties of hysteresis systems, the calculation of the first... Discrete recursive output of the Play operator: ,in, For reference input, For the corresponding threshold; Calculate the weighted network output: ,in, In order to speed The relevant weighting coefficients, The number of Play operators; The weighted network output is normalized to separate a normalized shape factor that represents only the geometric contour of the hysteresis loop and the path memory relationship: ,in, This is the normalization coefficient.

[0027] It is understandable that in step S102, an empirical decay factor is introduced based on the Stribeck model. This describes the amplitude saturation or decrease that occurs in the system at higher speeds. Combined with the dwell index... The static friction enhancement term is modulated to obtain the final adaptive amplitude function. The formula for calculating the adaptive amplitude function is as follows: ; in, It is an adaptive amplitude function. This is the equivalent amplitude corresponding to the maximum static friction. For Coulomb friction term, Stribeck characteristic velocity, For shape parameters, The viscosity coefficient, For the residency index, The static friction enhancement coefficient, This is the empirical decay factor.

[0028] Understandably, the empirical decay factor The calculation formula is: ; in, The empirical attenuation coefficient is... This is the reference speed for the high-speed section. This is the decay index.

[0029] Understandably, the process of determining the residency index includes: Set speed threshold and acceleration threshold ; When both conditions are met and At that time, the system is determined to be in the quasi-static candidate region, and the cumulative dwell time is updated. ,in, The sampling period; When not satisfied and When the system is in a dynamic operating region, the cumulative resident count is updated. ,in, The decay rate when exiting the dwell state. As the reference attenuation coefficient, The acceleration penalty coefficient, Normalized reference acceleration; Mapping cumulative residency to a dimensionless residency index ,in, To achieve the characteristic time required for full stay, It is a monotonically continuous smooth mapping function.

[0030] Based on this, through cumulative dwell time Its decay mechanism maps residence time to a dimensionless residence index. This dwell index can effectively distinguish between "transient zero crossing" and "true dwell".

[0031] It is understandable that, in step S103, the calculation formula for the composite feedforward control law is: ,in, This is the feedforward compensation amount. The linear viscosity compensation coefficient is... For normalized shape factor, It is an adaptive amplitude function.

[0032] Understandably, in step S104, the linear viscous damping compensation is combined with the hysteresis-friction coupling term to calculate the feedforward compensation amount: The feedforward compensation is added to the output of the PID feedback controller to obtain the control signal, which serves as the total control input of the system. The control signal is converted into a voltage signal to drive the voice coil galvanometer motor.

[0033] Based on this, the decoupling feedforward compensation method for the galvanometer servo system based on the dwell index of the present invention has at least the following beneficial effects: 1. Reduced parameter coupling and easier engineering implementation: Separating the description of hysteresis shape from the equivalent amplitude change reduces the difficulty of model parameter identification and is suitable for real-time control of embedded hardware platforms.

[0034] 2. Suppressing commutation overcompensation and improving tracking accuracy: A dwell index based on dual thresholds is introduced, overcoming the misjudgment caused by the instantaneous zero crossing of speed in traditional methods, and avoiding error abrupt changes caused by premature amplification of static friction during the commutation phase. Compared to pure PID control, the RMS error is reduced by approximately 16.6%.

[0035] 3. Significantly reduced controller load: The feedforward channel undertakes most of the compensation task for known nonlinearities, which reduces the output load of the PID feedback controller by about 47.4% compared to the benchmark group.

[0036] In addition, an embodiment of the present invention discloses a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index. The system includes a digital controller, a digital-to-analog converter (DAC), an analog-to-digital converter (ADC), a power amplifier, a voice coil motor, and a position detection unit. The digital controller executes the decoupling feedforward compensation method for the galvanometer servo system based on the dwell index as described above to output a control signal. The control command is converted into an analog control voltage by the DAC and then sent to the power amplifier operating in current loop mode, thereby driving the voice coil motor to perform reciprocating scanning motion. The position detection unit collects the angular position signal of the voice coil motor in real time and feeds it back to the digital controller via the DAC to achieve closed loop.

[0037] Understandably, the digital controller can use the Zynq-7000 hardware platform as the core computing unit, responsible for the real-time calculation of the feedforward compensation algorithm and the PID feedback control algorithm.

[0038] Understandably, both the analog-to-digital (ADC) and digital-to-analog (DAC) interfaces use 16-bit resolution chips (in specific implementations, the DAC can be AD5541 and the ADC can be AD7606C). The sampling period of the control system is set to 50μs, corresponding to a sampling frequency of 20 kHz, which can fully meet the high requirements of the proposed control algorithm for real-time sampling and online computation.

[0039] It is understandable that, such as Figure 2 As shown, the control commands output by the digital controller are converted into analog control voltages by the DAC and then fed into an analog power amplifier (with a bandwidth of approximately 5 kHz) operating in current loop mode, thereby driving the voice coil motor to perform reciprocating scanning motion. The position detection unit acquires the motor's angular position signal in real time and feeds it back to the digital controller closed loop via the ADC. The position detection unit includes, but is not limited to, photoelectric sensors.

[0040] Understandably, in the Zynq-7000 controller described above, within each sampling period (50μs), the system can execute a shape-amplitude decoupling feedforward compensation algorithm based on the dwell exponent according to the following steps: Step 1: Real-time extraction of normalized shape factor. The Zynq controller reads the current reference input. The data is fed into a pre-constructed weighted Play operator network. The discrete recursive formula is then used. Update the state of each operator and combine it with the current reference speed. The weights are obtained by table lookup and interpolation, then weighted summation is performed, and finally divided by the normalization coefficient. This yields a normalized shape factor that contains only hysteresis geometric contour information. .

[0041] Step 2: Dynamic update mechanism for the dwell time index. The controller calculates the current reference speed. With acceleration Set speed threshold and acceleration threshold The system determines that a candidate region has been entered and accumulates the dwell time only when both conditions simultaneously meet the threshold conditions. Once the condition is removed (e.g., during a commutation transient with extremely high acceleration), the dwell time is determined according to the penalty coefficient. Rapid decay. Eventually will Mapped to The dwell index between This mechanism effectively avoids misjudgment of the system's state near the commutation point of a sinusoidal reciprocating motion (where the velocity momentarily crosses zero but the acceleration is very large).

[0042] Step 3: Solving the adaptive amplitude function. The controller uses the adaptive amplitude function to calculate the equivalent friction amplitude at the current speed. The formula for calculating the adaptive amplitude function is: .

[0043] Among them, the residency index It is used solely as a gate factor to precisely adjust the static friction enhancement term and prevent overcompensation during commutation; empirical attenuation factor. Used to fit the amplitude saturation phenomenon in the high-speed range.

[0044] Step 4: Output of the composite control signal. The controller calculates the feedforward compensation voltage. Meanwhile, the PID algorithm within the controller calculates the feedback voltage. The sum of the two yields the total control voltage. The signal is sent to the DAC module output to complete the servo control task for this cycle.

[0045] To verify the effectiveness of this embodiment, at 0.5 Hz, A comparative experiment was conducted on an 8° sinusoidal reciprocating trajectory. The experiment quantitatively compared pure PID control, traditional GPI feedforward + PID control, and the method proposed in this invention. Specific experimental data are as follows: Tracking error (RMS error): 40.3 for pure PID control. Radius, 41.8 using the traditional GPI method. The RMS error was reduced to 33.6 rad, while the method of this invention significantly reduced the RMS error to 33.6 rad. rad. Compared to the benchmark group, the RMS error reduction of the method of this invention is approximately 16.6%.

[0046] Commutation point error suppression: Near commutation points, where nonlinear abrupt changes are highly likely to occur, the traditional GPI method cannot distinguish between true dwell and commutation zero crossing, resulting in a maximum commutation spike error as high as 220.6. rad; This invention, by introducing a dual-threshold dwell index, significantly suppresses the maximum commutation spike error to 74.9. It exhibits excellent smooth transition characteristics.

[0047] Hysteresis residual area: In the error-displacement plane, the hysteresis area of ​​pure PID control reaches 3.0, while the method of the present invention compresses the hysteresis area to 0.286 by decoupling compensation of shape and amplitude, thus completely eliminating most of the path-dependent error.

[0048] Controller output burden: The feedforward compensation channel of this invention effectively undertakes the compensation task of known nonlinearity, so that the root mean square output value of the PID compensation loop is reduced from 13.296 mV under pure PID to 6.987 mV, a reduction of about 47.4%, which greatly reduces the adjustment pressure of the feedback controller and improves the system stability.

[0049] In summary, the system structure provided by this invention is clear and its physical meaning is well-defined. It has significant advantages in suppressing commutation errors and reducing residual hysteresis, making it very suitable for real-time engineering applications of embedded galvanometer servo systems.

[0050] In addition, such as Figure 3 As shown, one embodiment of the present invention also discloses a decoupling feedforward compensation system for a galvanometer servo system based on the dwell index, the system comprising: The shape factor extraction module 110 is used to extract normalized shape factors using a weighted Play operator network, wherein the normalized shape factors are used to characterize the geometric shape and path memory features of the system's hysteresis loop. The dwell index and amplitude calculation module 120 is used to calculate an adaptive amplitude function based on the dwell index and the Stribeck model containing an empirical attenuation factor, wherein the dwell index is determined based on velocity threshold and acceleration threshold criteria. The composite feedforward calculation module 130 is used to construct a composite feedforward control law based on the normalized shape factor and the adaptive amplitude function, and to calculate the feedforward compensation amount based on the composite feedforward control law. The control output module 140 is used to add the feedforward compensation amount to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

[0051] The galvanometer servo system decoupling feedforward compensation system based on dwell index in this embodiment of the invention is used to execute the galvanometer servo system decoupling feedforward compensation method based on dwell index in the above embodiment. Its specific processing procedure is the same as that of the galvanometer servo system decoupling feedforward compensation method based on dwell index in the above embodiment, and will not be described in detail here.

[0052] In addition, such as Figure 4 As shown, an embodiment of the present invention also discloses an electronic device, including: at least one processor 210; at least one memory 220 for storing at least one program; when the at least one program is executed by the at least one processor 210, it implements the decoupling feedforward compensation method for the galvanometer servo system based on the dwell index as in any of the preceding embodiments.

[0053] In addition, one embodiment of the present invention discloses a computer-readable storage medium storing computer-executable instructions for performing the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in any of the preceding embodiments.

[0054] The system architecture and application scenarios described in the embodiments of this invention are for the purpose of more clearly illustrating the technical solutions of the embodiments of this invention, and do not constitute a limitation on the technical solutions provided by the embodiments of this invention. As those skilled in the art will know, with the evolution of system architecture and the emergence of new application scenarios, the technical solutions provided by the embodiments of this invention are also applicable to similar technical problems.

[0055] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or suitable combinations thereof.

[0056] In hardware implementations, the division between functional modules / units mentioned in the above description does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit. Such software may be distributed on a computer-readable medium, which may include computer storage media (or non-transitory media) and communication media (or transient media). As is known to those skilled in the art, the term computer storage media includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information (such as computer-readable instructions, data structures, program modules, or other data). Computer storage media includes, but is not limited to, RAM, ROM, EEPROM, flash memory or other memory technologies, CD-ROM, digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, as is known to those skilled in the art, communication media typically contain computer-readable instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0057] The terms “component,” “module,” “system,” etc., used in this specification are used to refer to computer-related entities, hardware, firmware, combinations of hardware and software, software, or software in execution. For example, a component can be, but is not limited to, a process running on a processor, a processor, an object, an executable file, an execution thread, a program, or a computer. As illustrated, applications running on computing devices and computing devices can both be components. One or more components may reside in a process or execution thread, and components may be located on a single computer or distributed among two or more computers. Furthermore, these components can be executed from various computer-readable media on which various data structures are stored. Components can communicate, for example, via local or remote processes based on signals having one or more data packets (e.g., data from two components interacting with another component between a local system, a distributed system, or a network, such as the Internet interacting with other systems via signals).

Claims

1. A decoupling feedforward compensation method for a galvanometer servo system based on the dwell index, comprising: A weighted Play operator network is used to extract a normalized shape factor, wherein the normalized shape factor is used to characterize the geometry and path memory features of the system's hysteresis loop; An adaptive amplitude function is calculated based on the dwell index and the Stribeck model with an empirical decay factor, wherein the dwell index is determined based on velocity threshold and acceleration threshold criteria. Based on the normalized shape factor and the adaptive amplitude function, a composite feedforward control law is constructed, and the feedforward compensation amount is calculated based on the composite feedforward control law. The feedforward compensation amount is added to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

2. The method according to claim 1, characterized in that, The extraction of normalized shape factors using a weighted Play operator network includes: Calculate the first The output of the Play operator is ,in, For reference input, For the corresponding threshold; The output of the weighted network is calculated as follows: ,in, In order to speed The relevant weighting coefficients, The number of Play operators; The weighted network output is normalized to obtain the normalized shape factor. ,in, This is the normalization coefficient.

3. The method according to claim 1, characterized in that, The formula for calculating the adaptive amplitude function is as follows: ； in, It is an adaptive amplitude function. This is the equivalent amplitude corresponding to the maximum static friction. For Coulomb friction term, Stribeck characteristic velocity, For shape parameters, The viscosity coefficient, The so-called residency index, The static friction enhancement coefficient, is the empirical attenuation factor.

4. The method according to claim 3, characterized in that, The empirical attenuation factor The calculation formula is: ； in, The empirical attenuation coefficient is... This is the reference speed for the high-speed section. This is the decay index.

5. The method according to claim 1, characterized in that, The process of determining the residency index includes: Set the speed threshold and the acceleration threshold ; When both conditions are met and At that time, the system is determined to be in the quasi-static candidate region, and the cumulative dwell time is updated. ,in, The sampling period; When not satisfied and When the system is in a dynamic operating region, the cumulative resident count is updated. ,in, The decay rate when exiting the dwell state. As the reference attenuation coefficient, The acceleration penalty coefficient, Normalized reference acceleration; Map the cumulative residence volume to a dimensionless residence index. ,in, To achieve the characteristic time required for full stay, It is a monotonically continuous smooth mapping function.

6. The method according to claim 1, characterized in that, The calculation formula for the composite feedforward control law is as follows: ,in, This is the feedforward compensation amount. The linear viscosity compensation coefficient is... The normalized shape factor, This refers to the adaptive amplitude function.

7. A decoupling feedforward compensation system for a galvanometer servo system based on the residence index, characterized in that, The system includes a digital controller, a digital-to-analog converter, an analog-to-digital converter, a power amplifier, a voice coil motor, and a position detection unit. The digital controller executes the decoupling feedforward compensation method for the galvanometer servo system based on the dwell index as described in any one of claims 1 to 6 to output the control signal. The control command is converted into an analog control voltage by the digital-to-analog converter and then sent to the power amplifier operating in current loop mode, thereby driving the voice coil motor to perform reciprocating scanning motion. The position detection unit collects the angular position signal of the voice coil motor in real time and feeds it back to the digital controller via the analog-to-digital converter to achieve closed loop.

8. A decoupling feedforward compensation system for a galvanometer servo system based on the residence index, characterized in that, The system includes: The shape factor extraction module is used to extract normalized shape factors using a weighted Play operator network, wherein the normalized shape factors are used to characterize the geometry and path memory features of the system's hysteresis loop. The dwelling index and amplitude calculation module is used to calculate an adaptive amplitude function based on the dwelling index and the Stribeck model containing an empirical decay factor, wherein the dwelling index is determined based on velocity threshold and acceleration threshold criteria; The composite feedforward calculation module is used to construct a composite feedforward control law based on the normalized shape factor and the adaptive amplitude function, and to calculate the feedforward compensation amount based on the composite feedforward control law. The control output module is used to add the feedforward compensation amount to the output of the PID feedback controller to obtain a control signal, which is used to drive the voice coil galvanometer motor.

9. An electronic device, comprising: A memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, when the processor executes the computer program, it implements the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in any one of claims 1 to 6.

10. A computer-readable storage medium storing computer-executable instructions for performing the decoupling feedforward compensation method for a galvanometer servo system based on the dwell index as described in any one of claims 1 to 6.

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