An electric linear output servo system with embedded force sensor and output force control scheme

Abstract

The application relates to an electric linear output servo system and method provided with an embedded force sensor and belongs to the technical field of servo mechanisms, which solves the problem that the existing servo system increases the weight and size of the servo system. The servo mechanism body is connected to a load through a single-piece component and a lug component; the single-piece component and the nut of a screw rod pair are fixedly connected; the screw rod of the screw rod pair is fixed in the servo system body, the single-piece component is driven by the screw rod pair to perform linear reciprocating motion, and the load device is pushed to swing; an electric connector is fixed on the servo system body; a groove is formed in the force output axis direction of the lug component to place the embedded force sensor, a signal transmission line of the force sensor is connected to the electric connector through the lug component, the force sensor outputs the voltage signal change amount generated by force deformation to the electric connector through the signal transmission line and to a servo mechanism controller for processing, and a cable protection cover is installed outside the servo mechanism body to protect the signal transmission line. The light weight of the servo system is realized.

Description

Technical Field

[0001] The present invention relates to the technical field of servo mechanisms, and particularly to an electric linear output servo system provided with an embedded force sensor and an output force control scheme. Background Art

[0002] For an electric linear output servo system that manipulates the swing of a nozzle, the linear reciprocating motion of the screw pair of the servo system drives the nozzle to swing. By real-time detecting the output force of the servo system and obtaining the output force curve during the process of the servo system driving the nozzle to swing, it has guiding significance for evaluating the load characteristics during the nozzle swing process and optimizing the dynamic characteristics of the servo system.

[0003] Currently, the main method for testing the load during the nozzle swing process is to add an independent flange-type force sensor on the output force axis of the servo system, and install the force sensor onto the mechanical installation interface of the servo system through screws, such as installing it between the servo mechanism and the installation base. By using the deformation generated by the force sensor when the servo system outputs force, the measurement of the output force value is achieved. However, this method requires adding an additional independent force sensor, which is equivalent to increasing the size and weight of the servo system. For the servo system supporting the nozzle of an aircraft, lightweight and miniaturization are essential requirements and development trends. In addition, the shapes and sizes of servo systems are diverse, and the mechanical installation interfaces of different servo systems are different, resulting in different installation interfaces for the force sensor. Therefore, it is necessary to adapt to the mechanical installation interface size of the servo system, resulting in a low degree of generalization, serialization, and modularization of the force sensor, and it is also not conducive to cost reduction.

[0004] In addition, the current servo control system cannot perform output torque closed-loop control. When the load torque changes randomly within a large range, the control system cannot obtain an optimal adjustment between rapidity and stability, resulting in poor load robustness and low control accuracy of the system. Summary of the Invention

[0005] In view of the above analysis, embodiments of the present invention aim to provide an electric linear output servo system provided with an embedded force sensor and an output force control scheme to solve the problem that the existing scheme for real-time detecting the output force of an electric linear servo system requires adding additional weight and size to the servo system.

[0006] On the one hand, embodiments of the present invention provide an electric linear output servo system provided with an embedded force sensor, including: a single-chip component 1, a screw pair 2, a servo mechanism body 3, an electrical connector 4, an ear component 5, and an embedded force sensor 6; Wherein, one end of the single-chip component 1 is connected to a load device, and the other end of the single-chip component 1 is fixedly connected to the nut of the screw pair 2; The lead screw of the lead screw pair 2 is fixedly installed inside the servo system body 3. The lead screw pair 2 drives the single piece component 1 to perform linear reciprocating motion, thereby pushing the load device to swing. The electrical connector 4 is fixedly installed on the servo system body 3; One end of the support member 5 is fixedly connected to the servo system body 3, and the other end of the support member 5 is connected to the load device. A groove is formed in the force output axis direction of the support member 5 for placing the embedded force sensor 6. The embedded force sensor 6 is used to output the voltage signal change caused by the force deformation during the swing of the load device to the electrical connector 4, and the electrical connector 4 outputs it to the servo mechanism controller for processing.

[0007] Further improvements to the above system also include: a cable protection cover 7, installed outside the servo mechanism body 3; The signal transmission line of the embedded force sensor 6 passes through the lug component 5 and connects to the electrical connector 4, and the voltage signal change is output to the electrical connector 4 through the signal transmission line; The cable protection cover 7 is used to protect the signal transmission line.

[0008] Based on the further improvement of the above system, two symmetrical grooves are formed in the force output axis direction of the support member 5, and the embedded force sensor 6 is placed in one of the grooves.

[0009] Based on the further improvement of the above system, a groove is formed in the force output axis direction of the support member 5 to place the embedded force sensor 6.

[0010] On the other hand, embodiments of the present invention provide an output force control method, including: The system collects output force and displacement over multiple control cycles, wherein the output force is derived from the voltage signal change of the electric linear output servo system with an embedded force sensor; and the displacement is output by the electric linear output servo system with an embedded force sensor. Determine the first number among multiple output forces that exceeds the preset force limit; Determine the second displacement that exceeds the preset displacement limit among multiple displacements; Calculate the mean and variance of the remaining output forces after removing the first few output forces; Calculate the quadratic difference and variance of the remaining displacement after removing the second set of displacements; Based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement, the health status of the output force is determined, and corresponding control of the output force is determined according to different health statuses of the output force.

[0011] A further improvement to the above method involves determining the health status of the output force based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement, including: When the first number is greater than or equal to a preset limit, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than or equal to the first force transmission detection reliability, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is greater than or equal to the fourth force transmission detection reliability, the output force health status is judged to be poor. When the first number is less than the preset number limit and the first force transmission detection reliability is less than the ratio of the variance of the output force to the variance of the second difference of the remaining displacement and less than the second force transmission detection reliability, or when the first number is less than the preset number limit and the third force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement and less than the fourth force transmission detection reliability, the output force health status is determined to be good. When the first number is less than the preset number limit and the second force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than the third preset limit, the output force health status is judged to be excellent. Among them, the reliability of the first force transmission detection is less than that of the second force transmission detection, which is less than that of the third force transmission detection, which is less than that of the fourth force transmission detection.

[0012] Based on a further improvement to the above method, the output force is controlled accordingly according to different output force health states, including: When the output force is determined to be in a poor state, the original control output is maintained, and the output force is detected as faulty.

[0013] Based on a further improvement to the above method, the output force is controlled accordingly based on different output force health states, including: When the output force is determined to be in a good state, the absolute value of the average value of the remaining output force is compared with the load limit. When the absolute value of the average value of the remaining output force is greater than or equal to the load limit, the original control output is adjusted using a preset strong parameter; when the absolute value of the average value of the remaining output force is less than the load limit, the original control output is adjusted using a preset weak parameter. Wherein, the strong parameter is a coefficient greater than 1, and the weak parameter is a coefficient less than 1.

[0014] Based on a further improvement to the above method, the output force is controlled accordingly according to different output force health states, including: When the output force is in excellent health condition, closed-loop control is performed using the original control quantity as input and the current output force as feedback.

[0015] Based on a further improvement of the above method, when the output force health status is excellent, closed-loop control is performed using the original control quantity as input and the current output force as feedback, including: When the current output force exceeds the preset force limit, the output force that is closest to the current output force and does not exceed the preset force limit is used as feedback.

[0016] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects: Embedding the force sensor within the existing servo system structure does not increase space; it is an internal component of the servo system and does not involve external mechanical interfaces. Furthermore, there are no strict requirements on the mechanical dimensions of the mounting lugs. Simultaneously, it enables the measurement of the servo system's output force, which is then introduced into the closed-loop control system, improving the system's load robustness. Its characteristics include lightweight design, miniaturization, high reliability, strong versatility, compact structure, and low cost.

[0017] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0018] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0019] Figure 1 This is a connection diagram of an electric linear output servo system with an embedded force sensor and a nozzle according to Embodiment 1 of the present invention; Figure 2 This is a schematic diagram showing the placement and wiring of the embedded force sensor and the lug component in Embodiment 1 of the present invention; Figure 3 This is a flowchart illustrating the measurement process achieved by processing the embedded force sensor signal via a servo system controller in Embodiment 1 of the present invention. Figure 4 This is a flowchart of the output force control method in Embodiment 1 of the present invention; Figure 5 This is a schematic diagram of the output force control device in Embodiment 1 of the present invention; Among them, 1-single piece component, 2-lead screw pair, 3-servo mechanism body, 4-electrical connector, 5-support lug component, 6-embedded force sensor, 7-cable protection cover, 8-upper pin, 9-lower pin, 10-nozzle, 11-nozzle fixing bracket. Detailed Implementation

[0020] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0021] Example 1, A specific embodiment of the present invention discloses an electric linear output servo system equipped with an embedded force sensor, such as... Figure 1 As shown, the components are: 1. Single-piece component; 2. Lead screw pair; 3. Servo mechanism body; 4. Electrical connector; 5. Support lug component; 6. Embedded force sensor; 7. Cable protection cover.

[0022] The load device includes a nozzle 10 and a nozzle fixing bracket 11, with the nozzle 10 placed on the nozzle fixing bracket 11. The nozzle 10 and the nozzle fixing bracket 11 are connected by a ball joint, allowing the nozzle 10 to swing relative to the nozzle fixing bracket 11.

[0023] The upper through-hole of the single-piece component 1 houses a spherical bearing, while the lower part is a threaded rod. The single-piece component 1 and the upper pin 8 are fixed to the nozzle 10 through a shaft hole. The lower threaded rod of the single-piece component 1 is axially and radially fixedly connected to the nut of the lead screw pair 2 through a threaded engagement, although other fixing methods can also be used. The lead screw of the lead screw pair 2 is fixedly installed inside the inner ring of the rolling bearing within the servo system body 3, achieving axial and radial positioning of the lead screw of the lead screw pair 2. The lead screw can only rotate and cannot move up and down. In this way, one end of the servo mechanism body 3 is connected to the load device through the single-piece component.

[0024] The lead screw of lead screw pair 2 is driven to rotate by a motor. Since the nut of lead screw pair 2 is fixedly connected to single piece component 1, and the rotation of single piece component 1 is restricted by the pin and nozzle (it can only move up and down), the rotational force of the lead screw of lead screw pair 2 will become a thrust, which drives the nut of lead screw pair 2 and single piece component 1 to perform linear reciprocating motion through the thread. Figure 1 The double arrows in the diagram indicate the direction, which in turn drives the load device to swing. The nut of the lead screw assembly 2 has a certain length, allowing the single piece 1 to move up and down a certain distance.

[0025] The electrical connector 4 is fixedly mounted on the servo system body 3 by screws.

[0026] One end of the support member 5 is radially positioned by engaging with the other end of the servo system body 3 via a shaft hole. The support member 5 and the servo system body 3 are axially positioned by surface contact and evenly distributed screws. The other end of the support member 5 (equipped with a spherical bearing)... Figure 2 (As shown in the diagram) It is fixed to the nozzle mounting bracket 11 through the shaft hole with the lower pin 9. The single piece component 1 and the lug component 5 are on the same axis.

[0027] like Figure 2 As shown, a groove is formed in the direction of the force output axis of the support member 5 for placing the embedded force sensor 6. The signal transmission line of the embedded force sensor 6 passes through the middle of the support member 5 and connects to the electrical connector 4.

[0028] The cable protection cover 7 is mounted on the outside of the servo mechanism body 3 with screws, forming an integral part of the servo mechanism body 3. The signal transmission line is fixed to the servo system body 3 with clamps. The cable protection cover 7 is used to protect the signal transmission line as it runs along the servo system body 3 to the electrical connector 4. In this way, all the wiring is inside the servo mechanism body (i.e., inside the mechanical housing), which improves space utilization, provides good electromagnetic compatibility, avoids the possibility of cable damage, and improves product reliability.

[0029] Two symmetrical grooves can be formed along the force output axis of the support component 5, with an embedded force sensor 6 placed in one of the grooves. Alternatively, a single groove can be formed to hold the embedded force sensor 6, and this groove can be a non-through groove. Because the force sensor is rectangular, the groove shape can be rectangular or similar. Of course, other shapes are also possible.

[0030] The maximum output force of the servo mechanism is simulated to obtain the area of ​​maximum micro-strain (usually requiring 200 to 2000 micro-strain) as the specific location and depth of the groove. The force sensor is embedded in this groove, which helps the force sensor to accurately detect the output force of the servo mechanism. At the same time, the output wire of the force sensor is fixed by the cable protection cover 7, the servo mechanism body 3 and the clamp, and then connected to the electrical connector 4 located on the servo mechanism body. This realizes the construction of the force sensor signal transmission path while protecting the signal transmission line.

[0031] When the lead screw 3 drives the single component 2 to reciprocate linearly, it pushes the nozzle to swing. During the swing, the embedded force sensor 6 is deformed by the force, which will generate a voltage signal change corresponding to the deformation. The voltage signal change is output to the electrical connector 4 through the signal transmission line, and then output to the servo mechanism controller for processing to realize the detection of the output force value.

[0032] Specifically, the embedded force sensor is placed in the groove of the support component. Its strain zone surface is formed by a Wheatstone bridge composed of wire grid resistors. When no force is applied, the resistance values ​​of the bridge arms are equal. When the force sensor is subjected to force and deforms, the resistance value of the wire grid resistors changes, causing the Wheatstone bridge to become unbalanced. When an input voltage is applied, the bridge generates a voltage signal output corresponding to its deformation. This signal output has an approximately linear relationship with the applied external force. Figure 3 As shown, the force sensor in the servo mechanism outputs the differential voltage signal and the position feedback signal of the servo system (which measures the linear displacement of the single piece through an independent displacement sensor within the servo system) to the electrical connector. The electrical connector outputs the signal to the signal conditioning circuit in the servo controller. After being processed by the differential amplifier circuit, buffer circuit, operational amplifier circuit, and analog-to-digital converter in the signal conditioning circuit, the signal enters the embedded processor in the servo controller. The embedded processor then converts the acquired voltage into an output force and uploads it to the control and acquisition unit to realize the measurement of the output force of the servo mechanism.

[0033] The signal conditioning circuit and the embedded processor are located in a separate controller housing, which is generally an independent structure and is connected to the servo mechanism via a cable connector. If the controller housing is mounted on the servo mechanism body, signal connection via a cable is also generally required.

[0034] The control and acquisition unit is a separate telemetry device that telemetry data of the force transmission of the servo mechanism for storage and ground analysis.

[0035] In practice, a wireless force sensor could theoretically be used, but several issues exist: wireless transmission could lead to exceeding the electromagnetic compatibility (EMC) test RE102 (electromagnetic radiation) limit; wireless transmission is also susceptible to interference, and some factories prohibit the use of wireless transmission equipment; therefore, wired transmission is preferred here. If wireless transmission is used, it should be prioritized to electrical connector 4, with the wireless signal confined within the metal protective cover by a cable shield to prevent exceeding the EMC RE102 limit and enhance anti-interference capabilities. Furthermore, the servo controller and servo mechanism must be connected via cable, making it impossible to transmit wireless signals to the servo controller without leakage.

[0036] Compared with the prior art, the electric linear output servo system with an embedded force sensor provided in this embodiment has the following advantages: Embedding the force sensor within the existing servo system structure does not increase space; it is an internal component of the servo system and does not involve external mechanical interfaces. Furthermore, there are no strict requirements on the mechanical dimensions of the mounting lugs. Simultaneously, it enables the measurement of the servo system's output force, which is then introduced into the closed-loop control system, improving the system's load robustness. Its characteristics include lightweight design, miniaturization, high reliability, strong versatility, compact structure, and low cost.

[0037] Example 2, Another embodiment of the present invention discloses an output force control method, which uses the output force and displacement output by the electric linear output servo system with an embedded force sensor as described in Embodiment 1.

[0038] like Figure 4 As shown, the output force control method specifically includes the following steps: S11: Collect the output force and displacement within multiple control cycles, wherein the output force is derived from the voltage signal change of the electric linear output servo system with embedded force sensor described above; the displacement is output by the electric linear output servo system with embedded force sensor. S12: Determine the first number among multiple output forces that exceeds the preset force limit value; S13: Determine the second number among multiple displacements that exceeds the preset displacement limit; S14: Calculate the mean and variance of the remaining output forces after removing the first few output forces; S15: Calculate the quadratic difference and variance of the remaining displacement after removing the second few displacements; In practice, this can be achieved by analyzing the output force F collected within the current 10 control cycles. 1，……，10 and displacement X 1，……， 10. Analyze and calculate the first number N of the 10 output forces that exceed the preset force limit Fmax. F超限 Calculate the mean output force Fmean after removing out-of-limit data and calculate the variance VarF; calculate the second number of 10 displacements that exceed the preset displacement limit, calculate the second difference of displacement Deta2X after removing out-of-limit data, and calculate the variance of the second difference VarD2X.

[0039] The preset force limit value Fmax is determined based on the output range of the servo system under normal conditions. For example, if the output force of the servo system is less than or equal to 10000N under normal conditions, then Fmax is 10000.

[0040] The output force and displacement values ​​correspond in time. The calculation of the second difference and variance of the displacement also requires the elimination of out-of-limit values. However, due to the different dimensions, different out-of-limit values ​​are set. The number of out-of-limit output forces and displacements is unrelated and may be the same or different.

[0041] S16: Based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement, determine the health status of the output force, and determine the corresponding control of the output force according to different health statuses of the output force.

[0042] In some embodiments, determining the health status of the output force based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement includes: When the first number is greater than or equal to a preset limit, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than or equal to the first force transmission detection reliability, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is greater than or equal to the fourth force transmission detection reliability, the output force health status is judged to be poor. When the first number is less than the preset number limit and the first force transmission detection reliability is less than the ratio of the variance of the output force to the variance of the second difference of the remaining displacement to the second force transmission detection reliability, or when the first number is less than the preset number limit and the third force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement to the fourth force transmission detection reliability, the output force health status is determined to be good. When the first number is less than the preset number limit and the second force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than the third preset limit, the output force health status is judged to be excellent. Among them, the reliability of the first force transmission detection is less than that of the second force transmission detection, which is less than that of the third force transmission detection, which is less than that of the fourth force transmission detection.

[0043] In practice, NF1 is a preset limit value. NF1 is determined according to the precision requirements of the servo system. For example, if the precision requirement of the servo system is that outliers occur no more than 3 times in 10 consecutive samples, then NF1 is set to 3.

[0044] Among them, VF1, VF2, VF3, and VF4 are the first, second, third, and fourth reliability standards for force transmission detection, respectively. They are the criteria for judging the reliability of force transmission detection and are used to determine whether the force transmission detection is reliable. VF1 < VF2 < VF3 < VF4 are determined based on the dynamic characteristics of the system and the precision of the signal acquisition system. For example: if the dynamic characteristics are strong but the torque output change is very small, VF1 is 0.1; if the dynamic characteristics are weak but the torque output change is very large, VF4 is 10; if the dynamic characteristics match the output force change but reach the lower limit, VF2 is 0.46; if the dynamic characteristics match the output force change but reach the upper limit, VF3 is 2.15.

[0045] Among them, the second difference of displacement is acceleration, which is equal to force divided by mass. Mass is a constant value. Theoretically, force and acceleration should have a fixed relationship. Therefore, the ratio of VarF to VarD2X is used as a standard to measure the reliability of force transmission detection.

[0046] Specifically, "poor" corresponds to the following three situations: ①N F超限 ① Greater than or equal to NF1; ② VarF / VarD2X less than or equal to VF1; ③ VarF / VarD2X greater than or equal to VF4; "Good" corresponds to the following two situations: ①N F超限 Less than NF1, VarF / VarD2X is greater than VF1 and less than VF2; ②N F超限 Less than NF1, VarF / VarD2X is greater than VF3 and less than VF4; "Excellent" corresponds to the following situation: N F超限 Less than NF1, VarF / VarD2X is greater than or equal to VF2 and less than or equal to VF3.

[0047] In some embodiments, determining appropriate control of the output force based on different output force health states includes: When the output force is determined to be in a poor state, the original control output is maintained, and the output force is detected as faulty.

[0048] In practical implementation, when the output force is in poor condition, the influence of the output force on the control action is eliminated, the original control quantity is maintained, and an output force detection fault is reported. Here, the original control quantity ORGControl is the motor control quantity, that is, the control quantity that controls the forward and reverse rotation of the motor by the servo mechanism, used to control the axial extension and retraction displacement of the servo microcontroller.

[0049] In some embodiments, determining appropriate control of the output force based on different output force health states includes: When the output force is determined to be in a good state, the absolute value of the average value of the remaining output force is compared with the load limit. When the absolute value of the average value of the remaining output force is greater than or equal to the load limit, the original control output is adjusted using a preset strong parameter; when the absolute value of the average value of the remaining output force is less than the load limit, the original control output is adjusted using a preset weak parameter. Wherein, the strong parameter is a coefficient greater than 1, and the weak parameter is a coefficient less than 1.

[0050] In practice, when the output force is in good health, output force correction control is performed. Specifically, when the absolute value of Fmean is greater than or equal to FM1 (load limit), a strong parameter is used; when the absolute value of Fmean is less than FM1, a weak parameter is used. A strong parameter means increasing the stiffness of the original control action, which can be achieved by multiplying the original control quantity ORGControl by a coefficient greater than 1 or by amplifying a parameter in the calculation process of the original control quantity, such as amplifying the proportional control coefficient P when using PID control. Conversely, a weak parameter means weakening the stiffness of the original control action, which can be achieved by multiplying the original control quantity ORGControl by a coefficient less than 1 or by reducing a parameter in the calculation process of the original control quantity.

[0051] FM1 is set according to the system load. For example, if the system is designed to carry a load of 1000N, then FM1 is set to 1000N.

[0052] Furthermore, FM1 can be further subdivided according to the actual system conditions, such as FM1, FM2, and FM3, and the control parameters can be subdivided accordingly. For example, if the servo system specifies three load types: light load (0~500N), medium load (500N~1000N), full load (1000N~1500N), and heavy load (1000N~2000N), then FM1=500N, FM2=1000N, and FM3=1500N; the corresponding control parameter amplification factors are: 0.5 (light load), 0.8 (medium load), 1.1 (full load), and 1.5 (heavy load).

[0053] In some embodiments, determining appropriate control of the output force based on different output force health states includes: When the output force is in excellent health condition, closed-loop control is performed using the original control quantity as input and the current output force as feedback.

[0054] In some embodiments, when the output force health status is excellent, closed-loop control is performed using the original control quantity as input and the current output force as feedback, including: When the current output force exceeds the preset force limit, the output force that is closest to the current output force and does not exceed the preset force limit is used as feedback.

[0055] In practical implementation, when the output force is in excellent health condition, closed-loop control is performed using the original control quantity ORGControl as input and the current output force F as feedback. The closed-loop controller can be P control, PI control, PID control, or other composite controllers. The closed-loop control process can be as follows: input ORGControl minus feedback F, the resulting difference E; P control: multiply the difference E by P, the resulting product M is used as the final servo motor control quantity; PI control: based on M, add the integral I of E as the final motor control quantity; PID control: based on M+I, add the derivative D as the final motor control quantity.

[0056] The current 10 data acquisition points operate on a first-in, first-out (FIFO) basis. Each time a new data point is acquired, the oldest data point is immediately discarded. Therefore, the current output force F is the latest acquired data. However, if the latest acquired data exceeds the limit, the previous valid data point is used as feedback for closed-loop control.

[0057] Compared with the prior art, the output force control method provided in this embodiment has the following beneficial effects: Compared to single-position loop control systems, dual-closed-loop control systems (position and velocity loops), and triple-closed-loop control systems (position, velocity, and current loops), the output force closed-loop control method proposed in this invention achieves higher control accuracy and stronger load adaptability.

[0058] Example 3, Another embodiment of the present invention discloses an output force control device to implement the output force control method in Embodiment 2. The specific implementation of each module is described in the corresponding description in Embodiment 2, including: The output force health status monitoring module is used to collect output force and displacement within multiple control cycles. The output force is derived from the voltage signal change of the electric linear output servo system with an embedded force sensor. The displacement is output by the electric linear output servo system with an embedded force sensor. The module determines the first number of output forces exceeding a preset force limit; determines the second number of displacements exceeding a preset displacement limit; calculates the mean and variance of the remaining output forces after removing the first number of output forces; calculates the quadratic difference and variance of the remaining displacements after removing the second number of displacements; and determines the output force health status based on the first number, the mean and variance of the remaining output forces, and the quadratic difference and variance of the remaining displacements. The control module is used to determine the appropriate control of the output force based on different output force health states.

[0059] In practice, the output force is controlled by the control system according to three modes, comprising four modules (see below). Figure 5As shown, the modules are: Output Force Health Status Monitoring Module, Output Force Closed-Loop Control Module, Output Force Parameter Switching Control Module, and Output Force Fault Clearance Control Module. The Output Force Health Status Monitoring Module comprehensively judges whether the output force detection status is normal and automatically selects from three modes based on the output results. The Output Force Closed-Loop Control Module performs output force closed-loop control when the output force detection status is excellent; the Output Force Parameter Switching Control Module performs output force parameter switching control when the output force detection status is good; and the Output Force Fault Clearance Control Module performs output force fault clearance control when the output force detection status is poor.

[0060] Compared with the prior art, the output force control device provided in this embodiment has the following beneficial effects: Compared to single-position loop control systems, dual-closed-loop control systems (position and velocity loops), and triple-closed-loop control systems (position, velocity, and current loops), the output force closed-loop control method proposed in this invention achieves higher control accuracy and stronger load adaptability.

[0061] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the corresponding computer program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0062] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. An electric linear output servo system equipped with an embedded force sensor, characterized in that, include: Single-chip component (1), lead screw pair (2), servo mechanism body (3), electrical connector (4), lug component (5), and embedded force sensor (6); One end of the single piece component (1) is connected to the load device, and the other end of the single piece component (1) is fixedly connected to the nut of the lead screw pair (2). The lead screw of the lead screw pair (2) is fixedly installed inside the servo system body (3). The lead screw pair (2) drives the single piece component (1) to perform linear reciprocating motion and pushes the load device to swing. The electrical connector (4) is fixedly installed on the servo system body (3); One end of the ear support component (5) is fixedly connected to the servo system body (3), and the other end of the ear support component (5) is connected to the load device. A groove is formed in the force output axis direction of the ear support component (5) for placing the embedded force sensor (6). The embedded force sensor (6) is used to output the voltage signal change generated by the force deformation during the swing of the load device to the electrical connector (4), and the electrical connector (4) outputs it to the servo mechanism controller for processing.

2. The electric linear output servo system with an embedded force sensor according to claim 1, characterized in that, Also includes: A cable protection cover (7) is installed outside the servo mechanism body (3); The signal transmission line of the embedded force sensor (6) passes through the lug component (5) and connects to the electrical connector (4), and the voltage signal change is output to the electrical connector (4) through the signal transmission line. The cable protection cover (7) is used to protect the signal transmission line.

3. The electric linear output servo system with an embedded force sensor according to claim 1, characterized in that, Two symmetrical grooves are formed in the force output axis direction of the support member (5), and the embedded force sensor (6) is placed in one of the grooves.

4. The electric linear output servo system with an embedded force sensor according to claim 1, characterized in that, A groove is formed in the force output axis direction of the support member (5) to place the embedded force sensor (6).

5. An output force control method, characterized in that, include: The system collects output force and displacement over multiple control cycles, wherein the output force is derived from the voltage signal change of the electric linear output servo system with an embedded force sensor as described in any one of claims 1 to 4; and the displacement is output by the electric linear output servo system with an embedded force sensor. Determine the first number among multiple output forces that exceeds the preset force limit; Determine the second displacement that exceeds the preset displacement limit among multiple displacements; Calculate the mean and variance of the remaining output forces after removing the first few output forces; Calculate the quadratic difference and variance of the remaining displacement after removing the second set of displacements; Based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement, the health status of the output force is determined, and corresponding control of the output force is determined according to different health statuses of the output force.

6. The output force control method according to claim 5, characterized in that, The health status of the output force is determined based on the first number, the mean and variance of the remaining output force, and the second difference and variance of the remaining displacement, including: When the first number is greater than or equal to a preset limit, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than or equal to the first force transmission detection reliability, or when the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is greater than or equal to the fourth force transmission detection reliability, the output force health status is judged to be poor. When the first number is less than the preset number limit and the first force transmission detection reliability is less than the ratio of the variance of the output force to the variance of the second difference of the remaining displacement to the second force transmission detection reliability, or when the first number is less than the preset number limit and the third force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement to the fourth force transmission detection reliability, the output force health status is determined to be good. When the first number is less than the preset number limit and the second force transmission detection reliability is less than the ratio of the variance of the remaining output force to the variance of the second difference of the remaining displacement is less than the third preset limit, the output force health status is judged to be excellent. Among them, the reliability of the first force transmission detection is less than that of the second force transmission detection, which is less than that of the third force transmission detection, which is less than that of the fourth force transmission detection.

7. The output force control method according to claim 5, characterized in that, Based on different output force health states, corresponding control measures are implemented for the output force, including: When the output force is determined to be in a poor state, the original control output is maintained, and the output force is detected as faulty.

8. The output force control method according to claim 5, characterized in that, Based on different output force health states, corresponding control measures are implemented for the output force, including: When the output force is determined to be in a good state, the absolute value of the average value of the remaining output force is compared with the load limit. When the absolute value of the average value of the remaining output force is greater than or equal to the load limit, the original control output is adjusted using a preset strong parameter; when the absolute value of the average value of the remaining output force is less than the load limit, the original control output is adjusted using a preset weak parameter. Wherein, the strong parameter is a coefficient greater than 1, and the weak parameter is a coefficient less than 1.

9. The output force control method according to claim 5, characterized in that, Based on different output force health states, corresponding control measures are implemented for the output force, including: When the output force is in excellent health condition, closed-loop control is performed using the original control quantity as input and the current output force as feedback.

10. The output force control method according to claim 9, characterized in that, When the output force is in excellent health condition, closed-loop control is performed using the original control quantity as input and the current output force as feedback, including: When the current output force exceeds the preset force limit, the output force that is closest to the current output force and does not exceed the preset force limit is used as feedback.

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