Parameter dynamic confirmation method, device and equipment of speed servo system and medium

Abstract

The application provides a parameter dynamic confirmation method, device and equipment of a speed servo system and a medium, and belongs to the technical field of servo system parameter setting. The method comprises the following steps: acquiring delay characteristic parameters of multiple dynamic links in the speed servo system; determining equivalent dynamic characteristics of the speed servo system according to the delay characteristic parameters of the multiple dynamic links; establishing a parameter model of the speed servo system based on the equivalent dynamic characteristics; matching a preset target characteristic with the parameter model to obtain a constraint relationship; and determining control parameters of the speed servo system according to the constraint relationship and preset performance index parameters. The application can improve the accuracy and convenience of parameter setting.

Description

Technical Field

[0001] This invention relates to the field of servo system parameter tuning technology, specifically to a method, apparatus, device, and medium for dynamic parameter verification of a speed servo system. Background Technology

[0002] Speed ​​servo systems are core drive components in high-end equipment such as industrial automation, CNC machine tools, and robots. Their control performance directly affects the equipment's response speed, positioning accuracy, and operational stability. In speed servo systems, proportional-integral (PI) control is widely used due to its simple structure and strong robustness. Tuning the parameters (proportional and integral coefficients) of the PI controller is a crucial step in system design, directly determining the system's dynamic response characteristics. Traditional methods for dynamic parameter verification are typically based on simplified system models, primarily considering the motor's mechanical inertia, and determining control parameters through theoretical calculations or empirical trial and error to meet basic speed regulation performance requirements.

[0003] However, with the increasing demands on servo system performance in industrial applications, especially in high-bandwidth and high-precision scenarios, the limitations of traditional dynamic parameter verification methods are becoming increasingly apparent. In practical speed servo systems, besides the motor's mechanical inertia, there are several internal components, such as the control cycle and delay of the current loop, and the sampling and filtering delay of the speed feedback signal. Although the time constants of these internal components are relatively small, they are often ignored during system design. Ignoring these factors is acceptable when system performance requirements are low; however, when the system pursues higher bandwidth and faster response speeds, these ignored delays significantly affect system stability and control performance, leading to large deviations between the actual system response and design expectations, and even causing oscillations or instability. Furthermore, traditional methods rely heavily on engineers' experience for repeated trial and error, lacking a systematic parameter tuning process, which is not only inefficient but also makes it difficult to guarantee the optimality and repeatability of the design results.

[0004] Therefore, how to provide a method that can comprehensively consider the internal dynamic characteristics of the servo system and achieve systematic tuning of control parameters, so as to solve the problems of model mismatch and parameter tuning difficulties in high-performance application scenarios of traditional methods, is a technical problem that urgently needs to be solved by those skilled in the art. Summary of the Invention

[0005] In view of this, it is necessary to provide a method, device, electronic device and storage medium for dynamic parameter verification of a speed servo system, so as to solve the technical problems of poor control effect and low efficiency caused by the neglect of the time constant of the internal dynamic link and the use of empirical trial and error in the existing method.

[0006] To address the aforementioned technical problems, in a first aspect, the present invention provides a method for dynamically verifying parameters of a speed servo system, comprising: Obtain the delay characteristic parameters of multiple dynamic components in the speed servo system; The equivalent dynamic characteristics of the speed servo system are determined based on the delay characteristic parameters of the multiple dynamic links. A parameter model of the speed servo system is established based on the equivalent dynamic characteristics described above. The preset target characteristics are matched with the parameter model to obtain the constraint relationship; Based on the constraints and preset performance parameters, the control parameters of the speed servo system are determined analytically.

[0007] In one possible implementation, the plurality of dynamic elements include a current loop control delay element and a speed feedback filter delay element; the delay characteristic parameter is the time constant of each element.

[0008] In one possible implementation, determining the equivalent dynamic characteristics of the speed servo system includes: The time constant of the current loop control delay element is summed with the time constant of the speed feedback filter delay element to obtain the time constant of the equivalent inertial element. The transfer function of the equivalent inertial element is characterized as a first-order inertial form.

[0009] In one possible implementation, the parameter model is a third-order closed-loop transfer function, which is jointly determined by the equivalent inertial element, the motor mechanical inertia element, and the proportional and integral coefficients of the proportional-integral controller.

[0010] In one possible implementation, the preset target characteristic is composed of a second-order damping element and a first-order inertial element cascaded together. The second-order damping element includes a first pole angular frequency and a relative damping coefficient, and the first-order inertial element includes a second pole angular frequency.

[0011] In one possible implementation, the constraint relationship is characterized as follows: the reciprocal of the time constant of the equivalent dynamic characteristic satisfies a preset quantitative relationship with the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient.

[0012] In one possible implementation, the parsing to determine the control parameters of the speed servo system includes: Based on the constraint relationship and the preset values ​​of the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient, the proportional coefficient and integral coefficient of the proportional-integral controller are calculated. The proportional coefficient is related to the mechanical inertia of the motor, the time constant of the equivalent dynamic characteristic, the first pole angular frequency, and the product of the relative damping coefficient and the second pole angular frequency. The integral coefficient is related to the mechanical inertia of the motor, the time constant of the equivalent dynamic characteristic, the square of the first pole angular frequency, and the second pole angular frequency.

[0013] On the other hand, the present invention also provides a device for dynamically verifying parameters of a speed servo system, comprising: The acquisition module is used to acquire the delay characteristic parameters of multiple dynamic links in the speed servo system; An equivalent module is used to determine the equivalent dynamic characteristics of the speed servo system based on the delay characteristic parameters of the multiple dynamic links. The modeling module is used to establish a parameter model of the speed servo system based on the equivalent dynamic characteristics. The matching module is used to match the preset target characteristics with the parameter model to obtain the constraint relationship; The parsing module is used to parse and determine the control parameters of the speed servo system based on the constraint relationship and preset performance index parameters.

[0014] Thirdly, the present invention also provides an electronic device, including a memory and a processor, wherein, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the dynamic parameter confirmation method of the speed servo system described in any of the above implementations.

[0015] Fourthly, the present invention also provides a computer-readable storage medium for storing a computer-readable program or instruction, which, when executed by a processor, can implement the steps in the dynamic parameter confirmation method of the speed servo system described in any of the above implementations.

[0016] The beneficial effects of this invention are as follows: The method for dynamic parameter verification of a speed servo system provided by this invention, by acquiring the delay characteristic parameters of multiple dynamic links in the servo system, expands the design considerations from the traditional simplified mechanical model to cover the actual dynamic response elements of the system, thereby improving the fidelity of the design model; by determining the equivalent dynamic characteristics of the system based on these delay parameters, the multiple dispersed internal links are unified into an analytically processable whole, reducing the model complexity; a parameter model is established based on the equivalent dynamic characteristics, providing an accurate system representation for subsequent matching; by matching the preset target characteristics with the parameter model to obtain the constraint relationship, a direct link is established between the expected performance indicators and the physically realizable parameter boundaries, avoiding blind trial and error; the control parameters are analytically determined based on the constraint relationship and the preset performance indicator parameters, realizing the objective quantification and calculable verification of the control parameters, which is beneficial to improving the accuracy and efficiency of speed servo system parameter tuning. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 A schematic flowchart of an embodiment of the parameter dynamic verification method for the speed servo system provided by the present invention; Figure 2 For the present invention Figure 1 A schematic diagram of an embodiment of S102; Figure 3 A simulation diagram illustrating the operational effect of an embodiment of the dynamic parameter verification method for the speed servo system provided by this invention; Figure 4 A schematic diagram of an embodiment of the parameter dynamic verification device for the speed servo system provided by the present invention; Figure 5 A schematic diagram of an embodiment of the electronic device provided by the present invention. Detailed Implementation

[0019] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0020] In the description of the embodiments of the present invention, unless otherwise stated, "multiple" means two or more. "And / or" describes the relationship between related objects, indicating that there can be three relationships. For example, A and / or B can represent three situations: A exists alone, A and B exist simultaneously, and B exists alone.

[0021] The terms "first," "second," etc., used in the embodiments of this invention are for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a technical feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature.

[0022] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0023] This invention provides a method, apparatus, electronic device, and storage medium for dynamic parameter verification of a speed servo system. The technical solutions of the embodiments of this invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without creative effort are within the scope of protection of this invention.

[0024] Figure 1 A schematic flowchart of an embodiment of the parameter dynamic verification method for the speed servo system provided by the present invention is shown below. Figure 1 As shown, the method for dynamically verifying the parameters of a speed servo system includes: S101. Obtain the delay characteristic parameters of multiple dynamic links in the speed servo system.

[0025] In this embodiment, the speed servo system is a core component for achieving precise speed control in high-end equipment such as industrial automation, CNC machine tools, and robots. Its basic structure typically includes a controller, a driver, a motor, and a speed feedback sensor. The controller calculates the control quantity according to a predetermined control algorithm (such as proportional-integral control) based on the deviation between the given speed command and the actual feedback speed. The driver converts the control quantity into voltage or current to drive the motor, which in turn drives the load. The speed sensor detects the motor speed in real time and feeds it back to the controller, forming a closed-loop control system.

[0026] In actual operation, there are several components within the speed servo system that affect the system's dynamic response. These dynamic components mainly include: the current loop control delay, which arises from the inverter's switching cycle, current sampling, and calculation processing, manifesting as a certain control cycle and response delay; and the speed feedback filtering delay, which arises from the signal sampling and transmission of the encoder or other speed sensors, as well as the digital filtering processing performed to improve the signal-to-noise ratio, all of which also introduce time delays.

[0027] It should be noted that each of the above dynamic components has a characteristic time constant, which is usually small relative to the mechanical inertia time constant of the motor. However, in high-precision, high-bandwidth control applications, the cumulative effect of these small delays can significantly affect the stability and response performance of the system, and therefore cannot be ignored in the system design process.

[0028] Optionally, this step involves obtaining the delay characteristic parameters of these components through system identification or by consulting hardware manuals, providing a data foundation for subsequent system modeling.

[0029] For example, in a certain type of permanent magnet synchronous motor servo system, the equivalent time constant corresponding to the current loop control cycle and control delay is 0.1 milliseconds, and the equivalent time constant corresponding to the speed feedback sampling and filtering stage is 0.2 milliseconds. This step obtains these two time constants as the basis for subsequent processing.

[0030] S102. Determine the equivalent dynamic characteristics of the speed servo system based on the delay characteristic parameters of multiple dynamic links.

[0031] Since multiple delay components exist in series within the system, their impact on the overall dynamic behavior of the system can be processed collectively. This step integrates the acquired delay characteristic parameters to obtain an equivalent dynamic characteristic that can characterize the combined effect of these components. In this way, the multiple dispersed internal components are unified into a whole, reducing the complexity of the system model and facilitating subsequent analytical processing.

[0032] Specifically, the acquired delay feature parameters are integrated, and the implementation methods include, but are not limited to, the following: As a preferred implementation, if the delay characteristics of the multiple dynamic elements can all be approximated by a first-order inertial element, then the time constants of each element are directly added together to obtain the total time constant of the equivalent dynamic characteristics. For example, if the time constant of the current loop control delay element is... T c The time constant of the speed feedback filter delay stage is T s The time constant of the equivalent dynamic characteristic .

[0033] As another approach, if the delay characteristics of a certain dynamic element cannot be accurately described by a first-order inertial element, for example, if it exhibits higher-order delay or pure time lag characteristics, then the step response curve of the element can be fitted with the response curve of the first-order inertial element through system identification methods to obtain an equivalent time constant, and then the time constants of other elements can be summed.

[0034] As another implementation method, when a more precise reflection of the contribution weight of each stage is required, a weighted summation method can be used to determine the equivalent time constant, i.e. ,in α、β These are weighting coefficients preset based on the position and influence of each link in the system.

[0035] The aforementioned equivalent dynamic characteristics characterize the combined hysteresis effect of multiple internal dynamic elements in the speed servo system on the control signal.

[0036] In a control system, each delay element introduces a phase lag in the transmission of the control signal. When multiple delay elements are cascaded, their combined effect is equivalent to an inertial element whose total lag time equals the sum of the time constants of each element. By equating multiple dispersed delay elements to a single inertial element, the originally complex high-order system can be described using a relatively low-order model, facilitating subsequent parameter model building and parameter matching. The time constant of this equivalent dynamic characteristic serves as a bridge connecting the system's physical characteristics with the design of control parameters; its magnitude directly determines the maximum achievable response bandwidth of the system.

[0037] S103. Establish a parameter model for the speed servo system based on equivalent dynamic characteristics.

[0038] Specifically, this parametric model describes the mathematical relationship between the system's inputs (such as speed commands) and outputs (such as actual speed). When building the model, in addition to considering the aforementioned equivalent dynamic characteristics, the mechanical inertia of the motor system and the control parameters to be tuned must also be included. By constructing this parametric model, the correlation between the system's physical characteristics and control parameters is explicitly expressed in the form of a mathematical model.

[0039] S104. Match the preset target characteristics with the parameter model to obtain the constraint relationship.

[0040] Specifically, the target characteristic is a pre-defined ideal response form, which usually has a standardized structural form, such as a cascade of a second-order damping element and a first-order inertial element.

[0041] By matching the parameter model of the actual system with this ideal target characteristic to make them equivalent, the constraints that must be satisfied between the system's inherent parameters and design parameters can be derived. This constraint relationship reveals the intrinsic connection between physical realizability and expected performance indicators, providing an objective basis for determining control parameters.

[0042] S105. Based on the constraint relationships and preset performance index parameters, analyze and determine the control parameters of the speed servo system.

[0043] Among them, the performance index parameters include, but are not limited to, the pole angular frequency that characterizes the response speed and the relative damping coefficient that characterizes the damping characteristics. These parameters can be set according to the requirements of the system response speed in the actual application scenario.

[0044] Furthermore, provided the constraint relationships hold, by substituting the selected performance index parameters, the proportional and integral coefficients of the proportional-integral controller can be directly obtained through analytical calculation. This method achieves objective quantification of control parameters, avoiding the inefficiency and uncertainty of traditional methods that rely on repeated trial and error based on experience.

[0045] In this embodiment, by acquiring and equivalently integrating the delay characteristic parameters of multiple dynamic links, the design model of the servo system can truly reflect the dynamic characteristics within the system, avoiding the deviation between traditional simplified models and physical entities. By establishing a parameter model and matching it with preset target characteristics, the correlation between the desired performance indicators and the inherent parameters of the system is explicitly expressed in the form of constraints, realizing the analytical mapping of control parameters from performance indicators to specific values. The synergistic effect of the above steps makes the tuning process of control parameters have a clear basis and repeatability, which is beneficial to improving the accuracy and efficiency of speed servo system parameter tuning.

[0046] In some embodiments of the present invention, multiple dynamic elements include a current loop control delay element and a speed feedback filtering delay element; the delay characteristic parameter is the time constant of each element.

[0047] Specifically, the current loop control delay refers to the delay between the issuance of the current command and the actual current response. This delay mainly originates from the inverter's switching cycle, current sampling time, and the calculation and processing time of the current loop control algorithm.

[0048] In practical servo drives, the current loop usually operates at a high frequency, and its control cycle is generally tens to hundreds of microseconds. This cycle is the characteristic time constant of the current loop control delay element.

[0049] Furthermore, the speed feedback filtering delay stage refers to the delay between the acquisition of the signal by the speed sensor and the acquisition of the effective speed feedback value by the controller. This delay mainly originates from the signal sampling period of the encoder or other speed sensors, the signal transmission time, and the digital filtering processing performed to improve the signal-to-noise ratio. For example, commonly used mean filtering or low-pass filtering algorithms introduce phase lag, the amount of which is determined by the characteristic time constant of the feedback filtering delay stage.

[0050] As a preferred approach, the time constants of each of the above-mentioned stages can be directly obtained by consulting the servo driver's hardware manual or technical specifications. For example, if the current loop control cycle of a certain type of servo driver is nominally 100 microseconds, then the time constant of its current loop control delay stage can be taken as 0.1 milliseconds; if the speed feedback uses a first-order low-pass filter, then the time constant of this filter stage can be taken as the delay stage time of the speed loop. If direct acquisition is not possible, it can also be determined through system identification experiments, such as by injecting a sweep frequency signal into the speed loop and analyzing the system's frequency response characteristics to extract the equivalent time constants of each stage.

[0051] In this embodiment, the current loop control delay and speed feedback filter delay are explicitly identified as the main internal dynamic components, and their time constants are used as core design parameters. This is because these two types of delays are most typical in speed servo systems and have the most direct impact on the system's dynamic performance. The current loop delay determines the speed of torque response, while the speed feedback delay determines the real-time performance and accuracy of the speed signal. Together, they limit the maximum bandwidth that the speed loop can achieve.

[0052] It is worth noting that in traditional design methods, the aforementioned time constants are often ignored or only roughly estimated, leading to deviations between the design model and the actual system. This embodiment incorporates these time constants as explicit input parameters into the design process, ensuring that subsequent determination of equivalent dynamic characteristics, parameter model establishment, and parameter matching accurately reflect the actual dynamic characteristics of the system, thereby improving the accuracy of parameter tuning and the reliability of the system design.

[0053] It should be noted that the current loop control delay stage and speed feedback filter delay stage mentioned above are only examples. In practical applications, depending on the specific configuration of the servo system, multiple dynamic stages may also include other internal stages with delay characteristics, such as the zero-order hold effect of the forward channel and the data transmission delay of the communication interface. The characteristic time constants of these stages can also be obtained and processed as delay characteristic parameters. Their technical principles are the same as those in this embodiment, and will not be repeated here.

[0054] In some embodiments of the present invention, such as Figure 2 As shown, step S102 determines the equivalent dynamic characteristics of the speed servo system, including: S201. Summing the time constant of the current loop control delay element with the time constant of the speed feedback filter delay element yields the time constant of the equivalent inertial element. S202. The transfer function of the equivalent inertial element is characterized as a first-order inertial form.

[0055] Specifically, if the time constant of the current loop control delay element is denoted as... T cThe time constant of the speed feedback filter delay stage is denoted as... T s Then the time constant of the equivalent inertial element This summation method is based on the principle of equivalent series links in control theory: when multiple first-order inertial links are connected in series, if the time constants of each link are small and independent, their combined effect is equivalent to a first-order inertial link whose total time constant is the sum of the time constants of each link.

[0056] In practical engineering applications, the current loop control delay and the speed feedback filter delay can usually be approximated as first-order inertial characteristics. Therefore, direct summation can concisely and effectively characterize the combined effect of multiple delay elements.

[0057] For example, assuming the current loop control period of a servo system is 0.1 milliseconds, then the time constant Tc of its current loop control delay element is taken as 0.1 milliseconds; the speed feedback uses a first-order low-pass filter with a time constant of approximately 0.2 milliseconds; then the time constant of the equivalent inertial element... =0.1 + 0.2 = 0.3 milliseconds. This equivalent time constant reflects the overall lag between the input of the control command and its actual execution, and its value directly determines the upper limit of the system's achievable response bandwidth.

[0058] Furthermore, the transfer function of the above equivalent inertial element is represented in first-order inertial form, and its expression is as follows: ; in, The time constant of the equivalent inertial element. s This is the Laplace transform factor. This transfer function characterizes a typical low-pass filter, meaning that after the input signal passes through this stage, high-frequency components are attenuated, and a corresponding phase lag occurs. In control system analysis, the first-order inertial element is a fundamental mathematical model describing delay characteristics; it has a simple structure, well-defined parameters, and is easy to cascade with other elements.

[0059] It should be noted that the above summation method applies to cases where each delay element can be approximated as a first-order inertial characteristic. If the delay characteristics of a certain element are more complex, such as exhibiting second-order damping characteristics or pure time lag characteristics, it can be equivalently converted into a first-order inertial element through system identification methods before summing. The essence is still to obtain an equivalent time constant that can comprehensively characterize the delay effects of multiple elements.

[0060] In this embodiment, by merging multiple dispersed delay elements into an equivalent inertial element, the multiple small time constants that originally needed to be processed separately are integrated into a single parameter, significantly simplifying the complexity of the subsequent system model. At the same time, this equivalent approach preserves the crucial impact of delay effects on the system's dynamic performance, avoiding model mismatch problems caused by ignoring these elements, and laying a solid foundation for establishing accurate parameter models and performing parameter matching.

[0061] In an embodiment of the present invention, the parameter model is a third-order closed-loop transfer function, which is jointly determined by the equivalent inertial element, the mechanical inertia element of the motor, and the proportional coefficient and integral coefficient of the proportional-integral controller.

[0062] Specifically, in a speed servo system, the closed-loop control structure of the speed loop typically includes: a proportional-integral controller, an equivalent inertial element, a motor mechanical inertia element, and a speed feedback loop. The proportional-integral controller calculates the torque command based on the deviation between the speed command and the actual rotational speed; the equivalent inertial element characterizes the combined delay effect of internal components such as the current loop and speed feedback filtering; and the motor mechanical inertia element reflects the inertial characteristics of the motor rotor and the load.

[0063] Based on the series relationship of the above-mentioned components, the third-order closed-loop transfer function of the velocity loop in this embodiment is as follows: in, J For the rotational inertia of the motor system, K p The proportional coefficient of the proportional-integral controller. K i The integral coefficient of the proportional-integral controller. ω r This is the reference input speed for the motor. ω m This refers to the motor speed. T Σ The time constant of the equivalent inertial element.

[0064] It should be understood that the denominator of the above transfer function is a cubic polynomial, therefore the system exhibits third-order dynamic characteristics. Compared with the traditional second-order model, the third-order model established in this embodiment includes the time constant of the equivalent inertial element. T Σ This allows us to reflect the impact of internal dynamic elements such as current loop delay and speed feedback filter delay on system performance.

[0065] It should be noted that in this third-order closed-loop transfer function, the control parameters to be tuned are only... K p and K iThe system is of third order, meaning the distribution of its three poles (i.e., the roots of the characteristic equation) is constrained by the time constant of the effective inertial element. This constraint determines the limit of the system's dynamic performance. Traditional methods, typically based on second-order models, neglect the influence of the third pole, making it difficult to achieve ideal results under high-performance requirements. This embodiment establishes this third-order parametric model, providing an accurate system characterization for subsequent matching with target characteristics. This allows the tuning of control parameters to fully consider the complete dynamic characteristics of the system, thereby improving the accuracy of parameter design and the predictability of system performance.

[0066] In some embodiments of the present invention, the preset target characteristic is composed of a second-order damping element and a first-order inertial element cascaded together. The second-order damping element includes a first pole angular frequency and a relative damping coefficient, and the first-order inertial element includes a second pole angular frequency.

[0067] Specifically, to obtain a speed servo system with good dynamic performance, this embodiment pre-defines an ideal target closed-loop transfer function. This target transfer function consists of two cascaded parts: the first part is a second-order damped element, whose transfer function form is as follows: ,in The first pole angular frequency, The first part is the relative damping coefficient; the second part is a first-order inertial element, whose transfer function is... ,in This represents the angular frequency of the second pole. The product of the two components above constitutes the complete third-order target transfer function, whose expression is as follows: It should be noted that the second-order damping element primarily determines the system's response speed and overshoot characteristics. Specifically, the first pole angular frequency... The larger the relative damping coefficient, the faster the system response; This determines the damping characteristics of the system. The larger the value, the smaller the system overshoot and the better the stability, but the slower the response; conversely, the smaller the value, the better the stability. The smaller the value, the faster the response, but the more prone it is to overshoot or even oscillation. This represents a first-order inertial element, specifically the second pole angular frequency. This determines the impact of this component on the second-order damping component. relatively The larger the value, the smaller the phase lag introduced by this component, and the smaller its impact on the system response speed.

[0068] Furthermore, the above three parameters , , These are the preset performance parameters, which can be set according to the system requirements of the actual application scenario. For example, for applications requiring rapid response, a larger value can be selected. and For applications requiring smooth operation without overshoot, a larger [size / size] can be selected. ,like ≥0.7. By adjusting these three parameters, a flexible trade-off can be made between response speed and overshoot, providing design freedom for subsequent control parameter solutions.

[0069] In some embodiments of the present invention, the constraint relationship is characterized as follows: the reciprocal of the time constant of the equivalent dynamic characteristic satisfies a preset quantitative relationship with the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient.

[0070] Specifically, the third-order closed-loop transfer function of the actual system is mathematically matched with the aforementioned preset target transfer function. The matching method involves expanding the denominator polynomials of the two transfer functions and ensuring that the coefficients of corresponding orders are equal. Through derivation, the time constant of the equivalent dynamic characteristics can be obtained. T Σ With three designs , , The constraints that must be satisfied between them are as follows:

[0071] This constraint relationship reveals the intrinsic connection between the system's delay characteristics and the desired performance indicators. The left side of the equation is the reciprocal of the time constant of the equivalent inertial element, representing the combined effect of the internal delay elements in the system; the right side consists of design parameters, representing the constrained performance indicators. This relationship shows that the achievable performance indicators of the system are limited by the internal delays. T Σ The smaller (i.e., the smaller the internal delay) The larger, the more permissible The larger the sum, the faster the response speed can be; conversely, if the internal delay is large, the design parameter values ​​must be reduced accordingly to ensure system stability.

[0072] It should be understood that this constraint is a crucial step in the parameter matching process. Through this relationship, a direct link is established between the actual system delay characteristics and the desired performance indicators, enabling designers to clearly understand the performance limits achievable by the system under given conditions and avoid setting performance indicators that exceed hardware capabilities. Simultaneously, this constraint also provides the calculation basis for the subsequent analytical solution of the proportional-integral controller's proportional and integral coefficients.

[0073] In some embodiments of the present invention, the control parameters of the speed servo system are determined analytically based on the delay characteristic parameters of multiple dynamic links, including: Based on the constraint relationship and the preset values ​​of the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient, calculate the proportional coefficient and integral coefficient of the proportional-integral controller. Among them, the proportional coefficient is related to the product of the motor's mechanical inertia, the time constant of the equivalent dynamic characteristic, the first pole angular frequency, the relative damping coefficient, and the second pole angular frequency. The integral coefficient is related to the motor's mechanical inertia, the time constant of the equivalent dynamic characteristic, the square of the first pole angular frequency, and the second pole angular frequency.

[0074] Specifically, after obtaining the constraint relationship, this embodiment further calculates the proportional coefficient and integral coefficient of the proportional-integral controller based on preset performance index parameters.

[0075] Among them, the performance parameters include the first pole angular frequency. Second pole angular frequency and relative damping coefficient These parameters are preset according to the requirements of the actual application scenario for system response speed and overshoot.

[0076] Based on the constraint relationships and the values ​​of the aforementioned performance index parameters, determine the proportional coefficient of the proportional-integral controller. K p and integral coefficient K i The parsing expression: ; ; As can be seen from the above expression, the proportionality coefficient K p With the mechanical inertia of the motor J Time constant of equivalent dynamic characteristics T Σ First pole angular frequency The square of the relative damping coefficient With the second pole angular frequency The product is related. Integral coefficient. K i Then related to the mechanical inertia of the motor J Time constant of equivalent dynamic characteristics T Σ First pole angular frequency The square of the second pole angular frequency, and the second pole angular frequency Related.

[0077] It should be understood that the above calculation formula is obtained by matching the third-order closed-loop transfer function of the actual system with the preset target transfer function and through rigorous mathematical derivation. The advantage of this analytical expression is that once the performance index parameters are determined... , , and system inherent parameters J and T Σ This allows for the direct calculation of the proportional-integral controller's proportional and integral coefficients, eliminating the need for repeated trial and error based on experience.

[0078] To verify the effectiveness of the method proposed in this embodiment, simulation verification was performed based on the identification of the characteristic time constants of the internal components of the speed servo system. During parameter tuning, the relative damping coefficient can be preset, for example... =0.7 to ensure the system has good damping characteristics. Then, the second pole angular frequency is set... Angular frequency of the first pole and its relative damping coefficient The relative positional relationship between products, i.e. = C × × ,in C As a preset proportionality constant, substitute it into the constraint relationship 1 / T Σ = 2 + The solution can then be obtained. and The specific value.

[0079] Taking a certain type of speed servo system as an example, the time constant of its equivalent inertial element T Σ Taking 2 milliseconds as an example, let's take... C =1.5、 C =3 and C Parameter calculations are performed for three cases: =5. C When = 1.5, the solution is: Approximately 204 radians per second. Approximately 214 radians / second; when C When =3, we get Approximately 142 radians per second. Approximately 300 radians / second; when C When = 5, we get Approximately 102 radians per second, Approximately 357 radians / second. Substituting the above three sets of parameters into the calculation formulas for the proportional and integral coefficients, respectively, yields the corresponding... Kp and K i After setting the value, the system is simulated.

[0080] Please see Figure 3 The figure shows the system response curves under the three parameter settings mentioned above. It can be seen from the figure that the system can achieve a stable response under different parameter combinations; when... C Value relative to hour, Relatively large, the system response speed is relatively fast; when C When the value is relatively large, The relative size decreases, and the system response slows down. This indicates that the method proposed in this embodiment adjusts... C The value can be adjusted to change the response speed to meet the needs of different application scenarios.

[0081] The method proposed in this embodiment incorporates the time constants of internal dynamic elements into the design model and establishes constraint relationships and analytical solution formulas, enabling simulation results to accurately reflect the actual dynamic characteristics of the system under high-performance requirements. Compared with traditional methods, this embodiment can achieve predictability and stability of system response over a wider parameter range, effectively solving the design deviation problem caused by model simplification.

[0082] In this embodiment, the analytical solution method described above achieves a direct mapping of control parameters from performance indicators to specific values. Compared with traditional trial-and-error methods, this approach has a clear theoretical basis and can significantly improve the efficiency of parameter tuning. Furthermore, because the time constant of the equivalent inertial element is fully considered during the calculation process, the obtained control parameters effectively guarantee the stability and control performance of the system under high-performance requirements, avoiding parameter deviation problems caused by model simplification.

[0083] To better implement the dynamic parameter verification method for the speed servo system in this embodiment of the invention, based on the dynamic parameter verification method for the speed servo system, correspondingly, as follows: Figure 4 As shown, this embodiment of the invention also provides a dynamic parameter verification device for a speed servo system. The dynamic parameter verification device 400 for a speed servo system includes: The acquisition module 401 is used to acquire the delay characteristic parameters of multiple dynamic links in the speed servo system; Equivalent module 402 is used to determine the equivalent dynamic characteristics of the speed servo system based on the delay characteristic parameters of multiple dynamic links. Modeling module 403 is used to establish a parametric model of the speed servo system based on equivalent dynamic characteristics; The matching module 404 is used to match the preset target characteristics with the parameter model to obtain the constraint relationship; The parsing module 405 is used to parse and determine the control parameters of the speed servo system based on the constraint relationship and the preset performance index parameters.

[0084] The parameter dynamic verification device 400 of the speed servo system provided in the above embodiments can realize the technical solution described in the above embodiment of the parameter dynamic verification method of the speed servo system. The specific implementation principle of each module or unit can be found in the corresponding content in the above embodiment of the parameter dynamic verification method of the speed servo system, and will not be repeated here.

[0085] like Figure 5 As shown, the present invention also provides an electronic device 500. The electronic device 500 includes a processor 501, a memory 502, and a display 503. Figure 5 Only some components of the electronic device 500 are shown, but it should be understood that it is not required to implement all the components shown, and more or fewer components may be implemented instead.

[0086] In some embodiments, processor 501 may be a central processing unit (CPU), microprocessor, or other data processing chip, used to run program code stored in memory 502 or process data, such as the parameter dynamic verification method of the speed servo system in this invention.

[0087] In some embodiments, processor 501 may be a single server or a group of servers. The server group may be centralized or distributed. In some embodiments, processor 501 may be local or remote. In some embodiments, processor 501 may be implemented on a cloud platform. In one embodiment, the cloud platform may include a private cloud, public cloud, hybrid cloud, community cloud, distributed cloud, inter-cloud, multi-cloud, or any combination thereof.

[0088] In some embodiments, memory 502 may be an internal storage unit of electronic device 500, such as a hard disk or memory of electronic device 500. In other embodiments, memory 502 may also be an external storage device of electronic device 500, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, flash card, etc. equipped on electronic device 500.

[0089] Furthermore, the memory 502 may include both internal storage units of the electronic device 500 and external storage devices. The memory 502 is used to store application software and various types of data installed on the electronic device 500.

[0090] In some embodiments, display 503 may be an LED display, a liquid crystal display, a touch-sensitive liquid crystal display, or an OLED (Organic Light-Emitting Diode) touchscreen. Display 503 is used to display information from electronic device 500 and to display a visual user interface. Components 501-503 of electronic device 500 communicate with each other via a system bus.

[0091] In one embodiment, when the processor 501 executes the dynamic parameter verification program of the speed servo system in the memory 502, the following steps can be implemented: Obtain the delay characteristic parameters of multiple dynamic components in the speed servo system; The equivalent dynamic characteristics of the speed servo system are determined based on the delay characteristic parameters of multiple dynamic links. A parameter model of the speed servo system is established based on equivalent dynamic characteristics; The pre-defined target characteristics are matched with the parameter model to obtain the constraint relationship; Based on the constraints and preset performance parameters, the control parameters of the speed servo system are determined analytically.

[0092] It should be understood that when the processor 501 executes the dynamic parameter verification program of the speed servo system in the memory 502, in addition to the functions mentioned above, it can also perform other functions, as can be found in the description of the corresponding method embodiments above.

[0093] Furthermore, this embodiment of the invention does not specifically limit the type of electronic device 500 mentioned. Electronic device 500 can be a mobile phone, tablet computer, personal digital assistant (PDA), wearable device, laptop computer, or other portable electronic device. Exemplary embodiments of portable electronic devices include, but are not limited to, portable electronic devices running iOS, Android, Microsoft, or other operating systems. The aforementioned portable electronic device can also be other portable electronic devices, such as a laptop computer with a touch-sensitive surface (e.g., a touch panel). It should also be understood that in some other embodiments of the invention, electronic device 500 may not be a portable electronic device, but rather a desktop computer with a touch-sensitive surface (e.g., a touch panel).

[0094] Accordingly, this application also provides a computer-readable storage medium for storing a computer-readable program or instruction. When the program or instruction is executed by a processor, it can implement the steps or functions of the parameter dynamic confirmation method of the speed servo system provided in the above-described method embodiments.

[0095] 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 (such as a processor, controller, etc.), and the 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.

[0096] The above provides a detailed description of the parameter dynamic confirmation method, device, electronic device, and storage medium of the speed servo system provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A method for dynamically confirming parameters of a speed servo system, characterized in that, include: Obtain the delay characteristic parameters of multiple dynamic components in the speed servo system; The equivalent dynamic characteristics of the speed servo system are determined based on the delay characteristic parameters of the multiple dynamic links. A parameter model of the speed servo system is established based on the equivalent dynamic characteristics described above. The preset target characteristics are matched with the parameter model to obtain the constraint relationship; Based on the constraints and preset performance parameters, the control parameters of the speed servo system are determined analytically.

2. The method according to claim 1, characterized in that, The multiple dynamic components include a current loop control delay component and a speed feedback filter delay component; the delay characteristic parameter is the time constant of each component.

3. The method according to claim 2, characterized in that, Determining the equivalent dynamic characteristics of the speed servo system includes: The time constant of the current loop control delay element is summed with the time constant of the speed feedback filter delay element to obtain the time constant of the equivalent inertial element. The transfer function of the equivalent inertial element is characterized as a first-order inertial form.

4. The method according to claim 3, characterized in that, The parameter model is a third-order closed-loop transfer function, which is jointly determined by the equivalent inertial element, the motor mechanical inertia element, and the proportional and integral coefficients of the proportional-integral controller.

5. The method according to claim 1, characterized in that, The preset target characteristic is composed of a second-order damping element and a first-order inertial element cascaded together. The second-order damping element includes a first pole angular frequency and a relative damping coefficient, and the first-order inertial element includes a second pole angular frequency.

6. The method according to claim 5, characterized in that, The constraint relationship is characterized by the following: the reciprocal of the time constant of the equivalent dynamic characteristic satisfies a preset quantitative relationship with the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient.

7. The method according to claim 6, characterized in that, The analysis determines the control parameters of the speed servo system, including: Based on the constraints and the preset values ​​of the first pole angular frequency, the second pole angular frequency, and the relative damping coefficient, the proportional coefficient and integral coefficient of the proportional-integral controller are calculated.

8. A parameter dynamic verification device for a speed servo system, characterized in that, include: The acquisition module is used to acquire the delay characteristic parameters of multiple dynamic links in the speed servo system; An equivalent module is used to determine the equivalent dynamic characteristics of the speed servo system based on the delay characteristic parameters of the multiple dynamic links. The modeling module is used to establish a parameter model of the speed servo system based on the equivalent dynamic characteristics. The matching module is used to match the preset target characteristics with the parameter model to obtain the constraint relationship; The parsing module is used to parse and determine the control parameters of the speed servo system based on the constraint relationship and preset performance index parameters.

9. An electronic device, characterized in that, Including memory and processor, among which, The memory is used to store programs; The processor, coupled to the memory, is used to execute the program stored in the memory to implement the steps in the parameter dynamic verification method of the speed servo system according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that, Used to store computer-readable programs or instructions, which, when executed by a processor, can implement the steps in the dynamic parameter verification method of the speed servo system according to any one of claims 1 to 7.

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