Instruction current zeroing method, apparatus and system, device, and readable storage medium

Abstract

Disclosed are an instruction current zeroing method, apparatus and system, a device, and a readable storage medium. The instruction current zeroing method comprises: outputting a control current as an instruction current on the basis of a controller, wherein the instruction current is processed and then compared with the actual current of a servo motor; obtaining a comparison result signal output after comparing the actual current with the instruction current, and obtaining the duty cycle of the comparison result signal; and generating an instruction current zeroing value on the basis of the duty cycle, superimposing the instruction current zeroing value onto the control current, and using the resultant superimposed current as a new instruction current. The instruction current zeroing method provided by the present invention can ensure the consistency of zeroing results, so that the actual current value follows the instruction current value, significantly improving the current control precision of the driver. In addition, the present solution requires no additional circuit or electrical component, enhancing the operability and adaptability.

Description

Instruction current zeroing method, device, system, equipment and readable storage medium

[0001] This invention claims priority to Chinese patent application number 2023118695856, filed with the Patent Office of China on December 29, 2023, entitled “Automatic Zeroing Method, Device, System, Equipment and Readable Storage Medium”. The entire contents of this application are incorporated herein by reference. Technical Field

[0002] The present invention relates to the technical field of servo drive current hysteresis control, and in particular to a command current zeroing method, device, system, equipment and readable storage medium. Background Art

[0003] Hysteresis control, also known as bang-bang control or ripple regulator control, is a PWM tracking technique. It features real-time control, fast response, and strong robustness. It also offers simple design, ease of implementation, and excellent stability and transient performance. Specifically, current hysteresis control is a current control strategy applied to servo drives. The basic concept of current hysteresis control is to take a given three-phase current signal and compare it with the three-phase current measured by a current transformer. The comparison result is used by a comparator to control the switching of power devices, ensuring that the actual current value matches the commanded current value.

[0004] However, because current transformers and operational amplifier circuits are affected by temperature fluctuations and unstable power supply voltage, output zero drift often occurs, resulting in inaccurate comparison results from the current comparison module. These inaccurate comparison results can cause the control module to output incorrect switching signals to the switch module, preventing the actual current value from accurately tracking the commanded current value. This reduces the accuracy of the entire current hysteresis control loop and can cause problems such as oscillation and jitter during motor operation.

[0005] The information disclosed in this background technology section is only intended to enhance understanding of the overall background of the invention and should not be regarded as an admission or any form of suggestion that the information constitutes the prior art already known to a person skilled in the art.

[0006] Summary of the Invention

[0007] The purpose of the present invention is to provide a command current zeroing method, which can ensure the consistency of the zeroing result, suppress the zero point drift, make the actual current value follow the command current value, and achieve the purpose of improving the driver current control accuracy.

[0008] To achieve the above objectives, the present invention provides the following technical solutions:

[0009] In a first aspect, the present invention provides a command current zeroing method, applied to a servo motor, comprising:

[0010] Based on the controller outputting a control current as a command current, the command current is compared with the actual current of the servo motor after processing;

[0011] Obtaining a comparison result signal output after comparing the actual current with the command current and obtaining a duty cycle of the comparison result signal;

[0012] A command current zero adjustment value is generated based on the duty cycle, the command current zero adjustment value is superimposed on the control current, and the superimposed current is used as a new command current.

[0013] In one or more embodiments, obtaining a comparison result signal output after comparing the actual current with the command current includes:

[0014] When the actual current is greater than the command current, a first potential signal is output;

[0015] When the actual current is less than or equal to the command current, a second potential signal is output, wherein one of the first potential signal and the second potential signal is a high potential, and the other is a low potential.

[0016] In one or more embodiments, generating a command current zero adjustment value based on the duty cycle, superimposing the command current zero adjustment value with the control current, and using the superimposed current as a new command current includes:

[0017] If the duty cycle of the comparison result signal is within a preset zero adjustment interval, a preset command current zero adjustment value is superimposed on the control current, and the superimposed current is used as a new command current;

[0018] If the duty cycle of the comparison result signal is greater than the maximum value of the zero adjustment interval, the difference between the preset command current zero adjustment value and the preset first command current unit zero-filling value is used as a new command current zero adjustment value, and the new command current zero adjustment value is superimposed on the control current, and the superimposed current is used as the new command current;

[0019] If the duty cycle of the comparison result signal is less than the minimum value of the zero adjustment interval, the sum of the preset command current zero adjustment value and the preset first command current unit zero fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is superimposed on the control current, and the superimposed current is used as the new command current.

[0020] In one or more embodiments, generating a command current zero adjustment value based on the duty cycle, superimposing the command current zero adjustment value with the control current, and using the superimposed current as a new command current further includes:

[0021] Setting a coarse adjustment interval and a fine adjustment interval, when the duty cycle is within the coarse adjustment interval, taking the difference or sum of a preset command current zero adjustment value and a preset second command current unit zero-filling value as a new command current zero adjustment value, and feeding the new command current zero adjustment value back to the command current output module;

[0022] When the duty cycle is within the fine adjustment range, the difference or sum of the command current zero adjustment value and the preset third command current unit zero-fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is fed back to the command current output module, wherein the second command current zero-fill value is greater than the third command current zero-fill value.

[0023] In one or more embodiments, the method further comprises:

[0024] When the comparison result signal between the actual current and the command current is within a preset zero adjustment interval, the command current zero adjustment value at this time is recorded as a backup zero adjustment value;

[0025] When the command current zeroing device is restarted, the backup zeroing value is read as the command current zeroing value.

[0026] In one or more embodiments, the method further comprises:

[0027] Set the reaction time and sampling time;

[0028] When the command current zero adjustment value is fed back to the controller, waiting for the reaction time;

[0029] The duty cycle of the comparison result signal within the sampling time is collected and determined.

[0030] In a second aspect, the present invention provides a command current zeroing device for implementing the command current zeroing method, which includes:

[0031] An actual current acquisition module, comprising a current transformer and an operational amplifier circuit, for acquiring the actual current of the servo motor;

[0032] A controller module, configured to output the control current;

[0033] The command current processing module includes a digital-to-analog converter and an operational amplifier circuit, and is used to convert the digital command current output by the command current output module into an analog command current and amplify the analog command current;

[0034] A comparison module, configured to output different potential signals based on the magnitude relationship of inputs to the comparison module;

[0035] The control module is configured to generate a command current zero adjustment value based on the signal output by the comparison module, and feed the zero adjustment value back to the command current output module.

[0036] In a third aspect, the present invention provides a command current zeroing system, comprising:

[0037] a comparison module, configured to output a control current as a command current, wherein the command current is compared with an actual current of the servo motor after processing;

[0038] a calculation module, configured to obtain a comparison result signal output after comparing the actual current with the command current and to obtain a duty cycle of the comparison result signal;

[0039] A feedback control module is configured to generate a command current zero adjustment value based on the duty cycle, superimpose the command current zero adjustment value on the control current, and use the superimposed current as a new command current.

[0040] In a fourth aspect, the present invention provides a computer device comprising: a memory and a processor, wherein the memory and the processor are communicatively connected to each other, computer instructions are stored in the memory, and the processor executes the instruction current zeroing method by executing the computer instructions.

[0041] In a fifth aspect, the present invention provides a computer-readable storage medium, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a computer to execute the instruction current zeroing method.

[0042] Compared with the prior art, the command current zeroing method provided by the present invention is based on a controller outputting a control current as the command current, which is then processed and compared with the actual current of the servo motor; a comparison result signal output after comparing the actual current with the command current is obtained, and the duty cycle of the comparison result signal is obtained; a command current zeroing value is generated based on the duty cycle, the command current zeroing value is superimposed on the control current, and the superimposed current is used as the new command current. This command current zeroing method has the following advantages:

[0043] (1) The command current zeroing method provided by the present invention can ensure the consistency of the zeroing result, so that the actual current value follows the command current value, greatly improving the driver current control accuracy.

[0044] (2) The command current zeroing method provided by the present invention does not require additional circuits or electrical appliances, and is more operable and adaptable. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] FIG1 is a schematic diagram of an application scenario of a command current zeroing method according to an embodiment of the present invention;

[0046] FIG2 is a schematic diagram of a flow chart of command current zeroing in one embodiment of the present invention;

[0047] FIG3 is a structural block diagram of a command current zeroing device according to an embodiment of the present invention;

[0048] FIG4 is a structural block diagram of a command current zeroing system according to an embodiment of the present invention;

[0049] FIG5 is a structural block diagram of an electronic device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0050] The specific embodiments of the present invention are described in detail below with reference to the accompanying drawings, but it should be understood that the protection scope of the present invention is not limited by the specific embodiments.

[0051] Unless expressly stated otherwise, throughout the specification and claims, the term "comprise" or variations such as "include" or "comprising", etc., will be understood to include the stated elements or components but not to exclude other elements or other components.

[0052] In the existing technical solution, there is a method for zeroing the command current value, which specifically includes: setting a continuously adjustable resistor, and when the handle of the resistor is adjusted, the movable contact slides on the resistor body. At this time, an output voltage with a certain relationship with the external voltage of the resistor and the stroke of the movable arm can be obtained at the output end of the resistor. The controller outputs a current value instruction digital quantity of 0A, which is converted into an analog quantity through the DAC analog-to-digital conversion, and the voltage analog quantity output from the output end of the resistor is subtracted. The handle of the resistor is adjusted, and the comparison result output by the current comparison module is observed through an oscilloscope or logic analyzer. The resistor adjustment is stopped until a digital signal with a comparison result of 50% duty cycle is observed. Through this zeroing method, the actual current value follows the command current value.

[0053] Based on the method, the command current can be zeroed to a certain extent, thereby suppressing zero drift. However, since the potentiometer needs to be adjusted manually, the entire process places very high demands on the operator, inevitably resulting in time-consuming and labor-intensive problems. Secondly, manual adjustment cannot guarantee the consistency of the zeroing results. At the same time, additional components are required, which increases costs.

[0054] The inventors of the present invention discovered the main shortcomings of the existing technology and proposed a new technical implementation idea based on the shortcomings of the existing technology: the control current output by the controller is used as the command current to compare with the actual current of the servo motor obtained by the actual sampling, and based on the duty cycle of the comparison result signal, a command current zeroing value is fed back to the controller, the control current and the command current zeroing value are superimposed, and the superimposed current is used as the new command current. Based on the feedback adjustment, the effect of correcting the command current is achieved, thereby improving the command current control accuracy.

[0055] Please refer to FIG2 , which is a flow chart of the instruction current zeroing method according to one embodiment of the present invention. The instruction current zeroing method specifically includes the following steps:

[0056] S201: Based on the controller outputting a control current as a command current, the command current is processed and compared with the actual current of the servo motor;

[0057] It should be noted that the control current output by the controller is a digital quantity, while the actual current of the servo motor is an analog quantity; therefore, the two should be in the same state before comparison. Furthermore, the amplitude of the control current output by the controller is small, making it difficult to accurately identify and compare. Therefore, the command current must pass through a digital-to-analog converter and an operational amplifier circuit before it can be compared with the actual current of the servo motor after sampling and processing.

[0058] It can be understood that, similar to the command current, the actual current of the servo motor after sampling may be processed by the operational amplifier circuit. At the same time, in order to avoid short circuit or overload on the sampling side, a current transformer needs to be connected and used in conjunction with a relay device. When a fault occurs, a signal is sent to cut off the fault circuit, thereby achieving the purpose of protecting the safety of the power supply system.

[0059] It should also be noted that the selection and parameter settings of structures such as the operational amplifier circuit, digital-to-analog converter, and current transformer in the embodiments of the present invention can be adjusted based on actual application scenarios, and the embodiments of the present invention do not limit this.

[0060] S202: Obtaining a comparison result signal output after comparing the actual current with the command current and obtaining a duty cycle of the comparison result signal;

[0061] In an exemplary embodiment, the comparison result signal output after obtaining the actual current and comparing it with the command current includes: when the actual current is greater than the command current, outputting a first potential signal; when the actual current is less than or equal to the command current, outputting a second potential signal, wherein one of the first potential signal and the second potential signal is a high potential and the other is a low potential.

[0062] In current hysteresis control, the servo motor's actual current is expected to track the command current, meaning it's expected to be consistent with the command current. Because current fluctuates in real time, the actual current is compared with the command current. When the actual current is greater than the command current, a first potential signal is output; when the actual current is less than or equal to the command current, a second potential signal is output, with one of the first and second potential signals being high and the other low. The closer the duty cycle of the potential signal obtained from the comparison is to 50%, the better the actual current follows the command current.

[0063] It should be noted that, which of the first potential signal and the second potential signal is a high potential and which is a low potential can be set based on the user terminal, and the embodiment of the present invention does not impose any limitation on this.

[0064] It should also be noted that the user terminal may include, but is not limited to, a desktop computer (PC), a desktop computer, a smart phone, a handheld computer, a tablet computer, a personal digital assistant (PDA), and other portable electronic devices or wearable electronic devices, wherein the user terminal is installed with a computer software program that matches the command current zeroing system provided by the present method; the user terminal may be connected to a communication network via a wired or wireless method, wherein the communication network includes a combination of a local area network or a wide area network that communicates with the Internet. The embodiments of the present invention do not limit the above content.

[0065] For example, based on the user terminal setting, when the command current is greater than the actual current, a high level is output, and conversely, when the actual current is greater than the command current, a low level is output. During the kth round of zero adjustment, if the actual current input to the comparison module is greater than the command current, a low level is output.

[0066] S203: Generate a command current zero adjustment value based on the duty cycle, superimpose the command current zero adjustment value and the control current, and use the superimposed current as a new command current.

[0067] It should be noted that, since the comparison result signal output by the comparison module is continuous, in one embodiment, a sampling time is required to be set to collect and determine the duty cycle of the comparison result signal within the sampling time.

[0068] It is understood that, given a constant operating clock frequency for the calculation module, a longer sampling time results in a more accurate calculated duty cycle value. In specific implementations, the sampling time can be adjusted based on a combination of factors such as the operating clock frequency and the required speed for zeroing the command current. This is not a limitation in the present embodiment.

[0069] In an exemplary embodiment, generating a command current zero adjustment value based on the duty cycle, superimposing the command current zero adjustment value with the control current, and using the superimposed current as a new command current includes: if the duty cycle of the comparison result signal is within a preset zero adjustment interval, superimposing the command current zero adjustment value with the control current, and using the superimposed current as the new command current;

[0070] If the duty cycle of the comparison result signal is greater than the maximum value of the zero adjustment interval, the difference between the command current zero adjustment value and the preset first command current unit zero-filling value is used as the new command current zero adjustment value, and the new command current zero adjustment value is superimposed on the control current, and the superimposed current is used as the new command current;

[0071] If the duty cycle of the comparison result signal is less than the minimum value of the zero adjustment interval, the sum of the command current zero adjustment value and the preset first command current unit zero fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is superimposed on the control current, and the superimposed current is used as the new command current.

[0072] For example, in a specific embodiment, the preset zero adjustment interval is [40%, 60%], the command current zero adjustment value is set to 200, the first command current unit zero padding value is 10, and after calculation, the duty cycle of the comparison result signal of the command current and the actual current is 43%. Since 43% is included in the zero adjustment interval, the command current zero adjustment value of 200 is fed back to the controller at this time, the control current output by the controller is superimposed on the current zero adjustment value, and the superimposed current is used as the command current to participate in the subsequent process.

[0073] In another specific embodiment, following the conditions of the above embodiment, the comparison module calculates that the duty cycle of the comparison result signal between the command current and the actual current is 72%. Since 72%>60%, the difference between the command current zero adjustment value and the preset first command current unit zero fill value is used as the new command current zero adjustment value, that is, 200-10=190 is used as the new command current zero adjustment value.

[0074] In another specific embodiment, following the conditions of the above embodiment, the comparison module calculates that the duty cycle of the comparison result signal between the command current and the actual current is 20%. Since 40%>20%, the sum of the command current zero adjustment value and the preset first command current unit zero fill value is used as the new command current zero adjustment value, that is, 200+10=210 is used as the new command current zero adjustment value.

[0075] It is understood that the smaller the first command current unit zero-padding value, the higher the control accuracy of the command current, but correspondingly, more zeroing rounds are required and the longer the zeroing time is required. In order to balance the zeroing time and the zeroing accuracy, the present invention also provides another embodiment.

[0076] In another embodiment, a coarse adjustment interval and a fine adjustment interval are set. When the duty cycle is within the coarse adjustment interval, the difference or sum of the command current zero adjustment value and the preset second command current unit zero-fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is fed back to the command current output module; when the duty cycle is within the fine adjustment interval, the difference or sum of the command current zero adjustment value and the preset third command current unit zero-fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is fed back to the command current output module, wherein the second command current zero-fill value is greater than the third command current zero-fill value.

[0077] It should be noted that the coarse adjustment interval, the fine adjustment interval and the preset zero adjustment interval should cover all possible values ​​of the duty cycle. At the same time, the difference or sum of the command current zero adjustment value and the preset command current unit zero filling value should be selected based on the

[0078] For example, the coarse adjustment interval is set to [0%, 35%)∪(65%, 100%), the fine adjustment interval is set to [35%, 45%)∪(55%, 65%), the preset zero adjustment interval is set to [45%, 55%), the second command current unit zero padding value is 20, and the third command current unit zero padding value is 5. When the duty cycle of the comparison result signal between the command current and the actual current is 23%, 23%∈[0%, 35%)∪(65%, 100%) and 23%<45%, based on the adjustment logic of the coarse adjustment interval, the difference between the command current zero adjustment value and the preset second command current unit zero padding value is used as the new command current zero adjustment value.

[0079] For another example, following the conditions of the above embodiment, when the duty cycle of the comparison result signal between the command current and the actual current is 43%, 43%∈[35%, 45%)∪(55%, 65%] and 43%<45%, based on the adjustment logic of the fine-tuning interval, the difference between the command current zero adjustment value and the preset third command current unit zero-fill value is used as the new command current zero adjustment value.

[0080] It should be noted that when the commanded zero-setting value is fed back to the controller, a preset reaction time is required to allow the DAC to establish its output voltage, the PWM control module to output a PWM wave signal for controlling the MOSFET, and the MOSFET to output current. Similar to the sampling time, in actual applications, the preset reaction time can be set based on factors such as the output voltage establishment and conversion time specified in the DAC device specifications, the PWM control module interrupt period, and the MOSFET device switching frequency. This is not limited in the present embodiment.

[0081] It should be noted that the command current zeroing method provided by the present invention also includes: when the comparison result signal between the actual current and the command current is within a preset zeroing interval, recording the command current zeroing value at this time as a backup zeroing value; when the command current zeroing device is restarted, reading the backup zeroing value as the command current zeroing value.

[0082] Based on the above method of backing up the zeroing value, it is possible to avoid the need to repeat the zeroing process due to restart. After restarting, the backup zeroing value can be read as the command current zeroing value, that is, the last saved zeroing progress is inherited and subsequent operations are continued.

[0083] It should also be noted that in one embodiment of the present invention, zeroing is performed simultaneously on all three phases of the servo motor. However, zeroing one phase affects the duty cycles of the other two phases. Therefore, it is necessary to set a zeroing priority so that the U, V, and W phases are zeroed sequentially. Zeroing is performed on the highest-priority phase among those currently not zeroed. Once zeroing is complete for that phase, zeroing is performed on the highest-priority phase among those remaining, until zeroing is complete for all three phases.

[0084] For example, if the zeroing priority is set to U>V>W on the user terminal, when zeroing of phase U is not completed, only phase U is zeroed, and phases V and W are not zeroed. When zeroing of phase U is completed, zeroing of phase V is started, and phase W is not zeroed. When zeroing of phase V is completed, zeroing of all three phases is started, and the process continues until zeroing of all three phases is completed.

[0085] Referring to Figure 3 , based on the same inventive concept as the aforementioned command current zeroing method, an embodiment of the present invention provides a command current zeroing device 300 , which includes: an actual current acquisition module 301 , a controller module 302 , a command current processing module 303 , a comparison module 304 and a control module 305 .

[0086] Specifically, as shown in Figures 1 and 3, the actual current acquisition module 301 includes a current transformer and an operational amplifier circuit, which is used to collect the actual current of the servo motor; the controller module 302 is used to output the control current; the instruction current processing module 303 includes a digital-to-analog converter and an operational amplifier circuit, which is used to convert the digital instruction current output by the instruction current output module into an analog instruction current and amplify the instruction current; the comparison module 304 is used to output different potential signals based on the size relationship of the input to the comparison module; the control module 305 is used to generate an instruction current zeroing value based on the signal output by the comparison module, and feed back the value to the instruction current output module.

[0087] Referring to FIG. 4 , based on the same inventive concept as the aforementioned command current zeroing method, an embodiment of the present invention provides a command current zeroing system 400 , which includes: a comparison module 401 , a calculation module 402 , and a feedback control module 403 .

[0088] Specifically, the comparison module 401 is used to output a control current as a command current, and the command current is compared with the actual current of the servo motor after processing; the calculation module 402 is used to obtain the comparison result signal output after comparing the actual current with the command current and obtain the duty cycle of the comparison result signal; the feedback control module 403 is used to generate a command current zeroing value based on the duty cycle, superimpose the command current zeroing value with the control current, and use the superimposed current as a new command current.

[0089] It should be noted that the comparison module 401 is also used to output a first potential signal when the actual current is greater than the command current; and output a second potential signal when the actual current is less than or equal to the command current, wherein one of the first potential signal and the second potential signal is a high potential and the other is a low potential.

[0090] In one embodiment, the feedback control module 403 is also used to, when the duty cycle of the comparison result signal is within a preset zero adjustment interval, superimpose the command current zero adjustment value with the control current, and use the superimposed current as the new command current; when the duty cycle of the comparison result signal is greater than the maximum value of the zero adjustment interval, use the difference between the command current zero adjustment value and the preset first command current unit zero padding value as the new command current zero adjustment value, superimpose the new command current zero adjustment value with the control current, and use the superimposed current as the new command current; when the duty cycle of the comparison result signal is less than the minimum value of the zero adjustment interval, use the sum of the command current zero adjustment value and the preset first command current unit zero padding value as the new command current zero adjustment value, superimpose the new command current zero adjustment value with the control current, and use the superimposed current as the new command current.

[0091] In another embodiment, the feedback control module 403 is also used to set a coarse adjustment interval and a fine adjustment interval. When the duty cycle is within the coarse adjustment interval, the difference or sum of the command current zero adjustment value and the preset second command current unit zero-fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is fed back to the command current output module; when the duty cycle is within the fine adjustment interval, the difference or sum of the command current zero adjustment value and the preset third command current unit zero-fill value is used as the new command current zero adjustment value, and the new command current zero adjustment value is fed back to the command current output module, wherein the second command current zero-fill value is greater than the third command current zero-fill value.

[0092] It should also be noted that the command current zeroing system 400 also includes a backup module, which is used to record the command current zeroing value at this time as a backup zeroing value when the comparison result signal between the actual current and the command current is within a preset zeroing interval; when the command current zeroing device is restarted, the backup zeroing value is read as the command current zeroing value.

[0093] The command current zeroing system 400 further includes a setting module, which is used to set a reaction time and a sampling time; when the command zeroing value is fed back to the controller, wait for the reaction time; and collect and determine the duty cycle of the comparison result signal within the sampling time.

[0094] 5 , an embodiment of the present invention further provides an electronic device 500, which includes at least one processor 501, a memory 502 (e.g., a non-volatile memory), a storage 503, and a communication interface 504. The at least one processor 501, the storage 502, the storage 503, and the communication interface 504 are connected together via a bus 505. The at least one processor 501 is configured to call at least one program instruction stored or encoded in the storage 502, so that the at least one processor 501 executes various operations and functions of the instruction current zeroing method described in various embodiments of this specification.

[0095] In the embodiments of the present specification, the electronic device 500 may include but is not limited to: a personal computer, a server computer, a workstation, a desktop computer, a laptop computer, a notebook computer, a mobile electronic device, a smart phone, a tablet computer, a cellular phone, a personal digital assistant (PDA), a handheld device, a messaging device, a wearable electronic device, a consumer electronic device, and the like.

[0096] An embodiment of the present invention further provides a computer-readable medium carrying computer-executable instructions. When the computer-executable instructions are executed by a processor, they can be used to implement the various operations and functions of the instruction current zeroing method described in various embodiments of this specification.

[0097] The computer-readable medium in the present invention can be a computer-readable signal medium or a computer-readable storage medium or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or component, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium can be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device.

[0098] In the present invention, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium, which may transmit, propagate, or transfer a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination thereof.

[0099] It will be understood by those skilled in the art that embodiments of the present invention may be provided as methods, systems, or computer program products. Thus, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware. Furthermore, the present invention may take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to magnetic disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0100] The present invention is described with reference to the flowcharts and / or block diagrams of the methods, apparatuses, systems, and computer program products according to embodiments of the present invention. It should be understood that each process and / or block in the flowcharts and / or block diagrams, as well as combinations of processes and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to produce a machine, so that the instructions executed by the processor of the computer or other programmable data processing device produce a device for implementing the functions specified in one or more processes in the flowcharts and / or one or more blocks in the block diagrams.

[0101] The foregoing descriptions of specific exemplary embodiments of the present invention are for purposes of illustration and description. These descriptions are not intended to limit the invention to the precise forms disclosed, and it is apparent that many variations and modifications are possible in light of the foregoing teachings. The exemplary embodiments have been selected and described for the purpose of explaining the specific principles of the invention and their practical application, thereby enabling those skilled in the art to realize and utilize a variety of exemplary embodiments of the invention and various options and modifications. The scope of the invention is intended to be defined by the claims and their equivalents.

Claims

1. A method for zeroing the command current, applied to a servo motor, characterized in that, The method includes: Outputting a control current as a command current based on a controller, and comparing the command current with the actual current of the servo motor after processing; Obtaining a comparison result signal output after comparing the actual current with the command current and obtaining the duty cycle of the comparison result signal; Generating a command current zeroing value based on the duty cycle, superimposing the command current zeroing value on the control current, and using the superimposed current as a new command current.

2. The instruction current zeroing method according to claim 1, characterized in that, The obtaining of the comparison result signal output after comparing the actual current with the command current includes: When the actual current is greater than the command current, outputting a first potential signal; When the actual current is less than or equal to the command current, outputting a second potential signal, where one of the first potential signal and the second potential signal is at a high potential and the other is at a low potential.

3. The instruction current zeroing method according to claim 1, characterized in that, The generating of a command current zeroing value based on the duty cycle, superimposing the command current zeroing value on the control current, and using the superimposed current as a new command current includes: If the duty cycle of the comparison result signal is within a preset zeroing interval, then superimposing a preset command current zeroing value on the control current and using the superimposed current as a new command current; If the duty cycle of the comparison result signal is greater than the maximum value of the zeroing interval, then using the difference between the preset command current zeroing value and a preset first command current unit zeroing value as a new command current zeroing value, superimposing the new command current zeroing value on the control current, and using the superimposed current as a new command current; If the duty cycle of the comparison result signal is less than the minimum value of the zeroing interval, then using the sum of the preset command current zeroing value and a preset first command current unit zeroing value as a new command current zeroing value, superimposing the new command current zeroing value on the control current, and using the superimposed current as a new command current.

4. The instruction current zeroing method according to claim 3, characterized in that, The generating of a command current zeroing value based on the duty cycle, superimposing the command current zeroing value on the control current, and using the superimposed current as a new command current further includes: Setting a coarse adjustment interval and a fine adjustment interval. When the duty cycle is within the coarse adjustment interval, then using the difference or sum between the command current zeroing value and a preset second command current unit zeroing value as a new command current zeroing value, and feeding back the new command current zeroing value to the command current output module; When the duty cycle is within the fine adjustment interval, then using the difference or sum between the command current zeroing value and a preset third command current unit zeroing value as a new command current zeroing value, and feeding back the new command current zeroing value to the command current output module, where the second command current zeroing value is greater than the third command current zeroing value.

5. The instruction current zeroing method according to claim 1, characterized in that The method further includes: When the comparison result signal between the actual current and the command current is within a preset zeroing interval, recording the command current zeroing value at this time as a backup zeroing value; After the command current zeroing device restarts, reading the backup zeroing value as the command current zeroing value.

6. The instruction current zeroing method according to claim 1, characterized in that, The method further includes: Setting a reaction time and a sampling time; When the zero adjustment value of the command current is fed back to the controller, wait for one reaction time; Collect and judge the duty cycle of the comparison result signal within the sampling time.

7. An instruction current zeroing device for implementing the instruction current zeroing method according to any one of claims 1-6, characterized in that, Comprising: An actual current acquisition module, including a current transformer and an operational amplifier circuit, for acquiring the actual current of the servo motor; A controller module for outputting the control current; A command current processing module, including a digital-to-analog converter and an operational amplifier circuit, for converting the digital command current output by the command current output module into an analog command current and amplifying the analog command current; A comparison module for outputting different potential signals based on the magnitude relationship input to the comparison module; A control module for generating a zero adjustment value of the command current based on the signal output by the comparison module and feeding it back to the command current output module.

8. An instruction current zeroing system, characterized in that Comprising: A comparison module for outputting a control current as the command current, and comparing the processed command current with the actual current of the servo motor; A calculation module for obtaining the comparison result signal output after comparing the actual current with the command current and obtaining the duty cycle of the comparison result signal; A feedback control module for generating a zero adjustment value of the command current based on the duty cycle, superimposing the zero adjustment value of the command current on the control current, and using the superimposed current as a new command current.

9. A computer device, characterized in that, Comprising: A memory and a processor, which are communicatively connected to each other. Computer instructions are stored in the memory, and the processor executes the computer instructions to execute the command current zero adjustment method according to any one of claims 1-6.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions for causing a computer to execute the command current zero adjustment method according to any one of claims 1-6.

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