CN114221595B - Servo system identification method and device, computer storage medium - Google Patents
Servo system identification method and device, computer storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/20—Controlling the acceleration or deceleration
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Abstract
The application discloses a method and a device for identifying a servo system and a computer storage medium. The identification method comprises the following steps: acquiring the current position of the servo system, and determining the motion direction of the servo system based on the current position and a position threshold value; generating a torque command based on the motion direction, and controlling a servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; and calculating the to-be-recognized quantity of the servo system based on the first speed and the first torque in the acceleration motion process and the second speed and the second torque in the deceleration motion process. In this way, it is possible to ensure that the stroke is not overrun in the identification process and to ensure the stability of the identification process.
Description
Technical Field
The present application relates to the field of servo system identification technologies, and in particular, to a method and apparatus for identifying a servo system, and a computer storage medium.
Background
The application range of the servo driving system is wider and wider, moment of inertia and the like are important parameters of the design of a system controller, and the system is dispersed, cannot stably run and is damaged when the system is seriously damaged due to unsuitable moment of inertia.
The moment of inertia identification method can be classified into online identification and offline identification. However, the online identification method has higher requirements on the calculation capability of the system, and the identification result needs a certain time to be converged, so that the convergence speed is easily influenced by a given initial value. The off-line identification method can be further divided into a method based on a speed command and a method based on a torque (i.e. current, the torque and the current are linear). The off-line identification method based on the speed instruction requires the system to operate in a speed closed loop, the design of a speed closed loop controller depends on rotational inertia, and an improper initial value of the rotational inertia can cause unstable operation of the system and cause identification failure; the method based on the torque instruction only requires the system to operate in a torque closed loop, and the parameter design of the torque closed loop only depends on the parameters of a motor body and is irrelevant to the load, so that the method can stably operate, but when the actual moment of inertia is small, the displacement in the identification process is large, and the method cannot be implemented on a system with limited travel.
Disclosure of Invention
The application mainly solves the technical problem of providing a method and a device for identifying a servo system and a computer storage medium, so as to ensure that the stroke is not overrun in the identification process and ensure the stability of the identification process.
In order to solve the technical problems, the application adopts a technical scheme that: a method for identifying a servo system is provided. The identification method comprises the following steps: acquiring the current position of the servo system, and determining the motion direction of the servo system based on the current position and a position threshold value; generating a torque command based on the motion direction, and controlling a servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; and calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process.
In order to solve the technical problems, the application adopts a technical scheme that: an identification device of a servo system is provided. The identification device of the servo system comprises: the torque command generation module is used for acquiring the current position of the servo system, determining the movement direction of the servo system based on the current position and a position threshold value, and generating a torque command based on the movement direction; the torque control module is connected with the torque command generation module and used for controlling the servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; the calculation module is connected with the torque control module and is used for calculating the to-be-identified quantity of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process.
In order to solve the technical problems, the application adopts a technical scheme that: a computer storage medium is provided. The computer storage medium has stored thereon program data executable to implement the identification method of any one of the servo systems described above.
The embodiment of the application has the beneficial effects that: the identification method of the servo system comprises the following steps: acquiring the current position of the servo system, and determining the motion direction of the servo system based on the current position and a position threshold value; generating a torque command based on the motion direction, and controlling a servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; and calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process. The application utilizes the current position of the load to determine the motion direction of the servo system and utilizes the motion direction to generate the torque command, thereby not only being capable of dynamically determining the motion direction of the servo system, but also being capable of correlating the torque command with the motion distance of the servo system, and being capable of ensuring that the motion distance of the servo system in the identification process does not exceed the travel limit of the servo system, namely does not exceed the limit. Meanwhile, the method is off-line identification based on the torque instruction, does not depend on the selection of initial moment of inertia, and can ensure the stability of the identification process.
Drawings
In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings that are needed in the embodiments will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of an identification method of a servo system according to an embodiment of the present application;
FIG. 2 is a schematic diagram showing a specific flow of step S11 in the embodiment of FIG. 1;
FIG. 3 is a schematic diagram showing a specific flow of step S11 in the embodiment of FIG. 1;
FIG. 4 is a schematic flow chart of step S12 in the embodiment of FIG. 1;
FIG. 5 is a schematic diagram showing a specific flow of step S13 in the embodiment of FIG. 1;
FIG. 6 is a graph showing the speed of motion recognition versus time for a servo system according to the present application;
FIG. 7 is a flowchart illustrating an identification method of a servo system according to an embodiment of the present application;
FIG. 8 is a flowchart illustrating an embodiment of a method for identifying a servo system according to the present application;
FIG. 9 is a schematic diagram of an embodiment of a recognition device of a servo system according to the present application;
FIG. 10 is a schematic diagram of an embodiment of an electronic device of the present application;
FIG. 11 is a schematic diagram of a computer storage medium according to an embodiment of the present application.
Detailed Description
The application is described in further detail below with reference to the drawings and examples. It is specifically noted that the following examples are only for illustrating the present application, but do not limit the scope of the present application. Likewise, the following examples are only some, but not all, of the examples of the present application, and all other examples, which a person of ordinary skill in the art would obtain without making any inventive effort, are within the scope of the present application.
In describing embodiments of the present application, it should be noted that, unless explicitly stated and limited otherwise, the terms "coupled," "coupled," and "connected" should be construed broadly, and may be either a fixed connection, a removable connection, or an integral connection, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium. The specific meaning of the above terms in embodiments of the present application will be understood in detail by those of ordinary skill in the art.
In embodiments of the application, unless expressly specified and limited otherwise, a first feature "up" or "down" on a second feature may be that the first and second features are in direct contact, or that the first and second features are in indirect contact via an intervening medium. Moreover, a first feature being "above," "over" and "on" a second feature may be a first feature being directly above or obliquely above the second feature, or simply indicating that the first feature is level higher than the second feature. The first feature being "under", "below" and "beneath" the second feature may be the first feature being directly under or obliquely below the second feature, or simply indicating that the first feature is less level than the second feature.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the embodiments of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
The present application first proposes a method for identifying a servo system, as shown in fig. 1, fig. 1 is a flowchart of an embodiment of the method for identifying a servo system according to the present application. The identification method of the servo system in this embodiment specifically includes the following steps:
step S11: and acquiring the current position of the servo system, and determining the movement direction of the servo system based on the current position and the position threshold value.
Before executing step S11, the servo system may be initialized, and the following parameters are configured mainly according to the identification process set as the servo system in actual application:
An allowable reaching position upper limit threshold P max and an allowable reaching position lower limit threshold P min (the above position thresholds include P max and P min), an allowable speed (rotation speed) upper limit threshold ω max, an allowable torque upper limit threshold T max, an allowable acceleration period upper limit threshold T accM, a moving distance of the recognition process S idt, an initial recognition torque T idt, a torque instruction generation, a recognition calculation to-be-recognized amount, and a recording period T s.
The to-be-identified quantity comprises moment of inertia, coulomb friction value and viscosity coefficient.
Wherein, in order to enable the servo system to start the identification at each position, the moving distance S idt of the identification process (servo system) is less than half of the difference between the upper position threshold P max and the lower position threshold P min, i.eT s may be less than or equal to 1 millisecond.
The speed according to the application can be unified as the speed of the load or as the rotational speed of the motor.
The current position of the servo system may be acquired by a position detection mechanism or the like. The current position of the servo system may be the current position of its load.
Alternatively, the present embodiment may implement step S11 by a method as shown in fig. 2. The method of the present embodiment includes steps S21 to S23.
Step S21: the method comprises the steps of obtaining a current position of a servo system, and obtaining a first difference value between the current position and a position threshold value and a second difference value between a position upper limit threshold value and the current position.
A first difference (P-P min) between the current position P and the lower position threshold P min and a second difference (P max -P) between the upper position threshold P max and the current position P are calculated, respectively.
Step S22: and determining the motion direction of the servo system to be positive in response to the first difference value being smaller than or equal to the second difference value.
If P-P min<Pmax -P, the servo system is considered to be close to the position lower limit threshold P min, the servo system needs to move forward, and the moving direction in the identification process is taken as the forward direction, so that the servo system cannot exceed the limit stroke in the identification process.
Step S23: and determining that the motion direction of the servo system is reverse in response to the first difference being greater than the second difference.
If P-P min＞Pmax -P, the servo system is considered to be close to the upper limit threshold P max, the servo system needs to move reversely, and the moving direction of the identification process is taken as the reverse direction, so that the servo system cannot exceed the limit stroke in the identification process.
When the first difference is equal to the second difference, the forward motion or the reverse motion can be selected according to the actual situation.
In another embodiment, step S11 may be implemented by a method as shown in fig. 3. The method of the present embodiment includes steps S31 to S33.
Step S31: the sum of the current position and the movement distance of the identification process is obtained.
The moving distance S idt in the identification process is the moving distance of the servo system in the identification process, and is based on the preset value of the servo system.
Step S32: and determining the motion direction of the servo system to be forward in response to the sum being less than or equal to the position upper limit threshold.
For example, after the last forward motion recognition is completed, the motion direction of the current recognition may be continuously set to the forward direction as long as the moving distance S idt of the current position P plus the recognition process is smaller than the position upper limit threshold P max.
Step S33: in response to and above the upper position threshold, the direction of motion of the servo system is determined to be reversed.
For example, after the last forward motion recognition is completed, the moving distance S idt of the current position P plus the recognition process is greater than the position upper limit threshold P max, and the motion direction of the current recognition may be set to be the reverse direction.
When the moving distance S idt of the current position P plus the recognition process is equal to the position upper limit threshold P max, the forward movement or the reverse movement may be selected according to the actual situation.
Step S12: and generating a torque command based on the movement direction, and utilizing the torque command to control the servo system to perform acceleration movement and deceleration movement along the movement direction based on the torque command.
In each recognition movement process, the acceleration movement is required to be performed first, and then the deceleration movement is required to be performed.
If the movement direction is positive, the torque command is set to be +T idt, so that the servo system can accelerate in the positive direction; if the direction of motion is reverse, the torque command is set to-T idt so that the servo can accelerate in the reverse direction.
It can be appreciated that in the deceleration motion, if the motion direction of the acceleration motion is positive, the torque command may be set to-T idt, so that the servo system can perform the deceleration motion along the positive direction; if the direction of the acceleration motion is reversed, the torque command may be set to +T idt so that the servo system can decelerate in the reverse direction.
Alternatively, the present embodiment may implement step S12 by a method as shown in fig. 4. The method of the present embodiment includes steps S41 to S47.
Step S41: and controlling the servo system to perform acceleration motion along the motion direction by utilizing the torque command.
Upon entering the acceleration motion, the accumulated acceleration time t acc is set to zero.
Step S42: the moving distance of the servo system for accelerating the movement process is obtained.
The moving distance S and the first torque T m of the servo system during the acceleration movement are recorded.
Step S43: the acceleration motion is determined to be complete in response to the movement distance being greater than or equal to half the movement distance of the recognition process.
If the moving distance S of the servo system is greater than or equal to half of the moving distance S idt of the identification process, that isAnd determining that the acceleration movement is completed, and completing the acceleration movement in the identification process. Entering into a decelerating motion.
Optionally, the method of the present embodiment may further include steps S44 to S47.
Step S44: in response to the movement distance being less than half the movement distance in the recognition process, a first speed of the acceleration movement process is obtained.
If the moving distance S of the servo system is smaller than half of the moving distance S idt of the identification process, the first speed omega of the acceleration motion process is recorded.
Step S45: responsive to the absolute value of the first speed being greater than or equal to an upper speed threshold, it is determined that the acceleration motion is complete.
If the moving distance S of the servo system is less than half of the moving distance S idt of the identification process, and the absolute value of the current speed (first speed) is greater than or equal to the maximum speed (speed upper limit threshold), abs (ω) is greater than or equal to ω max, it can be determined that the acceleration motion is completed.
Step S46: in response to the absolute value of the first speed being less than the upper speed threshold, a cumulative acceleration duration of the acceleration motion process is obtained.
If the absolute value of the current speed is greater than or equal to the maximum speed, the accumulated acceleration duration t acc of the acceleration motion process is recorded.
Step S47: responsive to the accumulated acceleration time period being greater than or equal to the acceleration time period threshold, it is determined that the acceleration motion is complete.
If the moving distance S of the servo system is less than half of the moving distance S idt in the identification process, the current absolute value of the speed is less than the maximum speed, and the accumulated acceleration duration (the duration of the current acceleration movement) is greater than or equal to the upper limit threshold t accM of the acceleration duration, i.e. t acc≥taccM, it can be determined that the acceleration movement is completed. Otherwise, the accumulated acceleration period is self-increased by t acc＝tacc+Ts, and then steps S42 and S47 are performed again.
And determining whether the acceleration movement of the servo system is completed in the current identification process or not through the step S42 and the step S47.
In other embodiments, it may be determined whether the movement distance is greater than the movement distance of the identification process; if not, continuing to judge whether the absolute value of the first speed is greater than the speed upper limit threshold; if not, continuing to judge whether the accumulated acceleration time length is greater than an acceleration time length threshold value; if the accumulated acceleration time length is greater than the acceleration time length threshold value, determining that the acceleration movement is completed.
Step S48: and after the acceleration movement is finished, reversing the torque command, and controlling the servo system to perform deceleration movement along the movement direction by utilizing the reversed torque command.
From the above analysis, it is known that in each recognition movement, an acceleration movement and then a deceleration movement are required. After the acceleration movement is completed, the servo system can be controlled to perform deceleration movement along the movement direction by taking a reaction torque instruction; for example, if the direction of motion of the acceleration motion is positive (+T idt), the torque command may be set to-T idt to control the servo system to decelerate in the positive direction; if the direction of the acceleration motion is reversed (-T idt), the torque command can be set to +T idt to control the servo system to decelerate in the reverse direction.
Step S49: a second speed of the deceleration movement is obtained.
A second speed ω and a second torque T m during the deceleration operation are recorded.
Step S410: in response to the direction of motion being positive and the second speed being less than zero, it is determined that the deceleration motion is complete.
Step S411: in response to the direction of motion being a negative direction and the second speed being greater than zero, it is determined that the deceleration motion is complete.
And determining whether the motion direction is positive, whether the current speed is smaller than zero or whether the running direction is negative, and whether the current speed is larger than zero or not, so as to finish the decelerating motion. If the deceleration movement is completed, setting the torque command to zero, and performing identification calculation; if the deceleration movement is not completed, steps S49 to S411 are executed again.
It is determined whether the deceleration motion of the servo system is completed in the present identification process through step S49 to step S411.
Step S13: and calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process.
Compared with the prior art, the method and the device have the advantages that the motion direction of the servo system is determined by the current position of the load, and the torque command is generated by the motion direction, so that the motion direction of the servo system can be dynamically determined, the torque command can be associated with the motion distance of the servo system, and the motion distance of the servo system in the identification process can be ensured not to exceed the stroke limit of the servo system, namely, overrun can be avoided. Meanwhile, the embodiment realizes off-line identification based on the torque instruction, does not depend on the selection of initial moment of inertia, and can ensure the stability of the identification process.
The theoretical basis of inertia identification is the following equation:
Wherein: t m is motor electromagnetic torque of a servo system, T M＝KtI;Kt is torque constant, I is armature current for a direct current servo motor, and I q current after Clark/Park conversion is carried out on three-phase current for an alternating current servo motor I, so that the current can be actually measured; t L is the load torque, and the value is set to be 0 when the off-line identification is performed; t f is the load torque, typically T f＝Tc sign (ω), where T c is the coulomb friction value, which is a constant to be identified; b is a viscosity coefficient, which is a constant to be identified; j is moment of inertia and is constant to be identified; ω is motor or load speed, which can be actually measured.
If the coulomb friction and the load torque remain unchanged for a certain period of time t 0-t1, integrating the above formula (1) for that period of time yields:
For a discrete digital control system taking T s as a calculation period, taking The above formula (2) can be written as:
Alternatively, the present embodiment may implement step S13 by a method as shown in fig. 5. The method of the present embodiment includes steps S51 to S54.
Step S51: at least a first time node when acceleration movement is completed, a second time node when speed is halved in deceleration movement, and a third time node when deceleration movement is completed are obtained.
Step S52: and respectively acquiring a first speed and a first torque corresponding to the first time node and the second time node, and acquiring a second speed and a second torque corresponding to the third time node.
Step S53: and constructing a plurality of identification equations by using the first time node and the corresponding first speed and first torque, the second time node and the corresponding first speed and first torque, and the third time node and the corresponding second speed and second torque.
Step S54: solving an identification equation to obtain the quantity to be identified.
The identification equation is the above equation (2) or (3).
Step S51 to step S54 are collectively described as follows:
As shown in fig. 6, the load torque is 0 and the movement direction is positive in the identification process; the acceleration motion end time t 1 and the first torque and the first speed of the time, the time t 2 of the time of decelerating to half omega p and the first torque and the first speed of the time, the time t 3 of identifying the motion end (namely the deceleration completion time) and the second torque and the second speed of the time are recorded in the forward motion process. According to the formula (2) or (3), 3 equations are respectively constructed in a time period of 0-t 1、t1～t2、t2～t3, and the moment of inertia J, the coulomb friction value Tc and the viscosity coefficient B can be solved.
In other embodiments, the recognition calculation may select different time periods, or may select multiple time periods for fitting. The execution of the recognition calculation may also be performed during torque and speed acquisition.
In actual operation, a plurality of time periods can be taken in the forward motion and the reverse motion, a plurality of equations are established, the quantity to be identified is fitted by other methods such as a least square method, and the identification precision is improved.
The above describes the calculation method to be identified by taking forward movement as an example, and the calculation process is similar in reverse movement.
By the scheme of the embodiment, the actual identification moving distance S move of the servo system can be ensured to be smaller than S idt, namely S move＜Sidt. The following was demonstrated:
S move consists of an acceleration section S acc and a deceleration section S dec. Since the calculation period is small enough that Therefore, only the S dec≤Sacc needs to be proved, and the proposition is proved.
If forward motion is demonstrated, reverse motion is equally warranted. Here demonstrated by forward motion.
During the acceleration phase, the servo rotational speed satisfies the following equation:
and ω (0) =0, ω (t acc)＝ωp).
Taking outThe rotational speed equation can be written as:
solving the differential equation can be achieved:
The method can obtain:
It can also be demonstrated that ω (t) is a convex function with respect to t, so when t ε [0, t acc ], there is:
Integrating the above in the acceleration section includes:
in the deceleration stage, taking the time origin as the start of the deceleration stage, the system rotation speed satisfies the following equation:
and ω (0) =ω p,ω(tdec) =0.
Taking outThe rotational speed equation can be written as:
solving the differential equation can be achieved:
The method can obtain:
it can also be demonstrated that ω (t) is a concave function about t, so when t ε [0, t dcc ], there is:
Integrating the above in the deceleration section includes:
Combining the definitions of α and β, and formulas (7) and (13) yields t acc≥tdec, and combining formulas (9) and (15) yields S dec≤Sacc. The proposition is evidence.
The present application provides a method for identifying a servo system according to another embodiment, as shown in fig. 7, fig. 7 is a flowchart illustrating an embodiment of a method for identifying a servo system according to the present application. The identification method of the servo system in this embodiment specifically includes the following steps:
Step S71: and acquiring the current position of the servo system, and determining the movement direction of the servo system based on the current position and the position threshold value.
Step S71 is similar to step S11 described above, and is not repeated here.
Step S72: and generating a torque command based on the movement direction, and controlling the servo system to perform acceleration movement along the movement direction based on the torque command.
Step S72 is similar to step S12 described above, and is not repeated here.
Step S73: whether the present identification is valid is determined based on a first speed, a first torque, or a movement distance during the acceleration motion. If yes, step S74 is executed, and if not, step S75 is executed and then step S71 is executed, i.e. step S75 is executed and then recognition is performed again.
Alternatively, the present embodiment may determine that the present identification is invalid in response to the maximum value of the first speed being greater than the first speed threshold, or less than the second speed threshold.
The first speed threshold is greater than the second speed threshold; the maximum value of the first speed is the maximum speed of the acceleration movement, and if the maximum speed is too small or too large, the recognition is determined to be invalid.
In another embodiment, the present identification is determined to be invalid in response to the distance moved being greater than the first distance threshold or less than the second distance threshold.
If the moving distance of the acceleration motion is too small, the recognition can be determined to be invalid.
In another embodiment, the present identification is determined to be invalid in response to the first torque during the acceleration motion being less than a torque threshold.
When the first torque of the acceleration movement is too small to overcome friction, the motor speed is still small after the maximum acceleration time period, the recognition invalidity can be directly determined, the recognition torque is increased, and the recognition is performed again.
Step S74: and calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process.
Step S74 is similar to step S13 described above, and is not repeated here.
Step S75: the initial recognition torque is adjusted.
From the above analysis, the torque command is composed of the direction parameters (positive and negative) and the initial recognition torque T idt, so that the initial recognition torque T idt is adjusted to adjust the torque command to control the servo system to perform the motion with different torques.
After the initial identification torque is adjusted, the identification quantity to be identified of the servo system can be identified again.
In an application scenario, as shown in fig. 8, first, parameters are set for a servo system: maximum position (position upper limit threshold), minimum position (position lower limit threshold), maximum speed (speed upper limit threshold), maximum torque (torque upper limit threshold), maximum acceleration time (acceleration duration upper limit threshold), recognition movement distance (movement distance of recognition process), and initial recognition matrix; then, the current position is obtained and compared with the maximum position and the minimum position, if the current position is close to the minimum position, the identification moving direction (moving direction) is set to be positive (forward direction), and the torque command is set to be a positive identification matrix; if the current position is far from the minimum position, setting the identification moving direction as negative (reverse), and setting the torque command as a negative identification matrix; then, setting the acceleration time (accumulated acceleration duration) to zero, and accelerating the electrode to run; then, recording the rotating speed and the rotating torque of the accelerating movement; then, if the current moving distance is more than or equal to half of the identification moving distance, or the absolute value of the current turning reading is more than or equal to the maximum speed, or the acceleration time is more than or equal to the maximum acceleration time, reversing the torque instruction, and decelerating the motor to run; otherwise, the acceleration time is increased, the rotating speed and the torque are recorded again, and the subsequent steps are executed; recording the rotating speed and the torque of the decelerating motion; then, when the moving direction is positive and the current rotating speed is greater than or equal to zero, or when the moving direction is negative and the current rotating speed is less than or equal to zero, setting the torque command to zero; otherwise, recording the rotating speed and the torque of the deceleration movement again, and executing the subsequent steps; then judging that the identification result can be received, if yes, identifying the moment of inertia, the coulomb friction value and the viscosity coefficient according to the recorded torque and the recorded rotating speed; if the identification result is not received, the initial identification matrix is adjusted and the identification is carried out again.
The present application further provides an identification device of a servo system, as shown in fig. 9, and fig. 9 is a schematic structural diagram of an embodiment of the identification device of a servo system of the present application. The identification device (not shown) of the present embodiment includes: a torque command generation module 810, a torque control module 820, and a calculation module 830; the torque command generating module 810 is configured to obtain a current position of the servo system, determine a motion direction of the servo system based on the current position and a position threshold, and generate a torque command based on the motion direction; the torque control module 820 is connected with the torque command generation module 810, and is used for controlling the servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; the calculating module 830 is connected to the torque control module 820, and is configured to calculate a to-be-identified amount of the servo system based on the first speed and the first torque during the acceleration motion, and the second speed and the second torque during the deceleration motion.
The identification device of the embodiment is also used for realizing the identification method.
The torque control module 820 generates a torque command according to the speed and the position, outputs a torque after passing through the torque control module 820 (an electrode torque control loop), and overcomes the friction torque to drive the motor and the load module 840 to work (the motor and the load rotate); the computing module 830 (moment of inertia identifier) performs recognition of moment of inertia and the like according to the torque and the speed, and the recognition result is stored and displayed by the storage display module 850.
The application further provides an electronic device, as shown in fig. 10, and fig. 10 is a schematic structural diagram of an embodiment of the electronic device of the application. Electronic device 80 of the present embodiment includes a processor 81, a memory 82, an input-output device 83, and a bus 84.
The processor 81, the memory 82, and the input/output device 83 are respectively connected to the bus 84, and the memory 82 stores program data, and the processor 81 is configured to execute the program data to implement the method for identifying the servo system according to the above embodiment.
In the present embodiment, the processor 81 may also be referred to as a CPU (Central Processing Unit ). The processor 81 may be an integrated circuit chip with signal processing capabilities. Processor 81 may also be a general purpose processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other programmable logic device, discrete gate or transistor logic, discrete hardware components. The general purpose processor may be a microprocessor or the processor 81 may be any conventional processor or the like.
The present application further proposes a computer readable storage medium, as shown in fig. 11, in which the computer readable storage medium 160 of the present embodiment is used to store the program data 161 of the above embodiment, and the program data 161 can be executed to implement the identification method of the servo system. The program data 161 are described in detail in the above method embodiments, and are not described here again.
The computer readable storage medium 160 of the present embodiment may be, but is not limited to, a usb disk, an SD card, a PD optical drive, a mobile hard disk, a high capacity floppy drive, a flash memory, a multimedia memory card, a server, etc.
Unlike the prior art, the identification method of the servo system of the application comprises the following steps: acquiring the current position of the servo system, and determining the motion direction of the servo system based on the current position and a position threshold value; generating a torque command based on the motion direction, and controlling a servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command; and calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process. The application utilizes the current position of the load to determine the motion direction of the servo system and utilizes the motion direction to generate the torque command, thereby not only being capable of dynamically determining the motion direction of the servo system, but also being capable of correlating the torque command with the motion distance of the servo system, and being capable of ensuring that the motion distance of the servo system in the identification process does not exceed the travel limit of the servo system, namely does not exceed the limit. Meanwhile, the method is off-line identification based on the torque instruction, does not depend on the selection of initial moment of inertia, and can ensure the stability of the identification process.
In addition, the above-described functions, if implemented in the form of software functions and sold or used as a separate product, may be stored in a mobile terminal-readable storage medium, i.e., the present application also provides a storage device storing program data that can be executed to implement the method of the above-described embodiments, the storage device may be, for example, a U-disk, an optical disk, a server, or the like. That is, the present application may be embodied in the form of a software product comprising instructions for causing a smart terminal to perform all or part of the steps of the method described in the various embodiments.
In the description of the present application, a description of the terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, mechanism, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms are not necessarily directed to the same embodiment or example. Furthermore, the particular features, mechanisms, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples. Furthermore, the different embodiments or examples described in this specification and the features of the different embodiments or examples may be combined and combined by those skilled in the art without contradiction.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
Any process or method descriptions in flow charts or otherwise described herein may be understood as representing mechanisms, segments, or portions of code which include one or more executable instructions for implementing specific logical functions or steps of the process, and further implementations are included within the scope of the preferred embodiment of the present application in which functions may be executed out of order from that shown or discussed, including substantially concurrently or in reverse order from that shown or discussed, depending on the functionality involved, as would be understood by those reasonably skilled in the art of the embodiments of the present application.
Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., may be considered as a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device (which can be a personal computer, server, network device, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions). For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.
The foregoing description is only of embodiments of the present application, and is not intended to limit the scope of the application, and all equivalent mechanisms or equivalent flow path changes made by the present application and the accompanying drawings, or direct or indirect application in other related technical fields, are equally included in the scope of the present application.
Claims (9)
1. An identification method of a servo system is characterized by comprising the following steps:
Acquiring the current position of a servo system, and determining the motion direction of the servo system based on the current position and a position threshold;
Generating a torque command based on the motion direction, and controlling the servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command;
Calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process;
wherein, based on the torque command, the servo system is controlled to perform acceleration motion and deceleration motion along the motion direction, and the method comprises the following steps:
controlling the servo system to perform acceleration motion along the motion direction by utilizing the torque command;
after the acceleration movement is completed, reversing the torque command, and controlling the servo system to perform deceleration movement along the movement direction by utilizing the reversed torque command;
Wherein, based on the torque command, the servo system is controlled to perform acceleration motion and deceleration motion along the motion direction, and the method further comprises the following steps:
acquiring the moving distance of the servo system in the acceleration movement process;
Determining that the acceleration motion is complete in response to the movement distance being greater than or equal to half the movement distance of the recognition process;
Wherein, based on the torque command, the servo system is controlled to perform acceleration motion and deceleration motion along the motion direction, and the method further comprises the following steps:
acquiring a first speed of the acceleration motion process in response to the movement distance being less than half of the movement distance in the identification process;
Determining that the acceleration motion is complete in response to the absolute value of the first speed being greater than or equal to an upper speed threshold;
acquiring an accumulated acceleration duration of the acceleration motion process in response to the absolute value of the first speed being less than the speed upper threshold;
Determining that the acceleration motion is complete in response to the accumulated acceleration time period being greater than or equal to an acceleration time period threshold;
wherein the quantity to be identified includes at least one of a moment of inertia, a coulomb friction value, and a viscosity coefficient.
2. The method of claim 1, wherein the position threshold comprises an upper position threshold and a lower position threshold, the determining a direction of motion of the servo based on the current position and the position threshold comprising:
Acquiring a first difference value between the current position and the position lower limit threshold value, and acquiring a second difference value between the position upper limit threshold value and the current position;
Determining that the motion direction of the servo system is positive in response to the first difference value being less than or equal to the second difference value;
And determining that the motion direction of the servo system is reverse in response to the first difference being greater than the second difference.
3. The identification method according to claim 1, wherein the controlling the servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command further comprises:
Acquiring a second speed of the deceleration movement process;
determining that the deceleration movement is complete in response to the direction of movement being forward and the second speed being less than zero; or alternatively
And determining that the deceleration motion is complete in response to the direction of motion being a negative direction and the second speed being greater than zero.
4. The identification method of claim 1, further comprising:
Determining whether the identification is effective or not based on a first speed, a first torque or a moving distance in the acceleration movement process;
Responding to the fact that the identification is effective, executing the step of calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process;
and adjusting the initial identification torque in response to the invalid identification.
5. The method of claim 4, wherein determining whether the present recognition is valid based on the first speed, the first torque, or the movement distance during the acceleration motion comprises:
Determining that the identification is invalid in response to the maximum value of the first speed being greater than a first speed threshold or less than a second speed threshold; or alternatively
Determining that the identification is invalid in response to the moving distance being greater than a first distance threshold or less than a second distance threshold; or alternatively
And determining that the identification is invalid in response to the first torque of the acceleration motion process is smaller than a torque threshold value.
6. The method of claim 1, wherein calculating the amount of recognition of the servo based on the first speed and the first torque during the acceleration motion, the second speed and the second torque during the deceleration motion, comprises:
At least acquiring a first time node when the acceleration movement is completed, a second time node when the speed is halved in the deceleration movement, and a third time node when the deceleration movement is completed;
Respectively acquiring the speed and the torque corresponding to the first time node, the speed and the torque corresponding to the second time node and the speed and the torque corresponding to the third time node;
Constructing a plurality of identification equations by using the first time node and the corresponding speed and torque thereof, the second time node and the corresponding speed and torque thereof, and the third time node and the corresponding speed and torque thereof;
and solving the identification equation to obtain the quantity to be identified of the servo system.
7. The identification method according to claim 2, wherein the distance of movement of the identification process is less than half the difference between the upper position threshold and the lower position threshold.
8. An identification device of a servo system, comprising:
the torque command generation module is used for acquiring the current position of the servo system, determining the movement direction of the servo system based on the current position and a position threshold value, and generating a torque command based on the movement direction;
The torque control module is connected with the torque command generation module and used for controlling the servo system to perform acceleration motion and deceleration motion along the motion direction based on the torque command;
the calculation module is connected with the torque control module and is used for calculating the quantity to be identified of the servo system based on the first speed and the first torque in the acceleration movement process and the second speed and the second torque in the deceleration movement process;
The torque control module controls the servo system to perform acceleration motion along the motion direction by utilizing the torque command; after the acceleration movement is completed, reversing the torque command, and controlling the servo system to perform deceleration movement along the movement direction by utilizing the reversed torque command; acquiring the moving distance of the servo system in the acceleration movement process; determining that the acceleration motion is complete in response to the movement distance being greater than or equal to half the movement distance of the recognition process; acquiring a first speed of the acceleration motion process in response to the movement distance being less than half of the movement distance in the identification process; determining that the acceleration motion is complete in response to the absolute value of the first speed being greater than or equal to an upper speed threshold; acquiring an accumulated acceleration duration of the acceleration motion process in response to the absolute value of the first speed being less than the speed upper threshold; determining that the acceleration motion is complete in response to the accumulated acceleration time period being greater than or equal to an acceleration time period threshold;
wherein the quantity to be identified includes at least one of a moment of inertia, a coulomb friction value, and a viscosity coefficient.
9. A computer storage medium having stored thereon program data executable to implement the method of identification of a servo system as claimed in any one of claims 1 to 7.
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| CN111162721A (en) * | 2020-01-08 | 2020-05-15 | 深圳易能电气技术股份有限公司 | Load parameter identification method, control system, device and readable storage medium |
| KR20210114185A (en) * | 2020-03-10 | 2021-09-23 | 엘에스일렉트릭(주) | Apparatus for controlling inverter and method thereof |
| CN113541553B (en) * | 2021-09-13 | 2022-01-21 | 北京中航智科技有限公司 | Permanent magnet synchronous motor parameter measuring method and device and control equipment |
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