CN116794969A - Servo control method, apparatus and computer readable storage medium - Google Patents
Servo control method, apparatus and computer readable storage medium Download PDFInfo
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Abstract
The application discloses a servo control method, a device and a computer readable storage medium, wherein the control method comprises the following steps: acquiring a first speed value carried by a speed instruction at the current moment and a second speed value of a target motor at the current moment; obtaining a first speed command value according to the first speed value and the second speed value; processing the speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value; performing compensation processing on the first speed command value by using the fuzzy control compensation value to obtain a second speed command value; and controlling the movement of the target motor according to the second speed command value. The servo control method provided by the application can improve the control stability at low speed.
Description
Technical Field
The present application relates to the field of automation control technology, and in particular, to a servo control method, a servo control device, and a computer readable storage medium.
Background
The servo system may also be referred to as a servo system, i.e. the servo system is externally provided with position or speed instructions (e.g. a numerical control system) which operate the motor such that the motor can follow the position or speed instructions received by the servo system, wherein the position or speed instructions generally vary with time.
Under some conditions, the servo system needs to operate at a lower speed. While at low speeds, the sliding friction is not a simple model of "speed proportional" or "fixed value static friction becomes speed proportional dynamic friction", but a more complex model with nonlinear characteristics, a typical example being the strabeck model as shown in fig. 1, spdth is a speed threshold, tm is the maximum static friction value, tc is generally referred to as coulomb friction, all three values belonging to physical characteristics, and object contact surface characteristics, motor characteristics itself.
Therefore, when the servo system runs at a low speed, the control performance (i.e. the following performance) of the servo system is affected due to the nonlinear friction link, and a crawling phenomenon, a large error in a steady state or a vibration may occur.
Disclosure of Invention
The application provides a servo control method, a servo control device and a computer readable storage medium, which can improve control stability at low speed.
An embodiment of the present application provides a servo control method, where the control method includes: acquiring a first speed value carried by a speed instruction at the current moment and a second speed value of a target motor at the current moment; obtaining a first speed instruction value according to the first speed value and the second speed value; processing a speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value; performing compensation processing on the first speed command value by using the fuzzy control compensation value to obtain a second speed command value; and controlling the target motor to move according to the second speed command value.
A second aspect of an embodiment of the present application provides a control apparatus, including: the acquisition module is used for acquiring a first speed value carried by the speed instruction at the current moment and a second speed value of the target motor at the current moment; the processing module is connected with the acquisition module and used for obtaining a first speed instruction value according to the first speed value and the second speed value; processing a speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value; the fuzzy control compensation value is utilized to carry out compensation processing on the first speed command value, and a second speed command value is obtained; and the control module is connected with the processing module and used for controlling the target motor to move according to the second speed command value.
A third aspect of the embodiment of the present application provides a control device, where the control device includes a processor, a memory, and a communication circuit, the processor is respectively coupled to the memory and the communication circuit, the memory stores program data, and the processor executes the program data in the memory to implement steps in the above method.
A fourth aspect of the embodiments of the present application provides a computer readable storage medium storing a computer program executable by a processor to implement the steps of the above method.
The beneficial effects are that: the application combines the fuzzy control with the traditional control method without increasing any equipment cost, has universality of the traditional control method, can also respond to nonlinear friction disturbance at low speed, can ensure the control performance at low speed and improve the control stability at low speed.
Drawings
For a clearer description of the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, it being obvious that the drawings in the description below are only some embodiments of the present application, and that other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art, wherein:
FIG. 1 is a schematic diagram of a prior art stribeck model;
FIG. 2 is a flow chart of an embodiment of a servo control method according to the present application;
FIG. 3 is a schematic diagram of a framework corresponding to the method of FIG. 1;
fig. 4 is a schematic flow chart of step S120 in fig. 2;
fig. 5 is a schematic flow chart of step S130 in fig. 2;
FIG. 6 is a schematic diagram of a frame corresponding to the steps of FIG. 5;
FIG. 7 is a graph of the membership function corresponding to NB;
FIG. 8 is a graph of a membership function corresponding to NM;
FIG. 9 is a graph illustrating membership functions corresponding to NS;
FIG. 10 is a graphical representation of the membership function for Z;
FIG. 11 is a graphical representation of the membership function corresponding to PS;
FIG. 12 is a graphical representation of membership functions for PM;
FIG. 13 is a graph of a membership function corresponding to PB;
FIG. 14 is a schematic diagram of simulation results in the prior art;
FIG. 15 is a schematic diagram of simulation results after the scheme of the present application is adopted;
FIG. 16 is a schematic view of a control device according to an embodiment of the present application;
FIG. 17 is a schematic view of another embodiment of the control device of the present application;
fig. 18 is a schematic diagram of a computer-readable storage medium according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are only some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
It should be noted that the terms "first," "second," and "second" are used herein 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. Furthermore, the terms "comprise" and "have," as well as any variations thereof, are intended to cover a non-exclusive inclusion. For example, a process, method, system, article, or apparatus that comprises a list of steps or elements is not limited to only those listed steps or elements but may include other steps or elements not listed or inherent to such process, method, article, or apparatus.
Referring to fig. 2 and 3, in an embodiment, the control method includes:
s110: and acquiring a first speed value carried by the speed command at the current moment and a second speed value of the target motor at the current moment.
The control method is executed by a control device, the control device is used for receiving the speed command and controlling the movement of the target motor according to the speed command, and the control device is used for controlling the specific process of the movement of the target motor according to the speed command.
The speed command carries a speed value, and the speed value carried by the speed command is changed continuously along with the change of time. The control device acquires a speed value currently carried by the speed instruction according to the target time interval, wherein the speed value currently carried by the speed instruction is defined as a first speed value for convenience of explanation. It will be appreciated that the first speed value currently carried by the speed command is the speed value at which the target motor movement is desired.
The method comprises the steps of acquiring a first speed value carried by a speed command currently, and acquiring a speed value fed back by a target motor currently, namely a second speed value of the target motor currently, namely an actual speed value of the target motor at the current moment.
It should be noted that, the control device executes steps S120-S150 each time after acquiring the first speed value and the second speed value.
S120: and obtaining a first speed command value according to the first speed value and the second speed value.
In the present embodiment, a speed difference between the first speed value and the second speed value is input to the PID controller, and a first speed command value is obtained. In other embodiments, the first speed command value may be obtained by directly inputting the first speed value and the second speed value to the PID controller.
In this embodiment, referring to fig. 4, step S120 specifically includes:
s121: and multiplying the speed difference value by a preset first gain coefficient to obtain a first numerical value.
Specifically, the speed difference is a difference between the first speed value and the second speed value, the first gain coefficient is Kp, the speed difference is Δv, and the first value m1 is calculated by the following formula: m1=kp×Δv.
S122: and integrating the speed difference value with the target time interval to obtain an integral value, and multiplying the integral value by a preset second gain coefficient to obtain a second numerical value.
Specifically, the target time interval is a time interval in which the second speed value is acquired twice adjacently, and is of course also a time interval in which the first speed value is acquired twice adjacently.
After integrating the speed difference value over the target time interval, multiplying the obtained integrated value by a second gain coefficient Ki to obtain a second value m2.
S123: and obtaining a first speed command value according to the first value and the second value.
Specifically, the first value m1 and the second value m2 are added to obtain a first speed command value.
In other embodiments, the differential value may be further obtained by performing differential calculation on the target time interval by using the speed difference value (the differential value is defined as a target differential value), then multiplying the differential value by a preset third gain coefficient Kd to obtain a third value m3, and then performing addition processing on the first value m1, the second value m2 and the third value m3 to obtain the first speed command value.
In the prior art, after the first speed command value is obtained, the target motor is directly controlled according to the first speed command value, but the control performance is limited for nonlinear external disturbances, such as friction force in a low speed state, so the present application further executes steps S130-S150 after step S120.
S130: and processing the speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value.
Specifically, after the first speed value and the second speed value are obtained, the speed difference value of the first speed value and the second speed value is calculated, and then the speed difference value is processed by a fuzzy algorithm to obtain a fuzzy control compensation value.
In this embodiment, the first speed value is subtracted from the second speed value to obtain a speed difference, and then the speed difference is subjected to a fuzzy algorithm to obtain a fuzzy control compensation value.
Referring to fig. 5, step S130 specifically includes:
s131: and preprocessing the speed difference value to obtain a first processing value, and preprocessing the target differential value to obtain a second processing value.
And performing differential calculation on the speed difference value to obtain a target differential value, wherein the target differential value is the time interval between the last time of acquiring the second speed value and the current time.
Specifically, as described above, the target time interval is a time interval in which the second speed value is acquired twice adjacently.
The speed difference value is preprocessed to obtain a first processing value, and the target differential value is preprocessed to obtain a second processing value, wherein the specific processes of preprocessing the speed difference value and preprocessing the target differential value can be the same or different.
The determining process of the target differential value may be: the speed difference obtained at the current moment is subtracted from the speed difference obtained at the previous moment to obtain a target differential value, and for convenience of understanding, the description is given here with reference to the formula:
the first speed value carried by the speed command at the current moment is denoted as VRef [ T ], the second speed value fed back by the target motor at the current moment is denoted as VMotor [ T ], the speed value carried by the speed command at the previous moment is denoted as VRef [ T-T ], the speed value fed back by the target motor at the previous moment is denoted as VMotor [ T-T ], and the target differential value in step S131 is equal to: (VRef [ T ] -VMotor [ T ]) - (VRef [ T-T ] -VMotor [ T-T ]). Wherein T is the target time interval.
The purpose of preprocessing the speed difference value and the target differential value is to enable the obtained first processing value to be in a first preset range and the obtained second processing value to be in a second preset range, wherein the first preset range and the second preset range can be the same or different, and in an application scene, the first preset range and the second preset range can be [ -1,1].
In this embodiment, referring to fig. 6, the specific process of preprocessing the speed difference value includes: multiplying the speed difference value with a preset third quantization factor, and then performing first amplitude limiting processing on the obtained product to obtain a first processing value.
Specifically, the first preset range is denoted as [ a1, b1], and if the product of the speed difference value multiplied by the preset third quantization factor is within the first preset range, the product is directly taken as the first processed value, but if the product of the speed difference value multiplied by the third quantization factor is greater than b1, b1 is taken as the first processed value, and if the product of the speed difference value multiplied by the third quantization factor is less than a1, a1 is taken as the first processed value.
In this embodiment, referring to fig. 6, a specific process of preprocessing the target differential value includes: multiplying the target differential value with a preset fourth quantization factor, and then performing second amplitude limiting processing on the obtained product to obtain a second processing value.
Specifically, the second preset range is denoted as [ a2, b2], and if the product of the differential value multiplied by the preset fourth quantization factor is within the second preset range, the product is directly taken as the second processed value, but if the product is greater than b2, b2 is taken as the second processed value, and if the product is less than a2, a2 is taken as the second processed value.
In this embodiment, the third quantization factor is equal to the first speed value currently carried by the speed command, and the fourth quantization factor is equal to the maximum rate of change of the speed value carried by the speed command.
It should be noted that the third quantization factor and the fourth quantization factor may be set according to actual situations, and are not limited herein.
S132: the first processed value is converted into a proportional gain correction value and the second processed value is converted into an integral gain correction value by using a preset fuzzy control rule.
Specifically, a plurality of membership functions are preset, each membership function is represented by a corresponding control symbol, and a plurality of control symbols are obtained, namely PB (positive direction-large), PM (positive direction-middle), PS (positive direction-small), Z (zero), NS (negative direction-small), NM (negative direction-middle) and NB (negative direction-large) respectively.
In the processing process, first, a first processing value and a second processing value are respectively judged to which membership function belongs, then, according to a preset fuzzy control rule, the membership function corresponding to the proportional gain correction value and the membership function corresponding to the integral gain correction value are searched, and finally, according to the membership function corresponding to the proportional gain correction value and the membership function corresponding to the integral gain correction value, the proportional gain correction value and the integral gain correction value are determined.
In this embodiment, the membership function corresponding to the proportional gain correction value and the membership function corresponding to the integral gain correction value may be searched according to the following table 1.
TABLE 1 fuzzy control rules
Referring to fig. 7, in this embodiment, a gaussian function is used as the membership function corresponding to NB, and the specific expression is:
wherein exp (x) =e x Expressed inThe natural logarithm is the base, and x is the power function of the exponent.
In connection with fig. 8, a triangle function is adopted by the membership function corresponding to nm, and the specific expression is:
in connection with fig. 9, the membership function corresponding to ns adopts a triangle function, and its specific expression is:
in connection with fig. 10, the corresponding Z membership function employs a triangle function, whose specific expression is:
in connection with fig. 11, a triangle function is adopted by the membership function corresponding to ps, and the specific expression is as follows:
in connection with fig. 12, a triangle function is adopted as the membership function corresponding to pm, and the specific expression is as follows:
in connection with fig. 13, a gaussian curve function is adopted by the membership function corresponding to pb, and the specific expression is:
wherein exp (x) =e x Represents a power function based on natural logarithms, and x is an exponent.
Wherein determining to which membership function the first treatment value belongs comprises: substituting the first processing value into a plurality of membership functions to obtain a plurality of first results, determining the membership function corresponding to the largest first result as the membership function to which the first processing value belongs, and marking the membership function as a first target membership function. Similarly, the second processing values are respectively brought into a plurality of membership functions to obtain a plurality of second results; and determining a membership function corresponding to the largest second result in the plurality of second results as a membership function to which the second processing value belongs, and marking the membership function as a second target membership function.
After the first target membership function and the second target membership function are obtained, a membership function corresponding to the proportional gain correction value (marked as a third target membership function) and a membership function corresponding to the integral gain correction value (marked as a fourth target membership function) can be determined in a table look-up mode, and then the abscissa corresponding to the peak points of the third target membership function and the fourth target history function is respectively determined as the proportional gain correction value and the integral gain correction value.
For ease of understanding, the description is provided herein in connection with the examples:
assuming that the first processing value is-0.7, the second processing value is 0.3, and then substituting-0.7 into the plurality of membership functions respectively, wherein the first result corresponding to NB is about 0.7, the first result corresponding to NM is close to 1, the first results corresponding to other membership functions are all close to 0, then it can be determined that the first target membership function corresponding to the first numerical value is the membership function corresponding to NB, and based on the same steps, it can be determined that the second target membership function corresponding to the second numerical value is the membership function corresponding to PS. As can be seen from the fuzzy control rule of the lookup table 1, the third target membership function corresponding to the proportional gain correction value is a membership function corresponding to PS, and the fourth target membership function corresponding to the integral gain correction value is a membership function corresponding to NS.
And then searching the abscissa corresponding to the peak point of the membership function corresponding to PS to obtain a proportional gain correction value of 0.3333, and searching the abscissa corresponding to the peak point of the membership function corresponding to NS to obtain an integral gain correction value of-0.3333.
The present embodiment constructs the fuzzy control rules shown in table 1 according to the following four criteria:
first, if the speed difference value and the change direction of the target differential value are opposite but the same or close, the control device is stated to correct the speed by itself, and the compensation processing of the first speed command value by using the fuzzy control compensation value is not needed;
the second point, if the speed difference value and the change direction of the target differential value are the same, the instruction deviation is increasing, and then the proportional gain correction value is increased so as to achieve quick correction;
third, if the speed difference is close to zero and the target differential value is not zero, it means that the control device temporarily achieves the control effect, but immediately deviates, so that the proportional gain correction value can be unchanged, but the integral gain correction value should take the same change as the target differential value to ensure stable control;
fourth, if the speed difference is not zero and the target differential value is close to zero, it means that the current time of the control device is in a state similar to "dead difference", then the proportional gain correction value takes the value opposite to the speed difference direction, and the integral gain correction value takes the value same as the speed difference direction, so as to accelerate convergence.
The direction refers to whether the first letter of the symbol corresponding to the corresponding membership function is P or N, and the size refers to whether the second letter of the symbol corresponding to the corresponding membership function is B, M or S, or whether the symbol corresponding to the corresponding membership function is Z.
Specifically, if the membership function corresponding to the speed difference value is a membership function corresponding to PB, the membership function corresponding to the target differential value is a membership function corresponding to NB, then the speed difference value is "positive direction-large", the target differential value is "negative direction-large", and according to the above principle, no compensation is required, then the membership function corresponding to the proportional gain correction value is a membership function corresponding to Z, and the membership function corresponding to the integral gain correction value is also a membership function corresponding to Z.
It should be noted that the present application is not limited to the specific criteria for setting the above-described fuzzy control rule.
S133: and obtaining a proportional gain compensation value according to the product of the proportional gain correction value and a preset first quantization factor.
The first quantization factor may be set according to actual conditions. In the present embodiment, the first quantization factor is equal to the first gain coefficient described above.
S134: and obtaining an integral gain compensation value according to the product of the integral gain correction value and a preset second quantization factor.
The second quantization factor may be set according to actual conditions. In the present embodiment, the second quantization factor is equal to the second gain coefficient described above.
S135: a first product of the velocity difference and the proportional gain compensation value is calculated.
S136: a second product of the velocity difference and the integral gain compensation value is calculated.
S137: and obtaining a fuzzy control compensation value according to the integral value of the first product and the second product for the target time interval.
Specifically, after the first product and the second product are obtained, integrating the second product for the target time interval, and then obtaining the fuzzy control compensation value according to the result of the integrating process and the first product.
Wherein the result of the integration process and the first product may be subjected to an addition process to obtain the fuzzy control compensation value. That is, the fuzzy control compensation value=the proportional gain compensation value×the speed difference value+the integral value of the second product of the integral gain compensation value and the speed difference value over the time interval.
Alternatively, the fuzzy control compensation value may be obtained by performing other operations such as subtraction or multiplication on the result of the integration processing and the first product.
In other embodiments, the speed difference may be integrated with the target time interval to obtain an integrated value, the integrated value may be multiplied by the integral gain compensation value, and the fuzzy control compensation value may be obtained according to the multiplication result and the first product. For example, at this time, the blur control compensation value=proportional gain compensation value×speed difference value+integral gain compensation value× (an integrated value obtained by calculating a target time interval from the speed difference value).
The above description is a specific process of obtaining the fuzzy control offset value, and the following description is made with reference to fig. 2, which is a step subsequent to step S130.
S140: and compensating the first speed command value by using the fuzzy control compensation value to obtain a second speed command value.
Specifically, in the present embodiment, the fuzzy control offset value may be added to the first speed command value to obtain the second speed command value.
However, in other embodiments, the blur control compensation value may be subtracted from the first speed command value to obtain the second speed command value.
S150: and controlling the movement of the target motor according to the second speed command value.
Specifically, after the second speed command value is obtained, the control device may directly control the movement of the target motor according to the second speed command value, or may send the second speed command value to the current controller, and then the current controller controls the movement of the target motor according to the second speed command value. Wherein the present application is not limited with respect to a specific process of controlling the movement of the target motor according to the second speed command value.
From the above, the application combines the fuzzy control with the traditional control method, does not need to increase any equipment cost, has universality of the traditional control method, can also respond to nonlinear friction disturbance at low speed, can ensure the control performance at low speed, and improves the control stability at low speed.
The following demonstrates the advantages of the present scheme in combination with experimental data:
the friction is first modeled in matlab as a typical stribeck model as shown in fig. 1, where the friction related parameters are as follows: tm=0.4 NM, tc=0.2 NM, spdth=0.1 rad/s, viscosity coefficient=0.02 NM/(rad/s).
If the simulation model is built by directly using the traditional PID control and a speed command of 0.25 rad/s is given for simulation, the obtained simulation result is shown in fig. 14, wherein the actual speed value in fig. 14 is the speed value fed back by the target motor, and the speed command value is the speed value carried by the speed command.
As can be seen from fig. 14, there is a significant up-and-down oscillation of the actual speed value of the motor, and the following performance is poor, which is caused by the nonlinear friction force at the low speed.
However, after the scheme of the application is adopted, the simulation result is shown in fig. 15, and it can be seen from fig. 15 that the nonlinear factors introduced by friction force at low speed can be effectively applied at this time, so that the speed stability at low speed is remarkably improved.
Referring to fig. 16, fig. 16 is a schematic structural diagram of an embodiment of a control device according to the present application. The control device 200 includes a processor 210, a memory 220, and a communication circuit 230, where the processor 210 is coupled to the memory 220 and the communication circuit 230, respectively, and the memory 220 stores program data, and the processor 210 executes the program data in the memory 220 to implement steps in the method according to any one of the embodiments, and detailed steps are referred to the above embodiments and are not repeated herein.
The control device 200 may be any controller capable of controlling the motor, and the present application is not limited with respect to its specific structure.
Referring to fig. 17, fig. 17 is a schematic structural diagram of another embodiment of the control device according to the present application, where the control device 300 includes an acquisition module 310, a processing module 320, and a control module 330 that are sequentially connected.
The acquiring module 310 is configured to acquire a first speed value carried by the speed command at the current time and a second speed value of the target motor at the current time.
The processing module 320 is configured to obtain a first speed command value according to the first speed value and the second speed value; processing the speed difference value of the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value; and compensating the first speed command value by using the fuzzy control compensation value to obtain a second speed command value.
The control module 330 is configured to control the movement of the target motor according to the second speed command value.
The control device 300 may be any controller capable of controlling the motor, and the present application is not limited with respect to its specific structure.
In addition, the control device 300 performs the method steps in any of the above embodiments during operation, and the detailed method steps can be referred to in the above description, which is not repeated herein.
Referring to fig. 18, fig. 18 is a schematic structural diagram of an embodiment of a computer readable storage medium according to the present application. The computer readable storage medium 400 stores a computer program 410, the computer program 410 being executable by a processor to implement steps in any of the methods described above.
The computer readable storage medium 400 may be a device such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, which may store the computer program 410, or may be a server storing the computer program 410, which may send the stored computer program 410 to another device for running, or may also run the stored computer program 410 itself.
The foregoing description is only illustrative of the present application and is not intended to limit the scope of the application, and all equivalent structures or equivalent processes or direct or indirect application in other related technical fields are included in the scope of the present application.
Claims (10)
1. A servo control method, the method comprising:
acquiring a first speed value carried by a speed instruction at the current moment and a second speed value of a target motor at the current moment;
obtaining a first speed instruction value according to the first speed value and the second speed value;
processing a speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value;
performing compensation processing on the first speed command value by using the fuzzy control compensation value to obtain a second speed command value;
and controlling the target motor to move according to the second speed command value.
2. The method of claim 1, wherein the step of processing the speed difference between the first speed value and the second speed value using a fuzzy algorithm to obtain a fuzzy control compensation value comprises:
preprocessing the speed difference value to obtain a first processing value, and preprocessing a target differential value to obtain a second processing value, wherein the speed difference value is subjected to differential calculation on a target time interval to obtain the target differential value, and the target time interval is a time interval between the moment of last obtaining the second speed value and the current moment;
converting the first processing value into a proportional gain correction value and converting the second processing value into an integral gain correction value by using a preset fuzzy control rule;
obtaining a proportional gain compensation value according to the product of the proportional gain correction value and a preset first quantization factor;
obtaining an integral gain compensation value according to the product of the integral gain correction value and a preset second quantization factor;
calculating a first product of the speed difference and the proportional gain compensation value;
calculating a second product of the speed difference and the integral gain compensation value;
and obtaining the fuzzy control compensation value according to the integral value of the first product and the second product to the target time interval.
3. The method of claim 2, wherein the step of preprocessing the speed difference to obtain a first processed value and preprocessing the target differential value to obtain a second processed value comprises:
performing first amplitude limiting processing on the product of the speed difference value and a preset third quantization factor to obtain a first processing value in a first preset range;
and performing second amplitude limiting processing on the product of the target differential value and a preset fourth quantization factor to obtain the second processing value in a second preset range.
4. A method according to claim 3, wherein the third quantization factor is equal to the first speed value and the fourth quantization factor is equal to the maximum rate of change of the speed value carried by the speed command.
5. The method according to claim 2, wherein the steps of converting the first processed value into a proportional gain correction value and converting the second processed value into an integral gain correction value using a preset fuzzy control rule, include:
respectively bringing the first processing values into a plurality of preset membership functions to obtain a plurality of first results;
determining the membership function corresponding to the largest first result in the plurality of first results as a first target membership function corresponding to the first processing value;
respectively bringing the second processing values into the membership functions to obtain a plurality of second results;
determining the membership function corresponding to the largest second result in the plurality of second results as a second target membership function corresponding to the second processing value;
determining a third target membership function corresponding to the proportional gain correction value and a fourth target membership function corresponding to the integral gain correction value according to the first target membership function and the second target membership function;
and determining an abscissa corresponding to a peak point of the third target membership function as the proportional gain correction value, and determining an abscissa corresponding to a peak point of the fourth target historic degree function as the integral gain correction value.
6. The method according to claim 2, wherein the step of obtaining the fuzzy control offset value from the integrated value of the first product and the second product for the target time interval includes:
and adding the first product and the second product to the integral value of the target time interval to obtain the fuzzy control compensation value.
7. The method according to claim 1, wherein the step of compensating the first speed command value with the blur control compensation value to obtain a second speed command value includes:
and adding the fuzzy control compensation value and the first speed command value to obtain the second speed command value.
8. A control device, characterized in that the control device comprises:
the acquisition module is used for acquiring a first speed value carried by the speed instruction at the current moment and a second speed value of the target motor at the current moment;
the processing module is connected with the acquisition module and used for obtaining a first speed instruction value according to the first speed value and the second speed value; processing a speed difference value between the first speed value and the second speed value by using a fuzzy algorithm to obtain a fuzzy control compensation value; the fuzzy control compensation value is utilized to carry out compensation processing on the first speed command value, and a second speed command value is obtained;
and the control module is connected with the processing module and used for controlling the target motor to move according to the second speed command value.
9. A control device, characterized in that it comprises a processor, a memory and a communication circuit, the processor being coupled to the memory and the communication circuit, respectively, the memory having stored therein program data, the processor implementing the steps in the method according to any of claims 1-7 by executing the program data in the memory.
10. A computer readable storage medium, characterized in that it stores a computer program executable by a processor to implement the steps in the method according to any one of claims 1-7.
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| CN119045407A (en) * | 2024-10-31 | 2024-11-29 | 福建富昌维控电子科技股份有限公司 | Conversion method and terminal for PLC servo speed unit |
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