CN119853546B - A method for automatically adjusting performance parameters of a servo motor and related equipment - Google Patents
A method for automatically adjusting performance parameters of a servo motor and related equipmentInfo
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- CN119853546B CN119853546B CN202510047373.2A CN202510047373A CN119853546B CN 119853546 B CN119853546 B CN 119853546B CN 202510047373 A CN202510047373 A CN 202510047373A CN 119853546 B CN119853546 B CN 119853546B
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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
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Control Of Electric Motors In General (AREA)
- Feedback Control In General (AREA)
Abstract
本发明公开了一种伺服电机性能参数自动整定方法及相关设备，所述方法包括：对伺服电机的运行状态进行监测，获取伺服电机的位置差数据；根据所述位置差数据提取伺服电机待整定的性能参数，并将所述待整定的性能参数输入到AAT自动调谐模型中；设置所述AAT自动调谐模型中的安全移动参数；基于所述AAT自动调谐模型进行运行状态自动辨识，获取运行状态自动辨识结果；基于所述运行状态自动辨识结果进行前馈辨识分析，获取前馈值；基于所述前馈值对所述待整定的性能参数进行整定，获取伺服电机整定完成的性能参数。本发明有效降低伺服电机的伺服性能参数的调试难度，优化调试准确度，提高调试效率，进而提高伺服电机的整体运行性能。
The present invention discloses a method for automatically tuning the performance parameters of a servo motor and related equipment. The method comprises: monitoring the operating state of the servo motor to obtain position difference data of the servo motor; extracting the performance parameters of the servo motor to be tuned based on the position difference data, and inputting the performance parameters to be tuned into an automatic adjustment (AAT) model; setting safe movement parameters in the AAT model; automatically identifying the operating state based on the AAT model to obtain an automatic identification result of the operating state; performing feedforward identification analysis based on the automatic identification result of the operating state to obtain a feedforward value; tuning the performance parameters to be tuned based on the feedforward value to obtain the performance parameters of the servo motor after tuning. The present invention effectively reduces the difficulty of debugging the servo performance parameters of the servo motor, optimizes debugging accuracy, improves debugging efficiency, and thereby improves the overall operating performance of the servo motor.
Description
Technical Field
The invention relates to the technical field of servo motor performance debugging, in particular to an automatic servo motor performance parameter setting method and related equipment.
Background
In the industrial production application scene, because of the production requirement, a large number of servo motors are required to be arranged, the debugging of the servo performance parameters of the servo motors is a key and difficult point for most technicians, the servo performance parameters are various, each has a corresponding effect, if the servo performance parameters are related to responsiveness, and if the servo performance parameters are related to vibration noise, the value change of any one servo performance parameter can influence the setting running state of the servo motor, so that the debugging personnel can better understand the effect of each servo performance parameter by spending more time and effort to learn and understand the control principle of the servo motor, but although the debugging personnel still cannot perform the skilled debugging according to the learned content through learning and understand the actual debugging, the debugging personnel only perform the debugging according to own fragmentation experience, not only the debugging accuracy of the servo performance parameters of the servo motors is poor, but also the debugging efficiency is influenced, and the whole running state of the servo motor is influenced.
Disclosure of Invention
The invention aims to overcome the defects of the prior art, and provides a method and related equipment for automatically setting the performance parameters of a servo motor, which effectively reduce the debugging difficulty of the servo performance parameters of the servo motor, optimize the debugging accuracy, improve the debugging efficiency and further improve the overall operation performance of the servo motor.
The invention provides a method for automatically setting performance parameters of a servo motor, which comprises the following steps:
monitoring the running state of the servo motor to obtain position difference data of the servo motor;
Extracting performance parameters to be set of the servo motor according to the position difference data, and inputting the performance parameters to be set into an AAT automatic tuning model;
Setting a safe movement parameter in the AAT automatic tuning model;
performing automatic identification of the running state based on the AAT automatic tuning model, and acquiring an automatic identification result of the running state;
performing feedforward identification analysis based on the automatic identification result of the running state to obtain a feedforward value;
And setting the performance parameters to be set based on the feedforward value to obtain the performance parameters of the servo motor after finishing setting.
Further, the monitoring the operation state of the servo motor, and obtaining the position difference data of the servo motor includes:
Extracting position data which is pre-stored in a servo motor memory and is needed to be reached by a servo motor;
sensing position data actually reached by the servo motor based on the position sensor;
and judging whether a position difference occurs or not based on the position data to be reached and the position data to be actually reached, and acquiring corresponding position difference data.
Further, the extracting the performance parameter to be set of the servo motor according to the position difference data, and inputting the performance parameter to be set into the AAT automatic tuning model includes:
And extracting capacitance data and inductance data to be set of a high-circumference part of a transmitter of the servo motor according to the position difference data, and inputting the capacitance data and the inductance data to be set into an AAT automatic tuning model.
Further, the setting the secure mobile parameter in the AAT auto-tuning model includes:
And setting the safe moving distance, the safe moving speed and the safe moving acceleration of the AAT automatic tuning model in the automatic tuning process.
Further, the performing the automatic identification of the running state based on the AAT automatic tuning model, and obtaining the automatic identification result of the running state includes:
carrying out inertia automatic identification based on the AAT automatic tuning model, and obtaining an inertia automatic identification result;
Performing vibration automatic identification based on the AAT automatic tuning model to obtain a vibration automatic identification result;
and carrying out automatic rigid identification based on the AAT automatic tuning model to obtain an automatic rigid identification result.
Further, the performing feedforward identification analysis based on the automatic identification result of the operation state, and obtaining the feedforward value includes:
Calculating a speed original feedforward value based on the running state automatic identification result;
gradually increasing the speed original feedforward value to be used as a reference, and detecting the position deviation waveform of the servo motor;
Judging whether an overshoot phenomenon occurs or not based on the change degree of the position deviation waveform, and extracting a speed feedforward value at the moment when judging that the overshoot phenomenon occurs.
Further, the step of setting the performance parameter to be set based on the feedforward value includes:
After the performance parameters of the servo motor after finishing setting are obtained, judging whether the position difference data of the servo motor meets the normal operation conditions or not when the servo motor operates based on the performance parameters of the finishing.
The invention also provides a servo motor performance parameter automatic setting system, which is used for realizing the servo motor performance parameter automatic setting method, and comprises the following steps:
the position difference data acquisition module is used for monitoring the running state of the servo motor and acquiring position difference data of the servo motor;
the performance parameter to be set extraction module is used for extracting the performance parameter to be set of the servo motor according to the position difference data and inputting the performance parameter to be set into an AAT automatic tuning model;
The safe movement parameter setting module is used for setting the safe movement parameters in the AAT automatic tuning model;
The running state automatic identification module is used for carrying out running state automatic identification based on the AAT automatic tuning model to obtain a running state automatic identification result;
the feedforward identification analysis module is used for carrying out feedforward identification analysis based on the automatic operation state identification result to obtain a feedforward value;
And the performance parameter setting module is used for setting the performance parameters to be set based on the feedforward value to obtain the performance parameters of the servo motor after finishing setting.
The invention also provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the automatic servo motor performance parameter setting method.
The invention also provides a computer readable storage medium, wherein the computer readable storage medium is stored with a computer program, and the computer program realizes the automatic servo motor performance parameter setting method when being executed by a processor.
The invention provides an automatic servo motor performance parameter setting method and related equipment, which are characterized in that the operation state of a servo motor is monitored to obtain position difference data of the servo motor, so that the to-be-set performance parameter of the servo motor is judged, namely the performance parameter to be tuned is needed, the reasons of poor performance of the servo motor can be quickly monitored, the operation loss is reduced, the operation state of the servo motor is automatically identified through an AAT automatic tuning model, the problems of poor debugging accuracy and lower debugging efficiency caused by insufficient manual experience are avoided in the process of manually identifying and debugging by a debugging person, the feedforward identification analysis is carried out, a feedforward value is obtained, the to-be-set performance parameter is set according to the feedforward value, the setting accuracy and efficiency are effectively improved, the debugging difficulty of the servo performance parameter of the servo motor is effectively reduced, the debugging accuracy is optimized, the debugging efficiency is improved, and the overall operation performance of the servo motor is further improved.
Drawings
In order to more clearly illustrate the embodiments of the invention or the technical solutions in the prior art, the drawings which are required in the description of the embodiments or the prior art will be briefly described, it being obvious that the drawings in the description below are only some embodiments of the invention, and that 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 a method for automatically setting performance parameters of a servo motor according to a first embodiment of the present invention;
FIG. 2 is a flowchart of acquiring position difference data of a servo motor according to a first embodiment of the present invention;
FIG. 3 is a flowchart of automatic identification of motion state based on an AAT automatic tuning model according to a first embodiment of the invention;
FIG. 4 is a flowchart of a feedforward value obtained by feedforward identification analysis according to a first embodiment of the present invention;
fig. 5 is a structural diagram of an automatic servo motor performance parameter setting system in a second embodiment of the present invention.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and completely with reference to the accompanying drawings, in which it is apparent that the embodiments described are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
In the present invention, it should be understood that terms such as "comprises" or "comprising," etc., are intended to indicate the presence of features, numbers, steps, acts, components, portions, or combinations thereof disclosed in the present specification, and are not intended to exclude the possibility that one or more other features, numbers, steps, acts, components, portions, or combinations thereof are present or added.
In addition, it should be noted that, without conflict, the embodiments of the present invention and the features of the embodiments may be combined with each other. The invention will be described in detail below with reference to the drawings in connection with embodiments.
Example 1
The embodiment of the invention provides an automatic servo motor performance parameter setting method, which comprises the steps of monitoring the running state of a servo motor, obtaining position difference data of the servo motor, extracting performance parameters to be set of the servo motor according to the position difference data, inputting the performance parameters to be set into an AAT automatic tuning model, setting safe moving parameters in the AAT automatic tuning model, automatically identifying the running state based on the AAT automatic tuning model, obtaining an automatic running state identification result, carrying out feedforward identification analysis based on the automatic running state identification result, obtaining a feedforward value, and setting the performance parameters to be set based on the feedforward value to obtain the performance parameters of the servo motor after finishing setting.
In an alternative implementation manner of the present embodiment, as shown in fig. 1, fig. 1 shows a flowchart of a method for automatically setting performance parameters of a servo motor in a first embodiment of the present invention, including the following steps:
s101, monitoring the running state of a servo motor to obtain position difference data of the servo motor;
In an alternative implementation manner of this embodiment, the operation state of the servo motor is monitored, and the position difference data of the motor in the servo motor is mainly obtained.
In an alternative implementation manner of the present embodiment, as shown in fig. 2, fig. 2 shows a flowchart for obtaining position difference data of a servo motor in a first embodiment of the present invention, including the following steps:
S201, extracting position data which is pre-stored in a servo motor memory and is needed to be reached by a servo motor;
in an alternative implementation of this embodiment, the pre-stored position data that should be reached by the servomotor is extracted from the PLC, i.e. the programmable logic controller, of the servomotor.
Specifically, since the rotational speed of the rotor of the servo motor is controlled by an input signal, and a voltage signal is converted into a torque and a rotational speed to drive a control object, a PLC is generally used as a center of operation control of the servo motor, and position data to be reached by a motor corresponding to the servo motor at various times is prestored in the PLC.
S202, sensing position data actually reached by a servo motor based on a position sensor;
in an alternative implementation manner of the embodiment, the position data actually reached by the servo motor is acquired based on the sensing of the set position sensor, and the acquired position data is converted by the A/D module.
And S203, judging whether a position difference occurs or not based on the position data to be reached and the position data to be actually reached, and acquiring corresponding position difference data.
In an alternative implementation manner of this embodiment, it is determined whether a position difference occurs between the position data that the servomotor acquired in step S201 should reach and the position data that the servomotor acquired in step S202 actually reaches, and corresponding position difference data is acquired.
In an alternative implementation manner of this embodiment, a position difference judgment threshold is preset, the position difference between the position data that the servomotor should reach and the position data that the servomotor should reach is compared with the position difference judgment threshold, if the position difference is greater than the position difference judgment threshold, the position difference is judged to appear, the position difference data between the two is extracted, if the position difference is smaller than the position difference judgment threshold, the position difference is judged to not appear, and the subsequent tuning process is not needed.
The operation state of the servo motor is monitored, and position difference data of the servo motor are obtained, so that whether the performance parameters of the servo motor need to be set or not is judged, and data support is provided for a subsequent tuning setting process.
The position difference data of the servo motor is obtained by monitoring the running state of the servo motor, so that the to-be-set of the servo motor is judged, namely, the performance parameters which need to be tuned are judged, the reasons of poor performance of the servo motor can be monitored rapidly, and the running loss is reduced.
S102, extracting performance parameters to be set of the servo motor according to the position difference data, and inputting the performance parameters to be set into an AAT automatic tuning model;
In an optional implementation manner of this embodiment, capacitance data and inductance data to be set of a high-circumference portion of a transmitter of the servo motor are extracted according to the position difference data, and the capacitance data and the inductance data to be set are input into an AAT automatic tuning model.
Specifically, performance data to be set in a high-peripheral part of a transmitter of the servo motor, mainly capacitance data and inductance data, and partial voltage data and current data, are correspondingly extracted according to the position difference data, and are input into an AAT automatic tuning model.
In an alternative implementation manner of this embodiment, the AAT automatic tuning model is an automatic tuning control model of automatic antenna tuning (Automatic Antenna Tuning, AAT), and the control method of adjusting the variable capacitance and inductance of the radio frequency system by using the motor driving device to make the radio frequency system work in an impedance matching optimal state is applied in tuning the high-peripheral part of the transmitter of the servo motor in this embodiment, so that the transmitter state reaches the optimal matching state, and further, the performance of the servo motor is optimized.
S103, setting safe movement parameters in the AAT automatic tuning model;
In an optional implementation manner of this embodiment, a safe moving distance, a safe moving speed and a safe moving acceleration of the AAT automatic tuning model in the process of performing automatic tuning are set.
Specifically, the servo motor is an engine for controlling the operation of a mechanical element in the private clothing system, and is an indirect speed change device for assisting the motor, so that the speed can be controlled, and when the safe movement parameters in the AAT automatic tuning model are set, the parameters related to the speed are emphasized, including the safe movement distance, the safe movement speed and the safe movement acceleration, so that the safety and the stability of the AAT automatic tuning model in operation are ensured.
S104, carrying out automatic identification on the running state based on the AAT automatic tuning model, and obtaining an automatic identification result of the running state;
In an optional implementation manner of this embodiment, an AAT (automatic antenna tuning) process of the AAT automatic tuning model is started, and an automatic identification process of three common indexes, that is, inertia, vibration and rigidity, that usually occur when the servo motor is in an operating state, is performed respectively.
In an alternative implementation manner of the present embodiment, as shown in fig. 3, fig. 3 shows a flowchart of automatic identification of a motion state based on an AAT auto-tuning model in a first embodiment of the present invention, including the following steps:
S301, carrying out inertia automatic identification based on the AAT automatic tuning model, and obtaining an inertia automatic identification result;
in an optional implementation manner of this embodiment, the AAT automatic tuning model is adjusted to enter an inertia automatic identification mode, a preset inertia identification value is input into a servo motor, the servo motor converts the inertia identification value into torque data, the servo motor rotates back and forth according to the converted torque data, rotation is stopped after a period of time, data is collected during rotation operation, and an inertia automatic identification result is obtained.
In an alternative implementation manner of the embodiment, the AAT auto-tuning model performs inertia auto-recognition based on an improved particle swarm algorithm.
Specifically, a preset inertia identification value is used as an initial population particle number, a discrete point number, a search interval and a maximum iteration number are set, random initial values are assigned to each initial population particle in the search space, rotation data are sampled after a servo motor rotates, rotation data in an initial acceleration stage and a final deceleration stage are abandoned, continuous discrete points are used as data sets substituted into a fitness function, a fitness value is obtained, individuals are memorized and updated according to the fitness value and the updated position, speed, learning factors and inertia weight of the particles after iteration, and after a certain number of iterations, a global extremum is obtained as a final solution for automatic inertia identification.
It should be noted that the automatic inertia identification result mainly includes a rotational inertia value and a variation value, and the preset inertia identification value is higher than the rotational inertia value of the servo motor.
S302, vibration automatic identification is carried out based on the AAT automatic tuning model, and a vibration automatic identification result is obtained;
In an optional implementation manner of this embodiment, the AAT automatic tuning model is adjusted to enter a vibration automatic identification mode, a preset high-frequency signal is input into a servo motor, the servo motor converts the high-frequency signal into vibration data, vibration operation is performed according to the converted vibration data, vibration is stopped after a period of time, data is collected during the vibration operation, and a vibration automatic identification result is obtained.
In an alternative implementation manner of the embodiment, the AAT automatic tuning model performs vibration automatic identification based on a pole allocation method.
Specifically, when the servo motor performs vibration operation according to the converted vibration data, a plurality of position points on the servo motor are extracted to serve as vibration poles, namely vibration reference points, the vibration frequencies of the vibration poles can basically reflect the overall vibration state of the whole servo motor, then a vibration transfer function is constructed, the vibration transfer function comprises a state variable, a state matrix, an input matrix, an output matrix and a transfer matrix, vibration feedback gain calculation is performed on the vibration poles based on a state feedback method, and vibration feedback gain is obtained to serve as a vibration automatic identification result.
S303, performing automatic rigid identification based on the AAT automatic tuning model, and obtaining an automatic rigid identification result.
In an optional implementation manner of this embodiment, the AAT automatic tuning model is adjusted to enter a rigidity automatic identification mode, a preset rigidity parameter is input into the servo motor, the value of the rigidity parameter is gradually increased until the induction servo motor vibrates, the rigidity parameter at the moment is extracted, 2 rigidity grades are recalled, and the recalled rigidity parameter is used as a rigidity automatic identification result.
It should be noted that, considering the rigidity here is the property that the material will not deform under the action of external force, namely is the strong resistance of the object to external force, in the course of countermeasure, there is a certain range between the damage of external force to the object and the phenomenon that the object shows a certain resistance, in this embodiment, when the servo motor is induced to generate vibration, the rigidity parameter at this moment has exceeded the range, so 2 rigidity grades need to be recalled, so that the recalled rigidity parameter is more in line with the starting point of the resistance of the servo motor shell material to external force, and the actual state of the servo motor can be reflected more accurately as the rigidity automatic identification result at this moment.
The running state of the servo motor is automatically identified through the AAT automatic tuning model, the process of manually identifying and debugging by a debugger is replaced, and the problems of poor debugging accuracy and lower debugging efficiency caused by insufficient manual experience are avoided.
S105, performing feedforward identification analysis based on the automatic identification result of the running state to obtain a feedforward value;
In an optional implementation manner of this embodiment, feedforward identification analysis is performed based on the inertia automatic identification result, the vibration automatic identification result, and the rigidity automatic identification result obtained in step S104, and a feedforward value is obtained.
In an alternative implementation manner of the present embodiment, as shown in fig. 4, fig. 4 shows a flowchart for obtaining a feedforward value by performing feedforward identification analysis in the first embodiment of the present invention, which includes the following steps:
s401, calculating a speed original feedforward value based on the automatic identification result of the running state;
In an optional implementation manner of this embodiment, based on the inertia automatic identification result, the vibration automatic identification result, and the rigidity automatic identification result, corresponding inertia critical value, vibration critical value, and rigidity critical value are extracted, and the velocity original feedforward value is obtained by comprehensive calculation.
S402, gradually increasing the speed original feedforward value and detecting the position deviation waveform of the servo motor;
In an alternative implementation manner of this embodiment, the speed original feedforward value is gradually increased based on the speed original feedforward value, and a position deviation waveform of the servo motor is detected at the same time.
Specifically, the change of the feedforward value affects the position deviation value of the servo motor, and the change of the position deviation value of the servo motor when the feedforward value is changed can be reflected by detecting the position deviation waveform.
S403, judging whether an overshoot phenomenon occurs based on the change degree of the position deviation waveform, and extracting a speed feedforward value at the moment when judging that the overshoot phenomenon occurs.
In an alternative implementation manner of this embodiment, it is determined whether an overshoot phenomenon occurs based on the degree of variation of the position deviation waveform.
Specifically, when the highest waveform peak in the position deviation waveform exceeds the balance position, the overshoot phenomenon is judged to occur, and the speed feedforward value at the moment is extracted.
In an alternative implementation of this embodiment, consider here that the peak of the waveform of the position deviation waveform exceeds the equilibrium position by a certain overshoot amount, and make a callback, and verify the rate of change of the unknown deviation waveform based on the callback amount.
The feedforward identification analysis is carried out, the feedforward value is obtained, the performance parameters to be set are set according to the feedforward value, the setting accuracy and efficiency are effectively improved, the debugging difficulty of the servo performance parameters of the servo motor is effectively reduced, the debugging accuracy is optimized, the debugging efficiency is improved, and the overall running performance of the servo motor is further improved.
And S106, setting the performance parameters to be set based on the feedforward value, and obtaining the performance parameters of the servo motor after finishing setting.
In an optional implementation manner of this embodiment, the performance parameter to be set is set based on the feedforward value obtained in step S105, and a performance parameter of which the servo motor is set is obtained.
Specifically, the frequency and the voltage of the transmitter of the servo motor are set through the feedforward value, and the frequency and the voltage are increased and reduced, so that the capacitance and the inductance of the high-circumference part of the transmitter are restored to the optimal tuning state.
In an optional implementation manner of this embodiment, after the performance parameter of the servo motor after finishing setting is obtained, it is determined whether the position difference data of the servo motor satisfies the normal operation condition when the servo motor operates based on the performance parameter of finishing setting.
Specifically, when the servo motor is judged to run based on the performance parameters after finishing the setting, if the position difference data of the servo motor does not meet the normal running conditions, the performance parameters of the servo motor need to be re-set until the position difference data of the servo motor after setting meets the normal running conditions.
In summary, the embodiment of the invention provides an automatic servo motor performance parameter setting method, which is characterized in that position difference data of a servo motor is obtained by monitoring the running state of the servo motor, so that the to-be-set performance parameter of the servo motor is judged, namely the performance parameter to be tuned is required, the reasons for poor performance of the servo motor can be rapidly monitored, running loss is reduced, the running state of the servo motor is automatically identified through an AAT automatic tuning model, the problems of poor debugging accuracy and lower debugging efficiency caused by insufficient manual experience are avoided by replacing a debugging personnel in the process of manually identifying and debugging, feedforward identification analysis is carried out, a feedforward value is obtained, and the to-be-set performance parameter is set according to the feedforward value, so that the setting accuracy and efficiency are effectively improved, the debugging difficulty of the servo performance parameter of the servo motor is effectively reduced, the debugging accuracy is optimized, the debugging efficiency is improved, and the whole running performance of the servo motor is further improved.
Example two
The second embodiment of the invention provides an automatic servo motor performance parameter setting system, which is used for realizing the automatic servo motor performance parameter setting method in the first embodiment, and comprises a position difference data acquisition module, a performance parameter extraction module to be set, a safe movement parameter setting module, an automatic running state identification module, a feedforward identification analysis module and a performance parameter setting module.
In an optional implementation manner of this embodiment, as shown in fig. 5, fig. 5 shows a structure diagram of a servo motor performance parameter automatic setting system in a second embodiment of the present invention, which includes the following modules:
the position difference data acquisition module 10 is used for monitoring the running state of the servo motor and acquiring position difference data of the servo motor;
In an optional implementation manner of the embodiment, the monitoring the operation state of the servo motor and obtaining the position difference data of the servo motor include extracting position data, which is pre-stored in a memory of the servo motor and should be reached by the servo motor, sensing the position data actually reached by the servo motor based on a position sensor, judging whether a position difference occurs based on the position data to be reached and the position data actually reached, and obtaining the corresponding position difference data.
The performance parameter to be set extraction module 20 is used for extracting the performance parameter to be set of the servo motor according to the position difference data, and inputting the performance parameter to be set into an AAT automatic tuning model;
In an optional implementation manner of this embodiment, the extracting the performance parameter to be set of the servo motor according to the position difference data and inputting the performance parameter to be set into the AAT automatic tuning model includes extracting capacitance data and inductance data to be set of a high peripheral portion of a transmitter of the servo motor according to the position difference data and inputting the capacitance data and inductance data to be set into the AAT automatic tuning model.
A secure movement parameter setting module 30, where the secure movement parameter setting module 30 is configured to set secure movement parameters in the AAT auto-tuning model;
in an optional implementation manner of this embodiment, the setting the safe movement parameter in the AAT automatic tuning model includes setting a safe movement distance, a safe movement speed and a safe movement acceleration of the AAT automatic tuning model in an automatic tuning process.
The running state automatic identification module 40 is used for carrying out running state automatic identification based on the AAT automatic tuning model, and acquiring a running state automatic identification result;
In an optional implementation manner of this embodiment, the performing automatic identification of the running state based on the AAT automatic tuning model, and obtaining the automatic identification result of the running state include performing automatic identification of inertia based on the AAT automatic tuning model, obtaining an automatic identification result of inertia, performing automatic identification of vibration based on the AAT automatic tuning model, obtaining an automatic identification result of vibration, performing automatic identification of rigidity based on the AAT automatic tuning model, and obtaining an automatic identification result of rigidity.
The feedforward identification analysis module 50 is used for performing feedforward identification analysis based on the automatic identification result of the running state to obtain a feedforward value;
In an optional implementation manner of the embodiment, the performing feedforward identification analysis based on the running state automatic identification result includes calculating a speed original feedforward value based on the running state automatic identification result, gradually increasing the speed original feedforward value as a reference, detecting a position deviation waveform of the servo motor, judging whether an overshoot phenomenon occurs based on the change degree of the position deviation waveform, and extracting the speed feedforward value at the moment when the overshoot phenomenon is judged to occur.
And the performance parameter setting module 60 is used for setting the performance parameter to be set based on the feedforward value, and acquiring the performance parameter of which the servo motor is set.
In an optional implementation manner of this embodiment, the step of setting the performance parameter to be set based on the feedforward value includes determining whether the position difference data of the servo motor satisfies a normal operation condition when the servo motor operates based on the set performance parameter after the set performance parameter of the servo motor is obtained.
In summary, the second embodiment of the invention provides an automatic servo motor performance parameter setting system, which is used for realizing the automatic servo motor performance parameter setting method in the first embodiment, acquiring position difference data of a servo motor by monitoring the running state of the servo motor, further judging the to-be-set servo motor, namely, the performance parameter needing to be tuned, rapidly monitoring the reason that the servo motor has poor performance, reducing running loss, automatically identifying the running state of the servo motor through an AAT automatic tuning model, replacing the process of manually identifying and debugging by a debugger, avoiding the problems of poor debugging accuracy and lower debugging efficiency caused by insufficient manual experience, carrying out feedforward identification analysis, acquiring a feedforward value, setting the to-be-set performance parameter according to the feedforward value, effectively improving the setting accuracy and efficiency, effectively reducing the difficulty of debugging the servo performance parameter of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and further improving the overall running performance of the servo motor.
Example III
The third embodiment of the invention provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, wherein the processor executes the computer program to realize the automatic servo motor performance parameter setting method in the first embodiment.
In summary, the third embodiment of the invention provides an electronic device, which is used for executing the automatic setting method for the performance parameters of the servo motor in the first embodiment, acquiring position difference data of the servo motor by monitoring the running state of the servo motor, further judging the performance parameters to be set of the servo motor, namely, the performance parameters needing tuning, so that the reasons of poor performance of the servo motor can be quickly monitored, running loss is reduced, the running state of the servo motor is automatically identified by an AAT automatic tuning model, the process of manually identifying and debugging is replaced by a debugger, the problems of poor debugging accuracy and low debugging efficiency caused by insufficient manual experience are avoided, feedforward identification analysis is carried out, a feedforward value is obtained, the setting of the performance parameters to be set is carried out according to the feedforward value, the setting accuracy and efficiency are effectively improved, the debugging difficulty of the servo performance parameters of the servo motor is effectively reduced, the debugging accuracy is optimized, and the whole running performance of the servo motor is improved.
Example IV
The fourth embodiment of the present invention provides a computer readable storage medium, where a computer program is stored, and when the computer program is executed by a processor, the method for automatically setting the performance parameters of the servo motor described in the first embodiment is implemented.
In summary, the fourth embodiment of the invention provides a computer readable storage medium for executing the method for automatically setting the performance parameters of the servo motor in the first embodiment, by monitoring the running state of the servo motor, acquiring the position difference data of the servo motor, further judging the performance parameters to be set of the servo motor, namely, the performance parameters to be tuned, which can be quickly monitored for the reasons of poor performance of the servo motor, reducing the running loss, automatically identifying the running state of the servo motor through an AAT automatic tuning model, replacing the process of manually identifying and debugging by a debugger, avoiding the problems of poor debugging accuracy and lower debugging efficiency caused by insufficient manual experience, performing feedforward identification analysis, acquiring a feedforward value, setting the performance parameters to be set according to the feedforward value, effectively improving the setting accuracy and efficiency, effectively reducing the debugging difficulty of the servo performance parameters of the servo motor, optimizing the debugging accuracy, improving the debugging efficiency, and further improving the overall running performance of the servo motor.
While the foregoing description of the method and related apparatus for automatically setting performance parameters of a servo motor provided by the present invention has been described in detail, it will be understood by those skilled in the art that all or part of the steps of the various methods of the foregoing embodiments may be implemented by hardware related to instructions of a program, where the program may be stored in a computer readable storage medium, and the storage medium may include a Read Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk or an optical disk, etc.
While the foregoing has been provided to illustrate the principles and embodiments of the present invention, specific examples have been provided herein to assist in understanding the principles and concepts of the invention, and are intended to be in the spirit and scope of the invention as defined by the appended claims.
Claims (8)
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| JP2007074573A (en) * | 2005-09-08 | 2007-03-22 | Kenwood Corp | ANTENNA MATCHING DEVICE, ANTENNA MATCHING METHOD, ANTENNA MATCHING METHOD PROGRAM, AND RECORDING MEDIUM |
| CN101978746A (en) * | 2008-03-05 | 2011-02-16 | 高通股份有限公司 | Packaging and details of the wireless power device |
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| JP2007074573A (en) * | 2005-09-08 | 2007-03-22 | Kenwood Corp | ANTENNA MATCHING DEVICE, ANTENNA MATCHING METHOD, ANTENNA MATCHING METHOD PROGRAM, AND RECORDING MEDIUM |
| CN101978746A (en) * | 2008-03-05 | 2011-02-16 | 高通股份有限公司 | Packaging and details of the wireless power device |
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