阅读说明：本技术 一种伺服电机的控制方法、控制设备及控制系统 (Control method, control equipment and control system of servo motor ) 是由 邹东 于 2020-06-24 设计创作，主要内容包括：本发明公开了一种伺服电机的控制方法、控制设备及控制系统,在判断出电流环控制失真时,清除速度环对应的积分参数,即对积分参数进行置零处理,并调整处理方式,即从比例积分调节转换为比例调节,可以避免因积分结果滞后造成的速度失控和突变,进而避免伺服电机的运动出现振荡和抖动,提高伺服电机运动的稳定性,从而提高对伺服电机的控制。(The invention discloses a control method, control equipment and a control system of a servo motor, wherein when the control distortion of a current loop is judged, an integral parameter corresponding to a speed loop is cleared, namely, the integral parameter is subjected to zero setting, and the processing mode is adjusted, namely, proportional-integral regulation is converted into proportional regulation, so that the speed runaway and sudden change caused by the lag of an integral result can be avoided, the oscillation and the jitter of the motion of the servo motor are further avoided, the motion stability of the servo motor is improved, and the control of the servo motor is further improved.)

1. A method of controlling a servo motor, comprising:

controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion adjusting and processing mode, if the first distance is judged to be smaller than a preset first threshold value, controlling the servo motor to stop moving;

wherein the first distance is: and the distance between the current position of the servo motor and a preset target position in the position ring.

2. The control method according to claim 1, wherein obtaining current data and position data of the servo motor specifically comprises:

acquiring current data and position data of the servo motor according to a preset acquisition structure;

wherein the collection structure comprises: a single sampling resistor for collecting the current data, and a position collector for collecting the position data.

3. The control method according to claim 1, wherein judging whether the current loop controls distortion according to the position of the servo motor acquired in real time specifically comprises:

judging whether the first distance is smaller than a preset second threshold value or not; the second threshold is greater than the first threshold;

if so, determining the current loop control distortion;

and if not, determining that the current loop control is not distorted.

4. The control method of claim 1, wherein the integration parameter comprises: the velocity ring corresponds to an accumulated integral value and an integral coefficient.

5. The control method according to claim 1, further comprising:

when the first distance is judged to be not smaller than the first threshold value, adjusting a gain coefficient corresponding to the position ring according to the first distance and a preset adjusting rule;

and controlling the servo motor to continue moving according to the current data and the position data which are acquired again, the adjusted gain coefficient and the proportion adjustment processing mode.

6. The control method of claim 5, wherein the adjustment rule comprises:

when the current position of the servo motor is larger than the target position, subtracting the gain coefficient and the gain coefficient variable quantity corresponding to the position ring; or, when the current position of the servo motor is smaller than the target position, adding the gain coefficient corresponding to the position loop and the gain coefficient variable quantity;

wherein the gain coefficient variation is: and finding the gain coefficient variable quantity corresponding to the first distance in the corresponding relation between the preset distance and the gain coefficient variable quantity.

7. The control method according to claim 1, when it is determined that the current loop control is not distorted according to the position of the servo motor acquired in real time, further comprising:

and when the preset reconstruction condition is met, controlling the servo motor to continue to move according to the current data and the position data which are acquired again and the proportional-integral adjustment processing mode.

8. The control method according to claim 7, wherein the reconfiguration condition includes:

to the acquisition period of the current data, and/or to the acquisition period of the position data.

9. A control apparatus of a servo motor, characterized by comprising:

a memory for storing program instructions;

a processor for calling the program instructions stored in the memory, and executing according to the obtained program:

controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion adjusting and processing mode, if the first distance is judged to be smaller than a preset first threshold value, controlling the servo motor to stop moving;

wherein the first distance is: and the distance between the current position of the servo motor and a preset target position in the position ring.

10. A control system for a servo motor, comprising: the control device of claim 9, and an acquisition structure;

wherein the collection structure comprises: the servo motor position detection device comprises a single sampling resistor and a position collector, wherein the single sampling resistor is used for collecting current data of the servo motor;

the acquisition structure is configured to: the current data and the position data are collected, and the collected current data and the collected position data are transmitted to the control equipment, so that the control equipment controls the servo motor to move according to the current data and the position data.

Technical Field

The present invention relates to the field of motion control technologies, and in particular, to a control method, a control device, and a control system for a servo motor.

Background

When the servo motor is controlled, the control can be performed through at least one of a current loop, a position loop and a speed loop, wherein the current loop can be understood as a control link using a current signal as a feedback signal, the position loop can be understood as a control link using a position signal as a feedback signal, and the speed loop can be understood as a control link using a speed signal as a feedback signal.

For a closed-loop system composed of a current loop, a position loop and a speed loop, a plurality of sampling resistors are usually collected to sample the current of the servo motor, so that the manufacturing cost of a collection structure is increased, and the control error of the closed-loop system is easily caused, thereby causing the oscillation and the jitter of the servo motor.

Therefore, how to improve the control of the servo motor and eliminate the oscillation and jitter of the servo motor during the movement is a technical problem to be solved urgently by those skilled in the art.

Disclosure of Invention

The embodiment of the invention provides a control method, control equipment and a control system of a servo motor, which are used for improving the control of the servo motor and eliminating the oscillation and the jitter of the servo motor during movement.

In a first aspect, an embodiment of the present invention provides a method for controlling a servo motor, including:

controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion adjusting and processing mode, if the first distance is judged to be smaller than a preset first threshold value, controlling the servo motor to stop moving;

wherein the first distance is: and the distance between the current position of the servo motor and a preset target position in the position ring.

Optionally, in an embodiment of the present invention, acquiring current data and position data of the servo motor specifically includes:

acquiring current data and position data of the servo motor according to a preset acquisition structure;

wherein the collection structure comprises: a single sampling resistor for collecting the current data, and a position collector for collecting the position data.

Optionally, in the embodiment of the present invention, determining whether the current loop controls distortion according to the position of the servo motor acquired in real time specifically includes:

judging whether the first distance is smaller than a preset second threshold value or not; the second threshold is greater than the first threshold;

if so, determining the current loop control distortion;

and if not, determining that the current loop control is not distorted.

Optionally, in an embodiment of the present invention, the integration parameter includes: the velocity ring corresponds to an accumulated integral value and an integral coefficient.

Optionally, in an embodiment of the present invention, the method further includes:

when the first distance is judged to be not smaller than the first threshold value, adjusting a gain coefficient corresponding to the position ring according to the first distance and a preset adjusting rule;

and controlling the servo motor to continue moving according to the current data and the position data which are acquired again, the adjusted gain coefficient and the proportion adjustment processing mode.

Optionally, in an embodiment of the present invention, the adjustment rule includes:

when the current position of the servo motor is larger than the target position, subtracting the gain coefficient and the gain coefficient variable quantity corresponding to the position ring; or, when the current position of the servo motor is smaller than the target position, adding the gain coefficient corresponding to the position loop and the gain coefficient variable quantity;

wherein the gain coefficient variation is: and finding the gain coefficient variable quantity corresponding to the first distance in the corresponding relation between the preset distance and the gain coefficient variable quantity.

Optionally, in this embodiment of the present invention, when it is determined that the current loop control is not distorted according to the position of the servo motor obtained in real time, the method further includes:

and when the preset reconstruction condition is met, controlling the servo motor to continue to move according to the current data and the position data which are acquired again and the proportional-integral adjustment processing mode.

Optionally, in an embodiment of the present invention, the reconfiguration condition includes:

to the acquisition period of the current data, and/or to the acquisition period of the position data.

In a second aspect, an embodiment of the present invention provides a control apparatus for a servo motor, including:

a memory for storing program instructions;

a processor for calling the program instructions stored in the memory, and executing according to the obtained program:

controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion adjusting and processing mode, if the first distance is judged to be smaller than a preset first threshold value, controlling the servo motor to stop moving;

wherein the first distance is: and the distance between the current position of the servo motor and a preset target position in the position ring.

In a third aspect, an embodiment of the present invention provides a control system for a servo motor, including: the control device and the acquisition structure provided by the embodiment of the invention;

wherein the collection structure comprises: the servo motor position detection device comprises a single sampling resistor and a position collector, wherein the single sampling resistor is used for collecting current data of the servo motor;

the acquisition structure is configured to: the current data and the position data are collected, and the collected current data and the collected position data are transmitted to the control equipment, so that the control equipment controls the servo motor to move according to the current data and the position data.

The invention has the following beneficial effects:

according to the control method, the control device and the control system of the servo motor provided by the embodiment of the invention, when the control distortion of the current loop is judged, the integral parameter corresponding to the speed loop is cleared, namely, the integral parameter is subjected to zero setting, and the processing mode is adjusted, namely, the proportional-integral regulation is converted into the proportional regulation, so that the speed runaway and sudden change caused by the lag of the integral result can be avoided, the oscillation and the jitter of the motion of the servo motor are further avoided, the motion stability of the servo motor is improved, and the control of the servo motor is further improved.

Drawings

Fig. 1 is a flowchart of a control method of a servo motor according to an embodiment of the present invention;

FIG. 2 is a flow chart of an embodiment provided in an embodiment of the present invention;

fig. 3 is a schematic structural diagram of a control apparatus of a servo motor according to an embodiment of the present invention;

fig. 4 is a schematic structural diagram of a control system of a servo motor according to an embodiment of the present invention.

Detailed Description

The following describes in detail a specific implementation of a control method, a control device, and a control system for a servo motor according to an embodiment of the present invention with reference to the accompanying drawings. It should be noted that the described embodiments are only a part of the embodiments of the present invention, and not all embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

An embodiment of the present invention provides a method for controlling a servo motor, as shown in fig. 1, the method may include:

s101, controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

s102, in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

s103, controlling the servo motor to stop moving if the first distance is judged to be smaller than a preset first threshold value in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion regulation processing mode; wherein the first distance is: the distance between the current position of the servo motor and a preset target position in the position ring.

In the embodiment of the invention, when the proportional-integral regulation processing is carried out, because the integral processing has certain hysteresis, when the distortion of current loop control is judged, if the proportional-integral regulation processing mode is still adopted for processing, the speed is out of control and suddenly changes, so that the servo motor is oscillated and shaken, and the motion of the servo motor cannot be accurately controlled.

Therefore, if the current loop control distortion is judged, the processing mode is adjusted, namely only proportional adjustment processing is adopted in the subsequent control process, and the integral parameters corresponding to the speed loop are cleared, so that the oscillation and the jitter of the servo motor caused by the hysteresis of the integral can be effectively avoided, the stability of the servo motor control can be improved, and the effective control of the servo motor can be improved.

In the embodiment of the present invention, the movement of the servo motor is controlled by using a closed loop system including a current loop, a position loop, and a speed loop.

When determining the closed-loop system, the method may specifically include:

determining a current loop according to the acquired current data;

determining a position ring and a speed ring according to the acquired position data;

and determining a closed-loop system according to the determined current loop, position loop and speed loop.

In particular, in the process of determining a current loop from the current data, and determining a position loop and a velocity loop from the position data, reference may be made to the prior art, and no further details are given here.

Optionally, when the servo motor is controlled to move by using a closed-loop system and a proportional-integral adjustment processing mode, the servo motor is controlled by a current loop, a speed loop and a position loop from inside to outside in sequence, and a specific control process may include:

for the position ring:

the input of the position loop can be an external pulse signal, and the pulse signal can be used as a set target position after being processed; the position data (namely the current position of the servo motor) acquired by the position acquisition unit and the target position are processed by a proportional-integral adjustment processing mode to obtain a numerical value, and the processed numerical value and the sum of the target position are used as a target speed in the speed ring and are transmitted to the speed ring.

For the speed ring:

the actual movement speed of the servo motor can be determined through the position data acquired by the position acquisition device, then the difference value obtained after the comparison processing of the actual movement speed and the target speed received from the position ring is processed in a proportional-integral adjustment processing mode, and the processing result is transmitted to the current ring as the target current in the current ring.

For the current loop:

and comparing the current data acquired by the single sampling resistor with the target current determined in the speed loop to obtain a difference value, performing proportional-integral adjustment processing, outputting the processed result to the servo motor, and controlling the servo motor to move.

Optionally, in an embodiment of the present invention, acquiring current data and position data of the servo motor specifically includes:

acquiring current data and position data of a servo motor according to a preset acquisition structure;

wherein, collection structure includes: a single sampling resistor for collecting current data, and a position collector for collecting position data.

The position collector may be, but not limited to, an encoder, and may also be any other structure known to those skilled in the art that can collect position data, and is not limited herein.

Therefore, when the current data of the servo motor is acquired through the single sampling resistor, the manufacturing cost of the acquisition structure and the manufacturing area of the circuit board can be reduced, and meanwhile, the control precision of the closed-loop system on the servo motor can be improved.

Optionally, in the embodiment of the present invention, determining whether the current loop controls distortion according to the position of the servo motor acquired in real time specifically includes:

judging whether the first distance is smaller than a preset second threshold value or not; the second threshold is greater than the first threshold;

if so, determining the control distortion of the current loop;

if not, determining that the current loop control is not distorted.

Explaining, in the control process of the closed-loop system on the servo motor, if the first distance is smaller than the second threshold, it is explained that the current position of the servo motor acquired in real time is close to the target position, and at this moment, the movement speed of the servo motor is changed into low speed; under the condition of low speed, the control of a current loop is easy to distort, namely the acquired current data may not be consistent with the actual current of a servo motor; if the proportional-integral adjustment processing mode is continuously adopted to control the servo motor to move, the delay influence of the acquired current is increased due to the influence of integral lag, namely, the difference between the acquired current data and the actual current of the servo motor is likely to be larger and larger, so that the servo motor is out of control, and the problems of oscillation and jitter occur.

Therefore, by the mode, the time when the current loop controls distortion can be judged, so that the processing mode can be adjusted conveniently, and the integral parameter can be set to zero, thereby being beneficial to eliminating oscillation and jitter and improving the stability of the servo motor.

The setting values of the first threshold and the second threshold may be set according to actual needs, and are not limited herein.

Optionally, in an embodiment of the present invention, the integration parameter includes: the integration parameters include: the velocity ring corresponds to the cumulative integral value and the integral coefficient.

Of course, in practical cases, the integration parameter may also include other data related to the integration processing result, and is not limited herein.

Optionally, in an embodiment of the present invention, the method further includes:

when the first distance is judged to be not smaller than the first threshold value, adjusting the gain coefficient corresponding to the position loop according to the first distance and a preset adjusting rule;

and controlling the servo motor to continue moving according to the current data and the position data which are acquired again, the adjusted gain coefficient and the proportion adjustment processing mode.

When the first distance is judged to be smaller than the first threshold value, the error between the current position of the servo motor and the target position acquired in real time is smaller and can be accepted within an allowable range, so that the servo motor is indicated to move to the vicinity of the target position currently, and the servo motor can be controlled to stop moving at the moment;

when the first distance is judged to be not smaller than the first threshold, the error between the current position and the target position of the servo motor acquired in real time is larger and is not within the allowable range, so that the servo motor does not move to the vicinity of the target position currently, and at the moment, the gain coefficient corresponding to the position loop can be adjusted to reduce the adverse effect of the error on the movement of the servo motor.

Because the gain coefficient corresponding to the position loop is adjusted, the closed loop system needs to be determined again according to the adjusted gain coefficient, and then the servo motor is controlled to continue to move according to the determined closed loop system and the proportion adjustment processing mode until the first distance is judged to be smaller than the first threshold value, and the servo motor is controlled to stop moving.

Therefore, the position error can be reduced by adjusting the gain coefficient of the position loop, the control precision of the servo motor is improved, and the effective control of the servo motor is realized.

Specifically, in the embodiment of the present invention, the adjustment rule includes:

when the current position of the servo motor is larger than the target position, subtracting the gain coefficient and the gain coefficient variable quantity corresponding to the position ring; or when the current position of the servo motor is smaller than the target position, the gain coefficient and the gain coefficient variable quantity corresponding to the position loop are added;

wherein, the gain coefficient variation is: and finding the gain coefficient variable quantity corresponding to the first distance in the corresponding relation between the preset distance and the gain coefficient variable quantity.

For example, if the current position of the servo motor is represented by W1, the target position is represented by W0, the gain coefficient before adjustment is represented by a0, the gain coefficient after adjustment is represented by a1, the gain coefficient change is represented by Δ a, and Δ a has no sign but represents a numerical value, then:

when W1 is larger than W0, the adjusted gain coefficient A1 is equal to A0-delta A;

or when W1 is smaller than W0, the adjusted gain coefficient a1 is equal to a0 +. DELTA.a.

The corresponding relation between the distance and the gain coefficient variation can be set according to experience and experimental results, so that each distance corresponds to one gain coefficient variation, the gain coefficient variation delta A corresponding to the first distance can be found from the corresponding relation, the gain coefficient is adjusted, the position error is reduced, and the control precision of the servo motor is improved.

Optionally, in the embodiment of the present invention, when it is determined that the current loop control is not distorted according to the position of the servo motor acquired in real time, the method further includes:

and when the preset reconstruction condition is met, controlling the servo motor to continue to move according to the current data and the position data which are acquired again and the proportional-integral adjustment processing mode.

That is, when it is determined that the reconstruction condition of the closed-loop system is satisfied, the closed-loop system is re-determined according to the current data and the position data re-acquired by the acquisition structure;

and controlling the servo motor to continue moving according to the re-determined closed-loop system and the proportional-integral adjustment processing mode.

When it is determined that the current loop control is not distorted, it can be understood that the current position of the servo motor is far away from the target position, so that:

when the reconstruction condition of the closed-loop system is met, the closed-loop system needs to be determined again, so that the servo motor is controlled to continue to move according to the determined closed-loop system and the proportional-integral adjustment processing mode;

when the reconstruction condition of the closed-loop system is not met, the closed-loop system does not need to be determined again, and the servo motor can be controlled to continue to move according to the current closed-loop system and the proportional-integral regulation processing mode.

Therefore, when the current loop control is judged not to be distorted, the servo motor can be controlled to continue to move, and the normal operation of the servo motor is ensured.

Specifically, in the embodiment of the present invention, the reconfiguration condition includes:

a period of acquisition of arrival current data, and/or a period of acquisition of arrival position data.

That is, in order to improve the effectiveness and control accuracy of the closed-loop system, the closed-loop system needs to be periodically reconfigured to ensure that the closed-loop system is consistent with the current state of the servo motor, so as to improve the accuracy of the control of the servo motor.

The acquisition period of the current data (which may be referred to as a first acquisition period) and the acquisition period of the position data (which may be referred to as a second acquisition period) may be set to be the same or different, and may be set according to actual conditions, so as to meet the requirements of different application scenarios and improve the flexibility of design.

The control method provided by the embodiment of the invention is explained and explained below with reference to the specific embodiment.

As shown in connection with fig. 2.

S201, respectively constructing a current loop, a position loop and a speed loop according to current data of a servo motor acquired by a single sampling resistor according to a preset first acquisition cycle, position data of the servo motor acquired by an encoder according to a preset second acquisition cycle and a current gain coefficient of the position loop, and then determining a closed-loop system;

s202, controlling a servo motor to move according to the currently determined closed-loop system and the corresponding processing mode;

before the processing mode is not adjusted, the motion of the servo motor is controlled according to a proportional-integral adjustment processing mode;

after the processing mode is adjusted, the movement of the servo motor is controlled according to the proportional adjustment processing mode.

S203, judging whether a first distance between the current position of the servo motor acquired in real time and a preset target position is smaller than a second threshold value or not; if yes, executing S204; if not, executing S209;

s204, carrying out zero setting processing on the integral parameters corresponding to the speed ring;

s205, controlling the servo motor to continue moving according to the currently determined closed-loop system and the proportion adjusting processing mode;

s206, judging whether the first distance is smaller than a first threshold value; if yes, executing S207; if not, executing S208;

s207, controlling the servo motor to stop moving according to the currently determined closed-loop system; ending the flow;

s208, adjusting the gain coefficient corresponding to the position loop according to the first distance and a preset adjusting rule; executing S201;

s209, judging whether a closed loop system reconstruction condition is met; if yes, executing S201; if not, go to S202.

Based on the same inventive concept, embodiments of the present invention provide a control device for a servo motor, where an implementation principle of the control device is similar to that of the control method for the servo motor, so that reference may be made to the specific embodiment of the control device for specific implementation of the control method, and repeated details are not repeated.

Specifically, as shown in fig. 3, the control device for a servo motor according to an embodiment of the present invention may include:

a memory 301 for storing program instructions;

a processor 302, configured to call the program instructions stored in the memory 301, and execute, according to the obtained program:

controlling the servo motor to move according to the acquired current data and position data of the servo motor and a preset proportional-integral adjustment processing mode;

in the motion process of the servo motor, if the current loop control distortion is judged according to the position of the servo motor acquired in real time, setting an integral parameter corresponding to a speed loop to zero;

in the process of controlling the servo motor to continue moving according to the current data, the position data and a preset proportion regulation processing mode, if the first distance is judged to be smaller than a preset first threshold value, controlling the servo motor to stop moving;

wherein the first distance is: the distance between the current position of the servo motor and a preset target position in the position ring.

In the embodiment of the invention, when the current loop control distortion is judged, the integral parameters corresponding to the speed loop are cleared, and the processing mode of the motion speed of the servo motor is adjusted, namely the proportional-integral regulation is converted into the proportional regulation, so that the speed runaway and sudden change caused by integral result lag can be avoided, the oscillation and the jitter of the motion of the servo motor are further avoided, the motion stability of the servo motor is improved, and the control on the servo motor is further improved.

Optionally, in an embodiment of the present invention, the processor 302 is specifically configured to:

judging whether the first distance is smaller than a preset second threshold value or not; the second threshold is greater than the first threshold;

if so, determining the control distortion of the current loop;

if not, determining that the current loop control is not distorted.

Optionally, in an embodiment of the present invention, the processor 302 is further configured to:

when the first distance is judged to be not smaller than the first threshold value, adjusting the gain coefficient corresponding to the position loop according to the first distance and a preset adjusting rule;

and controlling the servo motor to continue moving according to the current data and the position data which are acquired again, the adjusted gain coefficient and the proportion adjustment processing mode.

Optionally, in an embodiment of the present invention, the processor 302 is further configured to:

and when the current loop control is judged not to be distorted according to the position of the servo motor acquired in real time, and when the preset reconstruction condition is determined to be met, controlling the servo motor to continue to move according to the current data and the position data acquired again and a proportional-integral regulation processing mode.

Based on the same inventive concept, an embodiment of the present invention provides a control system for a servo motor, as shown in fig. 4, including: the control device 401 and the acquisition structure 402 provided in the embodiment of the present invention;

wherein the acquisition structure 402 comprises: the servo motor position detection device comprises a single sampling resistor and a position collector, wherein the single sampling resistor is used for collecting current data of a servo motor;

the acquisition structure 402 is used to: the current data and the position data are collected, and the collected current data and the collected position data are transmitted to the control device 401, so that the control device 401 controls the servo motor to move according to the current data and the position data.

Optionally, in the embodiment of the present invention, the control system further includes other structures for implementing the functions of the control system, which can be specifically referred to in the prior art and will not be described in detail herein.

According to the control method, the control device and the control system of the servo motor, provided by the embodiment of the invention, when the control distortion of the current loop is judged, the integral parameters corresponding to the speed loop are cleared, and the processing mode of the motion speed of the servo motor is adjusted, namely, the proportional-integral regulation is converted into the proportional regulation, so that the speed runaway and sudden change caused by integral result lag can be avoided, the oscillation and the jitter of the motion of the servo motor are further avoided, the motion stability of the servo motor is improved, and the control of the servo motor is further improved.

It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.