阅读说明：本技术 一种伺服系统免调试控制方法及装置 (Debugging-free control method and device for servo system ) 是由 杨明 陈扬洋 徐殿国 于 2019-08-28 设计创作，主要内容包括：本申请涉及电机控制技术领域,公开了一种伺服系统免调试控制方法,包括：辨识机械参数；根据所述机械参数整定伺服系统的速度环控制器参数和位置环控制器参数；根据所述伺服系统的状态,开启对应的反馈回路。能够基于自动辨识的机械参数自整定控制器参数,并通过调节各种补偿系数开启对应反馈回路,实现稳定无超调的伺服控制系统,并且提高了系统的智能性和鲁棒性。本申请还公开了一种伺服系统免调试控制装置。(The application relates to the technical field of motor control, and discloses a debugging-free control method for a servo system, which comprises the following steps: identifying mechanical parameters; setting a speed ring controller parameter and a position ring controller parameter of a servo system according to the mechanical parameters; and starting a corresponding feedback loop according to the state of the servo system. The method can automatically adjust the controller parameters based on the automatically identified mechanical parameters, open the corresponding feedback loop by adjusting various compensation coefficients, realize a stable servo control system without overshoot, and improve the intelligence and robustness of the system. The application also discloses a debugging-free control device of the servo system.)

1. A debugging-free control method for a servo system is characterized by comprising the following steps:

identifying mechanical parameters;

Setting a speed ring controller parameter and a position ring controller parameter of a servo system according to the mechanical parameters;

And starting a corresponding feedback loop according to the state of the servo system.

2. The method of claim 1, wherein the identifying the mechanical parameter comprises:

Acquiring the rotating speed and the torque of a motor;

obtaining the mechanical parameters by a least square method according to the motor rotating speed and the motor torque;

The mechanical parameter includes a moment of inertia.

3. the method of claim 2, wherein tuning a speed loop controller parameter as a function of the mechanical parameter comprises:

The speed loop controller parameters include: velocity loop proportional gain and velocity loop integral constant;

Acquiring proportional gain of the speed ring according to the cut-off frequency of the speed ring open loop, the rotational inertia, the phase angle margin and the electromagnetic torque coefficient;

and acquiring the integral constant of the speed loop according to the expected bandwidth and the phase angle margin of the speed loop.

4. The method of claim 2, wherein tuning servo system position loop controller parameters based on the mechanical parameters comprises:

the position loop controller parameters include: position loop proportional gain;

And acquiring a position ring open-loop transfer function according to the rotational inertia, and acquiring the position ring proportional gain according to the position ring open-loop transfer function.

5. The method of claim 1, wherein said opening a corresponding feedback loop based on the state of the servo system comprises:

When the torque fluctuation value is larger than the torque fluctuation threshold value, starting an axle torque observation negative feedback loop;

When the speed fluctuation value is larger than the speed fluctuation threshold value, starting a torque state positive feedback loop;

And when the position error value is greater than the position error threshold value, starting a position instruction feedforward loop.

6. The method of claim 5, wherein the open shaft moment observation negative feedback loop comprises:

And controlling the opening of the shaft moment observation negative feedback loop through the resonance suppression compensation coefficient.

7. The method of claim 5, wherein the open torque state positive feedback loop comprises:

And controlling the opening of the torque state positive feedback loop through the immunity compensation coefficient.

8. The method of claim 5, wherein the open position command feed forward loop comprises:

and controlling the opening of the position instruction feedforward loop through the following compensation coefficient.

9. The method of claim 1, wherein said opening a corresponding feedback loop based on the state of the servo system comprises:

When the torque fluctuation value is larger than the torque fluctuation threshold value, controlling the shaft moment observation negative feedback loop to be opened through the resonance suppression compensation coefficient, and when the torque fluctuation value is smaller than or equal to the torque fluctuation threshold value, judging whether the speed fluctuation value is larger than the speed fluctuation threshold value or not;

When the speed fluctuation value is larger than the speed fluctuation threshold value, controlling a torque state positive feedback loop to be opened through an immunity compensation coefficient, and when the speed fluctuation value is smaller than or equal to the speed fluctuation threshold value, judging whether a position error value is larger than a position error threshold value or not;

and when the position error value is larger than the position error threshold value, controlling the position instruction feedforward loop to be opened through the following compensation coefficient.

10. A servo system debugging-free control device comprising a processor and a memory storing program instructions, wherein the processor is configured to execute the servo system debugging-free control method according to any one of claims 1 to 9 when executing the program instructions.

Technical Field

The present application relates to the field of motor control technologies, and for example, to a debugging-free control method and apparatus for a servo system.

Background

at present, a permanent magnet servo control system is widely applied to the fields of robots, numerical control machines and industrial automation due to the advantages of high positioning precision, high speed stabilizing precision, wide speed regulating range and high reliability. The parameter self-tuning strategy has been developed rapidly, however, it cannot be fully automatic.

In the process of implementing the embodiments of the present disclosure, it is found that at least the following problems exist in the related art: in the conventional parameter self-tuning strategy, the inertia identification and the parameter tuning of the controller still need to be manually carried out according to the specific requirements of a user, and the complete autonomy cannot be achieved.

disclosure of Invention

the following presents a simplified summary in order to provide a basic understanding of some aspects of the disclosed embodiments. This summary is not an extensive overview nor is intended to identify key/critical elements or to delineate the scope of such embodiments but rather as a prelude to the more detailed description that is presented later.

the embodiment of the disclosure provides a debugging-free control method and device for a servo system, so as to solve the technical problem how to realize automatic structure adjustment and control parameters of the servo system without human intervention.

In some embodiments, a method for debugging-free control of a servo system includes: identifying mechanical parameters; setting a speed ring controller parameter and a position ring controller parameter of a servo system according to the mechanical parameters; and starting a corresponding feedback loop according to the state of the servo system.

In some embodiments, a servo system debugging-free control device comprises: a processor and a memory storing program instructions, the processor being configured to execute the above-described debug-free control method for a servo system when executing the program instructions.

The debugging-free control method and device for the servo system provided by the embodiment of the disclosure can achieve the following technical effects: the method can automatically adjust the controller parameters based on the automatically identified mechanical parameters, open the corresponding feedback loop by adjusting various compensation coefficients, realize a stable servo control system without overshoot, and improve the intelligence and robustness of the system.

The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.

Drawings

One or more embodiments are illustrated by way of example in the accompanying drawings, which correspond to the accompanying drawings and not in limitation thereof, in which elements having the same reference numeral designations are shown as like elements and not in limitation thereof, and wherein:

FIG. 1 is a flow chart of a debugging-free control method for a servo system according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating a debugging-free control of a servo system according to an embodiment of the present disclosure;

FIG. 3 is a schematic diagram of a speed loop control architecture provided by embodiments of the present disclosure;

FIG. 4 is a schematic diagram of a position loop control architecture provided by an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of a negative feedback loop for shaft moment observation provided by an embodiment of the present disclosure;

FIG. 6 is a schematic diagram of a torque condition positive feedback loop provided by an embodiment of the present disclosure;

FIG. 7 is a flow diagram of a state evaluation system provided by embodiments of the present disclosure;

Fig. 8 is a schematic structural diagram of a debugging-free control device of a servo system according to an embodiment of the present disclosure.

Reference numerals:

100: a processor; 101: a memory; 102: a communication interface; 103: a bus.

Detailed Description

So that the manner in which the features and elements of the disclosed embodiments can be understood in detail, a more particular description of the disclosed embodiments, briefly summarized above, may be had by reference to the embodiments, some of which are illustrated in the appended drawings. In the following description of the technology, for purposes of explanation, numerous details are set forth in order to provide a thorough understanding of the disclosed embodiments. However, one or more embodiments may be practiced without these details. In other instances, well-known structures and devices may be shown in simplified form in order to simplify the drawing.

the performance of the system is directly determined by the controller parameters in servo control, so that how to realize on-line automatic identification of mechanical parameters, and simultaneously, the system stiffness is matched and the controller parameters are automatically adjusted to obtain the required system response is a key problem to be considered. Therefore, the comprehensive driving performance and the intelligent level of the motor are expected to be further improved in servo intelligent control, so that the problems are solved, a more intelligent driving control algorithm is researched, the operation can be completed without human intervention, and the function of a black box is really realized. In order to realize the technology of a black box, the embodiment of the disclosure provides a method and a device for controlling a servo system without debugging, which mainly identify the operating conditions and load changes of a servo motor in real time so as to automatically adjust a structure and set system control parameters, wherein the method mainly comprises the following steps: identifying mechanical parameters, automatically matching system rigidity, automatically tuning system controller parameters and judging system states, namely mechanical resonance, position following performance and system interference resistance in real time by utilizing a state evaluation system, namely an evaluation function, and torque, position and rotating speed thresholds; if the system generates mechanical resonance, an axial moment observation negative feedback loop is introduced to inhibit the system resonance; if the system position following performance needs to be improved, a position instruction feedforward loop is introduced to improve the following performance of the system; if the system is interfered by the outside, a torque state positive feedback loop is introduced to improve the system immunity.

Firstly, on-line identification of mechanical parameters is carried out, the rigidity of a system is matched, the current load model structure, namely a single inertia rigid system or a double inertia elastic system, is automatically judged, and the parameters of a controller are automatically adjusted; according to the identified load model structure, a plurality of supplementary links such as controller rigidity, position feedforward, load disturbance resistance and the like are automatically matched, and high-quality dynamic and static responses are obtained; if the system has an elastic load link, an axial moment observation negative feedback compensation link is started to eliminate negative effects such as mechanical resonance, clearance and the like. The debugging-free control method can simultaneously solve the problems of rigidity setting and vibration suppression of inertia change, can be applied to the fields with strict control performance requirements, such as high-grade numerical control machines, industrial robots and the like, and fully shows the technical advantages of a novel high-frequency servo system.

The embodiment of the present disclosure provides a debugging-free control method for a servo system, as shown in fig. 1 and fig. 2, including:

S101, identifying mechanical parameters;

S102, setting a speed loop controller parameter and a position loop controller parameter of a servo system according to mechanical parameters;

And S103, opening a corresponding feedback loop according to the state of the servo system.

In some embodiments, identifying the mechanical parameter includes: acquiring the rotating speed and the torque of the motor as identified input signals; obtaining the mechanical parameters by a least square method according to the motor rotating speed and the motor torque; the mechanical parameter includes a moment of inertia.

in some embodiments, the stiffness of the system is automatically matched based on the identified mechanical parameters, and the mechanical characteristics of the system at that time are determined, optionally including a single inertia rigid system or a dual inertia elastic system. If the single inertia rigid system is the single inertia rigid system, observing load torque variation in real time according to a torque observer and identifying mechanical parameters of the single inertia rigid system on the basis of the load torque variation; and if the double-inertia elastic system is the double-inertia elastic system, identifying mechanical parameters of the double-inertia system through an online system identification algorithm, optionally, the mechanical parameters include rigidity, rotational inertia, friction coefficient and the like of a servo system, wherein the rotational inertia of the double-inertia system includes rotational inertia of a motor and rotational inertia of a load.

The rotational inertia is an important parameter that affects the control performance of the system, and therefore, the identification accuracy of the rotational inertia in the servo system directly affects the parameters of the system controller, thereby directly resulting in the output performance of the system. Alternatively, there are two methods for the moment of inertia identification, off-line and on-line.

In some embodiments, an online system identification algorithm, i.e., a recursive least square method, is adopted to perform iteration, and finally, a rotational inertia identification value is obtained. To implement the self-iteration of the recursive least squares algorithm, it is found that the length of the observable data is varying, starting with initial conditions and updating past estimates with information contained in the new data. Thus, with an evaluation function, the optimal value of the parameter estimate is the minimum value point that can be reached by this evaluation function. Firstly, according to the motion equation of the electric traction system:

Where J is the moment of inertia, B is the coefficient of friction, ω is the angular velocity of the motor, which can be expressed as the differential of position, τ_LIs the load torque, and T_eThe electromagnetic torque output by the motor is shown, and t is the running time;

Wherein, by calculatingω is obtained, where θ is the angular displacement.

Through Z transformation, a motion equation on a time domain is utilized, a zero-order keeper method is utilized to convert the motion equation into a motor equation under a frequency domain, and the motor equation is discretized to obtain:

Where s is the Laplace transform operator, a₁And b₁For identifying coefficients, T is the sampling time, T_e(z) is a z-domain formal expression of electromagnetic torque, τ_L(z) is a z-domain formal expression of load torque, e is a natural constant, is an infinite acyclic fractional number, and is a transcendental number, which in some embodiments takes the value 2.71828.

wherein, by calculating: a is₁＝-exp(-BT/J)

b₁＝(1+a₁)/B

Obtaining the identification coefficient a₁And b₁Where J is the moment of inertia and B is the coefficient of friction.

Meanwhile, according to the least square principle, a least square estimation formula for identifying the moment of inertia is obtained:

ξ(n)＝d(n)-w^T(n-1)u(n)

P(n)＝λ^-1P(n-1)-λ^-1k(n)u^T(n)P(n-1)

Wherein the content of the first and second substances,

Where P (n) is a covariance matrix of M × M, λ is a normal number close to 1, k (n) is a gain matrix of order M × 1, u (n) is a branch input vector at time n^T(n) is the transpose of u (n), w (n) is the branch weight vector at time n,Branch weight vector estimate for time n, w^T(n) is the transpose of w (n), ξ (n) is the a priori estimation error, ξ^*(n) is the complex conjugate of xi (n), d (n) is the expected response of the system, and the inner product w^T(n-1) u (n) represents an estimate of the expected response d (n).

The moment of inertia J of the system is inversely solved from the finally obtained branch weight w (n),

By calculation ofobtaining a friction coefficient identification value and a rotational inertia identification value,

Wherein the content of the first and second substances,In order to identify the value of the coefficient of friction,Is the identification value of the moment of inertia.

In a dual inertia system, the rotational inertia is identifiedIncluding motor rotational inertia identificationAnd load moment of inertia identification value

In some embodiments, the moment of inertia J mayIs the rotational inertia identification value obtained by identificationIn a double-inertia system, the rotational inertia J of the motor_mCan be the motor inertia identification value obtained by identificationMoment of inertia J of load_lMay be the load moment of inertia identification value obtained by identification

the identification result of the actual system can be deduced according to the formula, and even under the condition of large deviation of the initial value of the system, the true value of the system can be finally obtained through convergence due to the capability of eliminating irrelevant signals of the algorithm. The algorithm of the Least Square method (RLS) has the advantages of high calculation speed and high accuracy, and can adapt to given conditions of various speed instructions such as slow step, slope and the like. Meanwhile, the identification process of the rotary inertia can be finished under the servo working condition by the online system identification algorithm, and the normal work of the equipment and the fluency of the production process are not influenced.

in some embodiments, tuning the speed loop controller parameter according to a mechanical parameter comprises: the speed loop controller parameters include: proportional gain K of speed loop_psAnd velocity loop integral constant K_is(ii) a Acquiring proportional gain of the speed ring according to the cut-off frequency of the speed ring open loop, the rotational inertia, the phase angle margin and the electromagnetic torque coefficient; and acquiring the integral constant of the speed loop according to the expected bandwidth and the phase angle margin of the speed loop.

In some embodiments, tuning servo system position loop controller parameters based on mechanical parameters includes: the position loop controller parameters include: position loop proportional gain K_pp(ii) a And acquiring a position ring open-loop transfer function according to the rotational inertia, and acquiring the position ring proportional gain according to the position ring open-loop transfer function.

In some embodiments, the speed loop controller parameters and the position loop controller parameters of the servo system are set by a frequency domain method according to the mechanical parameters;

in some embodiments, controller parameter tuning is performed through identified mechanical parameters, a model-based tuning strategy is adopted, and the premise is that controller parameters are calculated through a model method, and on the basis, a parameter self-tuning technology is divided into parameter self-tuning under a speed ring and parameter self-tuning under a position ring.

Optionally, setting a parameter of the speed loop controller by using a parameter self-setting algorithm according to the identified mechanical parameter, as shown in fig. 3, which is a structural block diagram of the speed loop controller, and calculating:

A speed loop open-loop transfer function is obtained,

wherein G is_so1(s) is the velocity loop open loop transfer function, K_psFor the proportional gain of the velocity loop, K_isIs a velocity loop integral constant, K_TIs the electromagnetic torque coefficient, J is the moment of inertia, T_eIs electromagnetic torque, ω_mThe number of revolutions of the motor is,in order to command the torque, the torque command,is a rotating speed instruction, and s is a Laplace transform operator.

the method is obtained by a speed loop open-loop transfer function and a speed loop amplitude phase frequency characteristic:

Wherein, ω is_scfor the open loop cut-off frequency of the speed loop,is the phase angle margin.

Wherein j is an engineering term representing a plurality.

Finally obtaining the proportional gain K of the speed loop_psEqual to the product of the cut-off frequency of the open loop of the speed loop and the rotational inertia, the sine value of the phase angle margin and the reciprocal of the electromagnetic torque coefficient; velocity loop integral constant K_isequal to the ratio of the desired bandwidth of the speed loop to the tangent of the phase angle margin.

Optionally, similarly to the parameter setting process of the speed loop controller, the position loop controller parameter is set by using a frequency domain method, that is, the position loop proportional gain K of the servo system is obtained through a position loop open-loop transfer function and an amplitude-phase frequency response expected by the system_pp。

as shown in fig. 4, which is a schematic diagram of a position loop control structure, by calculating:

obtaining a position loop open loop transfer function, wherein G_po1(s) is the position loop open loop transfer function, K_pf1For velocity feed-forward gain, K_pf2For acceleration feed-forward gain, K_ppProportional gain of position loop, K_psfor the proportional gain of the velocity loop, K_isis the velocity loop integral constant, J is the moment of inertia, K_TIs the electromagnetic torque coefficient, T_eIs electromagnetic torque, theta_mFor positional correspondence, θ^*In the form of a position command, the position command,as a torque command, ω_mThe number of revolutions of the motor is,Is a rotating speed instruction, and s is a Laplace transform operator.

setting the open loop cut-off frequency of the position loop to be omega according to given design targets_pcAnd then:

|G_po1(jω_pc)|＝1

meanwhile, the speed loop and the current loop are equivalent to 1, and the position loop proportional gain K of the servo system is obtained_ppEqual to the desired bandwidth of the position loop.

According to the requirement of position following property, position loop feedforward gain is introduced on the position loop, wherein the feedforward gain comprises speed feedforward gain K_pf1acceleration feedforward gain K_pf2。

Optionally, by calculating:

obtaining a position loop closed loop transfer function, wherein G_pc1(s) is a position loop closed loop transfer function, θ^*For position commands, theta_mis a position response.

in the disclosed embodiment, a position feedforward gain, namely a speed feedforward gain K is added_pf1Sum acceleration feedforward gain K_pf2based on the speed feedforward and the acceleration feedforward, the feedforward gain is matched, so that the position response completely follows the system instruction, the position following performance of the system is improved to a greater extent, and the quick positioning capability of the system is enhanced.

At the same time, make G_pc1(s) 1, i.e. theta_m＝θ^*And the obtained product of the velocity feedforward gain and the acceleration feedforward gain is equal to the ratio of the system moment of inertia to the electromagnetic torque coefficient:

The result is not influenced by the parameters of the position loop controller, so that the ideal position response is completely followed with the position command without overshoot and lag. And a slight gap can occur in an actual application system, but the delay of the system can be eliminated and the response of the system can be accelerated by adjusting the coefficient of the delay. In some embodiments, G cannot be guaranteed due to the existence of non-linear elements such as saturation clipping_pc1(s) ═ 1. But the delay of the system can be eliminated and the response can be accelerated by adjusting the following compensation coefficient.

based on the accurate mathematical model of the servo system, the parameters of the speed loop PI controller are obtained according to the expected bandwidth and the phase angle margin of the speed loop, so that the speed loop of the servo system has definite frequency domain performance indexes, and meanwhile, time domain performance indexes are considered. Meanwhile, in the design process, the design process is simplified by introducing a speed ring phase angle allowance regulation coefficient, and the complexity of an algorithm is reduced.

In some embodiments, an axial moment disturbance observer and a state observer are respectively proposed in the patent for the phenomenon that mechanical resonance and external disturbance occur in a double-inertia transmission system, wherein axial moment negative feedback is adopted to suppress the mechanical resonance of the system, and the state observer is adopted to improve the anti-disturbance performance of the system. Aiming at the position instruction following performance of the system, position instruction feedforward is provided, and compared with a basic position control structure, the position instruction feedforward increases the speed feedforward gain K_pf1sum acceleration feedforward gain K_pf2. Based on the position loop closed loop transfer function, the ideal position response theta is obtained_mfully following position command θ^*no overshoot and no lag, and improves the position following performance of the system.

In some embodiments, said opening a corresponding feedback loop according to the state of said servo system comprises: obtaining a torque fluctuation value according to a torque instruction and torque feedback information obtained by a sensor, and starting an axial moment observation negative feedback loop when a servo system generates mechanical resonance when the torque fluctuation value is larger than a torque fluctuation threshold value; the torque command is the initial input torque of the system, and the torque feedback information is the output torque of the system.

Obtaining a speed fluctuation value according to the obtained rotating speed instruction and the rotating speed feedback information, and starting a torque state positive feedback loop when the speed fluctuation value is greater than a speed fluctuation threshold value and load disturbance occurs outside a servo system; the rotating speed instruction is the initial input rotating speed of the system, and the rotating speed feedback information is the output rotating speed of the system.

Obtaining a position error value according to the obtained position instruction and position feedback information, and when the position error value is greater than a position error threshold value, a servo system generates a position error and the following performance needs to be improved, starting a position instruction feedforward loop; the position instruction is system initial input position information, and the position feedback information is system output position information.

in some embodiments, an open axle torque observation negative feedback loop comprises: under the condition that the system generates mechanical resonance, the on or off of the shaft moment observation negative feedback loop is controlled by adjusting the resonance suppression compensation coefficient, and the resonance suppression compensation coefficient simultaneously adjusts the feedback strength of the system, so that the steady-state and transient vibration of the system is suppressed.

in some embodiments, if elastic resonance occurs in the dual inertia system, the resonance suppression compensation coefficient is adjusted to open the axis moment observation negative feedback loop, and the feedback strength is adjusted to suppress the resonance. FIG. 5 is a schematic diagram of a negative feedback loop for observing the axial moment based on the compensation coefficient of resonance suppression, where ω is_refFor setting the speed of the rotating speed ring, ASR is an automatic speed regulator, ACR is an automatic current regulator, DOB is an axial moment disturbance observer,In order to command the torque, the torque command,is an observed value of shaft moment disturbance, K is a feedback gain coefficient, T_eFor electromagnetic torque, T_las load torque, ω_mis the motor speed, omega_lAlpha is the resonance suppression compensation coefficient for the load speed.

By calculating:Obtaining a transfer function of a rotating speed ring;

By calculating:Obtaining a torque loop transfer function;

By calculating:Obtaining the observed value of the shaft moment disturbance,

wherein g is the observer bandwidth and a is a fractional order low pass filterorder, J_mIs the moment of inertia of the motor, omega_mIs the motor speed, T_ein order to be an electromagnetic torque,As an observed value of shaft moment disturbance, K_psFor the proportional gain of the velocity loop, K_isis a velocity loop integral constant, K_pifor proportional gain of current loop, K_iis the current loop integral constant, and s is the Laplace transform operator.

the shaft moment disturbance observer is used for observing the shaft moment of a transmission shaft and correspondingly compensating the electromagnetic torque according to the observed shaft moment. After the compensation of the shaft moment disturbance observer, the electromagnetic torque at the tooth gap separation stage can be reduced, the speed difference during meshing is reduced, the influence of the shaft moment disturbance on the electromagnetic torque is compensated, and further the mechanical resonance is reduced. Then the resonance suppression compensation coefficient is added on the axle moment observation negative feedback loop to change the compensation magnitude of the electromagnetic torque to change the degree of the mechanical resonance suppression of the system.

in some embodiments, when the resonance suppression compensation coefficient alpha is continuously increased, the electromagnetic torque compensation for the servo system is increased, and the resonance suppression capability is continuously enhanced, but if the compensation coefficient is increased without limitation, the system response is delayed, and the stable operation cannot be realized.

In some embodiments, the positive feedback loop for an open torque condition further comprises: under the condition that the system generates external load disturbance, the torque state positive feedback loop is controlled to be opened or closed by adjusting an immunity compensation coefficient beta, and the immunity compensation coefficient simultaneously adjusts the feedback strength of the immunity compensation coefficient, so that the anti-interference capability of the system is improved.

in some embodiments, in a dual-inertia system, when external interference of sudden load and sudden load shedding occurs, the anti-interference capability of the system is improved by adjusting the anti-interference compensation coefficient, starting a torque state positive feedback loop and adjusting the feedback strength. As shown in fig. 6, which is a schematic diagram of a torque state positive feedback loop based on an immunity compensation factor,

By calculating:Obtaining a transfer function of a rotating speed ring;

By calculating:obtaining a torque loop transfer function;

By calculating:

And obtaining the motor rotating speed observed value differential, the load rotating speed observed value differential, the shaft moment disturbance observed value differential and the load torque observed value differential.

Wherein, K₁And K₂In order to feed back the gain factor,as an observation of the load torque,for observed differences in rotational speed, T_eFor electromagnetic torque, T_lAs load torque, ω_mIs the motor speed, omega_lTo load speed, J_mis the moment of inertia of the motor, J_lTo load moment of inertia, K_psfor the proportional gain of the velocity loop, K_isis a velocity loop integral constant, K_piFor proportional gain of current loop, K_iIs the integral constant of the current loop,In order to perturb the observed value of the axial moment,Is an observed value of the rotating speed of the motor,As observed values of the speed of the loaded motor, K_sbeta is the noise immunity compensation coefficient,As a torque command, ω_refFor a given speed of the speed loop,is the observed value differential of the motor rotating speed,To differentiate the observed value of the load speed,to differentiate the observed value of the shaft moment disturbance,As a differential of the observed value of the load torque,/₁、l₂、l₃And l₄All are coefficients, with no specific dimension.

The state observer effectively estimates the torque and the rotating speed difference on the load side, so that when external interference such as sudden load shedding of a rated load is caused, the observed load value is used for carrying out positive feedback compensation on cross-axis current, the disturbance of the load is restrained, dynamic speed drop is reduced, recovery time is shortened, the purpose of enhancing the system immunity is achieved, a compensation coefficient is added into a compensation loop, the compensation capacity is changed, and the immunity performance is controlled.

In some embodiments, the open position command feed forward loop comprises: under the condition that the system has position errors, the position instruction feedforward loop is controlled to be opened or closed by adjusting the following compensation coefficient, and the following compensation coefficient simultaneously adjusts the feedforward intensity of the feedforward loop, so that the position following performance of the system is improved.

in some embodiments, if the external needs to improve the position following performance of the system, the position command feedforward loop switch is started, and the following performance compensation coefficient K is adjusted_gThe feedback intensity is controlled, and the system position following performance is improved.

compensation coefficient alpha, noise immunity compensation coefficient beta and through resonance suppressionFollowing compensation coefficient K_gthe three coefficients are used for scaling the compensation quantity obtained by the system calculation, namely, the larger each compensation coefficient is, the stronger the compensation effect is, the smaller each compensation coefficient is, the smaller the compensation effect is, and the zero each compensation coefficient is, the corresponding feedback is not started, so that the starting and compensation states of each feedback loop are controlled.

In some embodiments, said opening a corresponding feedback loop according to the state of said servo system comprises: when the torque fluctuation value is larger than the torque fluctuation threshold value, controlling the axle torque observation negative feedback loop to be opened through the resonance suppression compensation coefficient; when the torque fluctuation value is less than or equal to the torque fluctuation threshold value, judging whether the speed fluctuation value is greater than the speed fluctuation threshold value; when the speed fluctuation value is larger than the speed fluctuation threshold value, controlling the torque state positive feedback loop to be opened through an immunity compensation coefficient; when the speed fluctuation value is less than or equal to the speed fluctuation threshold value, judging whether the position error value is greater than the position error threshold value; and when the position error value is larger than the position error threshold value, controlling the position instruction feedforward loop to be opened through the following compensation coefficient.

In some embodiments, as shown in fig. 7, for a state evaluation system flowchart, first, according to the acquired torque information, i.e. torque command and torque feedback information, it is determined whether the torque fluctuation value is greater than a torque fluctuation threshold value through an evaluation function, if so, it is determined that the system has mechanical resonance, and a corresponding feedback loop is turned on to control the suppression of the resonance by adjusting a resonance suppression compensation coefficient; if the torque fluctuation is less than or equal to the torque fluctuation threshold value, the mechanical resonance of the system does not occur, but the system noise immunity is reduced; then, judging whether the speed fluctuation value is greater than a speed fluctuation threshold value or not according to the acquired rotation speed information, namely a rotation speed instruction and rotation speed feedback information, if so, judging that the anti-interference performance of the system does not meet the standard requirement, and opening a corresponding feedback loop by adjusting an anti-interference compensation coefficient to improve the anti-interference performance of the system; if the speed fluctuation threshold value is less than or equal to the speed fluctuation threshold value, the anti-interference performance of the system reaches the standard requirement, but the position following performance of the system is reduced; finally, according to the obtained position information, namely the position instruction and the position feedback information, judging whether the position error value is larger than a bit or notAnd setting an error threshold, if the error threshold is larger than the position error threshold, judging that the following performance of the system does not meet the standard requirement, starting a corresponding feedback loop by adjusting a following compensation coefficient to improve the following performance of the system, and otherwise, finishing the evaluation system. Therefore, the corresponding resonance suppression compensation coefficient alpha, the disturbance rejection compensation coefficient beta and the following compensation coefficient K are adjusted according to the judgment of the torque, the rotating speed, the position command and the feedback information and the corresponding threshold values_gAnd a stable servo control system without static error and overshoot and high robustness is obtained.

in some embodiments, according to the conflict between resonance suppression and interference resistance, the gain of the system controller is increased, the rigidity of the system is increased, the interference resistance of the system is enhanced, but the mechanical resonance of the system occurs, while the gain of the controller is reduced, the rigidity is reduced, the mechanical resonance of the system does not occur, but the interference resistance of the system is reduced. According to the embodiment of the disclosure, the compensation coefficient is introduced on the basis of positive and negative feedback, the feedback strength is controlled by changing the corresponding compensation coefficient, and the anti-interference performance of the system can be improved on the premise of inhibiting the mechanical resonance of the system. The feedforward control is added aiming at the following performance of the position loop system, so that the following performance of the system is improved, but oscillation may occur in a stable state; at the moment, the compensation coefficient of the corresponding feedback loop is adjusted according to the state evaluation system, and oscillation does not occur in a steady state on the premise of improving the position following performance of the system. And finally, the resonance suppression, the system interference resistance and the position following performance are coordinated and balanced to obtain a stable, overshooting-free and high-robustness intelligent servo system.

Therefore, through the three feedback loops, different working conditions are responded, a full-automatic intelligent debugging-free technology is realized, and a real black box can be realized.

the disclosed embodiment provides a debugging-free control method for a servo system, which comprises the steps of firstly identifying mechanical parameters of the system according to a system identification algorithm, and setting parameters of a speed ring and a position ring controller according to the identified mechanical parameters; judging the working condition of the system through a state evaluation system, and if judging that system vibration occurs, automatically starting an axial moment observation negative feedback loop in real time by the system to inhibit the system vibration; if the external interference of the system is judged, the system starts a torque state positive feedback loop in real time to improve the anti-interference of the system; if the system needs to improve the position following performance, the system starts a position instruction feedforward loop in real time, the following performance of a system position loop is improved, an intelligent debugging-free technology is achieved, meanwhile, different feedback loops can be started to adjust according to different working conditions met by the system, the compensation coefficient is controlled, the compensation feedback strength is adjusted, the robustness of the system is improved, a stable servo system with high following performance is obtained, and a full-automatic debugging-free technology is achieved.

The embodiment of the present disclosure provides a debugging-free control device for a servo system, the structure of which is shown in fig. 8, including: a processor (processor)100 and a memory (memory)101 storing program instructions may also include a Communication Interface (Communication Interface)102 and a bus 103. The processor 100, the communication interface 102, and the memory 101 may communicate with each other via a bus 103. The communication interface 102 may be used for information transfer. The processor 100 may call the program instructions in the memory 101 to execute the debugging free control method of the servo system of the above-described embodiment.

in addition, the logic instructions in the memory 101 may be implemented in the form of software functional units and stored in a computer readable storage medium when the logic instructions are sold or used as independent products.

The memory 101, which is a computer-readable storage medium, may be used for storing software programs, computer-executable programs, such as program instructions/modules corresponding to the methods in the embodiments of the present disclosure. The processor 100 executes the functional application and data processing by executing the software program, instructions and modules stored in the memory 101, so as to implement the debugging-free control method of the servo system in the above-described method embodiment.

The memory 101 may include a storage program area and a storage data area, wherein the storage program area may store an operating system, an application program required for at least one function; the storage data area may store data created according to the use of the terminal device, and the like. In addition, the memory 101 may include a high-speed random access memory, and may also include a nonvolatile memory.

According to the debugging-free control device of the servo system in the embodiment, the debugging-free control device of the servo system provided by the embodiment of the disclosure can automatically adjust the controller parameters based on the automatically identified mechanical parameters, and open the corresponding feedback loop by adjusting various compensation coefficients, so that the servo control system without overshoot is stabilized, and the intelligence and robustness of the system are improved.

The embodiment of the disclosure provides a computer-readable storage medium, which stores computer-executable instructions configured to execute the debugging-free control method of the servo system.

The embodiment of the disclosure provides a computer program product, which includes a computer program stored on a computer-readable storage medium, and the computer program includes program instructions, and when the program instructions are executed by a computer, the computer executes the debugging-free control method of the servo system.

The computer-readable storage medium described above may be a transitory computer-readable storage medium or a non-transitory computer-readable storage medium.

the technical solution of the embodiments of the present disclosure may be embodied in the form of a software product, which is stored in a storage medium and includes one or more instructions for enabling a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method of the embodiments of the present disclosure. And the aforementioned storage medium may be a non-transitory storage medium comprising: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk, and other various media capable of storing program codes, and may also be a transient storage medium.

The above description and drawings sufficiently illustrate embodiments of the disclosure to enable those skilled in the art to practice them. Other embodiments may incorporate structural, logical, electrical, process, and other changes. The examples merely typify possible variations. Individual components and functions are optional unless explicitly required, and the sequence of operations may vary. Portions and features of some embodiments may be included in or substituted for those of others. The scope of the disclosed embodiments includes the full ambit of the claims, as well as all available equivalents of the claims. As used in this application, although the terms "first," "second," etc. may be used in this application to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, unless the meaning of the description changes, so long as all occurrences of the "first element" are renamed consistently and all occurrences of the "second element" are renamed consistently. The first and second elements are both elements, but may not be the same element. Furthermore, the words used in the specification are words of description only and are not intended to limit the claims. As used in the description of the embodiments and the claims, the singular forms "a", "an" and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. Similarly, the term "and/or" as used in this application is meant to encompass any and all possible combinations of one or more of the associated listed. Furthermore, the terms "comprises" and/or "comprising," when used in this application, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof. Without further limitation, an element defined by the phrase "comprising an …" does not exclude the presence of other identical elements in a process, method or device comprising the element. In this document, each embodiment may be described with emphasis on differences from other embodiments, and the same and similar parts between the respective embodiments may be referred to each other. For methods, products, etc. of the embodiment disclosures, reference may be made to the description of the method section for relevance if it corresponds to the method section of the embodiment disclosure.

Those of skill in the art would appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software may depend upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the disclosed embodiments. It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working processes of the system, the apparatus and the unit described above may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the embodiments disclosed herein, the disclosed methods, products (including but not limited to devices, apparatuses, etc.) may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, a division of a unit may be merely a division of a logical function, and an actual implementation may have another division, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form. Units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to implement the present embodiment. In addition, functional units in the embodiments of the present disclosure may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.

The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to embodiments of the present disclosure. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). In some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. In the description corresponding to the flowcharts and block diagrams in the figures, operations or steps corresponding to different blocks may also occur in different orders than disclosed in the description, and sometimes there is no specific order between the different operations or steps. For example, two sequential operations or steps may in fact be executed substantially concurrently, or they may sometimes be executed in the reverse order, depending upon the functionality involved. Each block of the block diagrams and/or flowchart illustrations, and combinations of blocks in the block diagrams and/or flowchart illustrations, can be implemented by special purpose hardware-based systems that perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.