CN111522328A - Method and device for self-tuning of servo system and servo system - Google Patents

Method and device for self-tuning of servo system and servo system Download PDF

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CN111522328A
CN111522328A CN202010328646.8A CN202010328646A CN111522328A CN 111522328 A CN111522328 A CN 111522328A CN 202010328646 A CN202010328646 A CN 202010328646A CN 111522328 A CN111522328 A CN 111522328A
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theoretical
characteristic signal
servo
speed
servo system
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杨明
陈扬洋
徐殿国
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Harbin Institute of Technology
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Harbin Institute of Technology
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B23/00—Testing or monitoring of control systems or parts thereof
    • G05B23/02—Electric testing or monitoring
    • G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
    • G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
    • G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
    • 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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  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Power Engineering (AREA)
  • Feedback Control In General (AREA)

Abstract

The application relates to the technical field of servo systems, and discloses a method for self-tuning of a servo system, which comprises the following steps: generating a position instruction according to the composite constraint; obtaining a characteristic signal when the position instruction is executed; and adjusting the system rigidity according to the characteristic signal. The composite constraint is determined according to the characteristics of the servo system and the application working condition, then a position instruction for controlling the rotation of the servo motor is generated according to the composite constraint, further a characteristic signal when the servo system executes the position instruction is obtained, and finally the rigidity of the servo system is adjusted according to the characteristic signal value. Therefore, the characteristics of the servo system and the characteristics of the application working condition are fully considered, and the adjustment is not carried out according to a program preset in a servo driver, so that the adaptability of the self-tuning method of the servo system is improved. The application also discloses a servo system.

Description

Method and device for self-tuning of servo system and servo system
Technical Field
The present application relates to the field of servo systems, and for example, to a method and an apparatus for self-tuning a servo system, and a servo system.
Background
At present, in most industrial production equipment, there is a strict limitation on the displacement of a driven object of a servo system, and in high precision equipment such as optical equipment, even velocity and acceleration are restricted in order to prevent the equipment from being damaged. Due to the diversity of the driven objects, a servo system needs to perform a series of parameter adjustments before being put into use formally so as to adapt to the characteristics of the driven objects and meet the personalized requirements of customers.
In the past, the adjustment of parameters is mostly completed manually, the steps are complicated, if an adjuster does not have enough professional servo knowledge or control theory basis, the adjustment result is easily not expected, and even the condition of adjustment failure or equipment damage occurs.
In recent years, many servo system self-tuning algorithms have emerged, all with the goal of achieving automatic searching and automatic tuning of servo drive parameters or stiffness. However, in industrial application, the algorithm still has many problems, for example, the algorithm too pursues an ideal operation condition, lacks constraint of instruction input, and causes situations that an operation flow in the algorithm cannot be realized, a control effect evaluation index cannot be completely reproduced, and the like, so that the algorithm cannot adapt to the current operation condition, and has low adaptability.
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 method and a device for self-tuning of a servo system and the servo system, so as to solve the technical problem of low adaptability of the self-tuning algorithm of the existing servo system.
In some embodiments, the method comprises: generating a position instruction according to the composite constraint; obtaining a characteristic signal when the position instruction is executed; and adjusting the system rigidity according to the characteristic signal.
In some embodiments, the apparatus includes a processor and a memory storing program instructions, the processor being configured to, upon execution of the program instructions, perform the method for servo self-tuning described above.
In some embodiments, the servo system comprises the above-described means for self-tuning of the servo system.
The method and the device for self-tuning of the servo system and the servo system provided by the embodiment of the disclosure can realize the following technical effects: the composite constraint is determined according to the characteristics of the servo system and the application working condition, then a position instruction for controlling the rotation of the servo motor is generated according to the composite constraint, further a characteristic signal when the servo system executes the position instruction is obtained, and finally the rigidity of the servo system is adjusted according to the characteristic signal value. Therefore, the characteristics of the servo system and the characteristics of the application working condition are fully considered, and the adjustment is not carried out according to a program preset in a servo driver, so that the adaptability of the self-tuning method of the servo system is improved.
The foregoing general description and the following description are exemplary and explanatory only and are not restrictive of the application.
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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 schematic diagram of a method for self-tuning a servo system provided by an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method for self-tuning a servo system provided by an embodiment of the present disclosure;
FIG. 3 is a schematic diagram of a position increment curve provided by an embodiment of the present disclosure;
FIG. 4 is a schematic diagram of a position increment curve provided by an embodiment of the present disclosure;
FIG. 5 is a schematic diagram of an apparatus for self-tuning a servo system according to an embodiment of the present disclosure.
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.
It should be understood that the data so used may be interchanged under appropriate circumstances such that embodiments of the present disclosure described herein may be made. Furthermore, the terms "comprising" and "having," as well as any variations thereof, are intended to cover non-exclusive inclusions.
Servo systems, also known as servo systems, are feedback control systems used to accurately follow or replicate a process. In many cases, the servo system is exclusively a feedback control system in which the controlled quantity is displacement, velocity, or acceleration. The servo system typically includes a controller, a servo driver, a servo motor, and an encoder. The controller adjusts the control quantity according to the difference between the set value of the numerical control system and the actual operation value detected by the encoder.
There are three control modes of the servo motor, a speed control mode, a torque control mode and a position control mode. The embodiments described below are implemented primarily in a position-controlled manner.
In conjunction with fig. 1, an embodiment of the present disclosure provides a method for self-tuning of a servo system, including:
s01: the position instruction is generated according to the composite constraint.
S02: characteristic signals are obtained when the position command is executed.
S03: and adjusting the system rigidity according to the characteristic signal.
By adopting the method for self-tuning of the servo system provided by the embodiment of the disclosure, the composite constraint is determined according to the characteristics of the servo system and the application working condition, then the position command for controlling the rotation of the servo motor is generated according to the composite constraint, further the characteristic signal when the servo system executes the position command is obtained, and finally the rigidity of the servo system is adjusted according to the characteristic signal value. Therefore, the characteristics of the servo system and the characteristics of the application working condition are fully considered, and the adjustment is not carried out according to a program preset in a servo driver, so that the adaptability of the self-tuning method of the servo system is improved.
Composite constraints refer to constraints that need to be considered when generating a position instruction. In the process of driving mechanical equipment to move by a servo system, at least three control quantities, namely displacement, speed and acceleration, are provided, and the requirements on the three control quantities are different in different application scenes, for example, in high-precision equipment such as optical equipment, in order to prevent the equipment from being damaged, the displacement of the equipment driven by the servo system is strictly restricted, and in addition, the speed and the acceleration are restricted. Therefore, according to the requirements of different application scenarios, when setting the position command of the servo system, the position command needs to be constrained according to the composite constraint. Composite constraints include one or more of the following: displacement constraints, velocity constraints, and acceleration constraints.
For example, the displacement constraint θ is included in the composite constraintth，θthIs positive, the actual motor operation displacement is positive, and approaches to theta to the maximum extentthBut not exceeding thetathSetting the maximum displacement in the positive direction of the actual motor as thetamaxThen there is thetamax≤θthAnd thetamaxIs greater than 0; inclusion of the velocity constraint ω in the composite constraintth，ωthThe absolute value of positive and negative maximum rotating speed of actual motor operation rotating speed is enabled to be close to omega to the maximum extentthBut not exceeding ωthSetting the absolute value of the maximum rotation speed of the actual motor as | omegam|maxThen | ω is presentm|max≤ωthAnd | ωm|maxIs greater than 0; including acceleration constraints a in compound constraintsthThe absolute value of positive and negative maximum rotating speed of actual motor operation is made to approach a to the maximum extentthBut not more than athThe absolute value of the maximum acceleration of the actual motor is set to | am|maxThen | a is presentm|max≤athAnd | am|max＞0。
And according to one or more of the displacement constraint, the speed constraint and the acceleration constraint, the generation of the position command is constrained, and finally the position command meeting the user requirement is calculated.
Optionally, generating the position command according to the displacement constraint, the velocity constraint and the acceleration constraint comprises:
and determining theoretical motion parameters when the position command is executed according to the displacement constraint, the speed constraint and the acceleration constraint.
And generating the position instruction according to the theoretical motion parameter.
In practical applications, the theoretical motion parameters (displacement, theoretical velocity and theoretical acceleration) when executing the position command cannot exceed the corresponding constraints in the complex constraints. For example, the displacement is less than or equal to the displacement constraint, the theoretical velocity is less than or equal to the velocity constraint, and the theoretical acceleration is less than or equal to the acceleration constraint. Therefore, the self-tuning movement process can meet the use requirements of customers, and the conditions such as equipment damage can not be caused. The displacement of the position command is the displacement of the theoretical motion parameters, the differential of the position command is the theoretical velocity, and the differential of the theoretical velocity is the theoretical acceleration. Taking the displacement, the theoretical velocity and the theoretical acceleration as the displacement, the velocity and the acceleration of the position command, three variables describing the motion are determined, and the corresponding position command is generated according to the three variables.
Optionally, a rectangular coordinate system is established with time as an abscissa and the theoretical velocity as an ordinate, and the theoretical velocity is expressed in the coordinate system to generate a theoretical velocity-time curve. The position command is the integral of this theoretical velocity-time curve.
Optionally, the position command comprises a position command for forward rotation of the servo motor and a position command for reverse rotation of the servo motor. Since the servo system may need to move back and forth a plurality of times within a displacement range during self-tuning, and cannot move infinitely in a certain direction, the position command includes both a command for forward rotation and a command for reverse rotation of the servo motor.
Optionally, due to the influence of the motion inertia of the servo motor itself and the inertia of the driven device, the servo motor cannot complete switching at a preset position or a preset time when performing forward and reverse rotation switching, so that a static position instruction with a preset duration needs to be set between a forward rotation position instruction and a reverse rotation position instruction of the servo motor to buffer the forward and reverse rotation of the servo motor.
Alternatively, the position instruction may be a periodic position instruction. The servo system self-tuning cannot be completed in the process of executing the position command of the forward rotation of the servo motor, the static command with the preset duration and the position command of the reverse rotation of the servo motor, so that the position command needs to be executed again or for multiple times.
When the position command is a periodic position command, the theoretical velocity-time curve expressed in the coordinate system is also a periodic curve.
Optionally, the position command for forward rotation of the servo motor and the position command for reverse rotation of the servo motor both include a uniform acceleration position command and a uniform deceleration position command. The servo motor is in a static state before the position command is executed, and the servo motor returns to the static state after the position command is executed, so that the acceleration and the deceleration are performed when the position command of the forward rotation of the servo motor and the position command of the reverse rotation of the servo motor are executed, and the acceleration and the deceleration can be performed uniformly firstly and then uniformly in order to make the movement smoother.
For example, when
Figure BDA0002464150340000051
The specific description of one period of the periodic theoretical velocity-time curve is: the servo motor uniformly accelerates and then decelerates, the theoretical speed time curve is triangle, and the acceleration and deceleration time length t is2Are all (theta)th/ath)0.5Acceleration of the acceleration section is athAcceleration of deceleration section is-ath. Between two symmetrical positive and negative triangles, adding a fixed time length of t1Speed 0 segment.
Optionally, when the sum of the displacement of the uniform acceleration position instruction and the displacement of the uniform deceleration position instruction is smaller than the displacement constraint, the position instruction further includes a uniform speed position instruction. When the displacement constraint and the acceleration constraint are large, and the speed constraint is small, in order to improve the theoretical acceleration as much as possible while the displacement of the position instruction is close to the displacement constraint, the uniform motion needs to be added in the motion process.
For example, when
Figure BDA0002464150340000052
The specific description of one period of the periodic theoretical velocity-time curve is: referring to FIG. 3, the servo motor is uniformly accelerated, uniformly decelerated, and uniformly decelerated, the theoretical speed time curve is trapezoidal, and the acceleration and deceleration time lengths are t2＝ωth/athAcceleration of the acceleration section is athAcceleration of deceleration section is-ath. The time lengths of the positive and negative constant speed sections are all t3＝(θth-ω2th/ath)/ωthThe rotating speed of the positive uniform speed section is omegathThe rotating speed of the negative uniform speed section is-omegath. Between two symmetrical positive and negative trapezoids, a fixed time length t is added1 Speed 0 segment.
For example, let θth＝20πrad，ωth＝(2000π/60)rad/s，ath＝(20000π/60)rad/s2It can be known that the theoretical velocity-time curve in this case is trapezoidal, and the time length t of acceleration and deceleration2Are all omegath/ath0.1s, acceleration of acceleration segment is ath＝(20000π/60)rad/s2Acceleration of deceleration section is-ath＝(-20000π/60)rad/s2. Time length t of positive and negative uniform speed sections3Are all (theta)th-ω2th/ath)/ωth0.5s, the rotation speed of the positive uniform speed section is omegathThe rotating speed of the negative uniform speed section is-omegath(-2000 pi/60) rad/s. In particular, between two symmetrical positive and negative trapezoids, a fixed time length t is added10 speed segment of (1), set t1＝0.5s。
Obtaining a characteristic signal when executing a position instruction, comprising:
when the position instruction is executed, acquiring an actual speed;
and obtaining a characteristic signal according to the theoretical speed and the actual speed.
The servo system has speed feedback, torque feedback and position feedback in the action process and is respectively used for feeding back the actual speed, the actual torque and the actual position of the servo motor. The actual speed of the servo motor can be acquired in real time when the position command is executed, and the characteristic signal is determined by combining the theoretical speed of the position command.
Alternatively, the characteristic signal may be an absolute value of the difference between the theoretical speed and the actual speed.
Alternatively, the characteristic signal is taken separately for each segment of the theoretical speed-time curve. For example, in the above-mentioned trapezoidal theoretical velocity-time curve, characteristic signals are respectively taken for two waist edges, top edges and zero velocity segments of the trapezoid. The signature signal for each segment is equal to the average of the absolute values of the differences of the position increment and the actual speed within the segment.
Optionally, the characteristic signal is compared with a preset threshold, and the stiffness of the system is adjusted according to the magnitude relationship between the characteristic signal and the preset threshold. Similarly, the stiffness of the system may be adjusted according to the proportional relationship between the characteristic signal and the preset threshold, which is not limited herein.
Optionally, adjusting the system stiffness according to the characteristic signal includes: and when the characteristic signal is less than or equal to a preset threshold value, increasing the system rigidity. The system stiffness can be increased by a fixed step length when being increased, and can also be flexibly selected according to a preset rule or a practical application working condition, and the method is not limited herein.
For example, after each of the zero speed stage, the acceleration stage, the constant speed stage and the deceleration stage is finished, if the characteristic signal P does not exceed the threshold PthThe stiffness g of the system is then changed from the initial state goriAt a fixed step length gincGradually increasing in size.
Optionally, adjusting the system stiffness according to the characteristic signal includes: and when the characteristic signal is greater than a preset threshold value, reducing the system rigidity. When the system rigidity is reduced, the system rigidity can be reduced by a fixed step length, and the system rigidity can also be flexibly selected according to a preset rule or a practical application working condition, and is not limited herein.
For example, after each of the zero speed stage, the acceleration stage, the constant speed stage and the deceleration stage is finished, if the characteristic signal P exceeds the threshold PthThe stiffness g of the system is then reduced by a step ginc。
Optionally, adjusting the system stiffness according to the characteristic signal, further includes: and outputting an adjusting result when the characteristic signal is less than or equal to the preset threshold value and reaches the preset times. The preset times can be flexibly set according to the actual application working condition and the adjustment difficulty, and can also be preset in a program in advance. The adjustment result refers to a stiffness value determined according to the current stiffness, optionally, the current stiffness g is multiplied by a margin coefficient q as the adjustment result, where 0 < q < 1.
For example, after each of the zero speed stage, the acceleration stage, the constant speed stage and the deceleration stage is finished, if the characteristic signal P does not exceed the threshold PthAnd if the numerical value in the counter is larger than or equal to the preset times, outputting the current rigidity g of the system multiplied by a margin coefficient q as an adjustment result, wherein q is more than 0 and less than 1.
Optionally, when the characteristic signal is less than or equal to the preset threshold and reaches the preset number of times, outputting an adjustment result, and before the step, further including:
the characteristic signal is greater than a preset threshold value, and the system rigidity is reduced;
and when the characteristic signal is less than or equal to a preset threshold value, keeping the rigidity of the system unchanged.
Optionally, after each of the zero-speed stage, the acceleration stage, the constant-speed stage, and the deceleration stage is finished, the step is designed to be performed once if the characteristic signal does not exceed the preset threshold.
For example, after each of the zero speed stage, the acceleration stage, the constant speed stage and the deceleration stage is finished, if the characteristic signal P exceeds the threshold PthThe stiffness g of the system is then reduced by a step gincThen, the magnitude of the characteristic signal P is continuously monitored, if the characteristic signal P does not exceed the threshold value PthIf the characteristic signal P does not exceed the threshold value P, the rigidity g of the system is kept unchanged, and the stability repeated check state is enteredthAnd adding 1 to the numerical value in the stable counter, and multiplying the current rigidity g of the output system by a margin coefficient q as a setting result if the numerical value in the counter is more than or equal to the preset times, wherein q is more than 0 and less than 1.
Optionally, adjusting the system stiffness according to the characteristic signal, further includes: and when the rigidity of the current system is smaller than the rigidity of the initial system, finishing the adjustment. One of the purposes of the adjustment of the servo system is to obtain the maximum stiffness of the system while meeting the actual application requirements so as to improve the response speed of the servo system, so that if the current system stiffness is smaller than the initial system stiffness, the adjustment process is proved to have a fault, and the adjustment is finished.
Optionally, ending the adjustment comprises alerting the user to perform fault detection of the system state.
Optionally, the ending adjustment comprises: and stopping the servo system, recovering the disabled state and returning to the setting failure zone bit.
As shown in connection with fig. 2, optionally, a method for self-tuning of a servo system, comprising:
s01: the position instruction is generated according to the composite constraint.
S02: characteristic signals are obtained when the position command is executed.
S04: increasing the system stiffness.
S03: and adjusting the system rigidity according to the characteristic signal.
One of the objectives of the servo system tuning is to obtain the fastest response speed, i.e. the maximum stiffness, while meeting the characteristics of the application conditions, so that in the process of tuning the servo system, the system stiffness is firstly increased, and then the system stiffness is adjusted according to the characteristic signal.
For example, referring to fig. 4, the system operates according to a position increment curve obtained from the position command, the system starts to be in a state 1 of increasing the system stiffness, and the system stiffness is an initial stiffness g in a first zero speed sectionoriAfter the first zero-speed section is finished, the characteristic signal P obtained in the first zero-speed section is smaller than the characteristic signal threshold value PthJudging the system is stable, and increasing the system rigidity to gori+gincThe system remains in state 1. By analogy, at the moment of the first uniform deceleration section, the system is still in the state 1, and the rigidity of the system is g at the momentori+3gincHowever, the characteristic signal P obtained in the first uniform deceleration section is greater than the characteristic signal threshold value PthWhen the system is switched from the state 1 of increasing the system rigidity to the state 2 of reducing the system rigidity, the system rigidity is reduced to gori+2ginc. At the second placeIn the zero speed section, the system is in a state 2, and after the second zero speed section is finished, the characteristic signal P obtained in the second zero speed section is smaller than the characteristic signal threshold value PthJudging that the system is stable, switching the system to a state 3 of keeping the system rigidity, and keeping the system rigidity gori+2ginc. Then, in a second uniform deceleration section, a second uniform velocity section and a third uniform acceleration section, the obtained characteristic signal P is smaller than a characteristic signal threshold value PthIt is judged that the system is stable, and therefore, the system rigidity is maintained gori+2gincIn addition, the stability counter is incremented to 3, and in fig. 3, the preset number of times set in advance is equal to 3, and therefore, the system stiffness is multiplied by the margin coefficient q after the second uniform acceleration section ends, and is corrected to q (g)ori+2ginc) And as the final output result, the adjustment is finished. In particular, when the system does not finish the adjustment at the end of a complete instruction cycle, the system needs to keep the final rigidity, run the state in the last instruction cycle, and return the system to the starting point when the adjustment starts.
As shown in fig. 5, an apparatus for self-tuning a servo system according to an embodiment of the present disclosure includes a processor (processor)100 and a memory (memory) 101. Optionally, the apparatus 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 invoke logic instructions in the memory 101 to perform the method for servo system self-tuning of the above-described embodiments.
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 functional applications and data processing, i.e. implements the method for servo self-tuning in the above embodiments, by executing program instructions/modules stored in the memory 101.
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.
The embodiment of the disclosure provides a servo system, which comprises a servo motor and the control device.
Embodiments of the present disclosure provide a computer-readable storage medium having stored thereon computer-executable instructions configured to perform the above-described method for servo system self-tuning.
Embodiments of the present disclosure provide a computer program product comprising a computer program stored on a computer readable storage medium, the computer program comprising program instructions which, when executed by a computer, cause the computer to perform the above-described method for self-tuning of a 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, where the computer software product is stored in a storage medium and includes one or more instructions to enable 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. 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 examples and claims, the "said" (the) is 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 like elements in a process, method or apparatus that comprises 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 the skilled person 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, the division of the units may be merely a logical division, and in actual implementation, there may be another division, for example, multiple 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. The 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.

Claims (10)

1. A method for self-tuning a servo system, comprising:
generating a position instruction according to the composite constraint;
obtaining a characteristic signal when the position instruction is executed;
and adjusting the system rigidity according to the characteristic signal.
2. The method of claim 1, wherein the composite constraints comprise one or more of displacement constraints, velocity constraints, and acceleration constraints.
3. The method of claim 2, wherein generating position commands based on displacement constraints, velocity constraints, and acceleration constraints comprises:
determining theoretical motion parameters when the position command is executed according to displacement constraint, speed constraint and acceleration constraint;
and generating the position instruction according to the theoretical motion parameter.
4. The method of claim 3, wherein the theoretical motion parameters include a displacement, a theoretical velocity, and a theoretical acceleration, and wherein generating the position command based on the displacement, the theoretical velocity, and the theoretical acceleration comprises:
generating a theoretical speed time curve according to the displacement, the theoretical speed and the theoretical acceleration;
and generating the position command according to the theoretical speed-time curve.
5. The method of claim 4, wherein obtaining the characterization signal when the position instruction is executed comprises:
when the position instruction is executed, the actual speed is obtained;
and obtaining the characteristic signal according to the theoretical speed and the actual speed.
6. The method of claim 5, wherein determining the signature signal from the theoretical velocity and the actual velocity comprises:
and taking the absolute value of the difference value between the theoretical speed and the actual speed as the characteristic signal.
7. The method of any one of claims 1 to 6, wherein adjusting system stiffness based on the signature signal comprises:
when the characteristic signal is smaller than or equal to a preset threshold value, increasing the system rigidity; and/or the presence of a gas in the gas,
and when the characteristic signal is greater than a preset threshold value, reducing the system rigidity.
8. The method of claim 7, wherein adjusting system stiffness based on the signature signal further comprises:
and outputting an adjusting result when the characteristic signal is less than or equal to the preset threshold value and reaches a preset number of times.
9. The method of claim 7, wherein adjusting system stiffness based on the signature signal further comprises:
and when the rigidity of the current system is smaller than the rigidity of the initial system, finishing the adjustment.
10. A servo system comprising a servo motor, characterized in that it further comprises means for servo system self-tuning capable of performing the method for servo system self-tuning according to claims 1 to 9.
CN202010328646.8A 2020-04-23 2020-04-23 Method and device for self-tuning of servo system and servo system Pending CN111522328A (en)

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