CN112882869A - Servo system parameter management method, device, equipment and storage medium - Google Patents
Servo system parameter management method, device, equipment and storage medium Download PDFInfo
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- CN112882869A CN112882869A CN202110287111.5A CN202110287111A CN112882869A CN 112882869 A CN112882869 A CN 112882869A CN 202110287111 A CN202110287111 A CN 202110287111A CN 112882869 A CN112882869 A CN 112882869A
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F11/00—Error detection; Error correction; Monitoring
- G06F11/07—Responding to the occurrence of a fault, e.g. fault tolerance
- G06F11/14—Error detection or correction of the data by redundancy in operation
- G06F11/1402—Saving, restoring, recovering or retrying
- G06F11/1446—Point-in-time backing up or restoration of persistent data
- G06F11/1448—Management of the data involved in backup or backup restore
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F1/00—Details not covered by groups G06F3/00 - G06F13/00 and G06F21/00
- G06F1/26—Power supply means, e.g. regulation thereof
- G06F1/30—Means for acting in the event of power-supply failure or interruption, e.g. power-supply fluctuations
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F3/00—Input arrangements for transferring data to be processed into a form capable of being handled by the computer; Output arrangements for transferring data from processing unit to output unit, e.g. interface arrangements
- G06F3/06—Digital input from, or digital output to, record carriers, e.g. RAID, emulated record carriers or networked record carriers
- G06F3/0601—Interfaces specially adapted for storage systems
- G06F3/0628—Interfaces specially adapted for storage systems making use of a particular technique
- G06F3/0655—Vertical data movement, i.e. input-output transfer; data movement between one or more hosts and one or more storage devices
- G06F3/0656—Data buffering arrangements
Abstract
The invention discloses a servo system parameter management method, a servo system parameter management device, servo system parameter management equipment and a servo system parameter management storage medium. The method comprises the following steps: the power supply module acquires a judgment condition, a target servo parameter and a backup servo parameter; the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter; and the power supply module manages the target servo parameters or the backup servo parameters according to the decision result. By the technical scheme, the problem that any module of the servo system needs to be debugged again after being replaced can be solved, the servo parameter system can be debugged only when being used for the first time, and can be automatically updated and directly used after the module is replaced without downloading parameters and manually debugging the replaced module by an external tool, so that time and labor are saved.
Description
Technical Field
The embodiment of the invention relates to the field of automatic control, in particular to a servo system parameter management method, a servo system parameter management device, servo system parameter management equipment and a servo system parameter management storage medium.
Background
With the rapid popularization of industrial robots, servo systems are widely used in the field of industrial manufacturing. The servo system usually adopts a closed-loop proportional-integral-derivative PID control method, and the PID parameters are inevitably required to be adjusted.
In the conventional servo system, a professional debugger generally performs parameter debugging on an operation site, or performs parameter debugging through an automatic parameter setting function. The parameters passing the debugging are saved in an internal storage medium of the servo system, and the control parameters are not changed in an unconscious condition.
However, with the massive use of servo systems, the existing servo systems face a significant problem, and once the servo systems are irreversibly damaged, the worst condition is that: the internal parameters of the servo system are directly lost and the debugging parameters cannot be read. Therefore, the parameter debugging needs to be performed again through manual or automatic parameter tuning function, and the newly debugged parameters cannot be guaranteed to be completely consistent with the original debugging parameters, which is not desirable. Even if the internal parameters of the servo system are not lost, the field personnel need to download the parameters to a new servo driver through the debugging software after replacing the servo driver.
Therefore, after the driver of the servo system is damaged or replaced, a professional is required to perform parameter debugging or parameter downloading again on the operation site, the operation is complex, time and labor are consumed, and the debugging parameters of the new driver can not be guaranteed to be completely consistent with the original debugging parameters.
Disclosure of Invention
Embodiments of the present invention provide a method, an apparatus, a device, and a storage medium for managing servo system parameters, so as to implement backup of debugged servo system parameters, and restore the servo system parameters to an axis driving module after an axis driving module is replaced, thereby avoiding debugging control parameters and facilitating management of the servo system parameters.
In a first aspect, an embodiment of the present invention provides a servo system parameter management method, which is applied to a servo system, where the servo system includes a power module, and the servo system parameter management method includes:
the power supply module acquires a judgment condition, a target servo parameter and a backup servo parameter;
the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the power supply module manages the target servo parameters or the backup servo parameters according to the decision result.
In a second aspect, an embodiment of the present invention further provides a servo parameter management apparatus, where the apparatus includes: a power module, wherein the power module specifically includes: the system comprises an acquisition submodule, a decision submodule and a management submodule.
The acquisition submodule is used for acquiring the judgment condition, the target servo parameter and the backup servo parameter;
the decision submodule is used for determining a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the management submodule is used for managing the target servo parameters or the backup servo parameters according to the decision result.
In a third aspect, an embodiment of the present invention further provides a computer device, including a memory, a processor, and a computer program stored on the memory and executable on the processor, where the processor executes the computer program to implement the servo system parameter management method according to any one of the embodiments of the present invention.
In a fourth aspect, an embodiment of the present invention further provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the servo system parameter management method according to any one of the embodiments of the present invention.
The embodiment of the invention obtains the judgment condition, the target servo parameter and the backup servo parameter through the power module; determining a decision result according to the judgment condition, the backup servo parameter and the target servo parameter; and managing the target servo parameters or the backup servo parameters according to the decision result, solving the problem that any module of the servo system needs to be debugged again after being replaced, realizing that the servo parameter system only debugged when being used for the first time, automatically updating and directly using the servo parameter system after replacing the module, and saving time and labor because the replaced module does not need to be downloaded with parameters and debugged manually by an external tool.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the embodiments will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present invention and therefore should not be considered as limiting the scope, and for those skilled in the art, other related drawings can be obtained according to the drawings without inventive efforts.
FIG. 1 is a flowchart illustrating a servo parameter management method according to an embodiment of the present invention;
FIG. 2a is a flowchart illustrating a servo parameter management method according to a second embodiment of the present invention;
FIG. 2b is a schematic structural diagram of a servo parameter management system according to a second embodiment of the present invention;
FIG. 2c is a schematic diagram of a decision process of a servo parameter management system according to a second embodiment of the present invention;
FIG. 3 is a schematic structural diagram of a servo parameter management apparatus according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings and examples. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention. It should be further noted that, for the convenience of description, only some of the structures related to the present invention are shown in the drawings, not all of the structures.
It should be noted that: like reference numbers and letters refer to like items in the following figures, and thus, once an item is defined in one figure, it need not be further defined and explained in subsequent figures. Meanwhile, in the description of the present invention, the terms "first", "second", and the like are used only for distinguishing the description, and are not to be construed as indicating or implying relative importance.
Example one
Fig. 1 is a flowchart of a servo parameter management method according to an embodiment of the present invention, where the present embodiment is applicable to a situation where a modular servo system changes a module and then manages and backs up system parameters, and the method may be executed by a servo parameter management device according to an embodiment of the present invention, where the device may be implemented in a software and/or hardware manner, as shown in fig. 1, the method specifically includes the following steps:
s110, the power supply module obtains the judgment condition, the target servo parameter and the backup servo parameter.
In this embodiment, the servo system is a system composed of a power module and a shaft driving module, and bus communication is established between the power module and the shaft driving module. The shaft driving module is a component capable of being directly connected with and driving the servo motor, and the power supply management module is responsible for supplying power to the shaft driving module. The power supply module is only one, and the shaft driving module can be replaced and freely expanded according to the number of shafts.
The power supply module comprises three functional components, namely a bus communication module, a storage area (fixed storage area) and a cache area (temporary cache area). The storage area can store the parameter information at the power-off moment of the power supply module, and the cache area can only store the parameter information at the power-on moment. The storage area is a power-down nonvolatile storage medium, such as Flash, EEPROM and the like; the buffer area is a power-down volatile storage medium, such as a RAM. The shaft driving module comprises a debugging interface and a fixed storage area, internal operation parameters and control parameters of the shaft driving module are stored in the fixed storage area of each shaft driving module, and the driving parameters comprise target servo parameters.
Illustratively, in a normal working state, the fixed storage area of the shaft driving module stores target servo parameters, and the storage area of the power management module stores backup servo parameters. If the servo system replaces the shaft driving module or the power supply module, the power supply module reads the target servo parameters from the storage area of the shaft driving module to the cache area of the power supply module. The power module also stores judgment conditions for making decisions and managing servo parameters.
Optionally, in this embodiment, the backup servo parameters include: at least two of backup shaft identification information, backup shaft verification information, backup shaft power information and backup power supply identification information; the target servo parameters include: at least two of the target axis identification information, the target axis verification information, the target axis power information, and the target power supply identification information.
The shaft driving module number identification information, called shaft identification information AxisID for short, is a unique number identification for distinguishing different shaft driving modules; an internal parameter check code of the shaft driving module, called shaft check information CRC for short, is an identifier for distinguishing parameter modification of the driving module; the power supply module number identification information, called power supply identification information PowerID for short, is a unique number identification for distinguishing different power supply management modules; and the power identifier of the shaft driving module, which is called shaft power information P for short, is used for representing the power of the shaft driving module.
Specifically, under a normal working state, the backup servo parameters are stored in the storage area of the power module, the target servo parameters are stored in the cache area of the power module, and the backup servo parameters and the target servo parameters are kept consistent. When the power supply module supplies power to the shaft driving module again, the target servo parameters are read from the shaft driving module and stored in the cache region of the power supply module. If any module is replaced, the backup servo parameters and the target servo parameters are inconsistent.
Optionally, the first determination condition is that the backup axis identification information is the same as the target axis identification information, the second determination condition is that the backup power supply identification information is the same as the target power supply identification information, and the third determination condition is that the backup axis verification information is the same as the target axis verification information; the fourth judgment condition is that the backup shaft power information is the same as the target shaft power information; and the fifth judgment condition is that the target power supply identification information in the cache region is the same.
And S120, the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter.
Specifically, if the servo system is powered on again after the shaft driving module or the power module is replaced, the power module judges the backup servo parameters in the storage area and the target servo parameters in the cache according to the judgment conditions and determines a decision result.
For example, the power module determines the decision result according to the determination condition, the backup servo parameter and the target servo parameter, that is, if the power module determines that the servo system changes the axis driving module according to the determination condition, the decision result is determined to be an updated target servo parameter; or if the power supply module determines that the servo system is replaced by the power supply module according to the judgment condition, determining the decision result as the updated backup servo parameter; the power module can also be used for replacing the power module or the shaft driving module of the servo system which cannot be determined by the power module according to the judgment condition.
S130, the power supply module manages the target servo parameter or the backup servo parameter according to the decision result.
Illustratively, if the decision result is to update the target servo parameters, the target servo parameters in the storage area of the shaft driving module are updated according to the backup servo parameters in the storage area of the power module; if the decision result is that the backup servo parameters are updated, updating the backup servo parameters in the storage area of the power supply module according to the target servo parameters in the storage area of the shaft driving module; and if the power supply module cannot determine that the servo system replaces the power supply module or the shaft driving module according to the judgment condition, sending prompt information, and displaying the prompt information on a display screen of the servo system to prompt related personnel to perform manual operation.
Optionally, before the power module obtains the determination condition, the target servo parameter, and the backup servo parameter, the method further includes:
when the power module supplies power to the shaft driving modules, the power module acquires target servo parameters of each shaft driving module and stores the target servo parameters to a cache region;
and when the power module and the shaft driving module are debugged for the first time, the power module stores the backup servo parameters into a storage area.
Specifically, when a power module and a shaft driving module in the servo system are used for the first time, parameter debugging needs to be performed on the shaft driving module, and the debugged servo parameters are stored in a storage area to be used as backup servo parameters, wherein the backup servo parameters include parameters of all the shaft driving modules and parameters of the power module. When the power module supplies power to the shaft driving modules, the power module acquires target servo parameters of each shaft driving module and stores the target servo parameters to a cache region, wherein the target servo parameters comprise parameters of the corresponding shaft driving modules and parameters of the power module. When the power is off, the servo parameters in the buffer area are lost; when power is supplied again, the power supply module acquires the target servo parameters of each axis driving module again and stores the target servo parameters in the cache region.
According to the technical scheme of the embodiment, the judgment condition, the target servo parameter and the backup servo parameter are obtained through the power supply module; the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter; the power supply module updates the target servo parameters or the backup servo parameters according to the decision result, so that the servo parameter system can only debug the parameters when the servo parameter system is used for the first time, and can make a decision, update and directly use the parameters after the modules are replaced without downloading the parameters and manually debugging the replaced modules by means of an external tool, thereby saving time and labor.
Example two
Fig. 2a is a flowchart of a servo system parameter management method in a second embodiment of the present invention, where the embodiment is optimized based on the above embodiment, and in the embodiment, determining a decision result according to the determination condition, the backup servo parameter, and the target servo parameter includes: calculating a count value for which the first determination condition is satisfied; if the count value is greater than zero, determining a decision result according to at least two of the first determination condition, the second determination condition, the third determination condition and the fourth determination condition; and if the count value is equal to zero, determining a decision result according to at least two of the fourth determination condition and the fifth determination condition based on the second determination condition.
As shown in fig. 2a, the method of this embodiment specifically includes the following steps:
s210, the power supply module obtains a judgment condition, a target servo parameter and a backup servo parameter.
S220, a count value at which the first determination condition is satisfied is calculated.
In this embodiment, as shown in fig. 2b, the power module includes a plurality of storage areas and a plurality of buffer areas, each storage area stores backup servo parameters of one axis driving module, and the backup servo parameters include axis driving module parameters and power module parameters; and each cache region stores a target servo parameter corresponding to one axis driving module, wherein the target servo parameters comprise axis driving module parameters and power module parameters.
Specifically, the power supply module calculates a count value that the first determination condition is satisfied, that is, compares the backup axis identification information in the storage area with the target axis identification information in the corresponding cache area, and determines the same number of the backup axis identification information and the target axis identification information.
For example, the backup axis identification information in the first storage area of the power module is first compared with the target axis identification information in the first cache area, and if the backup axis identification information is the same as the target axis identification information in the first cache area, the count value for which the first determination condition is satisfied is incremented by one. And comparing the backup shaft identification information in the second storage area of the power supply module with the target shaft identification information in the second cache area, and if the backup shaft identification information is the same as the target shaft identification information in the second cache area, adding one to the count value of the first judgment condition. And analogizing in turn until the comparison between the backup axis identification information of all the storage areas and the target axis identification information in all the cache areas is completed, and recording a count value of the first judgment condition.
S230, if the count value is greater than zero, determining a decision result according to at least two of the first determination condition, the second determination condition, the third determination condition, and the fourth determination condition.
For example, if it is determined that the first determination result is that the count value is greater than zero according to the first determination condition, the decision result is further determined according to at least two of the first determination condition, the second determination condition, the third determination condition, and the fourth determination condition. If the comparison results of the backup shaft identification information in the storage area of the power module and the target shaft identification information in the corresponding cache area are the same or different, marking the cache area and the storage area with inconsistent comparison results of the shaft identification information AxisID according to the first judgment result, further sequentially comparing whether the backup shaft power information in the storage area is the same as the target shaft power information in the corresponding cache area according to a fourth judgment condition, and determining a decision result according to the fourth judgment result; and comparing the cache region and the storage region with the consistent axial identification information AxisID comparison result, and further sequentially comparing whether the backup power supply identification information in the storage region is the same as the target power supply identification information in the corresponding cache region according to a second judgment condition. And if the backup power supply identification information in the storage area is different from the target power supply identification information in the corresponding cache area, determining a decision result according to a second judgment result. If the backup power supply identification information in the storage area is the same as the target power supply identification information in the corresponding cache area, comparing whether the backup axis verification information in the storage area is the same as the target axis verification information in the corresponding cache area according to a third judgment condition, and determining a decision result according to a third judgment result. And analogizing until the comparison between the backup servo parameters of all the storage areas and the target servo parameters in all the cache areas is completed, thereby determining the decision result of the backup servo parameters or the target servo parameters corresponding to each axis driving module.
S240, if the count value is equal to zero, determining a decision result according to at least two of the second determination condition, the fourth determination condition and the fifth determination condition.
For example, if it is determined according to the first determination condition that the count value is equal to zero, that is, the backup axis identification information in the storage area of the power module is not identical to the target axis identification information in the corresponding cache area, sequentially comparing whether the backup power identification information in the storage area is identical to the target power identification information in the corresponding cache area according to the second determination condition, and determining the decision result according to the fourth determination condition result and/or the fifth determination condition result according to the number of satisfied second determination conditions. And analogizing until the comparison between the backup servo parameters of all the storage areas and the target servo parameters in all the cache areas is completed, thereby determining the decision result of the backup servo parameters or the target servo parameters corresponding to each axis driving module.
And S250, the power supply module manages the target servo parameter or the backup servo parameter according to the decision result.
Optionally, if the count value is greater than zero, determining a decision result according to at least two of the first determination condition, the second determination condition, the third determination condition, and a fourth determination condition, including:
if the count value is greater than zero, the first determination condition is established and the second determination condition is not established, the decision result is to update the target servo parameter;
if the count value is greater than zero, the first determination condition and the second determination condition are satisfied, and the third determination condition is not satisfied, the decision result is to update the backup servo parameters;
and if the count value is larger than zero and the first judgment condition is not satisfied, determining a decision result according to the fourth judgment condition.
For example, if it is determined that the count value of the first determination is greater than zero, that is, at least one of the comparison results of the backup axis identification information in the storage area of the power module and the target axis identification information in the corresponding cache area is the same, the cache area and the storage area where the first determination condition is satisfied, and the cache area and the storage area where the first determination condition is not satisfied are marked.
And further sequentially judging whether the backup power supply identification information in each storage area is the same as the target power supply identification information in the corresponding cache area or not according to a second judgment condition for the cache area and the storage area with the first judgment condition. If the first determination condition is satisfied and the second determination condition is not satisfied, it indicates that the axis driving module corresponding to the target power supply identification information is connected to the new power supply module and then connected to the original power supply module again, and the original power supply module is not connected to other axis driving modules in the period. And the decision result is that the power supply module requests to update the target servo parameters of the corresponding shaft driving module according to the backup servo parameters in the storage area. If the second determination condition is satisfied, further sequentially determining whether the backup axis verification information in the storage area is the same as the target axis verification information in the corresponding cache area according to a third determination condition. If the second determination condition is satisfied and the third determination condition is not satisfied, which indicates that the internal parameters in the corresponding axis driving module are modified, the decision result is that the power module requests to update the backup servo parameters in the storage area of the power module according to the modified parameters of the axis driving module. If the second determination condition is satisfied and the third determination condition is satisfied, which indicates that the current shaft driving module is not replaced or the parameters are not modified, the decision result is that no parameter updating operation is required.
For the cache region and the storage region where the first determination condition is not satisfied, it is described that the shaft driving module is replaced, and it is further necessary to sequentially determine whether the backup shaft power information in the storage region is the same as the target shaft power information in the corresponding cache region according to a fourth determination condition, so as to ensure the security of updating the system parameters.
It should be noted that if it is determined that the count value of the first determination is equal to the number of the axis driving modules, that is, the comparison results of the backup axis identification information in each storage area of the power module and the target axis identification information in the corresponding cache area are all the same, it is not necessary to determine whether the first determination condition is satisfied one by one, and a further determination is directly made to improve the decision efficiency.
Optionally, if the count value is equal to zero, determining a decision result according to at least two of the second determination condition, the fourth determination condition, and the fifth determination condition includes:
acquiring the number of shaft driving modules;
if the count value is equal to zero, the number of the second determination conditions which are satisfied is equal to zero, and the number of the fifth determination conditions which are satisfied is less than the number of the shaft driving modules, determining a decision result according to the fourth determination conditions;
if the count value is equal to zero, the number of the second determination conditions is equal to zero, and the number of the fifth determination conditions is equal to the number of the axis driving modules, the decision result is an updated backup servo parameter;
and if the count value is equal to zero and the number of the second judgment conditions is not equal to zero, determining a decision result according to the fourth judgment condition.
The number of the shaft driving modules can be freely expanded according to the number of the shafts, and the number of the shaft driving modules of the servo system is obtained.
In a specific example, if it is determined that the count value is equal to zero according to the first determination condition, and the numbers of satisfied second determination conditions are all equal to zero, that is, all of the backup axis identification information in the storage area of the power module is different from the target axis identification information in the corresponding cache area, and all of the backup power identification information in the storage area of the power module is different from the target power identification information in the corresponding cache area, further comparing the numbers of target power identification information in each cache area that are the same, and if the number of satisfied fifth determination conditions is equal to the number of the axis driving modules, indicating that the power module is replaced, the decision result is to update the backup servo parameters in the storage area of the power management module according to the target servo parameters of the axis driving modules. If the number of the established fifth judgment conditions is smaller than that of the shaft driving modules, which indicates that all shaft modules are replaced, whether the backup shaft power information in the storage area is the same as the target shaft power information in the corresponding cache area needs to be further judged in sequence according to the fourth judgment conditions, so as to ensure the safety of updating the system parameters. In another specific example, if the count value is equal to zero and the number of the second determination conditions that are satisfied is not equal to zero, which indicates that there is a connection between a part of the axle modules and the power module, the axle modules for which the second determination conditions are satisfied further sequentially determine whether the backup axle power information in the storage area is the same as the target axle power information in the corresponding cache area according to a fourth determination condition, so as to ensure the security of updating the system parameters.
Optionally, the determining a decision result according to the fourth determination condition includes:
if the fourth judgment condition is satisfied, the decision result is an updated target servo parameter;
and if the fourth judgment condition is not satisfied, the decision result is sending prompt information.
Specifically, the fourth determination condition is set to compare the backup shaft power with the target shaft power, and the target servo parameter can be updated only when the shaft module and the power module have the same power, so as to improve the system security of parameter updating.
For example, if the fourth determination condition is satisfied, which indicates that the power of the replaced axis driving module is matched with the power of the power module, and the parameter can be automatically recovered, the decision result is that the power module requests to update the target servo parameter in the axis driving module according to the backup servo parameter in the power module.
If the fourth determination condition is not satisfied, it is indicated that the power of the replaced shaft driving module is not matched with the power of the power supply module, and the parameters cannot be automatically recovered, so that the decision result is that prompt information requiring manual confirmation of power mismatch is sent through a human-computer interaction interface of the power supply management module.
Optionally, the method further includes:
acquiring target shaft identification information and a target parameter number of a target shaft driving module sent by the first target shaft driving module;
acquiring a target parameter of a second target axis driving module according to the target axis identification information and the target parameter number;
and feeding back the second target parameter of the target axis driving module to the first target axis driving module.
Specifically, each shaft driving module is connected with the power supply module, and target parameters can be obtained between the shaft driving modules through the power supply module.
In a specific embodiment, as shown in fig. 2c, when the power module supplies power to the shaft driving module, the power module reads the target servo parameter from the fixed storage area of the shaft driving module and stores the target servo parameter in the buffer area of the power module. The power supply module reads the target servo parameters in the cache region, reads the backup servo parameters in the storage region, and calculates calculated values of the target servo parameters and the backup servo parameters meeting the first judgment condition. The relationship between the calculated value and the shaft driving module is divided into the following two cases:
in the first case, if the count value is greater than zero, it is determined whether the servo parameters in each of the cache area and the storage area satisfy a first determination condition, if the first determination condition is satisfied, it is determined whether a second condition is satisfied, if the second determination condition is not satisfied, the decision result is to update the target servo parameter, and if the second determination condition is satisfied, it is further determined whether a third determination condition is satisfied. If the third determination condition is not satisfied, the decision result is to update the backup servo parameters. If the third determination condition is satisfied, the decision result is that no parameter needs to be updated. If the first judgment condition is not satisfied, further judging whether a fourth judgment condition is satisfied, and if the fourth judgment condition is satisfied, the decision result is to update the target servo parameter; and if the fourth judgment condition is not satisfied, judging that the prompt power is not matched according to the decision result.
In the second case, if the count value is equal to zero, determining whether the number of satisfied second determination conditions is equal to zero, if the number of satisfied second determination conditions is equal to zero, further determining the number of satisfied fifth determination conditions, and if the number of satisfied fifth determination conditions is equal to the number of axis driving modules, determining that the decision result is to update the backup servo parameters; if the number of the established fifth judgment conditions is smaller than that of the shaft driving modules, further judging whether the fourth judgment conditions are established, and if the fourth judgment conditions are established, judging that the decision result is the updated target servo parameters; and if the fourth judgment condition is not satisfied, judging that the prompt power is not matched according to the decision result. If the number of the second determination conditions is not equal to zero, further determining whether a fourth determination condition is satisfied, and if the fourth determination condition is satisfied, determining that the decision result is the updated target servo parameter; and if the fourth judgment condition is not satisfied, judging that the prompt power is not matched according to the decision result.
In another specific embodiment, as shown in fig. 2c, for the modular four-axis servo system, only the first axis driving module is replaced with the same power axis driving module, and the power module and the other three axis driving modules are not changed. Backup servo parameters of the first shaft driving module to the fourth shaft driving module are respectively stored in a first storage area to a fourth storage area of the power supply module, and target servo parameters of the first shaft driving module to the fourth shaft driving module are respectively stored in a first cache area to a fourth cache area of the power supply module. And for the change of the target shaft identification information and the target power supply identification information in the first cache region of the power supply management module, the target shaft power information is not changed, and the target shaft verification information is uncertain whether the change occurs or not. And the information in the second cache region, the third cache region and the fourth cache region is not changed. The decision result of the servo system parameter management is as follows:
the first step is to compare the target shaft identification information in the storage area with the backup shaft identification information in the corresponding cache area in sequence, calculate the number of counted values for which the first judgment condition is satisfied, and determine that the calculated value is greater than zero.
And secondly, judging whether a first judgment condition is satisfied or not according to the target shaft identification information in the first storage area and the backup shaft identification information in the first cache area. If the determination result is that the first determination condition is not satisfied, it is further determined whether a fourth determination condition is satisfied with respect to the target shaft power information in the first storage area and the backup shaft power information in the first cache area, and the determination result is that the fourth determination condition is satisfied. The first decision result is to update the target servo parameter. And the power supply module writes the backup shaft power information in the storage area into a fixed storage area of the shaft driving module according to the first decision result, and updates the target servo parameters.
And thirdly, judging whether the first judgment condition is satisfied or not according to the target shaft identification information in the second storage area and the backup shaft identification information in the second cache area. If the first determination condition is satisfied, further determining whether a second determination condition is satisfied with respect to the target power identification information in the first storage area and the backup power identification information in the first cache area, and determining that the second determination condition is satisfied. Further, whether a third determination condition is satisfied or not is determined for the target axis verification information in the first storage area and the backup axis verification information in the first cache area, and the determination result is that the third determination condition is satisfied. The second decision result is that no parameter needs to be updated.
And fourthly, repeating the step of the third step aiming at the target axis identification information in the third storage area and the backup axis identification information in the third cache area, and determining that the fourth decision result is that the parameters are not required to be updated.
And fifthly, repeating the step of the third step aiming at the target axis identification information in the fourth storage area and the backup axis identification information in the fourth cache area, and determining that the fourth decision result is that the parameters are not required to be updated.
And sixthly, after the power supply module processes the parameters of all the shaft driving modules, opening the inter-shaft data sharing function, so that any shaft driving module can access the data of other shaft driving modules.
According to the technical scheme of the embodiment, the judgment condition, the target servo parameter and the backup servo parameter are obtained through the power supply module; the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter; the power supply module updates the target servo parameters or the backup servo parameters according to the decision result, so that the servo parameter system can only debug the parameters when the servo parameter system is used for the first time, and can make a decision, update and directly use the parameters after the modules are replaced without downloading the parameters and manually debugging the replaced modules by means of an external tool, thereby saving time and labor.
EXAMPLE III
Fig. 3 is a schematic structural diagram of a servo parameter management apparatus according to a third embodiment of the present invention. The present embodiment is applicable to the management and backup of system parameters after a module of a modular servo system is replaced, the apparatus can be implemented in a software and/or hardware manner, and the apparatus can be integrated into any device providing a servo parameter management function, as shown in fig. 3, the apparatus for servo parameter management includes a power module, where the power module specifically includes: an acquisition submodule 310, a decision submodule 320 and a management submodule 330.
The obtaining sub-module 310 is configured to obtain a determination condition, a target servo parameter, and a backup servo parameter;
a decision sub-module 320, configured to determine a decision result according to the decision condition, the backup servo parameter, and the target servo parameter;
the management sub-module 330 is configured to manage the target servo parameter or the backup servo parameter according to the decision result.
Optionally, the decision sub-module is specifically configured to:
calculating a count value for which the first determination condition is satisfied;
if the count value is greater than zero, determining a decision result according to at least one of the first determination condition, the second determination condition, the third determination condition and the fourth determination condition;
and if the count value is equal to zero, determining a decision result according to at least two of the second determination condition, the fourth determination condition and the fifth determination condition.
Optionally, the decision sub-module is further configured to:
if the count value is greater than zero, the first determination condition is established and the second determination condition is not established, the decision result is to update the target servo parameter;
if the count value is greater than zero, the first determination condition and the second determination condition are satisfied, and the third determination condition is not satisfied, the decision result is to update the backup servo parameters;
and if the count value is larger than zero and the first judgment condition is not satisfied, determining a decision result according to the fourth judgment condition.
Optionally, the decision sub-module is further configured to:
acquiring the number of shaft driving modules;
if the count value is equal to zero, the number of the second determination conditions which are satisfied is equal to zero, and the number of the fifth determination conditions which are satisfied is less than the number of the shaft driving modules, determining a decision result according to the fourth determination conditions;
if the count value is equal to zero, the number of the second determination conditions is equal to zero, and the number of the fifth determination conditions is equal to the number of the axis driving modules, the decision result is to update the backup servo parameters;
and if the count value is equal to zero and the number of the second judgment conditions is not equal to zero, determining a decision result according to the fourth judgment condition.
Optionally, the decision sub-module is further configured to:
if the fourth judgment condition is satisfied, the decision result is an updated target servo parameter;
and if the fourth judgment condition is not satisfied, the decision result is sending prompt information.
Optionally, the method further includes:
the first storage submodule is used for acquiring a target servo parameter of each shaft driving module by the power supply module when the power supply module supplies power to the shaft driving modules and storing the target servo parameter to a cache region;
and the second storage submodule is used for storing the backup servo parameters into a storage area by the power module when the power module and the shaft driving module are debugged for the first time.
Optionally, the first determination condition is that the backup axis identification information is the same as the target axis identification information, the second determination condition is that the backup power supply identification information is the same as the target power supply identification information, and the third determination condition is that the backup axis verification information is the same as the target axis verification information; the fourth judgment condition is that the backup shaft power information is the same as the target shaft power information; and the fifth judgment condition is that the target power supply identification information in the cache region is the same.
The product can execute the method provided by any embodiment of the invention, and has corresponding functional modules and beneficial effects of the execution method.
According to the technical scheme of the embodiment, the judgment condition, the target servo parameter and the backup servo parameter are obtained through the power supply module; the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter; the power supply module updates the target servo parameters or the backup servo parameters according to the decision result, so that the servo parameter system can only debug the parameters when the servo parameter system is used for the first time, and can make a decision, update and directly use the parameters after the modules are replaced without downloading the parameters and manually debugging the replaced modules by means of an external tool, thereby saving time and labor.
Example four
Fig. 4 is a schematic structural diagram of a computer device in the fourth embodiment of the present invention. FIG. 4 illustrates a block diagram of an exemplary computer device 12 suitable for use in implementing embodiments of the present invention. The computer device 12 shown in FIG. 4 is only one example and should not bring any limitations to the functionality or scope of use of embodiments of the present invention.
As shown in FIG. 4, computer device 12 is in the form of a general purpose computing device. The components of computer device 12 may include, but are not limited to: one or more processors or processing units 16, a system memory 28, and a bus 18 that couples various system components including the system memory 28 and the processing unit 16.
The system memory 28 may include computer system readable media in the form of volatile memory, such as Random Access Memory (RAM)30 and/or cache memory 32. Computer device 12 may further include other removable/non-removable, volatile/nonvolatile computer system storage media. By way of example only, storage system 34 may be used to read from and write to non-removable, nonvolatile magnetic media (not shown in FIG. 4, and commonly referred to as a "hard drive"). Although not shown in FIG. 4, a magnetic disk drive for reading from and writing to a removable, nonvolatile magnetic disk (e.g., a "floppy disk") and an optical disk drive for reading from or writing to a removable, nonvolatile optical disk (e.g., a CD-ROM, DVD-ROM, or other optical media) may be provided. In these cases, each drive may be connected to bus 18 by one or more data media interfaces. Memory 28 may include at least one program product having a set (e.g., at least one) of program modules that are configured to carry out the functions of embodiments of the invention.
A program/utility 40 having a set (at least one) of program modules 42 may be stored, for example, in memory 28, such program modules 42 including, but not limited to, an operating system, one or more application programs, other program modules, and program data, each of which examples or some combination thereof may comprise an implementation of a network environment. Program modules 42 generally carry out the functions and/or methodologies of the described embodiments of the invention.
The processing unit 16 executes various functional applications and data processing by running programs stored in the system memory 28, for example, to implement the servo system parameter management method provided by the embodiment of the present invention:
the power supply module acquires a judgment condition, a target servo parameter and a backup servo parameter;
the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the power supply module manages the target servo parameters or the backup servo parameters according to the decision result.
EXAMPLE five
An embodiment five of the present invention provides a computer-readable storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the servo system parameter management method provided in all the inventive embodiments of the present application:
the power supply module acquires a judgment condition, a target servo parameter and a backup servo parameter;
the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the power supply module manages the target servo parameters or the backup servo parameters according to the decision result.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
A computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wireline, optical fiber cable, RF, etc., or any suitable combination of the foregoing.
Computer program code for carrying out operations for aspects of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, Smalltalk, C + + or the like and conventional procedural programming languages, such as the "C" programming language or similar programming languages. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or the connection may be made to an external computer (for example, through the Internet using an Internet service provider).
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A servo system parameter management method is applied to a servo system, the servo system comprises a power module, and the servo system parameter management method comprises the following steps:
the power supply module acquires a judgment condition, a target servo parameter and a backup servo parameter;
the power supply module determines a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the power supply module manages the target servo parameters or the backup servo parameters according to the decision result.
2. The method of claim 1, wherein determining a decision result according to the decision condition, the backup servo parameter and the target servo parameter comprises:
calculating a count value for which the first determination condition is satisfied;
if the count value is greater than zero, determining a decision result according to at least two of the first determination condition, the second determination condition, the third determination condition and the fourth determination condition;
and if the count value is equal to zero, determining a decision result according to at least two of the second determination condition, the fourth determination condition and the fifth determination condition.
3. The method of claim 2, wherein determining a decision result according to at least two of the first, second, third, and fourth decision conditions if the count value is greater than zero comprises:
if the count value is greater than zero, the first determination condition is established and the second determination condition is not established, the decision result is to update the target servo parameter;
if the count value is greater than zero, the first determination condition and the second determination condition are satisfied, and the third determination condition is not satisfied, the decision result is to update the backup servo parameters;
and if the count value is larger than zero and the first judgment condition is not satisfied, determining a decision result according to the fourth judgment condition.
4. The method of claim 2, wherein determining a decision result according to at least two of the second determination condition, a fourth determination condition, and the fifth determination condition if the count value is equal to zero comprises:
acquiring the number of shaft driving modules;
if the count value is equal to zero, the number of the second determination conditions which are satisfied is equal to zero, and the number of the fifth determination conditions which are satisfied is less than the number of the shaft driving modules, determining a decision result according to the fourth determination conditions;
if the count value is equal to zero, the number of the second determination conditions is equal to zero, and the number of the fifth determination conditions is equal to the number of the axis driving modules, the decision result is to update the backup servo parameters;
and if the count value is equal to zero and the number of the second judgment conditions is not equal to zero, determining a decision result according to the fourth judgment condition.
5. The method according to any one of claims 2 to 4, wherein the determining a decision result according to the fourth decision condition comprises:
if the fourth judgment condition is satisfied, the decision result is an updated target servo parameter;
and if the fourth judgment condition is not satisfied, the decision result is sending prompt information.
6. The method according to claim 2, wherein the first determination condition is that the backup axis identification information is the same as the target axis identification information, the second determination condition is that the backup power supply identification information is the same as the target power supply identification information, the third determination condition is that the backup axis verification information is the same as the target axis verification information, the fourth determination condition is that the backup axis power information is the same as the target axis power information, and the fifth determination condition is that each target power supply identification information in the cache area is the same.
7. The method of claim 1, further comprising, before the power module obtains the decision condition, the target servo parameter, and the backup servo parameter:
when the power module supplies power to the shaft driving modules, the power module acquires target servo parameters of each shaft driving module and stores the target servo parameters to a cache region;
and when the power module and the shaft driving module are debugged for the first time, the power module stores the backup servo parameters into a storage area.
8. A servo system parameter management device is characterized by comprising a power supply module, wherein the power supply module comprises:
the acquisition submodule is used for acquiring the judgment condition, the target servo parameter and the backup servo parameter;
the decision submodule is used for determining a decision result according to the judgment condition, the backup servo parameter and the target servo parameter;
and the management submodule is used for managing the target servo parameters or the backup servo parameters according to the decision result.
9. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the servo system parameter management method according to any of claims 1-7 when executing the program.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out a servo system parameter management method according to any one of claims 1 to 7.
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| PCT/CN2021/115666 WO2022193564A1 (en) | 2021-03-17 | 2021-08-31 | Method and apparatus for managing servo system parameters, and device and storage medium |
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| WO2022193564A1 (en) * | 2021-03-17 | 2022-09-22 | 广东拓斯达科技股份有限公司 | Method and apparatus for managing servo system parameters, and device and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN202975687U (en) * | 2012-11-30 | 2013-06-05 | 中广核中电能源服务（深圳）有限公司 | Servo system parameter calibration and state real-time monitoring device |
| CN104503369A (en) * | 2014-12-19 | 2015-04-08 | 清能德创电气技术（北京）有限公司 | Servo driver and servo parameter operation method |
| US20170261955A1 (en) * | 2016-03-10 | 2017-09-14 | Omron Corporation | Motor control device, control method, information processing program and recording medium |
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| CN112882869A (en) * | 2021-03-17 | 2021-06-01 | 广东拓斯达科技股份有限公司 | Servo system parameter management method, device, equipment and storage medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202975687U (en) * | 2012-11-30 | 2013-06-05 | 中广核中电能源服务（深圳）有限公司 | Servo system parameter calibration and state real-time monitoring device |
| CN104503369A (en) * | 2014-12-19 | 2015-04-08 | 清能德创电气技术（北京）有限公司 | Servo driver and servo parameter operation method |
| US20170261955A1 (en) * | 2016-03-10 | 2017-09-14 | Omron Corporation | Motor control device, control method, information processing program and recording medium |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| WO2022193564A1 (en) * | 2021-03-17 | 2022-09-22 | 广东拓斯达科技股份有限公司 | Method and apparatus for managing servo system parameters, and device and storage medium |
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