CN111684706A - Servo system resistance characteristic acquisition method, servo system resistance characteristic control system and storage device - Google Patents
Servo system resistance characteristic acquisition method, servo system resistance characteristic control system and storage device Download PDFInfo
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Abstract
A method for acquiring servo system resistance characteristics, a method and a system for controlling a servo system, and a storage device are provided, wherein the method for acquiring servo system resistance characteristics comprises: setting the servo system to a speed loop control (S101); setting a first test rotating speed to enable a servo motor in a servo system to work according to the first test rotating speed (S102); collecting a first electromagnetic torque signal, performing spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic in the alternating current component (S103); and fitting the curve of the torque ripple according to the frequency of the periodic variation harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor (S104). The resistance characteristic of the servo system can be provided for the compensation control of the servo system, and the compensation of the output torque of the servo system is facilitated, so that the influence of system resistance on the output of the servo system is reduced or eliminated.
Description
The present invention relates to the technical field of servo systems, and in particular, to a method for obtaining a resistance characteristic of a servo system, a method and a system for controlling a servo system, and a storage device.
The friction and other resistance exist in the servo system objectively and have great influence on the static performance and the dynamic performance of the servo system. In order to improve the performance of the servo system and achieve precise control, it is necessary to compensate the influence of these resistances on the output of the servo system in a proper manner. In order to eliminate the influence of friction, compensation control may be performed in a manner that a friction model predicts the friction force. The friction model may describe the friction torque in relation to the motion of the servo system, e.g. the friction torque in relation to the rotational speed of the servo motor. The electromagnetic torque output of the servo system rotating at a constant speed is equal to the sum of the friction torque and the torque ripple.
The inventor of the present invention finds in the practice of the prior art that if a friction model of a servo system is to be accurately identified, the influence of torque ripple needs to be eliminated, otherwise, a deviation is caused when compensation control is performed, and the control accuracy of the servo system is affected.
[ summary of the invention ]
The invention provides a method for acquiring the resistance characteristic of a servo system, a method for controlling the servo system, a control system and a storage device, which are used for acquiring the resistance characteristic of the servo system and improving the control accuracy of the servo system.
In order to solve the above technical problem, a technical solution provided by the present invention is to provide a method for acquiring a resistance characteristic of a servo system, the method including: setting the servo system as a speed loop control; setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed; collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component; and fitting a curve of the torque ripple relative position change according to the frequency of the periodic change harmonic to obtain the relationship of the torque ripple relative to the rotation position of the servo motor.
In order to solve the above technical problem, another technical solution provided by the present invention is to provide a servo system control method, including: setting the servo system as a speed loop control; setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed; collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component; fitting a curve of the torque ripple relative position change according to the frequency of the periodic change harmonic to obtain the relationship of the torque ripple relative to the rotation position of the servo motor; setting the servo system to be controlled by a position ring, a speed ring or a moment ring; and compensating the torque output by the servo system according to the relation of the torque ripple relative to the rotation position of the servo motor.
In order to solve the above technical problem, another technical solution provided by the present invention is to provide a servo control system, which includes a processor, and the processor can load a program instruction and execute the servo system resistance characteristic obtaining method or the servo system control method.
In order to solve the above technical problem, another technical solution provided by the present invention is to provide a storage device, wherein a program instruction is stored, and the program instruction can be loaded and executed to the servo system resistance characteristic obtaining method or the servo system control method.
The invention has the beneficial effects that: the servo motor works according to the first test rotating speed, alternating current components in electromagnetic torque signals of the servo motor in the working state are subjected to spectrum analysis, the frequency of periodic change harmonics is extracted, and a curve of torque ripples relative to the position change of the servo motor is further fitted, so that the relation of the torque ripples relative to the rotating position of the servo motor can be obtained, and the required resistance characteristic of the servo system can be provided for compensation control of the servo system. Therefore, the invention can help to compensate the output torque of the servo system, thereby reducing or eliminating the influence of system resistance on the output of the servo system.
FIG. 1 is a flow chart illustrating a method for obtaining a resistance characteristic of a servo system according to an embodiment of the present invention.
FIG. 2 is a flow chart illustrating a method for obtaining a resistance characteristic of a servo system according to another embodiment of the present invention.
FIG. 3 is a flowchart illustrating a servo control method according to an embodiment of the present invention.
FIG. 4 is a schematic diagram of a servo control system according to an embodiment of the present invention.
FIG. 5 is a schematic diagram of an exemplary architecture of a servo system feedback loop.
Fig. 6 is a schematic diagram of a servo motor friction torque characteristic.
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, fig. 1 is a schematic flow chart illustrating a method for obtaining a resistance characteristic of a servo system according to an embodiment of the present invention. The method comprises the following steps:
s101: the servo system is set to speed loop control.
Servo systems, also known as servo systems, are feedback control systems used to accurately follow or replicate a process. In the present embodiment, a servo system using a servo motor will be described as an example. The servo system may implement feedback control using a position loop, a velocity loop, and/or a torque loop, where the velocity loop control is used for precise control of the servo motor velocity. The servo system is set to a speed loop control in step S101 so that the servo motor is rotated at a constant speed in the subsequent step to obtain desired measurement data.
S102: and setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed.
The first test rotational speed may be any rotational speed. Alternatively, the first test rotation speed may be low, for example setting the rotation speed of the servo motor to 1 rpm. At low rotational speeds, the torque ripple may dominate the measurement signal, facilitating the measurement. It will be appreciated that in other examples, higher rotational speeds may also be used.
S103: the method comprises the steps of collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodic change harmonic wave.
The first electromagnetic torque signal is an electromagnetic torque signal generated when the servo motor works at a first test rotating speed. It should be noted that to avoid transient signal interference at start-up, the first electromagnetic torque signal may be collected after the servo motor has been in operation for a period of time. The electromagnetic torque signal contains a direct current component, which is mainly generated by the friction torque, and an alternating current component, which is mainly generated by the torque ripple torque and the high frequency measurement noise. The high frequency measurement noise signal is typically random, aperiodic, and the periodically varying harmonics are the torque ripple torque. Therefore, in order to obtain the torque ripple of the servo system, the alternating current component in the first electromagnetic torque signal may be subjected to a spectral analysis (e.g., fourier transform) to obtain the frequency of the periodic variation harmonic therein.
S104: and fitting a curve of the torque ripple according to the frequency of the periodic change harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor.
It is known that a periodic signal can be converted into one or more sine (or cosine) functionsThe sum of the numbers, therefore, the frequency at which the periodically varying harmonics in the ac component of the first electromagnetic torque signal are obtained, corresponds to the frequency at which the plurality of sinusoidal functions that make up the torque ripple are obtained. For example, assume that the expression of torque ripple is
With its frequency ω obtained, the functional expression of the torque ripple can be fitted by a suitable algorithm (e.g. a genetic algorithm). Further, since the relation between the position of the servo motor and time is known (the speed of the servo motor is known, and the position of the servo motor can be obtained by integration), the relation between the torque ripple and the rotational position of the servo motor can be obtained from the expression of the function of the torque ripple with respect to time. It can be understood that, in actual operation, a variation curve of the torque ripple with respect to time may be fitted first, and then a relationship between the torque ripple and the rotational position of the servo motor may be obtained according to the relationship between the rotational position of the servo motor and time.
Through the steps, the torque ripple of the servo system (namely, a part of the resistance of the servo motor in the operation process) can be analyzed, so that when the servo system is controlled, the position signal of the servo motor is used as the input, the torque ripple needing to be compensated is used as the output and is compensated to the torque loop of the servo system, and the part of the resistance is compensated.
According to the invention, the servo motor works according to the first test rotating speed, the alternating current component in the electromagnetic torque signal of the servo motor in the working state is subjected to spectrum analysis, the frequency of the periodic variation harmonic wave is extracted, and the curve of the torque ripple relative to the position variation of the servo motor is further fitted, so that the relation of the torque ripple relative to the rotating position of the servo motor can be obtained, and the required resistance characteristic of the servo system can be provided for the compensation control of the servo system. Therefore, the invention can help to compensate the output torque of the servo system, thereby reducing or eliminating the influence of system resistance on the output of the servo system.
In some embodiments, the step of fitting the curve of the torque ripple may be: and fitting a curve function of the relative position change of the torque ripple by adopting a particle swarm optimization algorithm and aiming at minimizing the mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the fitting curve (namely applying a least square method). The particle swarm optimization algorithm is also called bird swarm foraging algorithm (PSO), and belongs to an evolutionary algorithm. Initializing a set of random solutions to the parameters in the torque ripple expression, such as A, B, in the foregoing expression, using a particle swarm optimization algorithm,
And the parameters are equal, and then the optimal solution is found through proper iterative calculation, namely the function under the optimal solution is closest to the target function. By adopting the particle swarm optimization algorithm, the calculation precision can be greatly improved, and the calculation process is simple and easy to realize. The process is as follows:
assuming that the torque ripple includes a plurality of sine or cosine components with different frequencies, the expression is:
wherein ω is1To omeganCan be obtained by spectral analysis. And for the parameters A, B,
And θ, fitting using a particle swarm optimization algorithm. Specifically, a set of random solutions is first initialized
Wherein the value of i is 1-n, and n represents the size of the population. In addition, a set of evolution speeds is initialized
According to the principle of the least square method, the iteration is aimed at minimizing the sum of mean square deviations between the calculated torque ripple and the actually measured torque ripple, and then the mean square deviations of the calculated torque ripple and the actually measured torque ripple can be set as the target fitness of the population. To solve
And (6) iterative optimization. In each iteration, make the population of the solution
According to evolution speed change
And searching the individual best fitness and the population best fitness. Wherein the population best fitness represents the population fitness corresponding to the solution that optimizes the population fitness in all iterative processes, and the individual best fitness represents the individual solution (e.g., the solution is the solution of the individual in all iterative processes)
) The population fitness corresponding to the optimal value of (1). Using population best fitness and individual best fitness versus evolution speed
And updating until the optimal fitness of the population reaches a preset threshold or the iteration times exceed preset times. And finally, iterating to obtain the best solution of the population fitness, namely the solution of each parameter in the torque ripple function. Thus, the time-varying relation of the torque ripple of the servo system can be obtained.
In addition to the torque ripple, the drag of the servo system during operation also includes friction torque. In some embodiments, the friction torque of the servo system is also identified. As shown in fig. 2, the method for identifying the friction torque of the servo system includes:
s201: and setting a plurality of second test rotating speeds to enable the servo motor to work according to the second test rotating speeds respectively.
In connection with fig. 6, fig. 6 shows a schematic diagram of the servo motor friction torque characteristic. It can be seen that friction of the servo motor can be divided into stages of contact surface static friction, boundary lubrication, partial fluid lubrication, complete fluid lubrication and the like in the process of changing the rotating speed of the servo motor from slow to fast. Accordingly, in order to identify the friction torque of the servo system, the friction torque of the servo motor at different rotation speeds needs to be acquired. Therefore, in step S201, a plurality of second test rotation speeds are set, and the servo motors are operated at these rotation speeds to perform the test. Alternatively, the second plurality of test rotational speeds can cover from zero (or very close to zero) up to the maximum rotational speed of the servomotor in order to measure the respective friction torque in full.
S202: and acquiring a plurality of second electromagnetic torque signals of the servo motor at a plurality of second test rotating speeds, and calculating according to the direct current component of the second electromagnetic torque signals to obtain a plurality of friction moments.
And the second electromagnetic torque signal is the electromagnetic torque required to be provided when the servo motor rotates at a constant speed under the corresponding second test rotating speed. As mentioned above, when the servo motor rotates at a constant speed, the dc component of its electromagnetic torque signal may represent the torque required to overcome the friction torque. Therefore, the friction torque of the servo motor at different rotating speeds can be obtained according to the electromagnetic torque signals at different rotating speeds.
S203: and according to a plurality of friction moments obtained under a plurality of second test rotating speeds, obtaining the relation between the friction moments and the rotating speed of the servo motor, and fitting the friction characteristic curve of the servo system according to the relation between the friction moments and the rotating speed of the servo motor.
In the previous step, the corresponding relationship between the rotation speed of the servo motor and the friction torque at a plurality of discrete points is obtained, so that in step S203, the friction characteristic curve of the servo system, that is, the relationship curve between the friction torque of the servo system and the rotation speed of the servo motor, can be fitted. Similarly, the curve fitting method may also adopt a suitable algorithm, which is not limited herein.
Through the steps, the friction characteristic of the servo system can be analyzed, so that when the servo system is controlled, the speed signal of the servo motor is used as the input, the friction torque needing to be compensated is used as the output and is compensated to the torque loop of the servo system, and the partial resistance is compensated.
Alternatively, the step of fitting the friction characteristic curve of the servo system in step S203 may include: and fitting the parameters of the LuGre friction model by using the LuGre friction model to obtain a friction characteristic curve of the servo system. The LuGre friction model is a typical representative friction model, and can describe static friction and dynamic friction simultaneously with high precision, including friction phenomena such as Stribeck, pre-slip and variable maximum static friction force. The LuGre model assumes that the contact surface is microscopically irregularly rough, with partial contact, and that the two rigid bodies are in contact by some elastic bristles, while the friction torque is generated by the flexing of the bristles. The expressions of the LuGre model include:
in the LuGre model shown in the formulas (1) to (3), the parameter σ0、σ1、σ2、Mfc、MfsAnd vsIs 6 parameters of a characterization model, which are respectively the rigidity, the microscopic damping coefficient, the viscous friction coefficient, the coulomb friction moment, the static friction moment and the Stribeck characteristic speed of the bristleAnd (4) degree. Wherein sigma0、σ1For describing the deformation of bristles and the influence of the deformation speed on the friction torque, belong to the dynamic parameters, and2、Mfc、Mfsand vsAre four coefficients in the Stribeck friction, belonging to static parameters. By fitting these parameters, a characteristic curve of the friction torque of the servo system can be obtained.
Alternatively, the method of fitting the parameters of the LuGre model may be: and initializing a group of random solutions for the dynamic parameters and the static parameters by utilizing a particle swarm optimization algorithm, and searching an optimal solution through iteration to ensure that the sum of squares of errors between a plurality of friction moments obtained by measurement and a fitting curve is minimum.
The solving process for the six parameters of the LuGre model may be similar to the solving process for the torque ripple, with the goal of minimizing the mean square error between the friction torque value obtained by the fitting and the friction torque value obtained by the actual measurement. Similarly, a group of random solutions and random evolution speeds of the six parameters are initialized, and then a solution corresponding to the optimal fitness of the population is found through multiple iterations, so that the required parameter value is obtained. In some embodiments, the parameter σ0And σ1The initial value of (2) can be preset according to the empirical value, so that the times of iterative computation can be greatly reduced, and the computation efficiency is improved.
Referring to fig. 3, fig. 3 is a flow chart illustrating a servo system control method according to an embodiment of the invention. The method comprises the following steps:
s301: the servo system is set to speed loop control.
S302: and setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed.
S303: the method comprises the steps of collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodic change harmonic wave.
S304: and fitting a curve of the torque ripple relative position change according to the frequency of the periodic change harmonic to obtain the relationship of the torque ripple relative to the rotation position of the servo motor.
S305: the servo system is set to position loop, velocity loop or torque loop control.
S306: and compensating the torque output by the servo system according to the relation of the torque ripple relative to the rotation position of the servo motor.
In steps S301 to S304, the relationship of the torque ripple to the rotational position of the servo motor has been obtained, and therefore, in steps S305 to S306, the torque output from the servo system can be compensated according to the relationship, thereby achieving accurate control of the servo system.
Similarly, if the friction characteristic curve of the servo system is obtained, the output torque of the servo system can be compensated according to the friction characteristic curve of the servo system in the control process of the servo system.
Referring to fig. 4, fig. 4 is a schematic structural diagram of a servo control system 400 according to an embodiment of the present invention. The control system 400 includes a communication bus 401, a controller 402, and a memory 403. The controller 402 and the memory 403 are coupled by a communication bus 401.
The memory 403 stores program data, and the program data can be loaded by the controller 402 and executed by the servo system resistance characteristic acquisition method or the servo system control method according to any of the embodiments described above. It is understood that in other embodiments, the memory 403 may be provided in the same physical device as the controller 402, and the method of any of the above embodiments may be performed by combining the control system 400 with a network.
It is understood that the control system 400 may be a control system and a device embedded in the servo system, or may be an external device connected to the servo system, such as a computer, an industrial control device, a signal processing device, and the like.
As shown in fig. 5, the servo system may implement feedback control using a position loop, a speed loop and/or a torque loop, wherein the position loop may issue a speed command according to a position command and a position feedback, the speed loop may issue a torque command according to a speed command and a speed feedback, and the torque loop may adjust an electrical parameter of the servo system motor accordingly according to the torque command and the torque feedback, so as to control the servo motor to provide a required torque. The servo control system 400 provided by the present invention can operate based on any of a position loop, a velocity loop, and a torque loop.
The functions described in the above embodiments, if implemented in software and sold or used as a separate product, may be stored in a device having a storage function, i.e., the present invention also provides a storage device storing a program. The program data in the storage device including, but not limited to, a usb disk, an optical disk, a server, or a hard disk, etc. can be executed to implement the servo system resistance characteristic acquisition method or the servo system control method in the above-described embodiments.
The above description is only an embodiment of the present invention, and not intended to limit the scope of the present invention, and all modifications of equivalent structures and equivalent processes performed by the present specification and drawings, or directly or indirectly applied to other related technical fields, are included in the scope of the present invention.
Claims (20)
- A servo system resistance characteristic acquisition method, comprising:setting the servo system as a speed loop control;setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed;collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component;and fitting a curve of the torque ripple according to the frequency of the periodic variation harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor.
- The method of claim 1, wherein the step of fitting a curve of the torque ripple comprises:and fitting a curve function of the torque ripple by using a particle swarm optimization algorithm and aiming at the minimum mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the fitting curve.
- The method of claim 2, wherein the step of fitting a curve of the torque ripple comprises:let the expression of the torque ripple be:
carrying out spectrum analysis on the collected alternating current component to obtain a parameter omega1To omeganInitializing a set of random solutions for other parametersWherein the value of i is 1-n, and n represents the scale of the population;
initializing a set of evolution velocitiesAnd minimizing the mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the expression as the target fitness of the population, and solving the problem
Iteration optimizing;
in each iteration, make the population of the solutionAccording to evolution speed change
And searching individual best fitness and population best fitness,further using the population best fitness and the individual best fitness versus the evolution speed
Updating until the optimal fitness of the population reaches a preset threshold or the iteration times exceed preset times;
and taking the obtained solution corresponding to the population optimal fitness as a corresponding parameter in the expression of the torque ripple. - The method of claim 1, further comprising:setting a plurality of second test rotating speeds to enable the servo motor in the servo system to work according to the plurality of second test rotating speeds respectively;acquiring a plurality of second electromagnetic torque signals of the servo motor at a plurality of second test rotating speeds, and calculating according to direct current components of the plurality of second electromagnetic torque signals to obtain a plurality of friction torques;and obtaining the relation between the friction torque and the rotating speed of the servo motor according to the plurality of friction torques obtained under the plurality of second test rotating speeds, and fitting the friction characteristic curve of the servo system according to the relation between the friction torque and the rotating speed of the servo motor.
- The method of claim 4, wherein the step of fitting the servo system friction profile based on the relationship of the friction torque to the rotational speed of the servo motor comprises:and fitting the parameters of the LuGre friction model by using the LuGre friction model to obtain the friction characteristic curve of the servo system.
- The method of claim 5, wherein the step of fitting the parameters of the LuGre friction model comprises:and fitting static parameters and dynamic parameters of the LuGre friction model, wherein the dynamic parameters comprise elastic bristle rigidity and a microscopic damping coefficient, and the static parameters comprise a viscous friction coefficient, a coulomb friction force, a static friction moment and a Stribeck characteristic speed.
- The method of claim 6, wherein the step of fitting the parameters of the LuGre friction model further comprises:initializing a group of random solutions for the static parameters and the dynamic parameters by utilizing a particle swarm optimization algorithm, and searching an optimal solution through iteration, wherein the optimal solution enables the sum of squares of errors between the friction torques and a fitting curve to be minimum.
- The method of claim 7, wherein initializing a set of random solutions for the static parameters and the dynamic parameters comprises:initial solutions for stiffness of the bristles and the microscopic damping coefficients are preset using empirical values, and random solutions for other of the static parameters are randomly generated.
- A servo system control method, comprising:setting the servo system as a speed loop control;setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed;collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component;fitting a curve of the torque ripple according to the frequency of the periodic variation harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor;setting the servo system to be controlled by a position ring, a speed ring or a moment ring;and compensating the torque output by the servo system according to the relation of the torque ripple relative to the rotation position of the servo motor.
- The method of claim 9, wherein the step of fitting a curve of the torque ripple comprises:and fitting a curve function of the torque ripple by using a particle swarm optimization algorithm and aiming at minimizing the mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the fitting curve.
- The method of claim 10, wherein the step of fitting a curve of the torque ripple comprises:let the expression of the torque ripple be:
carrying out spectrum analysis on the collected alternating current component to obtain a parameter omega1To omeganInitializing a set of random solutions for other parametersWherein the value of i is 1-n, and n represents the scale of the population;
initializing a set of evolution velocitiesAnd minimizing the mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the expression as the target fitness of the population, and solving the problem
Iteration optimizing;
in each iteration, make the population of the solutionAccording to evolution speed change
And searching individual best fitness and population best fitness, and further using the population best fitness and the individual best fitness to the evolution speed
Updating until the optimal fitness of the population reaches a preset threshold or the iteration times exceed preset times;
and taking the obtained solution corresponding to the population optimal fitness as a corresponding parameter in the expression of the torque ripple. - The method of claim 9, wherein prior to the step of setting the servo system as a position loop, a velocity loop, or a torque loop control, further comprising:setting a plurality of second test rotating speeds to enable the servo motor in the servo system to work according to the plurality of second test rotating speeds respectively;acquiring a plurality of second electromagnetic torque signals of the servo motor at a plurality of second test rotating speeds, and calculating according to direct current components of the plurality of second electromagnetic torque signals to obtain a plurality of friction torques;obtaining the relation between the friction torque and the rotating speed of the servo motor according to the friction torques obtained under the second test rotating speeds, and fitting the friction characteristic curve of the servo system according to the relation between the friction torque and the rotating speed of the servo motor;when the servo system is set to be controlled by a position loop or a speed loop, before the step of compensating the torque output by the servo system according to the relation between the torque ripple and the rotation position of the servo motor, the method further comprises the following steps: and compensating the torque output by the servo system according to the friction characteristic curve of the servo system.
- The method of claim 12, wherein said step of fitting said servo system friction profile based on said friction torque versus said servo motor speed comprises:and fitting the parameters of the LuGre friction model by using the LuGre friction model to obtain the friction characteristic curve of the servo system.
- The method of claim 13, wherein the step of fitting the parameters of the LuGre friction model comprises:and fitting static parameters and dynamic parameters of the LuGre friction model, wherein the dynamic parameters comprise elastic bristle rigidity and a microscopic damping coefficient, and the static parameters comprise a viscous friction coefficient, a coulomb friction force, a static friction moment and a Stribeck characteristic speed.
- The method of claim 14, wherein the step of fitting the parameters of the LuGre friction model further comprises:initializing a group of random solutions for the static parameters and the dynamic parameters by utilizing a particle swarm optimization algorithm, and searching an optimal solution through iteration, wherein the optimal solution enables the sum of squares of errors between the friction torques and a fitting curve to be minimum.
- The method of claim 15, wherein initializing a set of random solutions for the static parameters and the dynamic parameters comprises:initial solutions for stiffness of the bristles and the microscopic damping coefficients are preset using empirical values, and random solutions for other of the static parameters are randomly generated.
- A servo control system comprising a processor, said processor being loadable with program instructions and executing a servo system resistance characteristic acquisition method, said servo system resistance characteristic acquisition method comprising:setting the servo system as a speed loop control;setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed;collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component;and fitting a curve of the torque ripple according to the frequency of the periodic variation harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor.
- The control system of claim 17, wherein the step of fitting a curve of the torque ripple comprises:let the expression of the torque ripple be:
carrying out spectrum analysis on the collected alternating current component to obtain a parameter omega1To omeganInitializing a set of random solutions for other parametersWherein the value of i is 1-n, and n represents the scale of the population;
initializing a set of evolution velocitiesAnd minimizing the mean square error of the torque measured value corresponding to the acquired alternating current component and the torque calculated value corresponding to the expression as the target fitness of the population, and solving the problem
Iteration optimizing;
in each iteration, make the population of the solutionAccording to evolution speed change
And searching individual best fitness and population best fitness, and further using the population best fitness and the individual best fitness to the evolution speed
Updating until the optimal fitness of the population reaches a preset threshold or the iteration times exceed preset times;
and taking the obtained solution corresponding to the population optimal fitness as a corresponding parameter in the expression of the torque ripple. - The system of claim 17, wherein the servo system resistance characteristic acquisition method further comprises:setting a plurality of second test rotating speeds to enable the servo motor in the servo system to work according to the plurality of second test rotating speeds respectively;acquiring a plurality of second electromagnetic torque signals of the servo motor at a plurality of second test rotating speeds, and calculating according to direct current components of the plurality of second electromagnetic torque signals to obtain a plurality of friction torques;obtaining the relation between the friction torque and the rotating speed of the servo motor according to the friction torques obtained under the second test rotating speeds, and fitting the friction characteristic curve of the servo system according to the relation between the friction torque and the rotating speed of the servo motor;wherein the step of fitting the friction characteristic curve of the servo system according to the relationship between the friction torque and the rotating speed of the servo motor comprises: and fitting the parameters of the LuGre friction model by using the LuGre friction model to obtain the friction characteristic curve of the servo system.
- An apparatus having a storage function, wherein program instructions are stored, the program instructions being loadable and operative to perform a servo system resistance characteristic acquisition method, the servo system resistance characteristic acquisition method comprising:setting the servo system as a speed loop control;setting a first test rotating speed to enable a servo motor in the servo system to work according to the first test rotating speed;collecting a first electromagnetic torque signal, carrying out spectrum analysis on an alternating current component in the first electromagnetic torque signal, and extracting the frequency of a periodically-changed harmonic wave in the alternating current component;and fitting a curve of the torque ripple according to the frequency of the periodic variation harmonic to obtain the relation of the torque ripple relative to the rotation position of the servo motor.
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