CN117134676B - Parameter correction method, servo system, electronic device and storage medium - Google Patents
Parameter correction method, servo system, electronic device and storage medium Download PDFInfo
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- CN117134676B CN117134676B CN202311380929.7A CN202311380929A CN117134676B CN 117134676 B CN117134676 B CN 117134676B CN 202311380929 A CN202311380929 A CN 202311380929A CN 117134676 B CN117134676 B CN 117134676B
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Classifications
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/14—Estimation or adaptation of motor parameters, e.g. rotor time constant, flux, speed, current or voltage
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/0205—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system
- G05B13/024—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric not using a model or a simulator of the controlled system in which a parameter or coefficient is automatically adjusted to optimise the performance
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
- H02P23/0004—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
Abstract
The invention discloses a parameter correction method, a servo system, electronic equipment and a storage medium, which are applied to the servo system, wherein the method comprises the following steps: acquiring current parameters of a servo system, wherein the current parameters are used for representing current output of the servo system; proportional correction is carried out on the current parameter to obtain a current curve, a rising period and a first moment parameter; when the first moment parameter meets a preset first moment condition, carrying out integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter; when the second moment parameter meets a preset second moment condition, carrying out counter potential correction on the current curve to obtain a steady-state error parameter and a third moment parameter; and when the third moment parameter meets a preset third moment condition, obtaining a target current loop parameter according to the rising period, the overshoot error parameter and the steady-state error parameter. In the embodiment of the invention, the proper PID parameters can be automatically set under the condition of considering the moment, so that most of working conditions are satisfied.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a parameter correction method, a servo system, electronic equipment and a storage medium.
Background
In the field of motor control, PID (Proportional Integral Derivative, proportional, integral and derivative) parameter setting is a very critical problem, a current loop is the most critical loop control, current PID design determines the basis of system performance quality, and the current parameter setting mainly comprises three modes: firstly, relevant parameters of a motor are imported according to a motor control model, and relevant parameter results are exported according to an automatic control theory; secondly, according to the experience value of a developer, simulating a practical working condition on a test bench, and obtaining an optimal value of the current working condition after repeated adjustment; thirdly, a control model is established through an adaptive control theory, and the related parameters are obtained through the derivation of a complex algorithm and the self-learning of the current working condition.
Aiming at the first parameter setting method, the method has certain limitation that the motor parameters tend to change relatively more and the calculation deviation is more, and the method is simply used in the place where the initial assignment of the parameters is set, so that the parameters cannot reach the optimal effect; the second parameter setting method needs to know the field working condition by a worker, and is set according to personal experience, because the outer ring speed ring is limited, the debugging process is usually time-consuming and labor-consuming, and sometimes the optimal result can be adjusted variably; the third parameter setting method needs to consume a great deal of resources for process calculation; meanwhile, the control parameter model is difficult to be suitable for various working conditions. In addition, the three methods all need to control the speed ring, and the relation between the moment and parameter setting is not considered in the control process, so that larger noise and vibration are easy to generate, and equipment is possibly damaged.
Disclosure of Invention
The invention aims to at least solve one of the technical problems in the prior art, and provides a parameter correction method, a servo system, electronic equipment and a storage medium, which can automatically set suitable PID parameters under the condition of considering moment so as to meet most of working conditions.
In a first aspect, the present invention provides a parameter correction method, applied to a servo system, the method comprising:
acquiring current parameters of the servo system, wherein the current parameters are used for representing current output of the servo system;
proportional correction is carried out on the current parameter to obtain a current curve, a rising period and a first moment parameter;
when the first moment parameter meets a preset first moment condition, carrying out integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter;
when the second moment parameter meets a preset second moment condition, carrying out counter potential correction on the current curve to obtain a steady-state error parameter and a third moment parameter;
and when the third moment parameter meets a preset third moment condition, obtaining a target current loop parameter according to the rising period, the overshoot error parameter and the steady-state error parameter.
The parameter correction method provided by the embodiment of the invention has at least the following beneficial effects: firstly, current parameters of a servo system are obtained, then the current parameters are subjected to proportional correction so as to control the relative stability of the servo system, a current curve, a rising period and a first moment parameter are obtained, so that the response speed of the control system is optimized, the control system can be more quickly stabilized near a set value, when the first moment parameter meets a preset first moment condition, the current curve is subjected to integral correction so as to eliminate steady-state errors, the precision and stability of the servo system are improved, an overshoot error parameter and a second moment parameter are obtained, thereby avoiding the condition that the servo system overshoots, when the second moment parameter meets a preset second moment condition, the counter-potential correction is performed on the current curve so as to improve the dynamic response of the servo system, the stability can be provided when the system response is quickly changed, and the steady-state error parameter and a third moment parameter are obtained, thereby reducing overshoot of the servo system and enabling output to be smoother and more stable, wherein in the process of carrying out proportion correction, integral correction and counter potential correction on the servo system, judgment of moment conditions is needed, so that equipment or a system is prevented from being subjected to excessive load, overshoot and oscillation amplitude of response of the system can be reduced, noise and vibration transmitted to other parts in the system are reduced, damage of devices is avoided, finally, when a third moment parameter meets a preset third moment condition, a target current loop parameter is obtained according to a rising period, an overshoot error parameter and a steady-state error parameter, automatic setting of PID parameters is realized, stability of the servo system is improved, the servo system can more effectively utilize energy, and adaptability of the servo system to load change is enhanced, the method can meet most of working conditions.
According to some embodiments of the invention, the performing the proportional correction on the current parameter to obtain a current curve, a rising period, and a first moment parameter includes:
setting an initial current parameter value;
transmitting a unit step input signal to the servo system, and recording a step current value output by the servo system according to the unit step input signal and a first moment, wherein the first moment is used for representing the moment of transmitting the unit step input signal to the servo system;
comparing the step current value with a preset target current value, and recording a second moment when the step current value exceeds the target current value;
obtaining a rising period according to the first moment and the second moment, and generating a current curve according to the initial current parameter value and the step current value;
and determining the difference between the initial current parameter value in the current curve and the unit step input signal to obtain a first moment parameter.
According to some embodiments of the invention, the integrating correction of the current curve to obtain an overshoot error parameter and a second torque parameter includes:
detecting the current curve after the second moment in real time;
Determining a curve peak value of the current curve when the current curve is determined to fluctuate after the second moment;
calculating the curve peak value and the target current value to obtain overshoot;
and adjusting the current parameter according to the overshoot to obtain an overshoot error parameter, and calculating the difference between the curve peak value and the unit step input signal to obtain a second moment parameter.
According to some embodiments of the invention, the performing back-emf correction on the current curve to obtain a steady-state error parameter and a third torque parameter includes:
after the second time, setting at least one time period;
calculating an output current value of the current curve in the time period for each of the time periods;
acquiring an actual current value of the servo system in the time period;
determining a steady-state error parameter according to the output current value and the actual current value;
and determining a third moment parameter according to the steady-state error parameter.
According to some embodiments of the invention, after the adjusting the current parameter according to the overshoot, an overshoot error parameter is obtained, the method further includes:
Adjusting the servo system according to the rising period and the overshoot error parameter, and observing the response current of the servo system;
when the response current is determined to oscillate, measuring the time from the current extreme point to the adjacent extreme point of the response current to obtain an oscillation period;
and adjusting the overshoot error parameter according to the oscillation period.
According to some embodiments of the invention, further comprising:
acquiring a real-time rotating speed value of the servo system in a parameter correction process;
comparing the real-time rotating speed value with a preset rotating speed value interval;
and when the real-time rotating speed value is not in the rotating speed value interval, adjusting the real-time rotating speed value.
According to some embodiments of the invention, further comprising:
when the first moment parameter does not meet a preset first moment condition, carrying out proportional correction on the current parameter again;
after the integral correction is performed on the current curve to obtain the overshoot error parameter and the second moment parameter, the method further comprises:
when the second moment parameter does not meet a preset second moment condition, carrying out integral correction on the current curve again;
after the counter potential correction is performed on the current curve to obtain a steady-state error parameter and a third moment parameter, the method further comprises the following steps:
And when the third moment parameter does not meet a preset third moment condition, carrying out back electromotive force correction on the current curve again.
In a second aspect, the present invention provides a servo system comprising:
the current acquisition module is used for acquiring current parameters of the servo system, wherein the current parameters are used for representing current output of the servo system;
the proportion correction module is used for carrying out proportion correction on the current parameter to obtain a current curve, a rising period and a first moment parameter;
the integral correction module is used for carrying out integral correction on the current curve when the first moment parameter meets a preset first moment condition to obtain an overshoot error parameter and a second moment parameter;
the counter potential correction module is used for correcting the counter potential of the current curve when the second moment parameter meets a preset second moment condition to obtain a steady-state error parameter and a third moment parameter;
and the parameter determining module is used for obtaining a target current loop parameter according to the rising period, the overshoot error parameter and the steady-state error parameter when the third moment parameter meets a preset third moment condition.
In a third aspect, the present invention provides an electronic device comprising a memory storing a computer program and a processor implementing the parameter correction method according to the first aspect when executing the computer program.
In a fourth aspect, the present invention provides a computer-readable storage medium storing computer-executable instructions for performing the parameter correction method of the first aspect.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and drawings.
Drawings
The accompanying drawings are included to provide a further understanding of the invention and are incorporated in and constitute a part of this specification, illustrate and do not limit the invention.
FIG. 1 is a flow chart of a parameter correction method provided by one embodiment of the present invention;
FIG. 2 is a flowchart of a specific method of step S102 in FIG. 1;
FIG. 3 is a flowchart of a specific method of step S103 in FIG. 1;
FIG. 4 is a flowchart of a specific method of step S104 in FIG. 1;
FIG. 5 is a flowchart of a parameter correction method according to another embodiment of the present invention;
FIG. 6 is a flowchart of a parameter correction method according to another embodiment of the present invention;
FIG. 7 is a schematic diagram of a hardware configuration of a servo system according to an embodiment of the present disclosure;
fig. 8 is a schematic diagram of a hardware structure of an electronic device according to an embodiment of the present application.
Detailed Description
The present invention will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present invention more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the invention.
It should be noted that although a logical order is illustrated in the flowchart, in some cases, the steps illustrated or described may be performed in an order different from that in the flowchart. The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order.
In the field of motor control, PID (Proportional Integral Derivative, proportional, integral and derivative) parameter setting is a very critical problem, a current loop is the most critical loop control, current PID design determines the basis of system performance quality, and the current parameter setting mainly comprises three modes: firstly, relevant parameters of a motor are imported according to a motor control model, and relevant parameter results are exported according to an automatic control theory; secondly, according to the experience value of a developer, simulating a practical working condition on a test bench, and obtaining an optimal value of the current working condition after repeated adjustment; thirdly, a control model is established through an adaptive control theory, and the related parameters are obtained through the derivation of a complex algorithm and the self-learning of the current working condition.
Aiming at the first parameter setting method, the method has certain limitation that the motor parameters tend to change relatively more and the calculation deviation is more, and the method is simply used in the place where the initial assignment of the parameters is set, so that the parameters cannot reach the optimal effect; the second parameter setting method needs to know the field working condition by a worker, and is set according to personal experience, because the outer ring speed ring is limited, the debugging process is usually time-consuming and labor-consuming, and sometimes the optimal result can be adjusted variably; the third parameter setting method needs to consume a great deal of resources for process calculation; meanwhile, the control parameter model is difficult to be suitable for various working conditions. In addition, the three methods all need to control the speed ring, and the relation between the moment and parameter setting is not considered in the control process.
In order to solve the above problems, the present embodiment provides a parameter correction method, firstly, obtain the current parameter of the servo system, and then perform proportional correction on the current parameter to control the relative stability of the servo system, so as to obtain the current curve, the rising period and the first moment parameter, so as to optimize the response speed of the control system, so that the response speed of the servo system can be stabilized near the set value more quickly, when the first moment parameter meets the preset first moment condition, the current curve is subjected to integral correction to eliminate steady-state error, the precision and stability of the servo system are improved, and the overshoot error parameter and the second moment parameter are obtained, so that the condition of the servo system is avoided, when the second moment parameter meets the preset second moment condition, the counter-potential correction is performed to improve the dynamic response of the servo system, stability is provided to obtain the steady error parameter and the third moment parameter, so that the overshoot amount of the servo system is reduced, so that the output is smoother and more stable, in the process of carrying out proportional correction, integral correction and counter-potential correction on the servo system, the moment condition is required to eliminate steady state error, the accuracy and stability of the servo system is improved, the overshoot error is avoided, and finally, the overshoot error is reduced by the set-up condition, the first moment parameter is reduced, the overshoot error is prevented from being generated, the impulse error is reduced, and the third moment parameter is more effectively, the stability is improved, and the stability is better, and the stability is stable, the adaptability of the servo system to load change is enhanced, and most of working conditions are satisfied.
Embodiments of the present invention will be further described below with reference to the accompanying drawings.
Referring to fig. 1, fig. 1 is a flowchart of a parameter correction method according to an embodiment of the present invention, which is applied to, but not limited to, a servo system, and includes, but is not limited to, steps S101 to S105.
Step S101: acquiring current parameters of a servo system;
it should be noted that the current parameter is used to characterize the current output of the servo system.
In some embodiments, the servo system includes, but is not limited to including, a position servo system, a speed servo system, a torque servo system, a pressure servo system, etc., wherein the servo system includes, but is not limited to including, a servo motor, a position sensor, a controller, a driver, etc., and the embodiment is not particularly limited.
Step S102: proportional correction is carried out on the current parameter to obtain a current curve, a rising period and a first moment parameter;
in step S102 of some embodiments, the current parameter is proportionally corrected to speed up the response of the servo system by adjusting the proportional relationship between the control signal and the error, so as to obtain a current curve, a rising period and a first moment parameter, so as to improve the corresponding speed of the system, realize more accurate current control, and reduce the response time.
Step S103: when the first moment parameter meets a preset first moment condition, carrying out integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter;
in step S103 of some embodiments, when the first torque parameter meets a preset first torque condition, integral correction is performed on the current curve, so that a steady-state error can be eliminated when the first torque condition is met, the accuracy and stability of the system are improved, and an overshoot error parameter and a second torque parameter are obtained, so that the output current is closer to the expected value.
Step S104: when the second moment parameter meets a preset second moment condition, carrying out counter potential correction on the current curve to obtain a steady-state error parameter and a third moment parameter;
in step S104 of some embodiments, when the second torque parameter meets a preset second torque condition, the counter-potential correction is performed on the current curve, so as to improve the dynamic response of the system under the condition that the second torque condition is met, obtain the steady-state error parameter and the third torque parameter, reduce the overshoot of the system, and make the output current smoother and more stable.
Step S105: and when the third moment parameter meets a preset third moment condition, obtaining a target current loop parameter according to the rising period, the overshoot error parameter and the steady-state error parameter.
In step S105 of some embodiments, when the third torque parameter meets a preset third torque condition, a target current loop parameter is obtained according to the rising period, the overshoot error parameter and the steady-state error parameter, so as to integrate the proportional, integral correction and counter-potential correction, realize accurate control of the servo system, improve the stability of the servo system, enable the system to respond to input changes more quickly and accurately by reasonably adjusting the correction parameters, and eliminate steady-state errors and reduce the overshoot. Meanwhile, according to the characteristics and the requirements of the system, the weights of the proportion, the integral and the derivative can be flexibly selected and adjusted so as to obtain the optimal control effect, enhance the adaptability of the servo system to the load change and meet the use of most working conditions.
It can be appreciated that in this embodiment, by limiting the first moment condition, the second moment condition, and the third moment condition, overshoot and oscillation amplitude of the system response can be reduced, so that the system response is more stable and controllable, which is conducive to improving stability and control accuracy of the control system, and reducing undesired oscillation. And the servo system can more effectively utilize energy by obtaining the target current loop parameters, and the energy loss and the power consumption can be reduced and the energy utilization efficiency of the system can be improved by proper parameter setting. Correct current loop parameter correction helps to reduce excessive current output, thereby reducing the risk of wear and damage to mechanical components in the servo system. This may extend the life of the system and reduce maintenance costs.
It should be noted that, in the present embodiment, the first torque condition, the second torque condition, and the third torque condition may be the same, or may be set according to different correction processes, for example, the first torque condition is that the torque satisfies 30n·m, the second torque condition is that the torque satisfies 40n·m, the third torque condition is that the torque satisfies 50n·m, or the first torque condition, the second torque condition, and the third torque condition are all that the torque satisfies 30n·m, and the embodiment is not particularly limited.
Referring to fig. 2, fig. 2 is a flowchart of a specific method of step S102 in fig. 1, step S102 including, but not limited to, steps S201 to S205.
Step S201: setting an initial current parameter value;
step S202: transmitting a unit step input signal to a servo system, and recording a step current value and a first moment which are output by the servo system according to the unit step input signal;
the first time is used to characterize the time at which the unit step input signal is sent to the servo system.
Step S203: comparing the step current value with a preset target current value, and recording a second moment when the step current value exceeds the target current value;
step S204: obtaining a rising period according to the first moment and the second moment, and generating a current curve according to the initial current parameter value and the step current value;
Step S205: and determining the difference between the initial current parameter value in the current curve and the unit step input signal to obtain a first moment parameter.
In steps S201 to S205 of some embodiments, during the process of proportional correction of the current parameter, firstly, an initial current parameter value is set, where the initial current parameter value is a smaller initial value, for example, 0.1, 0.2, etc., and then a unit step input signal is sent to the servo system, so that the current suddenly changes from zero to a target current, and the servo system records a step current value output by the unit step input signal and a first time of sending the unit step input signal to the servo system, so as to record deviation and time of the suddenly changed current, then, the step current value is compared with a preset target current value, and a step current value of a step change occurs in the current is recorded, a second time when the step current value exceeds the target current value is determined, so as to facilitate subsequent determination of a rising period, and then, according to the first time and the second time, the rising period is the time when the unit step input signal is applied to the system, so that the current of the system reaches the target current value, and a current curve is generated according to the initial current parameter value and the first time when the initial current value and the step current value are different, so that a user can observe the current at different time, and the current is prevented from being damaged by the initial current value and the mechanical change, and the mechanical change is greatly estimated, and the mechanical change is avoided.
The ratio correction affects the response of the system by adjusting the ratio between the control signal and the error, so that the response speed of the servo system can be increased and the response time of the servo system can be reduced, wherein the rising period is the time from the initial state of the response of the servo system to the first time of reaching the set value, that is, the time elapsed from the unit step input signal being applied to the system to make the current of the system reach the target current value in the embodiment.
It can be understood that a smaller rising period indicates that the system response speed is faster, and can be stabilized near the set value (target current value) more quickly, and a larger rising period indicates that the system response speed is slower, and a longer time is required to be able to approach the set value more closely, where the target current value can be set by the user according to the requirement of the user, and the embodiment is not limited specifically.
Referring to fig. 3, fig. 3 is a flowchart of a specific method of step S103 in fig. 1, step S103 including, but not limited to, steps S301 to S304.
Step S301: detecting a current curve after the second moment in real time;
step S302: when the current curve is determined to fluctuate after the second moment, determining a curve peak value of the current curve;
Step S303: calculating a curve peak value and a target current value to obtain an overshoot;
step S304: and adjusting the current parameter according to the overshoot to obtain an overshoot error parameter, and calculating the difference between the curve peak value and the unit step input signal to obtain a second moment parameter.
In steps S301 to S304 of some embodiments, during integral correction of a current curve, firstly, a current curve after a second moment is detected in real time, a current change condition and a deviation condition after the current reaches a target current value are determined, when it is determined that the current curve fluctuates after the second moment, a curve peak value of the current curve is determined, then, the curve peak value and the target current value are calculated to obtain an overshoot, so that a maximum deviation of the servo system exceeding the target current value is obtained, finally, the current parameter is adjusted according to the overshoot, so as to obtain an overshoot error parameter, so as to improve performance and stability of the servo system, avoid the overshoot condition of the servo system, calculate a difference between the curve peak value and a unit step input signal, and obtain a second moment parameter, so that in integral correction of the system, overshoot and oscillation amplitude of system response are reduced.
It should be noted that, in the process of calculating the overshoot, the highest peak value of the current curve after the second moment is found first, then the difference between the peak value of the curve and the target current value is calculated, and the difference is divided by the target current value to obtain the overshoot.
It is noted that when it is determined that the current curve does not fluctuate after the second moment, the value of the integral parameter in the servo system is adjusted, and integral correction is continuously performed on the current curve, so that automatic adjustment of the overshoot error parameter is achieved.
Referring to fig. 4, fig. 4 is a flowchart of a specific method of step S104 in fig. 1, step S104 including, but not limited to, steps S401 to S405.
Step S401: after the second time, setting at least one time period;
step S402: for each time period, calculating an output current value of the current curve in the time period;
step S403: acquiring an actual current value of a servo system in a time period;
step S404: determining a steady-state error parameter according to the output current value and the actual current value;
Step S405: and determining a third moment parameter according to the steady-state error parameter.
In steps S401 to S405 of some embodiments, during the process of performing counter potential correction on the current curve, after the second moment, at least one time period is set, for each time period, an output current value of the current curve in the time period is calculated, wherein the output current value is an average current value of the current curve in the time period, then an actual current value of the servo system in the time period is obtained, a difference value between the output current value and the actual current value is calculated to determine a steady state error parameter, so that dynamic response of the servo system is improved, overshoot is reduced, and finally, a third moment parameter is determined according to the steady state error parameter, so that operation safety is ensured, overshoot and oscillation amplitude of system response are reduced, and accordingly the system is more stable and controllable.
It should be noted that, the steady-state error parameter is the difference between the output current value and the actual current value after the servo system reaches the steady state, and when the servo system reaches the steady state, a certain gap may still exist between the output current value and the actual current value, and in this embodiment, the steady-state error of the system is reduced by calculating the steady-state error parameter.
Referring to fig. 5, fig. 5 is a flowchart of a parameter correction method according to another embodiment of the present invention, and the parameter correction method includes, but is not limited to, steps S501 to S503.
It should be noted that, steps S501 to S503 occur after the current parameter is adjusted according to the overshoot, so as to obtain the overshoot error parameter.
Step S501: adjusting the servo system according to the rising period and the overshoot error parameter, and observing the response current of the servo system;
step S502: when the response current is determined to oscillate, measuring the time from the current extreme point to the adjacent extreme point of the response current to obtain an oscillation period;
step S503: and adjusting the overshoot error parameter according to the oscillation period.
In steps S501 to S503 of some embodiments, after the overshoot error parameter is obtained, the present embodiment further adjusts the servo system according to the rising period and the overshoot error parameter, so that the servo system can more quickly respond to the input signal change, reduce the response time, reduce the steady state error, and observe the response current change of the servo system, so as to check the system response condition under the current rising period and the overshoot error parameter, facilitate the subsequent improvement of the stability of the system, when it is determined that the response current oscillates, measure the time that the response current passes from the current extremum point to the adjacent extremum point, obtain the oscillation period, and finally adjust the overshoot error parameter according to the oscillation period, thereby avoiding the overshoot error parameter from being too large or too small, and realizing the test of the overshoot error parameter.
It should be noted that, in the process of starting to adjust the servo system according to the rising period and the overshoot error parameter, a smaller parameter may be set at will in the rising period and the overshoot error parameter to adjust, then the overshoot error parameter is gradually increased to realize fine adjustment of the servo system, and finally the overshoot error parameter is adjusted according to the oscillation period, if the oscillation period is too long, it is indicated that the integral gain is too small, and the overshoot error parameter needs to be increased; if the oscillation period is too short, the integral gain is too large, the overshoot error parameter needs to be reduced, and finally the output response of the system is stable and stable by gradually adjusting the integral gain.
Referring to fig. 6, fig. 6 is a flowchart of a parameter correction method according to another embodiment of the present invention, and the parameter correction method includes, but is not limited to, steps S601 to S603.
Step S601: acquiring a real-time rotating speed value of a servo system in a parameter correction process;
step S602: comparing the real-time rotating speed value with a preset rotating speed value interval;
step S603: and when the real-time rotating speed value is not in the rotating speed value interval, adjusting the real-time rotating speed value.
In steps S601 to S603 of some embodiments, firstly, a real-time rotation speed value of the servo system in a parameter correction process is obtained, and then the real-time rotation speed value is compared with a preset rotation speed value interval, so that the real-time rotation speed value of the servo system is limited in a set range in a parameter correction process of the servo system, and when the real-time rotation speed value is not in the rotation speed value interval, the real-time rotation speed value needs to be adjusted, so that the condition that the servo system runs at high speed is avoided.
The rotating speed value interval can be set according to the needs of a user, and when the real-time rotating speed value is in the rotating speed value interval, the real-time rotating speed value can not be adjusted, and the current real-time rotating speed value can be kept.
In some embodiments, when the first torque parameter does not meet the preset first torque condition, the current parameter is subjected to proportional correction again, and the rising period is obtained again for subsequent operation, so that the equipment or the system can be prevented from being subjected to excessive load in the proportional correction process;
when the second moment parameter does not meet the preset second moment condition, carrying out integral correction on the current curve again to obtain an overshoot error parameter again, so that overshoot and oscillation amplitude of system response can be reduced in the integral correction process;
and when the third moment parameter does not meet the preset third moment condition, the counter potential correction is carried out on the current curve again, and the steady-state error parameter is obtained again, so that noise and vibration transmitted to other components in the system are reduced, and the energy consumption is reduced.
Referring to fig. 7, fig. 7 is a schematic structural diagram of a servo system according to an embodiment of the present invention.
In some embodiments, the servo system comprises:
The current acquisition module 701 is configured to acquire a current parameter of the servo system, where the current parameter is used to characterize a current output of the servo system;
the proportion correction module 702 is configured to perform proportion correction on the current parameter to obtain a current curve, a rising period and a first torque parameter;
the integral correction module 703 is configured to perform integral correction on the current curve to obtain an overshoot error parameter and a second torque parameter when the first torque parameter meets a preset first torque condition;
the back electromotive force correction module 704 is configured to perform back electromotive force correction on the current curve when the second moment parameter meets a preset second moment condition, so as to obtain a steady-state error parameter and a third moment parameter;
and the parameter determining module 705 is configured to obtain the target current loop parameter according to the rising period, the overshoot error parameter, and the steady-state error parameter when the third torque parameter meets a preset third torque condition.
It should be noted that, the servo system includes the beneficial effects brought by the above parameter correction method, and this embodiment is not described herein again.
Referring to fig. 8, fig. 8 illustrates a hardware structure of an electronic device according to an embodiment, and the electronic device includes:
the processor 1001 may be implemented by using a general-purpose CPU (Central Processing Unit ), a microprocessor, an application-specific integrated circuit (Application SpecificIntegrated Circuit, ASIC), or one or more integrated circuits, etc. to execute related programs to implement the technical solutions provided by the embodiments of the present application;
The Memory 1002 may be implemented in the form of a Read Only Memory (ROM), a static storage device, a dynamic storage device, or a random access Memory (Random Access Memory, RAM). The memory 1002 may store an operating system and other application programs, and when the technical solutions provided in the embodiments of the present application are implemented by software or firmware, relevant program codes are stored in the memory 1002, and the processor 1001 invokes a parameter correction method to perform the embodiments of the present application;
an input/output interface 1003 for implementing information input and output;
the communication interface 1004 is configured to implement communication interaction between the present device and other devices, and may implement communication in a wired manner (e.g. USB, network cable, etc.), or may implement communication in a wireless manner (e.g. mobile network, WIFI, bluetooth, etc.);
a bus 1005 for transferring information between the various components of the device (e.g., the processor 1001, memory 1002, input/output interface 1003, and communication interface 1004);
wherein the processor 1001, the memory 1002, the input/output interface 1003, and the communication interface 1004 realize communication connection between each other inside the device through the bus 1005.
Furthermore, an embodiment of the present invention provides a computer-readable storage medium storing computer-executable instructions that are executed by a processor or controller, for example, by one of the processors in the above-described system embodiment, and cause the processor to perform the parameter correction method in the above-described embodiment.
The embodiments described in the embodiments of the present application are for more clearly describing the technical solutions of the embodiments of the present application, and do not constitute a limitation on the technical solutions provided by the embodiments of the present application, and as those skilled in the art can know that, with the evolution of technology and the appearance of new application scenarios, the technical solutions provided by the embodiments of the present application are equally applicable to similar technical problems.
It will be appreciated by those skilled in the art that the solutions shown in fig. 1-6 are not limiting to embodiments of the present application and may include more or fewer steps than shown, or may combine certain steps, or different steps.
The above described apparatus embodiments are merely illustrative, wherein the units illustrated as separate components may or may not be physically separate, i.e. may be located in one place, or may be distributed over a plurality of network elements. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
Those of ordinary skill in the art will appreciate that all or some of the steps of the methods, systems, functional modules/units in the devices disclosed above may be implemented as software, firmware, hardware, and suitable combinations thereof.
The terms "first," "second," "third," "fourth," and the like in the description of the present application and in the above-described figures, if any, are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that embodiments of the present application described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
It should be understood that in this application, "at least one" means one or more, and "a plurality" means two or more. "and/or" for describing the association relationship of the association object, the representation may have three relationships, for example, "a and/or B" may represent: only a, only B and both a and B are present, wherein a, B may be singular or plural. The character "/" generally indicates that the context-dependent object is an "or" relationship. "at least one of" or the like means any combination of these items, including any combination of single item(s) or plural items(s). For example, at least one (one) of a, b or c may represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", wherein a, b, c may be single or plural.
In the several embodiments provided in this application, it should be understood that the disclosed apparatus and method may be implemented in other ways. For example, the above-described apparatus embodiments are merely illustrative, and for example, the above-described division of units is merely a logical function division, and there may be another division manner in actual implementation, for example, a plurality of units or components may be combined or may be integrated into another system, or some features may be omitted, or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed with each other may be an indirect coupling or communication connection via some interfaces, devices or units, which may be in electrical, mechanical or other form.
The units described above as separate components may or may not be physically separate, and components shown as units may or may not be physical units, may be located in one place, or may be distributed over a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.
In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.
The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in part or all of the technical solution or in part in the form of a software product stored in a storage medium, including multiple instructions to cause a computer device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the methods of the various embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a magnetic disk, or an optical disk, or other various media capable of storing a program.
Preferred embodiments of the present application are described above with reference to the accompanying drawings, and thus do not limit the scope of the claims of the embodiments of the present application. Any modifications, equivalent substitutions and improvements made by those skilled in the art without departing from the scope and spirit of the embodiments of the present application shall fall within the scope of the claims of the embodiments of the present application.
Claims (7)
1. A method of parameter correction applied to a servo system, the method comprising:
acquiring current parameters of the servo system, wherein the current parameters are used for representing current output of the servo system;
proportional correction is carried out on the current parameter to obtain a current curve, a rising period and a first moment parameter;
when the first moment parameter meets a preset first moment condition, carrying out integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter;
when the second moment parameter meets a preset second moment condition, carrying out counter potential correction on the current curve to obtain a steady-state error parameter and a third moment parameter;
when the third moment parameter meets a preset third moment condition, a target current loop parameter is obtained according to the rising period, the overshoot error parameter and the steady-state error parameter;
the step of performing proportional correction on the current parameter to obtain a current curve, a rising period and a first moment parameter includes:
setting an initial current parameter value;
transmitting a unit step input signal to the servo system, and recording a step current value output by the servo system according to the unit step input signal and a first moment, wherein the first moment is used for representing the moment of transmitting the unit step input signal to the servo system;
Comparing the step current value with a preset target current value, and recording a second moment when the step current value exceeds the target current value;
obtaining a rising period according to the first moment and the second moment, and generating a current curve according to the initial current parameter value and the step current value;
determining the difference between the initial current parameter value in the current curve and the unit step input signal to obtain a first torque parameter;
the step of performing integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter includes:
detecting the current curve after the second moment in real time;
determining a curve peak value of the current curve when the current curve is determined to fluctuate after the second moment;
calculating the curve peak value and the target current value to obtain overshoot;
adjusting the current parameter according to the overshoot to obtain an overshoot error parameter, and calculating the difference between the curve peak value and the unit step input signal to obtain a second moment parameter;
and performing back electromotive force correction on the current curve to obtain a steady-state error parameter and a third moment parameter, wherein the back electromotive force correction comprises the following steps:
After the second time, setting at least one time period;
calculating an output current value of the current curve in the time period for each of the time periods;
acquiring an actual current value of the servo system in the time period;
determining a steady-state error parameter according to the output current value and the actual current value;
and determining a third moment parameter according to the steady-state error parameter.
2. The parameter correction method according to claim 1, further comprising, after said adjusting the current parameter according to the overshoot,:
adjusting the servo system according to the rising period and the overshoot error parameter, and observing the response current of the servo system;
when the response current is determined to oscillate, measuring the time from the current extreme point to the adjacent extreme point of the response current to obtain an oscillation period;
and adjusting the overshoot error parameter according to the oscillation period.
3. The parameter correction method according to claim 1, characterized by further comprising:
acquiring a real-time rotating speed value of the servo system in a parameter correction process;
Comparing the real-time rotating speed value with a preset rotating speed value interval;
and when the real-time rotating speed value is not in the rotating speed value interval, adjusting the real-time rotating speed value.
4. The parameter correction method according to claim 1, characterized by further comprising:
when the first moment parameter does not meet a preset first moment condition, carrying out proportional correction on the current parameter again;
after the integral correction is performed on the current curve to obtain the overshoot error parameter and the second moment parameter, the method further comprises:
when the second moment parameter does not meet a preset second moment condition, carrying out integral correction on the current curve again;
after the counter potential correction is performed on the current curve to obtain a steady-state error parameter and a third moment parameter, the method further comprises the following steps:
and when the third moment parameter does not meet a preset third moment condition, carrying out back electromotive force correction on the current curve again.
5. A servo system, comprising:
the current acquisition module is used for acquiring current parameters of the servo system, wherein the current parameters are used for representing current output of the servo system;
The proportion correction module is used for carrying out proportion correction on the current parameter to obtain a current curve, a rising period and a first moment parameter; the step of performing proportional correction on the current parameter to obtain a current curve, a rising period and a first moment parameter includes: setting an initial current parameter value; transmitting a unit step input signal to the servo system, and recording a step current value output by the servo system according to the unit step input signal and a first moment, wherein the first moment is used for representing the moment of transmitting the unit step input signal to the servo system; comparing the step current value with a preset target current value, and recording a second moment when the step current value exceeds the target current value; obtaining a rising period according to the first moment and the second moment, and generating a current curve according to the initial current parameter value and the step current value; determining the difference between the initial current parameter value in the current curve and the unit step input signal to obtain a first torque parameter;
the integral correction module is used for carrying out integral correction on the current curve when the first moment parameter meets a preset first moment condition to obtain an overshoot error parameter and a second moment parameter; the step of performing integral correction on the current curve to obtain an overshoot error parameter and a second moment parameter includes: detecting the current curve after the second moment in real time; determining a curve peak value of the current curve when the current curve is determined to fluctuate after the second moment; calculating the curve peak value and the target current value to obtain overshoot; adjusting the current parameter according to the overshoot to obtain an overshoot error parameter, and calculating the difference between the curve peak value and the unit step input signal to obtain a second moment parameter;
The counter potential correction module is used for correcting the counter potential of the current curve when the second moment parameter meets a preset second moment condition to obtain a steady-state error parameter and a third moment parameter; and performing back electromotive force correction on the current curve to obtain a steady-state error parameter and a third moment parameter, wherein the back electromotive force correction comprises the following steps: after the second time, setting at least one time period; calculating an output current value of the current curve in the time period for each of the time periods; acquiring an actual current value of the servo system in the time period; determining a steady-state error parameter according to the output current value and the actual current value; determining a third torque parameter according to the steady state error parameter;
and the parameter determining module is used for obtaining a target current loop parameter according to the rising period, the overshoot error parameter and the steady-state error parameter when the third moment parameter meets a preset third moment condition.
6. An electronic device comprising a memory storing a computer program and a processor implementing the parameter correction method of any one of claims 1 to 4 when the computer program is executed by the processor.
7. A computer-readable storage medium storing computer-executable instructions for performing the parameter correction method according to any one of claims 1 to 4.
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