TWI739620B - Velocity feedforward adjustment system and method thereof - Google Patents

Abstract

A velocity feedforward adjustment system is disclosed in the present invention. The velocity feedforward adjustment system includes a filtering module, a computing module, a determining module, and an adjustment module. The filtering module is utilized to filter a position command and a motor feedback position. The computing module is utilized to compute a position error value by using the position command and the motor feedback position. The determining module is utilized to determine the position error value and the position command meet an increase condition or a decrease condition so as to use the adjustment module to increase or decrease a velocity feedforward parameter setting by a velocity feedforward controller. A velocity feedforward adjustment method is also disclosed in the present invention.

Description

Speed feedforward adjustment system and method

The present invention relates to a system and method, in particular to a speed feedforward adjustment system and method.

Generally speaking, a servo motor includes a position control loop and a speed control loop. The position control loop and the speed control loop each include a feedback part and a control part.

The position control loop is mainly to enable the motor to be accurately positioned. It is mainly the position command generated by the upper controller and the position feedback of the encoder to produce a position error, and the position control calculation is performed to obtain the speed command. The speed control loop generates a speed command through the position controller, and then detects the motor feedback position of the motor to obtain the speed feedback through differential calculation. The speed error generated from the speed command is brought into the speed controller to obtain the drive current command for driving. In the prior art, in order to improve the response speed, a speed feedforward controller will be added.

Please refer to the first figure. The first figure shows a block diagram of a prior art servo motor system. As shown in the figure, the servo motor system PA100 includes a position controller PA1, a speed controller PA2, a speed feedforward controller PA3, a current controller PA4, an inverter PA5, a motor PA6, and a motor feedback The position receiving module PA7, a rotational speed processor PA8, a first calculator PA91, a second calculator PA92 and a current calculation module PA93. The motor feedback position receiving module PA7 and the rotation speed processor PA8 are used to detect and process a motor feedback position and a motor feedback rotation speed signal. The second calculator PA92 receives the feedback position of the motor and a position command PAS1 generated by the upper controller to calculate a position error. The position controller PA1 receives the position error to generate a speed command. The first calculator PA91 is used to receive the rotational speed command and the motor feedback rotational speed signal to calculate a rotational speed error, and the rotational speed error forms a current command after passing through the rotational speed controller PA2.

In the prior art, the speed feedforward controller PA3 receives the position command PAS1 and sets a speed feedforward parameter to ensure and improve the system response. However, the speed feedforward controller PA3 increases the speed feedforward parameter easily to cause the servo motor system PA100 to generate an overshoot. The overshoot will affect the operation of the servo motor system PA100, and even cause damage to the servo motor system PA100. Therefore, the prior art has room for improvement.

In view of the existing and derived problems in the prior art, the speed feedforward controller improves the speed feedforward parameters. One of the main objects of the present invention is to provide a speed feedforward adjustment system to solve at least one of the problems in the prior art.

In order to solve the problem of the prior art, the necessary technical means adopted by the present invention is to provide a speed feedforward adjustment system, which is electrically connected to a position controller, a speed controller, a speed feedforward controller and a speed feedforward controller for detecting a A motor feedback position receiving module for motor feedback position and a motor feedback speed signal. The position controller receives a position command and generates a speed command accordingly. The speed command forms a current command through the speed controller , The speed feedforward adjustment system includes a low-pass filter module, an error calculation module, a judgment module and an adjustment module.

The low-pass filter module is used to receive and filter the position command, the motor feedback position, the motor feedback speed signal and the speed command. The error calculation module is electrically connected to the low-pass filter module to receive the filtered position command and the filtered motor feedback position, and calculate a position error value accordingly. The judgment module is electrically connected to the low-pass filter module and the error calculation module to receive the filtered position command and position error value, and when it is judged that the position command and the position error value meet an increase condition, an adjustment is generated. When it is judged that the position command and the position error value meet a lowering condition, a lowering control signal is generated. The adjustment module is electrically connected to the judgment module and the speed feedforward controller to increase one of the speed feedforward parameters set by the speed feedforward controller when the increase control signal is received; and when the decrease control is received Signal, reduce the speed feedforward parameter, so that the position error value approaches the speed command.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is to make the judgment module in the speed feedforward adjustment system, including the same number judgment unit, which is used to judge the position command and the position error value Whether it is the same number, and the increase condition is that the position command and the position error value have the same number.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the judgment module in the speed feedforward adjustment system include an error interval judgment unit, and the error interval judgment unit is electrically connected to the judgment unit of the same number. It is used to further determine whether the position error value is within a position error interval when the position command and the position error value have different signs, and the reduction condition is that the position error value is outside the position error interval.

Based on the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the judgment module in the speed feedforward adjustment system further include a position command judgment unit and a feedback speed judgment unit. The position command judging unit is used to receive the position command and judge whether the position command is 0. The feedback speed judging unit is electrically connected to the position command judging unit for further judging whether the motor feedback speed signal is lower than a judgment threshold when the position command judging unit judges that the position command is 0, and when the motor feedback speed is judged If the signal is lower than the judgment threshold, the judgment unit with the same number is used for judgment.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is to make the low-pass filter module in the speed feedforward adjustment system a low-pass filter.

In order to solve the problems of the prior art, the necessary technical means adopted by the present invention are to provide another speed feedforward adjustment method, which is implemented by the above-mentioned speed feedforward adjustment system, and includes the following steps: use a low-pass filter module to receive and filter Position command, motor feedback position, motor feedback speed signal and speed command; use the error calculation module to receive the filtered position command and the filtered motor feedback position, and calculate the position error value accordingly; use the judgment module Receive the filtered position command and position error value, and when it is judged that the position command and the position error value meet the increase condition, generate the increase control signal; and when it is judged that the position command and the position error value meet the decrease condition, generate Decrease the control signal; use the adjustment module to increase the speed feedforward parameters set by the speed feedforward controller after receiving the increase control signal; and after receiving the decrease control signal, reduce the speed feedforward parameters, so that The position error value approaches zero.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is the step in the speed feedforward adjustment method, and further includes the following steps: using the same number judgment unit of the judgment module to judge the position command and the position error value Whether it is the same number, and the increase condition is that the position command and the position error value have the same number.

On the basis of the above-mentioned necessary technical means, an auxiliary technical means derived from the present invention is the steps in the speed feedforward adjustment method, which further includes the following steps: when the position command and the position error value have different signs, use the judgment module An error interval judging unit further judges whether the position error value is within a position error interval, and the reduction condition is that the position error value is outside the position error interval.

On the basis of the above-mentioned necessary technical means, one of the subsidiary technical means derived from the present invention is the step in the speed feedforward adjustment method, and further includes the following steps: using a position command judgment unit of the judgment module to receive the position command, and judge Whether the position command is 0; when the position command judgment unit judges that the position command is 0, the feedback speed judgment unit of one of the judgment modules is used to further judge whether the feedback speed signal of the motor is lower than a judgment threshold value, and the motor is judged When the feedback speed signal is lower than the judgment threshold, perform the above steps.

Based on the above, the speed feedforward adjustment system and method provided by the present invention uses a low-pass filter module, an error calculation module, a judgment module, and an adjustment module to calculate the position error value and determine the position When the command and position error value meet the increase condition, increase the speed feedforward parameter; and when the position command and the position error value meet the decrease condition, decrease the speed feedforward parameter. Compared with the various problems caused and derived when setting the speed feedforward parameters in the prior art, the present invention uses the judgment module to determine whether the position command and the position error value satisfy the up-regulation condition or the down-regulation condition, so as to adjust the rotation speed in real time and appropriately. The feedforward parameter can not only avoid overshoot, but also achieve the effect of increasing the system response.

The specific embodiments of the present invention will be described in more detail below in conjunction with the schematic diagrams. According to the following description and the scope of patent application, the advantages and features of the present invention will be more clear. It should be noted that the drawings all adopt a very simplified form and all use imprecise proportions, which are only used to conveniently and clearly assist in explaining the purpose of the embodiments of the present invention.

Please refer to Figures 2 to 6 together. Figure 2 is a block diagram showing the speed feedforward adjustment system provided by the preferred embodiment of the present invention; Figure 3 is a block diagram showing the speed feedforward adjustment system provided by the preferred embodiment of the present invention. The schematic diagram of the speed feedforward adjustment system electrically connected to the servo motor system; the fourth diagram is a diagram showing the comparison between the speed feedforward adjustment system provided by the preferred embodiment of the present invention and the prior art; the fifth diagram shows the preferred embodiment of the present invention The schematic diagram of the position error interval of the speed feedforward adjustment system provided by the embodiment; the sixth figure is a flow chart of the speed feedforward adjustment method provided by the preferred embodiment of the present invention. As shown in the figure, a speed feedforward adjustment system 1 includes a low-pass filter module 11, an error calculation module 12, a judgment module 13 and an adjustment module 14, and is electrically connected to a servo motor system 100.

The servo motor system 100 includes a position controller 2, a speed controller 3, a speed feedforward controller 4, a current controller 5, an inverter 6, a motor 7, and a motor feedback position receiving module 8. , A rotational speed processor 9, a first calculator 91, a second calculator 92, and a current calculation module 93. The motor feedback position receiving module 8 is used to detect and process a motor feedback position and a motor feedback speed signal S2. The second calculator 92 receives the feedback position of the motor and a position command S1 to calculate a position error. The position command S1 is usually generated by a host controller pregnancy. The position controller 2 receives the position error to generate a speed command. The first calculator 91 is used to receive the rotational speed command and the motor feedback rotational speed signal S2 to calculate a rotational speed error, and the rotational speed error forms a current command after passing through the rotational speed controller 3.

The low-pass filter module 11 is used to receive and filter the position command S1, the motor feedback position, the motor feedback speed signal S2, and the speed command (such as step S101). The purpose of the low-pass filter module 11 is to filter out high-frequency noise in commands and signals, so as to avoid interference from noise, and make subsequent calculations and processing more accurate.

The error calculation module 12 is electrically connected to the low-pass filter module 11 to receive the filtered position command S1 and the filtered motor feedback position, and calculate a position error EP accordingly (as in step S102). In this embodiment, the error calculation module 12 uses the filtered position command S1 to subtract the filtered motor feedback position to calculate the position error EP.

The judgment module 13 is electrically connected to the low-pass filter module 11 and the error calculation module 12 to receive the filtered position command S1 and the position error value EP, and determine the filtered position command S1 and the position error value EP When an increase condition is met, an increase control signal is generated; and when it is determined that the filtered position command S1 and the position error value EP meet a decrease condition, a decrease control signal is generated (e.g., step S103 to step S106) .

The adjustment module 14 is electrically connected to the judging module 13 and the speed feedforward controller 4, so as to increase a speed feedforward parameter set by the speed feedforward controller 4 (such as Step S107); and when receiving the reduction control signal, reduce the speed feedforward parameter (such as step S108), so that the position error value EP approaches the speed command.

In more detail, in this embodiment, the judging module 13 further includes a position command judging unit 131, a feedback speed judging unit 132, a number judging unit 133, and an error interval judging unit 134.

The position command judging unit 131 is used to judge whether the position command S1 is 0 (for example, step S103).

The feedback speed determination unit 132 is used for determining whether the motor feedback speed signal S2 is lower than a determination threshold TH when the position command determination unit 131 determines that the position command S1 is 0 (step S104).

The same number judging unit 133 is used to determine whether the position command S1 and the position error value EP have the same sign when the feedback speed judgment unit 132 judges that the motor feedback speed signal S2 is lower than the judgment threshold TH (for example, step S105) . At this time, the condition for increasing is that the position command S1 has the same sign as the position error value EP. In practice, the judgment threshold TH can be a set actual value or a percentage of the rated speed of the motor 7.

It should be noted that the position command S1 and the position error value EP have the same sign, which indicates that the servo motor system 100 does not generate an overshoot. When there is no overshoot, the speed feedforward parameter can be increased to improve the system response of the servo motor system 100. Therefore, when the position command S1 and the position error value EP have the same sign, the position command S1 and the position error value EP meet the increase condition, so the adjustment module 14 will increase the speed feedforward parameter.

For example, the position command S1 is positive 9, the motor feedback position is positive 7, and the position error value EP is positive 2. Because the position error value EP (positive 2) is the same number as the position command S1 (positive 9), it is not Will produce overshoot, therefore, the position command S1 and the position error value EP meet the conditions of increase. When the position command S1 is positive 9 and the motor feedback position is positive 12, the position error value EP is negative 3, because the position error value EP (negative 3) is different from the position command S1 (positive 9), that is, the opposite sign Therefore, it can be considered that the servo motor system 100 may generate overshoot at this time. Similarly, it is the same when the position command S1 is a negative value, so I won't repeat it. In one of the embodiments of the present invention, the judgment module 13 may regard the position error value EP and the position command S1 with the different sign as satisfying the reduction condition, and further use the adjustment module 14 to reduce the speed feedforward parameter.

In this embodiment, when the same number determining unit 133 determines that the position command S1 and the position error value EP have different signs, the error interval determining unit 134 will further determine whether the position error value EP is within a position error interval A (for example, step S106) . At this time, the lowering condition is that the position command S1 is different from the position error value EP, and the position error value EP is outside the position error interval A. Generally speaking, the position error interval A has an upper limit value LU and a lower limit value LD, where the upper limit value LU and the lower limit value LD are opposite to each other, so as to correspond to the situation where the position command S1 has a positive value and a negative value.

In more detail, the position error value EP may have errors due to various factors, causing the position error value EP and the position command S1 to have different signs, which is regarded as an overshoot. Therefore, in this embodiment, the error interval determining unit 134 will further determine whether the position error value EP is within the position error interval A. When the error interval judging unit 134 judges that the position error value EP is outside the position error interval A, it means that the position error value EP is not due to the above-mentioned error and has a different sign from the position command S1. Therefore, it is judged that the servo motor system 100 at this time is very likely to be Generate overshoot. Therefore, the position command S1 and the position error value EP at this time satisfy the reduction condition, so the adjustment module 14 is further used to reduce the speed feedforward parameter to avoid overshoot.

On the other hand, when the same sign judgment unit 133 judges that the position command S1 is different from the position error value EP, but the error interval judgment unit 134 judges that the position error value EP is within the position error interval A, it means that the position error value EP may be based on the above The error results in a different sign from the position command S1. Therefore, it is judged that the servo motor system 100 at this time is less than the position error value EP outside the position error interval A, and there is no such high probability that the overshoot will occur. Therefore, the position command S1 and the position error value EP at this time satisfy the increase condition, so the adjustment module 14 is further used to increase the speed feedforward parameter.

Therefore, in this embodiment, the lowering condition is that the position error value EP is different from the position command S1 and the position error value EP is outside the position error interval A. There are two adjustment conditions, one is that the position error value EP has the same sign as the position command S1, and the other is that the position error value EP has a different sign from the position command S1 and the position error value EP is within the position error interval A. That is to say, this embodiment will confirm whether the position error value EP and the position command S1 have the same or different signs and whether the position error value EP is within the position error interval A, so as to determine that the servo motor system 100 is likely to produce overshoot. , Reduce the speed feedforward parameters to avoid overshoot and damage the servo motor system 100; and when it is judged that the servo motor system 100 is unlikely to produce overshoot, or is unlikely to produce overshoot, increase the speed The feedforward parameter is used to improve the system response of the servo motor system 100 as much as possible when the servo motor system 100 is unlikely to generate overshoot.

In practice, when the position command S1 and the position error value EP satisfy the increase condition, the judgment module 13 will generate an increase control signal. When the adjustment module 14 receives the increase control signal, it increases the speed feedforward parameter set by the speed feedforward controller 4. Therefore, when the servo motor system 100 does not generate an overshoot, the system response can be further improved; when the position command S1 and the position error value EP meet the droop condition, the judgment module 13 will generate a droop control signal. When the adjustment module 14 receives the reduction control signal, it reduces the speed feedforward parameter set by the speed feedforward controller 4. Therefore, the overshoot of the servo motor system 100 and various problems derived therefrom can be avoided.

Refer to the fourth figure, which contains a pulse wave speed command S1' formed after the position command S1 is differentiated, the motor feedback speed signal S2, the position error value PAEP of the prior art, and the position error value EP of the present invention. It should be noted that if the position command S1 is expressed as a response, it will be expressed by the differential value of the position command S1, which is commonly known as the pulse wave speed command S1'. In addition, because the graph includes both speed and position, the ordinate of the graph indicates the position error value and the speed at the same time.

In the prior art, in order to improve the response of the system, the speed feedforward parameter is increased, but it also causes the problem of overshoot. Refer to the diagram, the position error value PAEP oscillates up and down, causing the overshoot OS to be generated. In the preferred embodiment of the present invention, the judgment module 13 will make the above-mentioned various judgments, and use the adjustment module 14 to correspondingly adjust the speed feedforward parameters. Therefore, the position error value EP is not the same as in the prior art. The overshoot OS is generated, but gradually approaches 0, and there is no value that is different from the position command. On the other hand, because the position command S1 gradually approaches 0, the pulse wave speed command S1' will gradually approach 0, and the motor feedback speed signal S2 will gradually approach 0. Therefore, it can also be regarded as a position. The error value EP will be close to any one of the position command S1, the pulse wave speed command S1', and the motor feedback speed signal S2.

In addition, when the position error value EP approaches 0, it means that the error generated by the servo motor system 100 is getting smaller and smaller, so the servo motor system 100 will tend to be stable. In the preferred embodiment of the present invention, the position error value EP converges to 0, and it takes a time interval T1. However, in the prior art, the position error value PAEP converges to 0, and it takes a time interval T2. Because the position error value PAEP oscillates up and down, the time interval T2 of the prior art will be greater than the time interval T1 of the present invention. That is to say, when the present invention is applied to the servo motor system 100, compared with the prior art, the effect of improving the response of the system can be achieved.

As shown in the sixth figure, a speed feedforward adjustment method is implemented using the speed feedforward adjustment system 1 shown in the second figure, and includes the following steps S101 to S108.

Step S101: Use the low-pass filter module to receive and filter the position command, the motor feedback position, the motor feedback speed signal and the speed command.

Step S101 uses the low-pass filter module 11 as shown in the second figure. The purpose of filtering by the low-pass filter module 11 is to filter out high-frequency noise.

Step S102: Use the error calculation module to receive the filtered position command and the filtered motor feedback position, and calculate the position error value accordingly.

Step S102 uses the error calculation module 12 as shown in the second figure. In practice, the error calculation module 12 uses the filtered position command to subtract the filtered motor feedback position to calculate the position error EP.

Step S103: Use the position command judging unit to judge whether the position command is 0.

Step S104: Use the feedback speed determination unit to determine whether the feedback speed signal of the motor is lower than the determination threshold value.

Steps S103 and S104 use the position command judging unit 131 and the feedback rotation speed judging unit 132 as shown in the second figure. In this embodiment, the speed feedforward adjustment method includes step S103 and step S104, but it is not limited thereto. In other embodiments of the present invention, steps S103 and S104 in this embodiment may not be included.

Step S105: Use the same number determining unit to determine whether the position command and the position error value have the same number.

Step S106: Use the error interval judging unit to judge whether the position error value is within the position error interval.

Step S105 and step S106 are determined by the same number determining unit 133 and the error interval determining unit 134 in the second figure. The judgment process and judgment basis have been described in the aforementioned relevant paragraphs, so I will not repeat them here.

Step S107: Use the adjustment module to increase the speed feedforward parameter set by the speed feedforward controller.

Step S108: Use the adjustment module to reduce the speed feedforward parameter.

Steps S107 and S108 use the adjustment module 14 as shown in the second figure to adjust the speed feedforward parameters, and the relevant adjustment situations are also described in the aforementioned relevant paragraphs, so no further description is given.

To sum up, the speed feedforward adjustment system and method provided by the present invention use low-pass filter module, error calculation module, judgment module and adjustment module to calculate the position error value, and determine the position When the command and position error value meet the increase condition, increase the speed feedforward parameter; and when the position command and the position error value meet the decrease condition, decrease the speed feedforward parameter. Compared with the various problems caused and derived when setting the speed feedforward parameters in the prior art, the present invention uses the judgment module to determine whether the position command and the position error value satisfy the up-regulation condition or the down-regulation condition, so as to adjust the rotation speed in real time and appropriately. The feedforward parameter can not only avoid overshoot, but also achieve the effect of increasing the system response without overshoot.

In addition, the error interval judging unit in the present invention will further judge whether the position error value is within the position error interval, so as to avoid incorrect judgments caused by errors, and to avoid incorrectly reducing the speed feedforward parameters, which can be effective Ensure that the servo motor system is likely to produce overshoot before further reducing the speed feedforward parameters.

Through the detailed description of the above preferred embodiments, it is hoped that the characteristics and spirit of the present invention can be described more clearly, and the scope of the present invention is not limited by the preferred embodiments disclosed above. On the contrary, the purpose is to cover various changes and equivalent arrangements within the scope of the patent for which the present invention is intended.

PA100: Servo motor system PA1: Position controller PA2: Speed controller PA3: Speed feedforward controller PA4: current controller PA5: inverter PA6: Motor PA7: Motor feedback position receiving module PA8: Speed processor PA91: The first calculator PA92: second calculator PA93: Current calculation module PAEP: Position error value PAS1: Position command 1: Speed feedforward adjustment system 11: Low-pass filter module 12: Error calculation module 13: Judgment module 131: Position command judgment unit 132: Feedback speed judgment unit 133: Same number judgment unit 134: Error interval judgment unit 14: Adjust the module 100: Servo motor system 2: Position controller 3: Speed controller 4: Speed feedforward controller 5: Current controller 6: Inverter 7: Motor 8: Motor feedback position receiving module 9: Speed processor 91: The first calculator 92: second calculator 93: Current calculation module A: Position error interval EP: position error value LD: lower limit LU: upper limit OS: Overshoot S1: Position command S1’: Pulse wave speed command S2: Motor feedback speed signal T1, T2: time interval TH: Judgment threshold

The first figure is a block diagram showing the prior art servo motor system; The second figure is a block diagram showing the speed feedforward adjustment system provided by the preferred embodiment of the present invention; The third figure is a schematic diagram showing that the speed feedforward adjustment system provided by the preferred embodiment of the present invention is electrically connected to the servo motor system; The fourth diagram is a comparison diagram between the speed feedforward adjustment system provided by the preferred embodiment of the present invention and the prior art; The fifth figure is a schematic diagram showing the position error interval of the speed feedforward adjustment system provided by the preferred embodiment of the present invention; and The sixth figure is a flow chart of the speed feedforward adjustment method provided by the preferred embodiment of the present invention.

1: Speed feedforward adjustment system

11: Low-pass filter module

12: Error calculation module

13: Judgment module

131: Position command judgment unit

132: Feedback speed judgment unit

133: Same number judgment unit

134: Error interval judgment unit

14: Adjust the module

100: Servo motor system

2: Position controller

3: Speed controller

4: Speed feedforward controller

5: Current controller

6: Inverter

7: Motor

8: Motor feedback position receiving module

9: Speed processor

91: The first calculator

92: second calculator

93: Current calculation module

S1: Position command

Claims (7)

A speed feedforward adjustment system is electrically connected with a position controller, a speed controller, a speed feedforward controller and a motor feedback position for detecting a motor feedback position and a motor feedback speed signal The receiving module, the position controller receives a position command and generates a rotation speed command accordingly, the rotation speed command forms a current command through the rotation speed controller, and the rotation speed feedforward adjustment system includes: A low-pass filter module for receiving and filtering the position command, the motor feedback position, the motor feedback speed signal and the speed command; An error calculation module is electrically connected to the low-pass filter module to receive the filtered position command and the filtered motor feedback position, and calculate a position error value accordingly; A judgment module is electrically connected to the low-pass filter module and the error calculation module to receive the filtered position command and the position error value, and determine that the position command and the position error value satisfy When an increase condition is generated, an increase control signal is generated; and when it is determined that the position command and the position error value satisfy a decrease condition, a decrease control signal is generated; and An adjustment module is electrically connected to the judgment module and the speed feedforward controller, and is used to increase a speed feedforward parameter set by the speed feedforward controller when the increase control signal is received; And when receiving the reduction control signal, the speed feedforward parameter is reduced, so that the position error value approaches zero. The speed feedforward adjustment system according to claim 1, wherein the judgment module includes a same number judgment unit, and the same number judgment unit is used to judge whether the position command and the position error value have the same sign, and the increase The condition is that the position command has the same number as the position error value. The speed feedforward adjustment system according to claim 2, wherein the judgment module includes an error interval judgment unit, and the error interval judgment unit is electrically connected to the same number judgment unit for commanding the position and the position When the error value has a different sign, it is further determined whether the position error value is within a position error interval, and the adjustment condition is that the position error value is outside the position error interval. The speed feedforward adjustment system according to claim 1, wherein the low-pass filter module is a low-pass filter. A speed feedforward adjustment method is implemented using the speed feedforward adjustment system as described in claim 1, and includes the following steps: (a) Use the low-pass filter module to receive and filter the position command and the motor feedback Position, the motor feedback speed signal and the speed command; (b) using the error calculation module to receive the filtered position command and the filtered motor feedback position, and calculate the position error value accordingly; c) Use the judgment module to receive the filtered position command and the position error value, and when it is judged that the position command and the position error value satisfy the increase condition, the increase control signal is generated; and in the judgment When the position command and the position error value meet the derating condition, the derating control signal is generated; (d) using the adjustment module to increase the speed feedforward controller after receiving the ramping control signal Set the speed feedforward parameter; and after receiving the reduction control signal, reduce the speed feedforward parameter, so that the position error value approaches the speed command. The speed feedforward adjustment method according to claim 5, wherein the step (c) further includes the following steps: (c1) using a same number judgment unit of the judgment module to judge whether the position command and the position error value have the same number , And the increase condition is that the position command has the same sign as the position error value. The speed feedforward adjustment method according to claim 6, wherein the step (c) further includes the following steps: (c2) when the position command and the position error value have different signs, use an error interval of the judgment module The determining unit further determines whether the position error value is within a position error interval, and the adjustment condition is that the position error value is outside the position error interval.

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