Disclosure of Invention
Based on the problems, the invention provides a multi-mode self-adaptive control method and system of a low-voltage servo driving system, which can meet the requirements of precision and robustness under different working conditions.
In view of the foregoing, a first aspect of the present invention provides a multi-mode adaptive control method of a low-voltage servo driving system, including:
acquiring state parameters of a low-voltage servo driving system, wherein the state parameters comprise working condition monitoring parameters and system state monitoring parameters of the low-voltage servo driving system;
Analyzing the mode switching conditions of the low-voltage servo driving system based on the state parameters, wherein the mode switching conditions comprise event triggering conditions and/or performance triggering conditions;
Judging whether the low-voltage servo driving system accords with the mode switching conditions according to the analysis result of the mode switching conditions;
when the low-voltage servo driving system accords with the mode switching condition, configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system according to the state parameter;
And dynamically configuring the controller parameters of the low-voltage servo driving system on the basis of the configured basic control mode and the self-adaptive control mode.
Further, before the step of obtaining the state parameter of the low-voltage servo driving system, the method further includes configuring a mode switching period, and the step of obtaining the state parameter of the low-voltage servo driving system specifically includes:
Matching the state parameters into each mode switching period according to the acquisition time;
the step of analyzing the mode switching condition of the low-voltage servo driving system based on the state parameter specifically comprises the following steps:
Analyzing the working condition monitoring parameters and the system state monitoring parameters in the state parameters in the previous mode switching period when each mode switching period starts;
identifying a working condition emergency event and a performance index out-of-limit event in the previous mode switching period;
the step of configuring the basic control mode and the self-adaptive control mode of the low-voltage servo driving system according to the state parameters specifically comprises the following steps:
when a working condition emergency and/or a performance index out-of-range event exists in the last mode switching period, configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system in the current mode switching period.
Further, the step of identifying the sudden event of the working condition and the out-of-limit event of the performance index in the previous mode switching period specifically comprises the following steps:
identifying an emergency of the working condition of the low-pressure servo driving system according to the change of the working condition monitoring parameters;
extracting performance indexes of the low-voltage servo driving system from the system state monitoring parameters;
and identifying a performance index boundary crossing event of the low-voltage servo driving system according to the change of the performance index.
Further, after the step of analyzing the condition monitoring parameter and the system condition monitoring parameter in the state parameter in the last mode switching period, the method further includes:
when a performance index out-of-range event exists, determining an out-of-range index in the performance index out-of-range event;
Judging whether conflicting performance requirements of the out-of-range index exist under the constraint condition of the current working condition;
when conflicting performance requirements of the out-of-range index exist under the current working condition, a target optimization function for solving multi-index performance optimization is constructed:
,
Wherein the method comprises the steps ofIn order to make a decision as to the variables,For the number of conflicting performance indicators including the out-of-range indicator,Is 1 to 1A positive integer between the two,Is the firstNormalized objective function of each conflicting performance indicator,Is the firstWeight coefficients of the conflicting performance indicators;
Solving the minimum value of the target optimization functionAnd obtaining a constraint boundary corresponding to the conflict performance index.
Further, before the step of determining whether there are two or more conflicting performance requirements under the current operating condition constraints, the method further comprises:
determining any two performance indexes of the low-voltage servo driving system as a first performance index and a second performance index respectively;
the first performance indexes are respectively acquired in the same time window under the constraint condition of the set working conditionAnd the second performance indexA kind of electronic deviceGroup sample data:
;
respectively calculating the first performance indexesAnd the second performance indexIs the sample data mean value of (1):
;
Calculating the first performance indexAnd the second performance indexIs of the covariance of:
;
respectively calculating the first performance indexesAnd the second performance indexStandard deviation of sample data of (2):
;
Wherein, theIs 1 to 1A positive integer therebetween;
Calculating the first performance indexAnd the second performance indexIs a collision coefficient of (1):
;
setting the first performance indexAnd the second performance indexIs of the coefficient of conflict of (2)Comparing with a preset conflict threshold to determine the first performance indexAnd the second performance indexAnd whether the performance indexes are mutually conflicting under the constraint condition of the set working condition.
Further, the step of configuring the basic control mode and the adaptive control mode of the low-voltage servo driving system according to the state parameter specifically includes:
identifying a working condition scene of the current mode switching period according to the state parameters;
determining a basic control mode corresponding to the working condition scene;
and configuring a basic control mode corresponding to the working condition scene as the basic control mode of the low-voltage servo driving system in the current mode switching period.
Further, the step of configuring the basic control mode and the adaptive control mode of the low-voltage servo driving system according to the state parameter further includes:
Determining dynamic change elements in the working condition scene according to the state parameter change in the last mode switching period;
And configuring the self-adaptive control mode matched with the dynamic change element as the self-adaptive control mode of the low-voltage servo driving system in the current mode switching period.
Further, the step of dynamically configuring the controller parameters of the low-voltage servo driving system based on the configured basic control mode and adaptive control mode specifically includes:
Generating a first controller parameter of the basic control modality, and generating a second controller parameter of the adaptive control modality;
performing collision detection and security detection on the first controller parameter and the second controller parameter;
generating a third controller parameter according to the conflict detection and safety detection results;
and inputting the third controller parameters into a controller of the low-pressure servo driving system to execute corresponding driving control.
Further, the step of performing collision detection and security detection on the first controller parameter and the second controller parameter specifically includes:
determining a safety boundary of a controller parameter in the basic control mode;
Judging whether the second controller parameters fall within the safety boundary range or not;
The step of generating the third controller parameter according to the conflict detection and the safety detection result specifically includes:
Determining the first controller parameter as the third controller parameter when the second controller parameter does not fall within the safety boundary range;
configuring a smooth transition window when the second controller parameter falls within the safety boundary range;
And gradually transitioning to the second controller parameter by taking the first controller parameter as a starting parameter in the smooth transition window.
A second aspect of the present invention proposes a low-voltage servo drive system comprising:
The state sensing module is used for performing working condition monitoring and system state monitoring;
The controller parameter generation module is used for generating a first controller parameter corresponding to the basic control mode and a second controller parameter corresponding to the self-adaptive mode;
A security and collision detection module for performing collision detection and security detection on the first controller parameter and the second controller parameter;
a state analysis module for performing event analysis to identify event trigger conditions in the modality switch conditions and performance analysis to identify performance trigger conditions in the modality switch conditions;
The mode management module is used for carrying out module switching according to the mode switching conditions and executing multi-performance index optimization;
the control module is used for executing driving control according to the controller parameters output by the safety and conflict detection module;
the low-voltage servo drive system is configured to implement the multi-modal adaptive control method according to any one of the first aspects of the present invention.
The invention provides a multi-mode self-adaptive control method and system of a low-voltage servo driving system, which are characterized in that by acquiring state parameters of the low-voltage servo driving system, the mode switching conditions of the low-voltage servo driving system are analyzed based on working condition monitoring parameters and system state monitoring parameters in the state parameters, the mode switching conditions comprise event triggering conditions and/or performance triggering conditions, whether the low-voltage servo driving system accords with the mode switching conditions is judged according to analysis results of the mode switching conditions, when the low-voltage servo driving system accords with the mode switching conditions, the basic control mode and the self-adaptive control mode of the low-voltage servo driving system are configured according to the state parameters, and on the basis of the configured basic control mode and the self-adaptive control mode, the controller parameters of the low-voltage servo driving system are dynamically configured, so that the requirements of precision and robustness can be met under different working conditions.
Detailed Description
In order that the above-recited objects, features and advantages of the present application will be more clearly understood, a more particular description of the application will be rendered by reference to the appended drawings and appended detailed description. It should be noted that, without conflict, the embodiments of the present application and features in the embodiments may be combined with each other.
In the following description, numerous specific details are set forth in order to provide a thorough understanding of the present invention, but the present invention may be practiced otherwise than as described herein, and therefore the scope of the present invention is not limited to the specific embodiments disclosed below.
In the description of the present invention, the term "plurality" means two or more, unless explicitly defined otherwise, the orientation or positional relationship indicated by the terms "upper", "lower", etc. are based on the orientation or positional relationship shown in the drawings, merely for convenience of description of the present invention and to simplify the description, and do not indicate or imply that the apparatus or elements referred to must have a specific orientation, be constructed and operated in a specific orientation, and thus should not be construed as limiting the present invention. The terms "coupled," "mounted," "secured," and the like are to be construed broadly, as they are used in a fixed or removable sense, as they are coupled together, either directly or indirectly through intervening media. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art according to the specific circumstances. Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first", "a second", etc. may explicitly or implicitly include one or more such feature. In the description of the present invention, unless otherwise indicated, the meaning of "a plurality" is two or more.
In the description of this specification, the terms "one embodiment," "some implementations," "particular embodiments," and the like, mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The following describes a multi-mode adaptive control method and system for a low-voltage servo driving system according to some embodiments of the present invention with reference to the accompanying drawings.
As shown in fig. 1, a first aspect of the present invention proposes a multi-mode adaptive control method of a low-voltage servo driving system, including:
acquiring state parameters of a low-voltage servo driving system, wherein the state parameters comprise working condition monitoring parameters and system state monitoring parameters of the low-voltage servo driving system;
Analyzing the mode switching conditions of the low-voltage servo driving system based on the state parameters, wherein the mode switching conditions comprise event triggering conditions and/or performance triggering conditions;
Judging whether the low-voltage servo driving system accords with the mode switching conditions according to the analysis result of the mode switching conditions;
when the low-voltage servo driving system accords with the mode switching condition, configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system according to the state parameter;
And dynamically configuring the controller parameters of the low-voltage servo driving system on the basis of the configured basic control mode and the self-adaptive control mode.
Specifically, the mode referred to by the present invention refers to an operation mode of the low-pressure servo driving system under a specific working condition, a control target or a constraint condition, where the specific working condition may include that the low-pressure servo driving system is in an idle state, a light state, a heavy state, an acceleration and deceleration state, and the control target may include different control tasks such as speed control, position control, torque control, and the like, and the constraint condition may include disturbance conditions of an external environment such as voltage fluctuation, temperature change, mechanical load disturbance, and the like.
The condition monitoring parameters in the state parameters include, but are not limited to, one or more of load parameters, speed parameters, acceleration parameters and torque parameters of the low-voltage servo driving system, and the system condition monitoring parameters in the state parameters include, but are not limited to, environment temperature and humidity parameters (such as temperature and humidity, etc.), system stability parameters (such as vibration amplitude of a machine body, vibration frequency, etc.), and power supply state parameters (such as voltage and current fluctuation parameters, etc.).
The event triggering condition is a mode switching condition based on event information corresponding to discrete sensor signals, namely when a specific sensor signal change event occurs, the low-voltage servo driving system immediately triggers whether the mode switching needs to be executed or not so as to respond to an emergency condition event corresponding to the sensor signals. Preferably, the sensor signal is a monitoring signal corresponding to a working condition monitoring parameter, and the sensor signal serving as a basis for judging the event triggering condition includes, but is not limited to, an encoder pulse signal, a torque sensor signal, a force sensor, a hall switch signal and the like.
The performance triggering condition is a mode switching condition taking a preconfigured continuous performance index as a judgment basis, namely when a specific performance index of the low-voltage servo driving system deviates from an expected range, the control mode of the low-voltage servo driving system is automatically adjusted to optimize the dynamic or steady-state characteristic of the low-voltage servo driving system. Performance metrics of the low voltage servo drive system include, but are not limited to, tracking error, response time, temperature rise rate, energy efficiency, and the like.
The basic control mode is a standardized control mode preset for a specific control target in the low-voltage servo driving system, and closed-loop feedback control is performed within a set controller parameter adjusting range by adopting fixed control logic and a control algorithm. The specific control targets include the position, rotational speed, and torque of the motor output shaft of the low-voltage servo drive system. The base control modes include, but are not limited to, a position control mode, a speed control mode, and a torque control mode. In the position control mode, three-loop control of a position loop, a speed loop and a current loop is adopted, wherein the position loop adopts a PID controller to carry out feedback control so as to process position errors. In the speed control mode, a PI controller is adopted for feedback control, and the rotating speed of the motor main shaft is tracked through pulse counting of an encoder to generate a speed instruction of the controller. In the torque control mode, the controller directly controls the current of the motor to control the output torque of the motor.
The self-adaptive control mode is a dynamic control mode based on real-time working condition parameter monitoring and system state parameter monitoring in the low-voltage servo driving system. The self-adaptive control mode automatically adapts to the changed running conditions based on a perception optimization control strategy for monitoring parameter changes and system performance changes caused by external disturbance, and realizes dynamic optimization of controller parameters. The adaptive control modes corresponding to the various controller parameters can be configured according to actual application requirements. For example, in a load application scenario, for a working condition scenario in which the load size is frequently changed, a load self-adaptive mode can be configured to maintain the stability of torque output. For example, in a mobile application scene, the ground environment is complex, and for a working condition scene with a friction coefficient frequently changed, a speed self-adaptive mode can be configured to keep the stability of the moving speed. In the technical solutions of other embodiments, the adaptive control mode may also be configured as a position accuracy adaptive mode, a disturbance adaptive mode, a high temperature adaptive mode, a multi-axis adaptive mode, or an energy saving adaptive mode, etc.
Further, before the step of obtaining the state parameter of the low-voltage servo driving system, the method further includes configuring a mode switching period, and the step of obtaining the state parameter of the low-voltage servo driving system specifically includes:
Matching the state parameters into each mode switching period according to the acquisition time;
the step of analyzing the mode switching condition of the low-voltage servo driving system based on the state parameter specifically comprises the following steps:
Analyzing the working condition monitoring parameters and the system state monitoring parameters in the state parameters in the previous mode switching period when each mode switching period starts;
identifying a working condition emergency event and a performance index out-of-limit event in the previous mode switching period;
the step of configuring the basic control mode and the self-adaptive control mode of the low-voltage servo driving system according to the state parameters specifically comprises the following steps:
when a working condition emergency and/or a performance index out-of-range event exists in the last mode switching period, configuring a basic control mode and a self-adaptive control mode of the low-voltage servo driving system in the current mode switching period.
The mode switching period is a specific time length adaptively configured according to an application scene of the low-voltage servo driving system, and has different configuration requirements for the low-voltage servo driving system in different fields. For application scenarios where the application environment and the load size are relatively fixed, such as application to a logistics robot in a hospital for transporting specific medical materials, or application to a numerical control machine tool for producing a specific workpiece, the application environment and the load size will not generally change too much, and in this case, the mode switching period can be configured to be relatively long. However, for application environments or application scenes in which the load size is frequently and randomly changed, for example, an industrial robot applied to outdoor operation, or an outdoor vehicle such as an electric bicycle or an automobile, the application environments and the load size thereof are often characterized by frequent and randomly changed, and the mode switching period thereof needs to be configured for a short time.
Further, the step of judging whether the low-voltage servo driving system accords with the mode switching condition according to the analysis result of the mode switching condition specifically includes:
Judging whether a working condition emergency and/or a performance index out-of-range event exists in the last mode switching period;
when a working condition emergency and/or a performance index out-of-range event exists in the last mode switching period, determining that the low-voltage servo driving system accords with the mode switching condition.
Further, the step of identifying the sudden event of the working condition and the out-of-limit event of the performance index in the previous mode switching period specifically comprises the following steps:
identifying an emergency of the working condition of the low-pressure servo driving system according to the change of the working condition monitoring parameters;
extracting performance indexes of the low-voltage servo driving system from the system state monitoring parameters;
and identifying a performance index boundary crossing event of the low-voltage servo driving system according to the change of the performance index.
The working condition emergency comprises the events of suddenly increasing the load of the low-pressure servo driving system or suddenly decreasing the rotating speed and the acceleration of the low-pressure servo driving system, and whether the working condition emergency occurs in the low-pressure servo driving system can be identified by analyzing the data of the change speed, the change amplitude and the like of one or more of the load parameter, the speed parameter, the acceleration parameter and the torque parameter in the working condition monitoring parameters of the low-pressure servo driving system.
The performance index is a preconfigured index reflecting the specific performance of the low-voltage servo driving system, such as a tracking error index, a response time index, a temperature rise rate index, an energy efficiency index and the like of the low-voltage servo driving system. The performance index out-of-range event of the low-voltage servo drive system refers to an event that one or more performance indexes of the low-voltage servo drive system exceed a preset safety range. By analyzing the parameter data such as tracking error, response time, temperature change and energy efficiency in the system state monitoring parameters of the low-voltage servo driving system, whether the performance index boundary crossing event occurs in the low-voltage servo driving system can be identified.
Further, after the step of analyzing the condition monitoring parameter and the system condition monitoring parameter in the state parameter in the last mode switching period, the method further includes:
when a performance index out-of-range event exists, determining an out-of-range index in the performance index out-of-range event;
Judging whether conflicting performance requirements of the out-of-range index exist under the constraint condition of the current working condition;
when conflicting performance requirements of the out-of-range index exist under the current working condition, a target optimization function for solving multi-index performance optimization is constructed:
,
Wherein the method comprises the steps ofIn order to make a decision as to the variables,For the number of conflicting performance indicators including the out-of-range indicator,Is 1 to 1A positive integer between the two,Is the firstNormalized objective function of each conflicting performance indicator,Is the firstWeight coefficients of the conflicting performance indicators;
Solving the minimum value of the target optimization functionAnd obtaining a constraint boundary corresponding to the conflict performance index.
The out-of-range index refers to a performance index with a value exceeding a pre-configured safety range in the performance index out-of-range event. Under certain operating conditions, one performance index will usually collide with one or more other performance indexes, for example, a tracking error and energy efficiency (high-frequency adjustment of the motor is caused by high-precision control, energy consumption is increased), a response speed and stability (fast response may cause overshoot or oscillation, and stability is reduced), etc., and under different operating conditions, the range of the collision values will be different.
The decision variableAnd monitoring parameters for the working condition of the low-pressure servo driving system. In the technical scheme of the invention, the first step is thatThe functional relation between the conflict performance indexes and the working condition monitoring parameters is expressed as an objective functionThe normalized objective functionIs the firstThe objective function after the dimension influence is removed by the conflict performance index. Because different target energy dimensions are different, the above embodiment performs normalization processing on the objective function, so as to avoid that the conflict performance indexes with larger dimensions are led to optimize results by directly weighting the objective function with dimensions in the objective optimization function.
In the technical proposal of some embodiments of the invention, a target optimization function for solving multi-index performance optimization is constructedThe method specifically comprises the following steps:
Acquisition of the firstSafety range boundary for conflicting performance indicatorsWhereinIs the firstThe lower bound of the safe range of the conflicting performance indicators,First, theAn upper bound of the safe range of conflicting performance indicators;
Construction of the firstNormalized objective function of the individual conflicting performance indicators:
。
In other embodiments of the present invention,AndCan also be the firstThe measured minimum and the measured maximum of each conflict performance index in a laboratory environment or an actual application environment.
Preferably, the weight coefficient of the conflict performance indexThe following conditions are satisfiedAnd (2) and。
Preferably, a non-normalized weight corresponding to each performance index is pre-configured in the database, the non-normalized weight is an empirical value, and the non-normalized weight also satisfies a condition greater than or equal to 0. And normalizing the non-normalized weights according to the conflict performance indexes and the difference of the number of the conflict performance indexes to determine the weight coefficient corresponding to each conflict performance index. Constructing a target optimization function for solving multi-index performance optimizationThe steps of (a) further comprise:
Non-normalized weights for reading conflicting performance indicators from a database;
Calculating the weight coefficient of each conflict performance index:
。
Further, in the step of dynamically configuring the controller parameters of the low-voltage servo driving system on the basis of the configured basic control mode and adaptive control mode, the controller parameters of the basic control mode and the adaptive control mode are generated according to the constraint boundary of the conflict performance index.
Further, before the step of determining whether there are two or more conflicting performance requirements under the current operating condition constraints, the method further comprises:
determining any two performance indexes of the low-voltage servo driving system as a first performance index and a second performance index respectively;
the first performance indexes are respectively acquired in the same time window under the constraint condition of the set working conditionAnd the second performance indexA kind of electronic deviceGroup sample data:
;
respectively calculating the first performance indexesAnd the second performance indexIs the sample data mean value of (1):
;
Calculating the first performance indexAnd the second performance indexIs of the covariance of:
;
respectively calculating the first performance indexesAnd the second performance indexStandard deviation of sample data of (2):
;
Wherein, theIs 1 to 1A positive integer therebetween;
Calculating the first performance indexAnd the second performance indexIs a collision coefficient of (1):
;
setting the first performance indexAnd the second performance indexIs of the coefficient of conflict of (2)Comparing with a preset conflict threshold to determine the first performance indexAnd the second performance indexAnd whether the performance indexes are mutually conflicting under the constraint condition of the set working condition.
Illustratively, with the first performance indexFor tracking errorsThe second performance indexIs the effective value of the currentFor example, the first performance indexes are respectively acquired in the same time window under the constraint condition of the set working conditionAnd the second performance indexA kind of electronic deviceThe group sample data are:
。
In the technical schemes of some embodiments of the present invention, a plurality of working condition constraint conditions are preset, and sample data of each performance index is collected under the corresponding working condition constraint conditions to identify whether the performance indexes are mutually conflicting performance indexes under the working condition constraint conditions. The performance indexes of the low-voltage servo driving system are combined pairwise, and whether the performance indexes are mutually conflicting indexes is analyzed under various working condition constraint conditions.
It should be noted that it is possible to provide,AndFor calculating the first performance index respectivelyAnd the second performance indexA simplified representation of the sign, mean and sample value of the objective function in the formula.
The collision threshold may be configured to be 0.5, for example, when the first performance index is set toAnd the second performance indexIs of the coefficient of conflict of (2)Comparing with a preset conflict threshold to determine the first performance indexAnd the second performance indexIn the step of setting whether the first performance index is the conflicting performance index under the constraint condition of the working condition, when the first performance indexAnd the second performance indexIs of the coefficient of conflict of (2)Absolute value of (2)When the first performance index is determinedAnd the second performance indexAnd the performance indexes are mutually conflicting under the constraint condition of the set working condition.
Further, in the step of integrating the first performance indexAnd the second performance indexIs of the coefficient of conflict of (2)Comparing with a preset conflict threshold to determine the first performance indexAnd the second performance indexAfter the step of setting whether the performance indexes are mutually conflicting under the constraint condition of the working condition, the method further comprises the following steps:
First performance index to be conflicting performance indexAnd a second performance indexAnd storing the constraint conditions and the corresponding working conditions in a database.
Further, the step of determining whether there is a conflicting performance requirement for the out-of-range indicator under the current operating condition constraint condition specifically includes:
Reading a conflict performance index list under the constraint condition of the current working condition from a database;
Judging whether the out-of-range index exists in the conflict performance index list;
when the out-of-range index exists in the conflict performance index list, determining that the conflict performance requirement of the out-of-range index exists under the constraint condition of the current working condition.
Further, the step of configuring the basic control mode and the adaptive control mode of the low-voltage servo driving system according to the state parameter specifically includes:
identifying a working condition scene of the current mode switching period according to the state parameters;
determining a basic control mode corresponding to the working condition scene;
and configuring a basic control mode corresponding to the working condition scene as the basic control mode of the low-voltage servo driving system in the current mode switching period.
The working condition scene is an application scene which comprehensively reflects the type, the environment state and the equipment state of the application equipment of the low-voltage servo driving system. In the technical solutions of some embodiments of the present invention, the preset various working condition scenarios may be identified by matching the state parameter with a preconfigured working condition monitoring parameter and a system state monitoring parameter combination. In the technical schemes of other embodiments of the present invention, a special machine learning model can be trained for the recognition of the working condition scene, and when the recognition of the working condition scene is required to be executed, the working condition monitoring parameter and the system state monitoring parameter in the state parameters corresponding to the mode switching period are used as input parameters, and the trained working condition scene recognition model is input to recognize the corresponding working condition scene.
Under different working condition scenes, the control targets of the working condition monitoring parameters are all different. For example, in the case of a constant-speed spindle operation, such as a conveyor belt or a fan, the control target of the motor rotation speed is to maintain a constant speed, and in this case, the speed control mode is preferably selected as the basic mode of the low-pressure servo drive system. For another example, in the context of robotic arm positioning, numerically controlled machine tool feeding, or robotic joint control, the control target is precisely to the target position or tracking trajectory, in which case the position control modality is preferentially selected as the fundamental modality of the low pressure servo drive system. Whereas for assembly scenarios such as press fitting, screwing, etc. or sanding polishing scenarios, the control objective is to precisely control the contact force or load torque, in which case the torque control mode is preferentially selected as the fundamental mode of the low pressure servo drive system.
Further, the step of configuring the basic control mode and the adaptive control mode of the low-voltage servo driving system according to the state parameter further includes:
Determining dynamic change elements in the working condition scene according to the state parameter change in the last mode switching period;
And configuring the self-adaptive control mode matched with the dynamic change element as the self-adaptive control mode of the low-voltage servo driving system in the current mode switching period.
The dynamic change element is a parameter of which the numerical change frequency is larger than a preset change frequency threshold value in the working condition monitoring parameter or the system state monitoring parameter.
Further, the step of determining the dynamic change element in the working condition scene according to the state parameter change in the previous mode switching period specifically includes:
Acquiring state parameters in last mode switching periodWherein,Is 1 to 1An integer of the number of the two,For the number of state parameters of the low pressure servo drive system,For the start time of the last modality switching period,The end time of the last mode switching period is the end time of the last mode switching period;
For the last modality switch periodEvery sampling instant inCalculating the variation amplitude of the state parameter:
,
Wherein the method comprises the steps ofSampling time intervals for the state parameters;
Counting each state parameter in last mode switching periodNumber of intra-change events:
,
Wherein the method comprises the steps ofIs the firstA minimum variation amplitude threshold for each state parameter,For the preset change event statistics multiplying power, the first can be adoptedMeasurement error of individual state parameters as the minimum variation amplitude threshold;
Meeting the requirement in the last mode switching periodIs determined as the dynamic change element, or the condition of the last mode switching period is satisfiedAnd determining a state parameter which is larger than a preset change event frequency threshold as the dynamic change element.
In some embodiments of the present invention, an independent statistical rate of change events may be configured for each different state parameter.
Further, the step of dynamically configuring the controller parameters of the low-voltage servo driving system based on the configured basic control mode and adaptive control mode specifically includes:
Generating a first controller parameter of the basic control modality, and generating a second controller parameter of the adaptive control modality;
performing collision detection and security detection on the first controller parameter and the second controller parameter;
generating a third controller parameter according to the conflict detection and safety detection results;
and inputting the third controller parameters into a controller of the low-pressure servo driving system to execute corresponding driving control.
The first controller parameter is a controller parameter output under control logic of the base control modality, such as when the base control modality is a position control modality, which performs feedback control using PID control logic, in this embodiment the first controller parameter is a PID controller parameter generated based on a position state determined based on a pulse count of an encoder. The second controller parameter is a controller parameter output under control logic of the adaptive control modality, for example, when the adaptive control modality is a load adaptive modality, the second controller parameter is a control current determined based on a load size.
Because the generation basis and the control strategy of the first controller parameter and the second controller parameter are different, the first controller parameter and the second controller parameter may generate conflict of control logic and safety problems such as overload, overcurrent, overtemperature or limit switch triggering due to overlapping of control targets or execution logic. For example, in a mode switching period, the basic control mode of the low-voltage servo driving system is configured as a position control mode, the adaptive control mode of the low-voltage servo driving system is configured as a load adaptive mode, and when the system load suddenly increases, the load adaptive mode may excessively limit the upper current limit to cause position tracking failure. It is therefore necessary to perform collision detection and safety detection on the first controller parameter and the second controller parameter to ensure reliability of the controller parameters ultimately input to the controller of the low-pressure servo drive system.
Further, the step of performing collision detection and security detection on the first controller parameter and the second controller parameter specifically includes:
determining a safety boundary of a controller parameter in the basic control mode;
Judging whether the second controller parameters fall within the safety boundary range or not;
The step of generating the third controller parameter according to the conflict detection and the safety detection result specifically includes:
Determining the first controller parameter as the third controller parameter when the second controller parameter does not fall within the safety boundary range;
configuring a smooth transition window when the second controller parameter falls within the safety boundary range;
And gradually transitioning to the second controller parameter by taking the first controller parameter as a starting parameter in the smooth transition window.
And in the basic control mode, the safety boundary of the controller parameters of the controller of the low-voltage servo driving system is related to the constraint boundary of the performance indexes of the controller parameters, namely the safety boundary of the controller parameters in the basic control mode is calculated based on the constraint boundaries of a plurality of performance indexes.
The smooth transition window is a time window for guaranteeing output stability, and has a shorter specific duration for gradually transitioning the controller parameters of the controller from the first controller parameters to the second controller parameters to avoid control output jumps. That is, during the period when the smooth transition window is in effect, the third controller parameter is a time-dynamically changing controller parameter, and the specific value thereof is that the first controller parameter gradually transits to the second controller parameter. The course of the third controller parameter over the transition time window may be configured as a linear course or a non-linear course, depending on the actual implementation requirements.
As shown in fig. 2, a second aspect of the present invention proposes a low-pressure servo driving system, comprising:
The state sensing module is used for performing working condition monitoring and system state monitoring;
The controller parameter generation module is used for generating a first controller parameter corresponding to the basic control mode and a second controller parameter corresponding to the self-adaptive mode;
A security and collision detection module for performing collision detection and security detection on the first controller parameter and the second controller parameter;
a state analysis module for performing event analysis to identify event trigger conditions in the modality switch conditions and performance analysis to identify performance trigger conditions in the modality switch conditions;
The mode management module is used for carrying out module switching according to the mode switching conditions and executing multi-performance index optimization;
the control module is used for executing driving control according to the controller parameters output by the safety and conflict detection module;
the low-voltage servo drive system is configured to implement the multi-modal adaptive control method according to any one of the first aspects of the present invention.
Further, the control module specifically comprises a buffer module for storing controller parameters, an analog-to-digital conversion module for respectively performing analog-to-digital conversion, amplification and verification on state sensing data, a signal amplification module and a feedback verification module.
It should be noted that in this document relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises an element.
Embodiments in accordance with the present invention, as described above, are not intended to be exhaustive or to limit the invention to the precise embodiments disclosed. Obviously, many modifications and variations are possible in light of the above teaching. The embodiments were chosen and described in order to best explain the principles of the invention and the practical application, to thereby enable others skilled in the art to best utilize the invention and various modifications as are suited to the particular use contemplated. The invention is limited only by the claims and the full scope and equivalents thereof.