The traditional servo system development process is carried out in series. After the servo system hardware and software are ready, the servo system performance verification can be carried out. In the traditional development process, the control algorithm and the servo system hardware are not connected smoothly, and the performance analysis of the control object is insufficient. The problem was discovered late, which led to long project risks and high costs. The development process of the servo system based on V mode proposed by Hengrun Technology eliminates the drawbacks of the traditional development process, ensures the smooth connection between the control algorithm and the system hardware, can fully analyze the performance of the control object, and find the problem in time during the development of the servo system to solve the problem. , thereby shortening the system development cycle and reducing costs. solution The development process of the servo system based on the V mode runs through the entire servo system development process. The development process is as follows: The development process of the servo system based on V mode covers the digital design phase, system implementation phase, and system test verification phase of the system, and jointly supports the development process of the entire servo system. The main technologies involved in the V-mode-based servo system development process include: • Servo system model identification The modeling method based on system parameter identification can solve the problem that the model parameters are not clear or inaccurate, and establish a high-precision servo mechanism model, which lays a solid foundation for the work in the digital design stage. • Servo system modeling, algorithm design and debugging Based on high-precision servo mechanism model and physical object, design and debug advanced control algorithms to achieve superior performance of the servo system. • Rapid Control Prototyping (RCP) design Develop a rapid control prototype, form a rapid control prototype system with the user servo mechanism, quickly control the prototype operation control algorithm, and quickly verify the control algorithm and servo system performance. • Code generation and download automatically Using the automatic code generation technology, the control algorithm model is compiled/downloaded to the user's real controller, and the implementation process of the algorithm model to the controller code is quickly completed. • Hardware in loop (HIL) verification Develop a semi-physical simulation platform, build a hardware-in-the-loop (HIL) simulation system with the user's real controller, and run the servo mechanism and environment model on the hardware-in-the-loop simulation platform to fully analyze and verify the performance of the servo system. The development process of the servo system based on V mode relies on the design simulation verification platform based on the real-time simulation system and motor model of the motor of Hengrun Technology. The schematic diagram of the platform is shown in the following figure: Program characteristics • The servo system development process supported by the solution adopts the international popular V-mode based system development process; • The solution support tools (including motor control card, motor simulation card, simulation software, high-speed high-precision model simulation tool, etc.) are highly professional, versatile and highly integrated, ensuring seamless inheritance of work products at all stages; • The technology adopted by the solution (including RCP technology, HIL technology, system parameter identification technology, etc.) has certain professionalism and relative versatility, and can be widely applied to the development process of various servo systems; • Support tools and techniques are applied through actual engineering projects, reflecting the characteristics of feasibility and advancement.
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Development process of servo system based on V mode