CN103217973A - Performance testing method and performance testing device of bus type motion control system - Google Patents
Performance testing method and performance testing device of bus type motion control system Download PDFInfo
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Abstract
The invention discloses a performance testing device of a bus type motion control system. The performance testing device of the bus type motion control system comprises a lower computer and an upper computer, wherein the lower computer is used for monitoring transmission data in a motion control bus and transmitting the transmission data in the motion control bus to the upper computer and modifying the bus data according to a transmission rule and feeding the modified bus data back to a bus system, the upper computer is used for analyzing and evaluating the performance of the motion control system to be tested by comparing design data with the monitored bus data, and the upper computer designs a test case and configures the test case into the data transmission rule of the lower computer and then the test case is input into the system to be tested. According to a performance testing method and the performance testing device of the bus type motion control system, the performance testing of the motion control system is achieved by the monitoring of the bus data, and the motion performance of the motion control system is analyzed through the monitoring of the transmission data of the bus; or the safety performance and the stability performance of the motion control system are tested due to the fact that the test case is input into the motion control system in a mode that the transmission data of the bus are modified. The performance testing method and the performance testing device of the bus type motion control system are strong in practicability, low in testing cost, high in testing efficiency, high in practical value and good in application prospect.
Description
Technical field
The present invention relates to a kind of method of testing of control system, specifically be meant a kind of performance test methods and device of bus type kinetic control system, go for the functional test occasion of various bus type kinetic control systems based on the proving installation of this method design.
Background technology
The performance test analysis of kinetic control system is one of main path that improves its processing characteristics, security, reliability, stability.By adopting testing tool and utility appliance,, the function of system, performance etc. are carried out test and validation, to satisfy the application demand of concrete system environments according to corresponding test case and testing process.
The fundamental purpose of test is: 1, seek problem and defective in the systems development process; 2, the implementation effect of verification system structure and algorithm; 3, improve the function and the quality of system; 4, whether checking satisfies user's concrete application demand.By a plurality of test processs, can find still undiscovered up to now mistake and defective, analyze and produce wrong reason, guarantee that the reliable in function of kinetic control system is carried out, improve the processing characteristics of kinetic control system.
The bus type kinetic control system has characteristics such as expansion is good, open height, and common bus interface has serial ports, 1394, Ethernet, optical fiber etc.Ethernet is because it has transfer rate efficiently at present, and good anti-interference and cheap characteristics such as cost are thought to have most the bus interface of prospect by industry.General bus control system mainly is made of main website and slave station two parts, connects by bus between the two.As the bus of motion control, require it to have strict real-time to satisfy the requirement of motion control.
The performance performance of kinetic control system mainly is divided into two aspects, is the quality of processing effect on the one hand, and whether the implementation effect of reaction kinetic control system such as the process of acceleration-deceleration be level and smooth, whether trajectory planning reaches requirement etc.Whether to the response of IO signal meet the demands another kind if being kinetic control system.
General method of testing to kinetic control system is to carry out geometry by the specific product to its generation to measure and then analyze its performance at present.But kinetic control system is the system platform of a complexity, form by a plurality of subsystems such as control system, drive system, executive system and mechanical systems, there is defective in inside if test result shows kinetic control system, then need to take all factors into consideration possible reason, be difficult to find out the reason of concrete which part from each subsystem.This test mode efficient is low, and is difficult for finding out the particular location that has problems.And each test all needs to provide a concrete part, and testing cost is higher.
To the test of the stability and the reliability of kinetic control system, present main method is by in the typical test case input system of formulating limited quantity, observes the implementation effect of kinetic control system.But this method of testing can't cover the over-all properties of kinetic control system fully, and in fact the control system functional area that can interfere of user is smaller, and some test condition is that the user can't generate and exists in the practical application.And this part function that can not test is exactly the gray area of the stability and the reliability of kinetic control system.
At the testing apparatus of kinetic control system, mainly be by the mode of transformation analog/digital signal generator at present, signal is divided into two-way, the one road inserts original control system interface, and get involved in testing apparatus on another road.For example transform pulse signal generator, pulse signal is introduced in the testing apparatus, the mode by recording pulse signal realizes the analysis to exercise performance.This equipment need be made amendment to original control system, and performance that can only the Passive Test kinetic control system, can't carry out condition test to kinetic control system.
Summary of the invention
The evaluation method of kinetic control system is generally taked the method by the function of the physical dimension analysis and Control system of measuring its product, but control signal has been passed through controller, driver, actuator (as stepper motor, servomotor, servo-valve etc.) and mechanical mechanism and has been converted into concrete mechanical action, if the test discovery feature reaches requirement then needs do not analyze just and can pinpoint the problems from a plurality of links, this is not a thing that realizes easily.The bus type kinetic control system is a kind of distributed kinetic control system, is connected by bus as between the main website of controller and each function slave station.
Motion controller is the main aspect that influences the kinetic control system function, motion controller peeled off out separately from kinetic control system test consider, in the factor of getting rid of motion controller and then analyze the wrong place that other factors then are easier to find out kinetic control system.
The present invention has announced a kind of performance test methods and device of bus type kinetic control system, by the monitoring to bus data, realizes the performance test to kinetic control system.The motion controller function that this method is primarily aimed in the kinetic control system is tested, and can realize following two kinds of functions: 1. performance test, by monitoring the transmission data of bus, the function of test analysis kinetic control system; 2. condition test is input to test case in the kinetic control system by the mode of revising bus transfer data, and the test analysis kinetic control system is to the responsive status of this test case.
A kind of performance testing device of bus type kinetic control system is made up of host computer and slave computer two parts.Slave computer can be monitored the transmission data in the motion control bus, and feeds back in the bus system according to a kind of test data of forwarding rule generation of setting, simultaneously former data is sent to host computer through data parsing.Slave computer is developed by embedded chips such as FPGA, to realize the quick forwarding of data, actual test Forwarding Latency is approximately 20ns, this is very little for bus system, because time-delay is symmetrical, therefore this time-delay is equivalent to the time-delay that the netting twine of certain-length causes, and when transceive data, this part time-delay can be cancelled each other.Host computer is by the bus data of monitoring is carried out analysis-by-synthesis, to estimate the performance of kinetic control system to be measured.The user can edit the data forwarding rule of test condition with the configuration slave computer by host computer, thereby test condition is imported in the digital control system.This scheme can solve the difficult problem of kinetic control system performance test methods, is with a wide range of applications.
Performance test methods may further comprise the steps:
Step (1) is according to the architecture and the major function of kinetic control system to be measured, at the system data model of host computer structure 26S Proteasome Structure and Function equivalence, as the foundation of bus data analysis and Control systemic-function.
Step (2) inserts proving installation in the bus system, bus data is carried out real-time listening, obtain the control command data and the status information data of kinetic control system, comprised the control command data and the status information data of kinetic control system in the bus data.
Step (3) slave computer sends to host computer with the bus data of monitoring, and host computer is resolved the data of monitoring according to the system data rule model, can draw path curves, rate curve, accelerating curve and IO input/output state etc.
Step (4) is analyzed the performance of kinetic control system, by the analysis to the characteristics of motion, can draw composite targets such as production efficiency of products, machining precision indirectly.
Step (5) compares the gross data and the monitored data of typing host computer, can estimate the performance of this kinetic control system.
In the described step (1), the system data model of 26S Proteasome Structure and Function equivalence, the data map rule of design intranodal is to realize by the parsing to Frame, can specifically understand the function of the concrete representative of data in the Frame, as IO data message and motor movement control data etc.; By the mapping ruler of design node, to realize the relationship map of Frame and each functional node.
In the described step (1), the building method of the system data model of 26S Proteasome Structure and Function equivalence is: at first data content that each node need be received and dispatched in the analytic system and relation, and the connected mode between the node, set up data model according to doctrine of equivalents then, data model is represented the syndeton and the transceive data content of each node.
In the described step (2), the mode of proving installation with cascade inserted in the bus system, data can be flowed into then by a port and be got back in the bus system by corresponding another port flow at once.
In the described step (3), the data transmission is controlled by embedded system and is realized.
In the described step (3), data resolving is comprised two steps, the node mapping is judged the data that listen to, and the data of analyzing current monitoring are by those node transmitting-receivings; Data map is done data map at intra-node, which performance data of the data corresponding node inside that identification is monitored.
Described step (5) also comprises the problem and the defective of the existence of finding out control system, the step of revising afterwards.
The condition test method may further comprise the steps:
The performance data of certain node in step (1) the user's modification system data model generates corresponding test case and is configured in the data forwarding rule of slave computer.
Step (2) is by transmitting the mode of data with in the test case input motion control system to revising bus;
Step (3) is then according to the test case of input, the respective performances of the bus data test control system by analyzing feedback or have or not and carry out action rationally.After the input test use-case, kinetic control system can be made corresponding action, so data also can appear transmitting accordingly in bus data, can analyze the responsive status of kinetic control system by the bus data of monitoring the kinetic control system feedback.
In the described step (1), the method for designing of described test case is:
According to the performance data of system data model modification main website or slave station, then can generate corresponding data forwarding and revise rule, affact then in the data forwarding rule of slave computer;
The test case that can simulate such as IO modification of signal, servo motion control data modification etc., the main website of bus and slave station can respond this signal by the mode of accepting bus data.
The present invention has following beneficial effect and advantage:
1, need not to revise original kinetic control system, proving installation is directly connected in the bus for the treatment of examining system can realize test.
2, the performance impact to original bus system is little, slave computer is transmitted back network at once when receiving bus data, time delay is approximately about 120ns, this numerical value can be ignored substantially for bus system, some bus system may directly balance out this part time when system initialization, so proving installation is transparent to control system substantially.
But the wide coverage of 3 test conditions, because real system offers the regional narrow of user-operable, therefore the test condition that has is that the user can't directly generate, the method of testing that adopts this bus data to intervene formula then can freely customize any inputoutput data, therefore can test the situation under all IO initial conditions.
4, performance comparison intuitively by can specifically understand in the kinetic control system exercise data record of certain to the monitoring analysis of bus data, can generate a kind of patterned way of contrast.
Advantages such as 5, testing efficiency height allows user program to realize in the various composite test condition entry bus systems, and then can carry out the high-efficiency automatic test to kinetic control system, has the testing efficiency height than the manual test mode, and the detection effect is fast.
Description of drawings
Fig. 1 is a method of testing process flow diagram of the present invention.
Fig. 2 is for making up system data model of equal value.
Fig. 3 is the data relationship mapping graph.
Fig. 4 is use-case test philosophy figure.
Wherein, 1, host computer; 2, slave computer; 3, kinetic control system to be tested; 4, communication interface; 5, bus interface; 6, motion control bus; 7, slave station; 8, main website; 9, servomotor; 10, IO; 11, true control system; 12, the relational model of system data.
Embodiment
The invention will be further described below in conjunction with accompanying drawing and embodiment.
This proving installation comprises host computer 1 and slave computer 2 two parts, the structure of system and connected mode are as shown in Figure 1, the mode of slave computer 2 with a kind of cascade inserted in the kinetic control system 3 to be tested by bus interface 5, be connected with host computer 1 by communication interface 4 then, communication interface 5 can be Computer Communications Interfaces such as serial ports, Ethernet interface, PCI, USB here.Slave computer 2 is connected with slave station 7 by motion control bus 6, also connects by motion control bus 6 between the slave station 7.Host computer 1 carries out data analysis function by the data that receive slave computer 2 monitorings, and can the use-case rule be configured in the data forwarding rule of slave computer 2 through communication interface 4 then by the input test use-case, system data relational models 12 wherein built-in and kinetic control system 3 equivalences to be tested are the foundation of data analysis and test case input.
Because the hard real-time of bus, the timestamp precision that non-professional audiomonitor is caught Frame can't satisfy test request, therefore need design and develop a kind of embedded system to realize the bus data monitoring function of slave computer 2, can be by embedded programmable chip development such as FPGA, DSP, ARM.The function of slave computer 2 comprises two parts, the one, the bus data of monitoring is dealt into host computer 1, two on resolving, and by the forwarding rule of formulating data forwarding is returned in the bus system.
The mode of the system data relational model 12 that foundation is of equal value as shown in Figure 2, at first analyze each node need be received and dispatched in the true control system 11 data content and relation, and the connected mode between the node, set up data model according to doctrine of equivalents then, the syndeton of each node of model representation and transceive data content comprise the movement position information of private clothes motor 9 and the status information of IO10 as the data content inside of servo node in the data relational model.
The data decryptor process of system is as follows:
Slave computer 2 obtains the bus transfer data content by monitoring bus, adds accurate timestamp information through data parsing then and sends to host computer 1.Host computer 1 can parse the data interaction content in a period of time of some nodes like this according to system data relational model 12 resolution datas; According to the attribute of node, be the servocontrol node then, then can parse the track of servo motion and speed etc. as node.
Bus data resolving is comprised two steps, as shown in Figure 3: one, node mapping, the data that listen to are judged the data of analyzing current monitoring are by those node transmitting-receivings; Two, data map is done data map at intra-node, which performance data of the data corresponding node inside that identification is monitored.
Host computer 1 can be with the performance of design data and test data comparative analysis system.Whether for example in the track data input host computer 1 with design, the movement locus with kinetic control system 3 to be tested contrasts then, mate with design with the track that detects kinetic control system 3 to be tested.
The use-case test process of system is as follows:
By the mode of revising bus transfer data test case is input in the kinetic control system 3 to be tested, its have can survey wide, customization is strong, characteristics such as testing efficiency height.Test process comprises following two aspects, as Fig. 4: one, test case is configured in the data forwarding rule of slave computer 2 by communication interface 4.Revised the input variable of a node as the user by host computer 1, the data that slave computer 2 is sent out on receiving this node according to this rule the time revise its input variable corresponding data in Frame; Two, by the monitoring to bus data, the judgement system is to the responsive status of test case.As system normally stress process for when the input variable that receives some nodes changes, then change the output variable of another node, by monitoring issuing Frame corresponding in the data and can judging that can system realize function corresponding of main website 8.
Though above-mentionedly in conjunction with the accompanying drawings the specific embodiment of the present invention is described; but be not limiting the scope of the invention; one of ordinary skill in the art should be understood that; on the basis of technical scheme of the present invention, those skilled in the art do not need to pay various modifications that creative work can make or distortion still in protection scope of the present invention.
Claims (10)
1. the performance testing device of a bus type kinetic control system, it is characterized in that, comprise host computer and slave computer, slave computer is monitored the transmission data in the motion control bus, and generate test data according to the forwarding rule of setting and feed back in the bus system, will transmit data simultaneously and pass through data parsing and send to host computer; Host computer is estimated the performance of kinetic control system to be measured by the bus data of monitoring is analyzed, and perhaps the user, imports test condition in the digital control system with the data forwarding rule of configuration slave computer by host computer editor test condition.
2. the performance test methods of bus type kinetic control system as claimed in claim 1 is characterized in that, may further comprise the steps:
Step (1) is according to the architecture and the major function of kinetic control system to be measured, at the system data model of host computer structure 26S Proteasome Structure and Function equivalence, as the foundation of bus data analysis and Control systemic-function;
Step (2) inserts the performance testing device of bus type kinetic control system in the bus system, and bus data is carried out real-time listening, obtains the control command data and the status information data of kinetic control system;
Step (3) slave computer sends to host computer with the bus data of monitoring, and host computer is resolved the data of monitoring according to the system data rule model;
Step (4) is analyzed the performance of kinetic control system, by the analysis to the characteristics of motion, draws the index of kinetic control system;
Step (5) compares the gross data and the monitored data of typing host computer, estimates the performance of this kinetic control system.
3. the performance test methods of bus type kinetic control system as claimed in claim 2, it is characterized in that, in the described step (1), the system data model of 26S Proteasome Structure and Function equivalence, the data map rule of design intranodal, to realize, specifically understand the function of the concrete representative of data in the Frame by parsing to Frame; By the mapping ruler of design node, to realize the relationship map of Frame and each functional node.
4. the performance test methods of bus type kinetic control system as claimed in claim 2, it is characterized in that, in the described step (1), the building method of the system data model of 26S Proteasome Structure and Function equivalence is: at first data content that each node need be received and dispatched in the analytic system and relation, and the connected mode between the node, set up data model then, data model is represented the syndeton and the transceive data content of each node.
5. the performance test methods of bus type kinetic control system as claimed in claim 2, it is characterized in that, in the described step (2), the performance testing device of the bus type kinetic control system mode with cascade is inserted in the bus system, and data are flowed into by a port and are got back in the bus system by another port flow at once then.
6. the performance test methods of bus type kinetic control system as claimed in claim 2 is characterized in that, in the described step (3), the data transmission is controlled by embedded system and realized.
7. the performance test methods of bus type kinetic control system as claimed in claim 2 is characterized in that, in the described step (3), data resolving is comprised two steps, the node mapping is judged the data that listen to, and the data of analyzing current monitoring are by those node transmitting-receivings; Data map is done data map at intra-node, which performance data of the data corresponding node inside that identification is monitored.
8. the performance test methods of bus type kinetic control system as claimed in claim 2 is characterized in that, described step (5) also comprises the problem and the defective of the existence of finding out kinetic control system to be tested, the step of revising afterwards.
9. the performance test methods of bus type kinetic control system as claimed in claim 1 is characterized in that, may further comprise the steps:
The performance data of certain node in step (1) the user's modification system data model generates corresponding test case and is configured in the data forwarding rule of slave computer;
Step (2) is by transmitting the mode of data with in the test case input motion control system to revising bus;
Step (3) is then according to the test case of input, the performance of testing kinetic control system to be tested by the bus data of analyzing feedback.
10. the performance test methods of bus type kinetic control system as claimed in claim 9 is characterized in that, in the described step (1), the method for designing of described test case is:
According to the performance data of system data model modification main website or slave station, generate corresponding data forwarding and revise rule, affact then in the data forwarding rule of slave computer;
Described test is with being that IO modification of signal or servo motion control data are revised, and the main website of bus and slave station respond this signal by the mode of accepting bus data.
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Cited By (6)
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| CN107703917A (en) * | 2017-10-20 | 2018-02-16 | 重庆鲁班机器人技术研究院有限公司 | Controller performance detection method and system |
| CN109460011A (en) * | 2018-12-25 | 2019-03-12 | 欧瑞传动电气股份有限公司 | For the comprehensive performance test device and method of bus type kinetic control system |
| CN111694347A (en) * | 2020-06-28 | 2020-09-22 | 北京经纬恒润科技有限公司 | Function testing method and device based on bus development environment |
| CN112799947A (en) * | 2021-01-30 | 2021-05-14 | 麦特汽车服务股份有限公司 | Method and system for detecting reliability of algorithm of motion controller |
| CN113759800A (en) * | 2021-09-18 | 2021-12-07 | 中车大连机车研究所有限公司 | Signal acquisition control device for diesel locomotive |
| CN115550209A (en) * | 2022-08-26 | 2022-12-30 | 深圳研控自动化科技股份有限公司 | Driver detection method, system, device, terminal equipment and storage medium |
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| CN113759800A (en) * | 2021-09-18 | 2021-12-07 | 中车大连机车研究所有限公司 | Signal acquisition control device for diesel locomotive |
| CN115550209A (en) * | 2022-08-26 | 2022-12-30 | 深圳研控自动化科技股份有限公司 | Driver detection method, system, device, terminal equipment and storage medium |
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