CN104034461A - Precise servo mechanism friction torque testing system and testing method - Google Patents
Precise servo mechanism friction torque testing system and testing method Download PDFInfo
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Abstract
The invention discloses a precise servo mechanism friction torque testing system and a testing method. The system comprises a tested precise servo mechanism, a servo mechanism parameter tester and a data processing display terminal industrial control computer. The tested precise servo mechanism achieves a system with the mechanical system position, the speed or acceleration controlled in a closed loop control mode. The testing method comprises steps of testing static friction torque and testing dynamic friction torque. The servo motor serves as an execution element and is connected with an execution mechanism via transmission machinery with limited stability. Driving of the servo driver on the motor adopts torque, speed and position three control modes. Acquisition processing on the signals can be realized via a servo mechanism motion control card and the signals can be uploaded to an upper computer system. The servo mechanism friction torque testing method is simple and convenient, operation is programmed, the cost performance is high, and demands of scientific research and engineering design can be better met.
Description
Technical field
The invention belongs to Mechatronic Systems precision measurement field, particularly a kind of test macro and method of testing of elaborate servo mechanism moment of friction of the servo-control system test that can be used as Mechatronic Systems measuring technology and precise rotating platform.
Background technology
Elaborate servo mechanism is a complicated Mechatronic Systems, in assembling process, can be subject to processing the interference of the factors such as technique and crudy be inhomogeneous, and these interference meetings exert an influence to servo system control performance with the form of moment of friction.Its existence not only affects the precision of system, but also can cause fluctuation and the error of Servo System Based, makes system occur low speed jerking motion and the phenomenon such as dead band is non-linear, makes resolution and repetition rate reduce and cause the steady-state error of system.The more important thing is, in the manufacture and assembling process of servo control mechanism, due to the impact of human factor, cause that finished product rate is low, performance difference is very large.
The moment of friction of servo control mechanism can be divided into static friction torque and dynamic friction torque.Static friction torque refers to the moment of friction that the input shaft of servo control mechanism has while startup, and this is and starts dead band.Dynamic friction torque refers to the moment of friction that servo control mechanism has in the time that certain speed rotates.
At present, mostly be by manual measurement or utilize the method for special measurement of friction torque device measuring to carry out for the research of servo control mechanism measurement of friction torque, manual measurement generally adopts the mode that hangs counterweight, although metering system method is simple, but measuring accuracy is lower, randomness is larger, utilizes friction torque test equipment cannot complete in specific small space and measures.In view of particular requirement and the specific environment of elaborate servo mechanism, the present invention, by the method for testing of elaborate servo mechanism maximum static friction moment and dynamic friction torque is studied, builds test experiments platform, realizes the automatic test to moment of friction.
Summary of the invention
The object of this invention is to provide a kind of elaborate servo mechanism's friction torque test system and method for testing, the method adopts automatic technology, and torque T and current of electric I that test ultimate principle is motor are proportional, and available expression T=K × I represents.Making user test out quickly and easily maximum static friction moment and the dynamic friction torque of system, is the design proposition Data support of later system.
The object of the invention is to realize by following technical proposals.
The test macro of a kind of elaborate servo mechanism moment of friction, comprise a tested elaborate servo mechanism, one for measuring the servo control mechanism parameter tester of tested elaborate servo mechanism, and one for controlling the data processing display terminal industrial computer of servo control mechanism parameter tester;
Described tested elaborate servo mechanism comprises the base supporting by framework stationary shaft, on described base, is provided with servomotor, and servomotor is by the transmission train of reduction gears position transducer that is connected with a joggle, and position transducer connects loading disk; Described servomotor is connected with servo control mechanism parameter tester by data cable;
Described servo control mechanism parameter tester comprises the motor driver being connected with tested elaborate servo mechanism by data cable, described motor driver is connection data conversion process card and multi-axis motion control card respectively, and multi-axis motion control card connects industrial computer by data cable;
Described industrial computer comprises the industrial computer main frame connecting by data cable, and industrial computer main frame is connected with industrial computer display;
Servomotor drives the load movement being placed on loading disk through transmission train of reduction gears, load and the motion of position transducer coaxial synchronous, the positional information of its load sends servo control mechanism parameter tester to by position transducer and does data-switching, and calculates the moment of friction of test elaborate servo mechanism via industrial computer control.
Further, institute's motor driver is embedded with for driving servomotor accurately to move electric current loop, speed ring and position ring three encircle feedback control loop.
Further, to connect loading disk be single-axis servo mechanism or multiple-axis servo mechanism to the position transducer in described tested elaborate servo mechanism.
Further, described transmission train of reduction gears is that single-stage speed reducing, multi-stage acceleration, single-stage speedup or motor straight drag.
Further, described position transducer be in rotary transformer, scrambler, gyro, grating any one or multiple.
Correspondingly, the present invention gives the method for testing of a kind of elaborate servo mechanism moment of friction, and the method comprises to be surveyed static friction torque and surveys dynamic friction torque, comprises the steps:
A, test static friction torque:
1) system initialization is first set the tested elaborate servo servomotor moment coefficient K of mechanism on industrial computer, and the servo control mechanism control parameter PID of the motor driver of servo control mechanism parameter tester and multi-axis motion control card
quiet;
2) setting key of diverse location sensor is set in the sensor selector switch of servo control mechanism parameter tester;
3) it is current location θ that the data conversion treatment card that industrial computer is read servo control mechanism parameter tester obtains servomotor attitude angle
0; At industrial computer, required measurement attitude angle position θ is set
1, wherein, can the scope of taking measurement of an angle be 0 °≤θ
1≤ 360 °;
4) on industrial computer, send positive test instruction, steering order is rotated in the forward by multi-axis motion control card control servomotor;
5) now, whether industrial computer detects motor by position transducer and is subjected to displacement, if be not subjected to displacement, program continues to increase voltage; If be subjected to displacement, program stopped increases voltage; Now motor driver is read the electric current I of servomotor
1value;
6) industrial computer is according to above-mentioned electric current I
1value, then calculates motor attitude angle position θ by servomotor moment coefficient K
1positive test static friction torque T
1size, wherein T
1=K × I
1;
7) on industrial computer, send negative testing instruction, steering order is by the reverse rotation of multi-axis motion control card control servomotor;
8) repeating step 5) to 6), obtain negative testing static friction torque T
2size;
9) industrial computer, by the above-mentioned positive and negative static friction torque recording for twice, is averaged and is elaborate servo mechanism static friction torque;
B, test dynamic friction torque:
1) system initialization is first set the tested elaborate servo servomotor moment coefficient K of mechanism on industrial computer, and the servo control mechanism control parameter PID of the motor driver of servo control mechanism parameter tester and multi-axis motion control card
moving;
2) setting key of diverse location sensor is set in the sensor selector switch of servo control mechanism parameter tester;
3) industrial computer arranges required velocity survey scope V
min≤ V≤V
max;
4) send and be rotated in the forward instruction at industrial computer, steering order is sent the forward and reverse at the uniform velocity rotation of constant speed steering order control servomotor by multi-axis motion control card;
5) through forward and reverse alternately rotation, read the electric current I after stable operation by motor driver
nvalue, calculates dynamic friction torque T by following formula
n:
T
n＝K×I
n
Wherein, n=1,2,3 ... 30;
6) then calculate dynamic friction torque mean value by following formula:
Wherein, n=1,2,3 ... i ... .30, T
ifor dynamic friction torque i sub-value;
Ji get elaborate servo mechanism dynamic friction torque.
Further, it is that condition according to voltage ramp increasing function U (t) is carried out that described multi-axis motion control card control servomotor is rotated in the forward, wherein U (t)=a*t, and a is build-up of voltage step-length, the run duration that t is servomotor.
Further, described a is build-up of voltage step-length, and meets
u
ratedfor motor rated voltage.
Automatic test device of the present invention is the test macro based on virtual instrument technique, and the data acquisition of system and motion control function are to have been combined by industrial computer and the operation of multi-axis motion control card internal processes; Driver is responsible for the driving to motor; Position transducer can complete the accurate measurement to mechanism's attitude angle; The simulating signal that contains angle information of position transducer output is converted into the manageable digital signal of industrial computer by signal conversion processes card, so that industrial computer, by the collection to angle information, is realized the control to motor; Use electrical measuring method to measure moment of friction, try to achieve moment of friction by the electric current of measuring servomotor.Measure electric motor starting moment armature supply, calculate static friction torque; Measure motor uniform rotation electric motor with armature electric current, calculate dynamic friction torque.
Automatic test instrument proposed by the invention is a kind of virtual instrument based on industrial computer upper computer software.In view of virtual instrument is in the advantage aspect control and measurement, writes upper computer software and designed servo control mechanism friction torque test device, also user friendly Real-Time Monitoring when convenient programming.This testing system software function is as follows:
1. measure the maximum static friction moment under assigned address and result is shown;
2. complete the automatic test of dynamic friction torque, and show in real time the moment of friction under friction speed;
3. the data of the speed measuring and moment of friction are preserved;
4. the speed measuring, moment values are carried out to matching, obtain the matched curve of speed-moment.
The present invention compares and has the following advantages with the test macro of existing elaborate servo mechanism:
1. the interactive software assembling on industrial computer of the present invention has been realized the man-machine interaction with operator, simple and convenient, and programming manipulation has reduced operator's technostress.
2. the present invention can test accurate servo control mechanism, can complete the measurement of the moment of friction of accurate tiny servo control mechanism, and precision high level error is little, and simple to operate, cost performance is high, more can meet the needs of scientific research and engineering design.
3. the present invention has substituted traditional friction torque test equipment, has very strong processing power, and figure intuitive display, clear facilitates the functions such as data output, report printing.
4. the present invention only need install a position sensor feedback position or velocity information, with the coaxial installation of load, installs simply, and exploitativeness is strong, reduces the requirement of the physical construction to servo control mechanism.
Innovation of the present invention be data conversion treatment card integrated the data processing circuit of 4 kinds of sensors, four kinds of sensors are respectively rotary transformer, scrambler, gyro, grating, make its highly versatile, are adapted to different servo control mechanisms.
6. the present invention can also be to single shaft, the measurement of the resonance frequency of multi-shaft precise servo control mechanism interlock, and the elaborate servo mechanism scope of test is wide, highly versatile.
7. the servo control mechanism parameter tester in the present invention is designed to motor driver, multi-axis motion control card, and the modularization of data conversion treatment card organically combines, can plug replacing, facilitate the renewal of method of testing, the maintenance of test macro, the Function Extension of test macro etc.
Brief description of the drawings
Fig. 1 is the one-piece construction schematic diagram that the present invention tests elaborate servo mechanism moment of friction.
Fig. 2 is the tested elaborate servo mechanism structure schematic diagram that the present invention tests elaborate servo mechanism moment of friction.
Fig. 3 is the structure vertical view of tested elaborate servo mechanism in the present invention.
Fig. 4 is the structural representation of servo control mechanism parameter tester in the present invention.
Fig. 5 is the structural representation of industrial computer in the present invention.
Fig. 6 (a) for maximum static friction moment be staring torque test flow chart.
Fig. 6 (b) for dynamic friction torque be motoring torque test flow chart.
In figure: 101, tested elaborate servo mechanism; 102, loading disk; 103, framework stationary shaft; 104, transmission train of reduction gears; 105, servomotor; 106, data cable; 107, position transducer; 108, base; 109, servo control mechanism parameter tester; 110, data conversion treatment card; 111 motor drivers; 112, multi-axis motion control card; 113, data cable; 114, industrial computer; 115, industrial computer display; 116, industrial computer main frame; 117 sensor selector switch.
Embodiment
Below in conjunction with accompanying drawing, the present invention is described in further detail:
Introduce structure of the present invention below in conjunction with Fig. 1, this structure is a kind of system of moment of friction of testing accurate single servo control mechanism.This test macro adopts modular design, roughly can be divided into three parts, comprises respectively tested elaborate servo mechanism 101, servo control mechanism parameter tester 109 and is equipped with the industrial computer 114 of interactive software.
Wherein, tested elaborate servo mechanism 101 comprises the base 108 supporting by framework stationary shaft 103, on described base 108, be provided with servomotor 105, servomotor 105 is by transmission train of reduction gears 104 position transducer 107 that is connected with a joggle, and position transducer 107 connects loading disk 102; Servomotor 105 is connected with servo control mechanism parameter tester 109 by data cable 106.
Servo control mechanism parameter tester 109 comprises the motor driver 111 being connected with tested elaborate servo mechanism 101 by data cable 106, described motor driver 111 connection data conversion process card 110 and multi-axis motion control card 112 respectively, multi-axis motion control card 112 connects industrial computer 114 by data cable 113.Wherein, servo control mechanism parameter tester 109 is a body structure, on the facing the wall and meditating of casing, is provided with sensor selector switch 117.
Industrial computer 114 comprises the industrial computer main frame 116 connecting by data cable 113, and industrial computer main frame 116 is connected with industrial computer display 115.
Operator arranges the correlation parameter of tested elaborate servo mechanism 101 on the corresponding software of industrial computer 114, and the button of triggering system work, is wherein divided into two kinds of automatic test and manual tests.When triggering after test, industrial computer 114 sends corresponding function signal to servo control mechanism parameter tester 109, multi-axis motion control card 112 in servo control mechanism parameter tester 109 will be transferred to motor driver 111 after control signal processing after receiving signal, the relevant work pattern of servo-driver 111 is set simultaneously, signal after treatment is sent to servo control mechanism 101 by motor driver 111, servomotor 105 in servo control mechanism can be according to the signal precise motion receiving, now load also can be followed the motion of transmission train of reduction gears, and the coaxial mounted position transducer 107 of below also can followed load and is being synchronized with the movement, position transducer 107 can send the positional information of servo control mechanism to data conversion treatment card 110, data conversion treatment card 110 carries out simulating signal the operations such as filtering and converts digital signal to and gather and be uploaded to industrial computer 114 by multi-axis motion control card 112, industrial computer 114 carries out digital signal processing by the digital signal collecting and shows with the intuitionistic form of curve, thereby realize the measurement to elaborate servo mechanism 101 moment of frictions.
Introduce tested elaborate servo mechanism 101 below in conjunction with Fig. 2, Fig. 3, Fig. 2 is its front view, and Fig. 3 is its vertical view.The one-piece construction that has shown tested elaborate servo mechanism 101 in Fig. 2 distributes, and has shown the position distribution of its load pilot hole 102 and framework stationary shaft 103 in Fig. 3.Tested elaborate servo mechanism 101 is by servomotor 105, transmission train of reduction gears 104, position transducer 107 and peripheral frame base 108, framework stationary shaft 103, loading disk 102 compositions such as grade.Load is by loading disk 102 and the assembling of elaborate servo mechanism, and the position transducer 107 of below is coaxial assembling with load, and be synchronized with the movement with load, the positional information of feeding back load to servo control mechanism parameter tester 109 to it is changed, gathers, is uploaded etc.
The module distribution schematic diagram of servo control mechanism parameter tester 109 as shown in Figure 4, can be divided into 3 parts substantially, is respectively multi-axis motion control card 112, motor driver 111, data conversion treatment card 110, and data cable 106,113 compositions.Adopt pluggable assembling mode, can facilitate the renewal of method of testing, the maintenance of test macro, the Function Extension of test macro.
The schematic diagram of industrial computer 114 as shown in Figure 5, industrial computer 114 is the mutual media of operator and test macro, operator needs to be provided with the correlation parameter of tested elaborate servo mechanism 101 in this software, then select method of testing, then click test automatically, or manual test step by step, this software shows last test result in the mode of pictorialization the most at last, and the common function such as generation or printing reports.
The test flow chart of tested elaborate servo mechanism 101 maximum static friction moments as shown in Fig. 6 (a).First measure by the attitude angle of position transducer 107 and servo control mechanism parameter tester 109 countershafts, attitude angle position is specified in multi-axis motion control card 112 location, when servomotor 105 drives when loading on assigned address and stopping, multi-axis motion control card 112 sends analog function signal, motor driver 111 is converted to current function servomotor 105 is powered, when servomotor 105 is by the static moment to starting to start, servomotor 105 output torques are the maximum static friction moment of this attitude angle position.Test process adopts the forward and reverse direction of specified point to measure, and records servomotor 105 at the test point current value of startup moment, can calculate the respective value of moment of friction.
The test flow chart of tested elaborate servo mechanism 101 dynamic friction torques as shown in Fig. 6 (b).Attitude angle by position transducer 107 and servo control mechanism parameter tester 109 countershafts is measured, within the scope of the attitude angle of test, multi-axis motion control card 112 carries out analog function power supply to servomotor 105, motor driver 111 drives servomotor 105 to turn round, servomotor 105 stable operation after certain hour, electric current while recording servomotor 105 stable speed operation and speed, calculate the dynamic friction torque of servo control mechanism 101 under this speed.
Method of testing below by elaborate servo mechanism moment of friction further illustrates the present invention, and the method comprises to be surveyed static friction torque and surveys dynamic friction torque, comprises the steps:
A, test static friction torque:
1) system initialization is first set the tested elaborate servo 101 servomotor moment coefficient K of mechanism on industrial computer 114, and the servo control mechanism control parameter PID of the motor driver 111 of servo control mechanism parameter tester 109 and multi-axis motion control card 112
quiet;
2) setting key of diverse location sensor is set in the sensor selector switch 117 of servo control mechanism parameter tester 109;
3) it is current location θ that the data conversion treatment card 110 that industrial computer 114 is read servo control mechanism parameter tester 109 obtains servomotor 105 attitude angle
0; At industrial computer 114, required measurement attitude angle position θ is set
1, wherein, can the scope of taking measurement of an angle be 0 °≤θ
1≤ 360 °;
4) on industrial computer 114, send positive test instruction, steering order is controlled servomotor 105 by multi-axis motion control card 112 and is rotated in the forward;
5) now, whether industrial computer 114 detects motor by position transducer 107 and is subjected to displacement, if be not subjected to displacement, program continues to increase voltage; If be subjected to displacement, program stopped increases voltage; Now motor driver 111 is read the electric current I of servomotor 105
1value;
6) at industrial computer 114 according to above-mentioned electric current I
1value, then calculates motor attitude angle position θ by servomotor moment coefficient K
1positive test static friction torque T
1size, wherein T
1=K × I
1;
7) on industrial computer 114, send negative testing instruction, steering order is controlled servomotor 105 reverse rotations by multi-axis motion control card 112;
8) repeating step 5) to 6), obtain negative testing static friction torque T
2size;
9) industrial computer 114, by the above-mentioned positive and negative static friction torque recording for twice, is averaged and is elaborate servo mechanism static friction torque;
B, test dynamic friction torque:
1) system initialization is first set the tested elaborate servo 101 servomotor moment coefficient K of mechanism on industrial computer 114, and the servo control mechanism control parameter PID of the motor driver 111 of servo control mechanism parameter tester 109 and multi-axis motion control card 112
moving;
2) setting key of diverse location sensor is set in the sensor selector switch 117 of servo control mechanism parameter tester 109;
3) industrial computer 114 arranges required velocity survey scope V
min≤ V≤V
max;
4) send and be rotated in the forward instruction at industrial computer 114, steering order is sent the forward and reverse at the uniform velocity rotation of constant speed steering order control servomotor 105 by multi-axis motion control card 112;
5) through forward and reverse alternately rotation, read the electric current I after stable operation by motor driver 111
nvalue,
Calculate dynamic friction torque T by following formula
n:
T
n＝K×I
n
Wherein, n=1,2,3 ... 30;
6) then calculate dynamic friction torque mean value by following formula:
Wherein, n=1,2,3 ... i ... .30, T
ifor dynamic friction torque i sub-value;
Ji get elaborate servo mechanism dynamic friction torque.
It is that condition according to voltage ramp increasing function U (t) is carried out that above-mentioned multi-axis motion control card 112 controls that servomotor 105 is rotated in the forward, wherein U (t)=a*t, and a is build-up of voltage step-length, t is the run duration of servomotor 105; A is build-up of voltage step-length, and meets
u
ratedfor motor rated voltage.
The above is composition and the specific implementation process of apparatus of the present invention.Finally be noted that and the foregoing is only the preferred embodiment of the present invention, be not limited to the present invention.Structure of the present invention, for a person skilled in the art, under the premise without departing from the principles of the invention, can also make some improvement, retouches or be equal to replacement, and these improvements and modifications also should be considered as protection scope of the present invention so.
Claims (8)
1. the test macro of an elaborate servo mechanism moment of friction, comprise a tested elaborate servo mechanism (101), one for measuring the servo control mechanism parameter tester (109) of tested elaborate servo mechanism (101), and one for controlling the data processing display terminal industrial computer (114) of servo control mechanism parameter tester (109); It is characterized in that,
Described tested elaborate servo mechanism (101) comprises the base (108) supporting by framework stationary shaft (103), on described base (108), be provided with servomotor (105), servomotor (105) is by transmission train of reduction gears (104) position transducer (107) that is connected with a joggle, and position transducer (107) connects loading disk (102); Described servomotor (105) is connected with servo control mechanism parameter tester (109) by data cable (106);
Described servo control mechanism parameter tester (109) comprises the motor driver (111) being connected with tested elaborate servo mechanism (101) by data cable (106), described motor driver (111) is connection data conversion process card (110) and multi-axis motion control card (112) respectively, and multi-axis motion control card (112) connects industrial computer (114) by data cable (113);
Described industrial computer (114) comprises the industrial computer main frame (116) connecting by data cable (113), and industrial computer main frame (116) is connected with industrial computer display (115);
Servomotor (105) drives the load movement being placed on loading disk (102) through transmission train of reduction gears (104), the motion of load and position transducer (107) coaxial synchronous, the positional information of its load sends servo control mechanism parameter tester (109) to by position transducer (107) and does data-switching, and controls via industrial computer (114) moment of friction that calculates test elaborate servo mechanism.
2. the test macro of a kind of elaborate servo according to claim 1 mechanism moment of friction, it is characterized in that, electric current loop, speed ring and position ring three that institute's motor driver (111) is embedded with for driving servomotor (105) accurately to move encircle feedback control loop.
3. the test macro of a kind of elaborate servo according to claim 1 mechanism moment of friction, it is characterized in that, it is single-axis servo mechanism or multiple-axis servo mechanism that the position transducer (107) in described tested elaborate servo mechanism (101) connects loading disk (102).
4. the test macro of a kind of elaborate servo according to claim 1 mechanism moment of friction, is characterized in that, described transmission train of reduction gears (104) is that single-stage speed reducing, multi-stage acceleration, single-stage speedup or motor straight drag.
5. the test macro of a kind of elaborate servo according to claim 1 mechanism moment of friction, is characterized in that, described position transducer (107) be in rotary transformer, scrambler, gyro, grating any one or multiple.
6. a method of testing for elaborate servo mechanism moment of friction, is characterized in that, comprises and surveys static friction torque and survey dynamic friction torque, comprises the steps:
A, test static friction torque:
1) system initialization first, at the upper setting of industrial computer (114) the servomotor moment coefficient K of tested elaborate servo mechanism (101), and the servo control mechanism control parameter PID of the motor driver (111) of servo control mechanism parameter tester (109) and multi-axis motion control card (112)
quiet;
2) setting key of diverse location sensor is set in the sensor selector switch (117) of servo control mechanism parameter tester (109);
3) it is current location θ that the data conversion treatment card (110) that industrial computer (114) is read servo control mechanism parameter tester (109) obtains servomotor (105) attitude angle
0; At industrial computer (114), required measurement attitude angle position θ is set
1, wherein, can the scope of taking measurement of an angle be 0 °≤θ
1≤ 360 °;
4) on industrial computer (114), send positive test instruction, steering order is controlled servomotor (105) by multi-axis motion control card (112) and is rotated in the forward;
5) now, whether industrial computer (114) detects motor by position transducer (107) and is subjected to displacement, if be not subjected to displacement, program continues to increase voltage; If be subjected to displacement, program stopped increases voltage; Now motor driver (111) is read the electric current I of servomotor (105)
1value;
6) industrial computer (114) is according to above-mentioned electric current I
1value, then calculates motor attitude angle position θ by servomotor moment coefficient K
1positive test static friction torque T
1size, wherein T
1=K × I
1;
7) on industrial computer (114), send negative testing instruction, steering order is controlled servomotor (105) reverse rotation by multi-axis motion control card (112);
8) repeating step 5) to 6), obtain negative testing static friction torque T
2size;
9) industrial computer (114), by the above-mentioned positive and negative static friction torque recording for twice, is averaged and is elaborate servo mechanism static friction torque;
B, test dynamic friction torque:
1) system initialization first, at the upper setting of industrial computer (114) the servomotor moment coefficient K of tested elaborate servo mechanism (101), and the servo control mechanism control parameter PID of the motor driver (111) of servo control mechanism parameter tester (109) and multi-axis motion control card (112)
moving;
2) setting key of diverse location sensor is set in the sensor selector switch (117) of servo control mechanism parameter tester (109);
3) industrial computer (114) arranges required velocity survey scope V
min≤ V≤V
max;
4) send rotate instruction at industrial computer (114), steering order is sent the forward and reverse at the uniform velocity rotation of constant speed steering order control servomotor (105) by multi-axis motion control card (112);
5) through forward and reverse alternately rotation, read the electric current I after stable operation by motor driver (111)
nvalue, calculates dynamic friction torque T by following formula
n:
T
n＝K×I
n
Wherein, n=1,2,3 ... 30;
6) then calculate dynamic friction torque mean value by following formula:
Wherein, n=1,2,3 ... i ... .30, T
ifor dynamic friction torque i sub-value;
Ji get elaborate servo mechanism dynamic friction torque.
7. the method for testing of a kind of elaborate servo according to claim 6 mechanism moment of friction, it is characterized in that, it is that condition according to voltage ramp increasing function U (t) is carried out that described multi-axis motion control card (112) controls that servomotor (105) is rotated in the forward, wherein U (t)=a*t, a is build-up of voltage step-length, and t is the run duration of servomotor (105).
8. the method for testing of a kind of elaborate servo according to claim 7 mechanism moment of friction, is characterized in that, described a is build-up of voltage step-length, and meets
u
ratedfor motor rated voltage.
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| CN106871852A (en) * | 2017-04-27 | 2017-06-20 | 深圳市矩阵动力科技开发有限公司 | A kind of angular transducer with torque output |
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| CN104198103A (en) * | 2014-09-12 | 2014-12-10 | 北京新立机械有限责任公司 | On-line real-time measurement system for precision assembly |
| CN105258945A (en) * | 2015-11-19 | 2016-01-20 | 上海无线电设备研究所 | Method for quantitatively controlling operational stability of servo mechanism by using automatic gear grinding technology |
| CN105466678A (en) * | 2015-11-30 | 2016-04-06 | 北京卫星制造厂 | Harmonic gear reducer starting torque and friction resistance torque testing system and method |
| CN105466678B (en) * | 2015-11-30 | 2018-01-05 | 北京卫星制造厂 | Harmonic gear reducer staring torque and frictional resistance moment test system and method |
| CN105652794A (en) * | 2016-02-29 | 2016-06-08 | 东北大学 | Numerical control machine tool data collecting and managing system based on FOCAS and method thereof |
| CN105652794B (en) * | 2016-02-29 | 2018-03-13 | 东北大学 | Digit Control Machine Tool data collection and administration system and method based on FOCAS |
| CN106871852A (en) * | 2017-04-27 | 2017-06-20 | 深圳市矩阵动力科技开发有限公司 | A kind of angular transducer with torque output |
| CN109059816A (en) * | 2018-06-08 | 2018-12-21 | 上海微小卫星工程中心 | For determining the method and system of the circumferential abration position of rotating mechanism |
| CN111103792A (en) * | 2020-01-07 | 2020-05-05 | 上海节卡机器人科技有限公司 | Robot control method, device, electronic equipment and readable storage medium |
| CN115900822A (en) * | 2022-11-25 | 2023-04-04 | 湖南电气职业技术学院 | Test system applied to servo motor |
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