CN104950812B - A kind of digital control system performance online method of testing and system based on motor simulation loading - Google Patents
A kind of digital control system performance online method of testing and system based on motor simulation loading Download PDFInfo
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- CN104950812B CN104950812B CN201510338155.0A CN201510338155A CN104950812B CN 104950812 B CN104950812 B CN 104950812B CN 201510338155 A CN201510338155 A CN 201510338155A CN 104950812 B CN104950812 B CN 104950812B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/406—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by monitoring or safety
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Abstract
The invention discloses a kind of on-line testing method and system of the digital control system performance based on motor simulation loading, the system includes tested digital control system, accompanies and survey digital control system, remote data acquisition unit and remote server, this accompanies survey digital control system to provide load for tested digital control system, survey tool as tested digital control system simultaneously, described to accompany survey digital control system to be connected with tested digital control system by yielding coupling, above-mentioned two digital control system is connected with remote data acquisition unit respectively.The method of testing includes：The steps such as the on-line operation for loading, being tested numerical control system G code test, the real-time acquisition of real data and the on-line analysis of digital control system performance of tested numerical control system load.The test system and method for testing of the present invention has the advantages that simple in construction, easy to operate, can simulate a variety of loading conditions, test process can remote real-time monitoring, test data can be checked remotely, and realize the unified management of test data.
Description
Technical field
The invention belongs to digital control system technical field of performance test, is loaded more particularly, to one kind based on motor simulation
Digital control system performance on-line testing method and system.
Background technology
Digital control system is the abbreviation of numerical control system, and it is performed according to the control program stored in computer storage
Part or all of numerical control function, and the dedicated computer system equipped with interface circuit and servo drive, by using
The digital command of numeral, word and symbol composition realizes one or more plant equipment action control, industrial automation
Widely used digital control system, digital control system all need to carry out performance test and reliability testing before dispatching from the factory.
Universal test system generally use is to dragging form at present, and accompany measured motor is in power generation mode, resistance consumption electric energy,
The load of such a processing method can not determine the size of load due to the problems such as generating heat.And existing method of testing is usual
Just for servo-drive system, on-line detecting system receives the biography on servomotor generally by exploitation data collecting card
The data that sensor obtains, virtual instrument is then sent the data to, virtual instrument carries out calculation process to data, and data are real
When show.By the method, its difference between CW and CCW speeds rate, speed regulation, fluctuation of speed coefficient, speed ratio, super can be measured
The indexs such as tune amount, servo-drive system performance condition is can determine whether according to these indexs, the torque load mode commonly used in test process
It is to utilize magnetic powder brake, inertia disc, motor etc..
However, existing detection method operating process is complicated, it is necessary to individually tested various indexs, can not be to numerical control
The overall performance of system is tested and characterized, and automaticity is low, while conventional torque load mode is in Automated condtrol
The problem of in terms of torque size there is also load is difficult to.
The content of the invention
For the disadvantages described above or Improvement requirement of prior art, the invention provides a kind of online survey of digital control system performance
Method for testing and system, its mode loaded using motor simulation realize the loading of digital control system so that the loading of load is simply accurate
Really, and a variety of loading conditions can be simulated；Meanwhile the present invention runs one section of G code by digital control system, and according to director data
With the comparison operation of real data, you can obtain the combination property of digital control system in real time, can effectively solve existing detection accordingly
The problem of method need to be individually tested various indexs；In addition, the present invention is also by setting remote server and cloud service network
Stand, realize the remote on-line monitoring of digital control system performance and the inquiry of test data and management, be therefore particularly suitable for more number of units
Control on-line checking and the management of systematic function.
To achieve the above object, according to one aspect of the present invention, it is proposed that a kind of numerical control based on motor simulation loading
Systematic function on-line testing method, it is characterised in that comprise the following steps：
(1) it is tested the simulation loading of numerical control system load：
Set up one group it is corresponding with tested digital control system accompany survey digital control system, this, which is accompanied, surveys digital control system and includes accompanying survey numerical control
Device, accompany survey servo-driver and accompany survey servomotor；Sent instructions everywhere in torque mode under survey numerical control device by described accompany
Described accompany survey servo-driver to control described accompany to survey servomotor and produce torque；Above-mentioned torque passes through yielding coupling transmission
To the tested servomotor in the tested digital control system, the simulation loading of tested numerical control system load is realized with this；
(2) it is tested the on-line operation of digital control system：
G code is loaded into the tested numerical control device of the tested digital control system, and the G code is converted into tested servo
The recognizable movement instruction of driver, the tested servomotor is controlled to produce motion by the movement instruction；With the motion
Corresponding director data is instructed to be sent to remote data acquisition unit；
(3) the real-time acquisition of real data：
It is described to accompany survey servomotor to measure the quilt in real time during the entire process of the tested digital control system on-line operation
The real data that digital control system is reflected based on the movement instruction is surveyed, the real data transmits same to remote data acquisition
Unit；
(4) on-line analysis of digital control system performance：
Using the remote data acquisition unit to the director data obtained by step (2) and (3) and the reality
Border data carry out comparing calculation, obtain the characterization parameter for characterizing digital control system combination property, in this way, realize numerical control system
The on-line testing for combination property of uniting.
As it is further preferred that described director data and described real data include the tested servomotor
Rotating speed and positional information.
As it is further preferred that the tested numerical control device and accompanying and surveying numerical control device and the remote data acquisition unit
Data interaction is carried out by ICP/IP protocol.
As it is further preferred that the maximum for accompanying the maximum moment for surveying servomotor to be more than the tested servomotor
Torque.
According to another aspect of the present invention, it is proposed that it is a kind of based on motor simulation loading digital control system performance it is online
Test system, it is characterised in that the system includes tested digital control system, accompanies and survey digital control system and remote server, wherein：
The tested digital control system includes tested numerical control device, tested servo-driver and tested servomotor；It is described tested
Adopted between numerical control device and the tested servo-driver, between the tested servo-driver and the tested servomotor
It is connected with bus；
This, which is accompanied, surveys digital control system including accompanying survey numerical control device, accompanying in torque mode to survey servo-driver and accompanying survey servo
Motor；It is described accompany survey numerical control device and it is described accompany survey between servo-driver, described accompany surveys servo-driver and described accompanies survey to watch
Take and be connected using bus between motor；Wherein, described accompany passes through elasticity between survey servomotor and the tested servomotor
Shaft coupling is connected；
The tested numerical control device and it is described accompany survey numerical control device be connected by netting twine with remote data acquisition unit, this
The data of collection are transmitted and are stored in remote server in real time by remote data acquisition unit.
As it is further preferred that the test system is additionally provided with cloud service website, the cloud service website passes through
Remote server described in Internet connected references, in order to which all data are checked in the remote server.
As it is further preferred that the cloud service website can be realized by the data-interface that remote data acquisition unit provides
The long-range real-time status monitoring of test process.
In general, by the contemplated above technical scheme of the present invention compared with prior art, mainly possess following
Technological merit：
1. the present invention accompanies survey digital control system there is provided a set of, servo-drive list is surveyed by accompanying under torque mode control
Member control accompanies survey servomotor to realize and the load for being tested digital control system servomotor is loaded, and is added by what this mode loaded
It is simple accurate to carry, and can easily simulate a variety of loading conditions；In addition, while loading is realized, survey servomotor is accompanied
On encoder can be as the measurement apparatus of tested digital control system, with the actual number of the tested digital control system work of real-time collection
According to these data accompany survey digital control system by accompanying survey servo drive unit to be sent to.
2. the present invention is provided with one section of G code, passes through numerical control system without testing different performance indications, the present invention respectively again
System one section of G code certain time of operation, then according to the comparison operation of director data and real data, number can be obtained in real time
The combination property of control system, test are simple and convenient.
3. the data acquisition unit of the present invention can be placed on the PC of any networking, it is remote by Internet connections
Journey server, the data of collection are transmitted and are stored in remote server in real time.By set with remote server and
The cloud service website of remote data acquisition unit connection so that no matter where can realize that digital control system currently tests feelings
The remote on-line monitoring of condition, including the information such as speed, position；And checking for test result historical data can be easy to, it can also look into
See the trend graph changed over time by Performance Evaluation Algorithm to the evaluation result of historical test data；And various need can be carried out
The comparative analysis wanted, it might even be possible to be directly issued to directly by the test G code of setting in test digital control system, realize test
The good management of data.
Brief description of the drawings
Fig. 1 is a kind of Online Transaction Processing schematic diagram of the digital control system performance based on motor simulation loading of the present invention；
Fig. 2 is the flow chart of data processing figure of Tele-Acquisition unit of the present invention.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, it is right below in conjunction with drawings and Examples
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.As long as in addition, technical characteristic involved in each embodiment of invention described below
Conflict can is not formed each other to be mutually combined.
Fig. 1 is a kind of Online Transaction Processing schematic diagram of digital control system performance based on motor simulation loading of the present invention,
The system includes tested digital control system, accompanies and survey digital control system and remote server, wherein：
The tested digital control system includes tested numerical control device 1, tested servo-driver 2 and tested servomotor 3；The quilt
Survey between numerical control device 1 and tested servo-driver 2, tested bus used between servo-driver 2 and tested servomotor 3
It is connected；
This, which is accompanied, surveys digital control system including accompanying survey numerical control device 7, accompanying in torque mode to survey servo-driver 6 and accompanying survey to watch
Take motor 5；It is described accompany survey numerical control device 7 and accompany survey servo-driver 6 between, accompany survey servo-driver 6 and accompany survey servomotor 5
Between be connected using bus；Wherein, described accompany is surveyed between servomotor 5 and the tested servomotor 3 by elastic shaft coupling
Device 4 is connected；
The tested numerical control device 1 and described accompany survey numerical control device 7 by netting twine and the phase of remote data acquisition unit 8
Even, the data of collection are sent in remote server by the remote data acquisition unit 8 in real time.
In addition, servomotor 3,5 is fixed on the table by support, numerical control device 1,7 passes through with data acquisition unit
ICP/IP protocol carries out data interaction.
A kind of on-line testing method of digital control system performance based on motor simulation loading of the present invention, specific steps are such as
Under：
(1) it is tested the loading of numerical control system load：The accompanying in torque mode everywhere that send instructions is surveyed under numerical control device 7 by accompanying
Survey servo-driver 6 and survey the generation torque of servomotor 5 to control to accompany；Above-mentioned torque passes to the quilt by yielding coupling 4
The tested servomotor 3 surveyed in digital control system, with the loading of this load for realizing tested digital control system；
(2) it is tested the on-line operation of digital control system：G generations are loaded into the tested numerical control device 1 of the tested digital control system
Code, and the G code is converted into the recognizable movement instruction of tested servo-driver 2, watched by the way that movement instruction control is tested
Take motor 3 and produce motion；The director data of described movement instruction is sent to remote data acquisition unit 8 by netting twine；
(3) the real-time acquisition of real data：It is described to accompany survey servo during the tested digital control system on-line operation
Motor 5 measures the real data corresponding with director data of the tested digital control system in real time, the real data again by
Netting twine is sent to remote data acquisition unit 8；
(4) on-line analysis of digital control system performance：Using the remote data acquisition unit 8 to passing through step (2) and (3)
The director data obtained carries out comparing calculation with real data, obtains the sign for characterizing digital control system combination property and joins
Number, in this way, realizes the on-line testing of digital control system combination property.
Wherein, the specified G code that digital control system operation is write, the G code content includes carries out difference between CW and CCW speeds at it
All operation conditions when rate, speed regulation, fluctuation of speed coefficient, speed ratio, overshoot are individually tested, while repeatedly weight
This multiple process；In addition, the most of situation that can be run under one section of even in everyday situations is further comprises in G code, such as plane machining, circular arc
Situations such as processing.By gathering the real data of digital control system director data and servomotor in running, and pass through number
The difference for drawing a description director data and real data is compared to the registration between them, similarity according to contrast algorithm
Coefficient value RS away from size, and performance of the digital control system in terms of motion control can pass through director data and the difference of real data
Away from embodying, therefore combination property of the statement digital control system in terms of motion control is integrated with this RS coefficient.
The present invention surveys servomotor realization pair by controlling lower accompanying to survey servo drive unit control and accompany in torque mode
The load loading of tested digital control system servomotor, will accompany survey servo drive unit to be arranged to be operated in torque mode first
Under, then write under PLC ladder diagrams come and send instructions in survey numerical control device is accompanied, can easily be simulated by this mode a variety of negative
Load situation, such a mode accompany the encoder surveyed on servomotor can be as tested digital control system while loading is realized
Measurement apparatus, to gather the real data of tested digital control system work, these data, which will pass through, accompanies survey servo-driver to be sent to
Survey numerical control device is accompanied, and is further sent into remote data acquisition unit by netting twine, the real-time of real data is realized with this
Collection.
The present invention develops a remote data acquisition unit for being used to enter row data communication with digital control system, and it passes through net
Line obtains the real-time status of digital control system this moment, including the information such as rotating speed, position in real time, can monitor simultaneously including rotating speed, position,
The multinomial data type such as encoder position, and the correlation curve of each information can be drawn out simultaneously, to single data type, such as turn
Speed, the display of data can be provided in real time.The detailed data of all test process is all stored in remote service in the form of a file
In device, the associated detailed information of its file is all stored in database.Survey can be easily checked by establishing cloud service website
The situation of examination, include the object of test, the number of test, the result tested every time etc., while pass through database lookup file institute
Position can reduce the curve map of real data and director data in any test process once tested, even, can be with
Select two group data of any two groups of test objects as test data type to be compared, realize same digital control system even
Different NC system is compared to each other.The nominal torque for accompanying the nominal torque for surveying servomotor 5 to be more than tested servomotor.
In addition, before testing begins, it should first open remote data acquisition unit and complete to configure, when tested digital control system
In numerical control device write G code, after pressing loop start key, the unit will obtain this signal, and automatic activation starts to count
According to collection, test it is formal start, when numerical control device, which presses feeding, to be kept, data acquisition also can be by automatic pause, until following
Ring start key is depressed again.
Fig. 2 is the flow chart of data processing figure of Tele-Acquisition unit of the present invention, and the remote data acquisition unit has
Realize and show the detailed data of servomotor running status, the cloud storage of test data, analyze data, provide the outer of data transfer
The functions such as portion's interface.Its data processing comprises the following steps that：Carried out after data acquisition software in log-on data collecting unit
Initialization, all digital control systems after initializing successfully according to belonging to current test user searches the user in server, and it is right
It is attached test, in the digital control system of successful connection, software activation test starting function；Software default selects the user
The First of affiliated digital control system is as the object currently tested in database, and next the test event needed for configuration, is wrapped
Rotating speed, position etc. are included, finally clicks on start button；Data acquisition software starts waiting for the run signal of digital control system, works as acquisition
To digital control system run signal when, the function such as data acquisition, data storage is activated, data acquisition software start；Tested
Director data and real data are shown in real time in journey；After the test is ended, all data files are saved as file, simultaneously
The relevant information of this document is stored into database；The component for analyze data that Calling MATLAB is write enters to data file
Row analysis, finally draws evaluation result, and be stored in database.The data external interface of data acquisition unit is based on
MTConnect agreements, data source interface can be provided for the realization of a variety of cloud monitoring such as webpage.
As it will be easily appreciated by one skilled in the art that the foregoing is merely illustrative of the preferred embodiments of the present invention, not to
The limitation present invention, all any modification, equivalent and improvement made within the spirit and principles of the invention etc., all should be included
Within protection scope of the present invention.
Claims (7)
- A kind of 1. on-line testing method of the digital control system combination property based on motor simulation loading, it is characterised in that including such as Lower step：(1) it is tested the simulation loading of numerical control system load：Set up one group it is corresponding with tested digital control system accompany survey digital control system, this, which is accompanied, surveys digital control system and includes accompanying survey numerical control device (7), accompany to survey servo-driver (6) and accompany and survey servomotor (5)；By it is described accompany survey under numerical control device (7) send instructions everywhere in Described accompany of torque mode surveys servo-driver (6) to control described accompany to survey servomotor (5) generation torque；Above-mentioned torque passes through Yielding coupling (4) passes to the tested servomotor (3) in the tested digital control system, realizes that tested digital control system is born with this The simulation loading of load；(2) it is tested the on-line operation of digital control system：G code is loaded into the tested numerical control device (1) of the tested digital control system, and the G code is converted into tested servo The recognizable movement instruction of driver (2), the tested servomotor (3) is controlled to produce motion, the G by the movement instruction Code, which includes the tested digital control system, to carry out difference between CW and CCW speeds rate, speed regulation, fluctuation of speed coefficient, speed ratio and is surpassing Operation conditions when tune amount is individually tested；The director data corresponding with the movement instruction is sent to remote data acquisition unit (8)；(3) the real-time acquisition of real data：It is described to accompany the encoder conduct surveyed on servomotor (5) during the entire process of the tested digital control system on-line operation The measurement apparatus of tested digital control system measures the reality that the tested digital control system is reflected based on the movement instruction in real time Data, accompany described in real data warp survey servo-driver be sent to it is described accompany survey numerical control device, be then sent to teledata Collecting unit (8)；(4) on-line analysis of digital control system performance：Using the remote data acquisition unit (8) to the director data obtained by step (2) and (3) and the reality Data carry out comparing calculation, obtain the characterization parameter for characterizing digital control system combination property, in this way, realize digital control system The on-line testing of combination property；The remote data acquisition unit (8) is connected with remote server, and the data of collection are real-time Transmit and be stored in the remote server.
- 2. a kind of on-line testing method of digital control system combination property based on motor simulation loading as claimed in claim 1, Characterized in that, the rotating speed and position of described director data and described real data including the tested servomotor (3) Confidence ceases.
- A kind of 3. on-line testing side of digital control system combination property based on motor simulation loading as claimed in claim 1 or 2 Method, it is characterised in that the tested numerical control device (1) and accompany that to survey numerical control device (7) equal with the remote data acquisition unit (8) Data interaction is carried out by ICP/IP protocol.
- 4. a kind of on-line testing method of digital control system combination property based on motor simulation loading as claimed in claim 3, Characterized in that, the maximum moment for accompanying the maximum moment for surveying servomotor (5) to be more than the tested servomotor (3).
- 5. a kind of Online Transaction Processing of the digital control system combination property based on motor simulation loading, it is used to realize that right such as will Seek the on-line testing method of the digital control system combination property based on motor simulation loading described in any one of 1-4, it is characterised in that The system includes tested digital control system, accompanies and survey digital control system and remote server, wherein：The tested digital control system includes tested numerical control device (1), tested servo-driver (2) and tested servomotor (3)；It is described It is tested between numerical control device (1) and the tested servo-driver (2), the tested servo-driver (2) and described be tested are watched Take and be connected using bus between motor (3)；G code is loaded into the tested numerical control device (1) of the tested digital control system, and will The G code is converted into the recognizable movement instruction of tested servo-driver (2), and the tested servo is controlled by the movement instruction Motor (3) produces motion, and the G code, which includes the tested digital control system, to carry out difference between CW and CCW speeds rate, speed regulation, turning Operation conditions when fast coefficient of variation, speed ratio and overshoot are individually tested；This, which is accompanied, surveys digital control system including accompanying survey numerical control device (7), accompanying in torque mode to survey servo-driver (6) and accompanying survey to watch Take motor (5)；Described accompany surveys numerical control device (7) and accompanies between survey servo-driver (6) with described, described accompanies survey servo-driver (6) and it is described accompany to survey between servomotor (5) be connected using bus；Wherein, it is described to accompany survey servomotor (5) to be tested with described It is connected between servomotor (3) by yielding coupling (4)；It is described to accompany the encoder surveyed on servomotor (5) as measurand The measurement apparatus of control system measures the real data that the tested digital control system is reflected based on the movement instruction in real time, should Accompanied described in real data warp survey servo-driver be sent to it is described accompany survey numerical control device, be then sent to remote data acquisition unit (8)；The tested numerical control device (1) and described accompany survey numerical control device (7) by netting twine and remote data acquisition unit (8) phase Even, the data of collection are transmitted and are stored in remote server in real time by the remote data acquisition unit (8).
- 6. a kind of Online Transaction Processing of digital control system combination property based on motor simulation loading as claimed in claim 5, Characterized in that, the test system is additionally provided with cloud service website, the cloud service website passes through described in Internet connected references Remote server, in order to which all data are checked in the remote server.
- 7. a kind of Online Transaction Processing of digital control system combination property based on motor simulation loading as claimed in claim 6, Characterized in that, the cloud service website can realize test process by the data-interface that remote data acquisition unit (8) provides Long-range real-time status monitoring.
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| CN106909125B (en) * | 2016-12-26 | 2020-08-28 | 武汉华中数控股份有限公司 | System and method for monitoring machining performance index of motor |
| CN106842024A (en) * | 2017-01-25 | 2017-06-13 | 东南大学 | A kind of New-type electric machine control performance test system |
| CN115542158B (en) * | 2022-11-29 | 2023-06-23 | 北京卓翼智能科技有限公司 | Unmanned aerial vehicle motor test system |
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| JPH10293605A (en) * | 1997-04-18 | 1998-11-04 | Yamazaki Mazak Corp | Spindle load display device in machine tool |
| CN200975933Y (en) * | 2006-06-30 | 2007-11-14 | 中国船舶重工集团公司第七一一研究所 | Servo motor type dynamic torque moment generating system |
| CN102435948B (en) * | 2011-09-30 | 2014-07-09 | 深圳众为兴技术股份有限公司 | Dynamic load simulation testing instrument and simulation testing method |
| CN102353538A (en) * | 2011-10-11 | 2012-02-15 | 华中科技大学 | Device for testing drive shaft |
| CN202735833U (en) * | 2011-12-28 | 2013-02-13 | 北京科诺伟业科技有限公司 | Test device for wind generator set variable-pitch control system |
| CN102589914A (en) * | 2012-02-01 | 2012-07-18 | 国电南瑞科技股份有限公司 | All-digital testbed for electric pitch control system of wind generating set |
| CN103163460A (en) * | 2013-02-05 | 2013-06-19 | 安徽中家智锐科技有限公司 | Motor twin trawling platform used for motor test |
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