CN105866683A - Closed-loop stepping motor and driver test system - Google Patents
Closed-loop stepping motor and driver test system Download PDFInfo
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- CN105866683A CN105866683A CN201610203239.8A CN201610203239A CN105866683A CN 105866683 A CN105866683 A CN 105866683A CN 201610203239 A CN201610203239 A CN 201610203239A CN 105866683 A CN105866683 A CN 105866683A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
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Abstract
The invention discloses a closed-loop stepping motor and driver test system. The system comprises a microcontroller, a touch screen, a driving control circuit, an alarm interface circuit, a vibration detection interface circuit, a voltage detection circuit, a current detection circuit and an encoder interface circuit, wherein the touch screen is connected with the microcontroller, the output end of the alarm interface circuit, the output end of the vibration detection interface circuit, the output end of the voltage detection circuit, the output end of the current detection circuit and the output end of the encoder interface circuit are respectively connected with the microcontroller, and the control signal output end of the microcontroller is connected with the driving control circuit. The test system is simple in structure, high in integration and simple to operate.
Description
[technical field]
The present invention relates to closed loop stepper motor and driver test thereof, particularly relate to a kind of closed loop stepper motor and
The test system of its driver.
[background technology]
Along with technology is the most ripe, the closed loop driving stepper motor being made up of closed loop stepper motor and driver thereof
System is used widely.The difference of closed loop stepper motor and open loop stepper motor is opened at closed loop stepper motor ratio
Ring stepper motor be mounted with more encoder as feedback, encoder, as critical component, is closed loop stepper motor
One of influence factor of performance of drive system.In production procedure, inspection closed loop stepper motor and driving thereof
The quality of device and the integrality of function, be even more important, and confirms whether its all technical meets mark as checked
Alignment request, therefore closed loop stepper motor and driver measuring technology thereof have very important effect.
At present, the conventional inspection way of most of closed loop stepper motors is, uses a qualified closed loop stepping
Driver is driven, if closed loop stepper motor is properly functioning, the encoder peace of closed loop stepper motor is described
Dress and lead-in wire are correct；Otherwise, need to check that installation and lead-in wire are the most correct, retest.
Closed loop step actuator mainly has pulse, direction, enables, reports to the police, under-voltage, overvoltage, crosses the merits such as stream
Can, the functional test way of most of closed loop step actuators is, operative employee by additional controller to closed loop
Stepper motor driver sends pulse, direction, enable signal, observes driver by range estimation or mark
Running status, thus judge whether the function of closed loop stepper motor driver meets design requirement.
The disclosure of the invention of the Application No. CN201410593584.8 method of testing of a kind of stepper motor driver
With stepper motor driver test fixture, the method includes: when the open loop functional test receiving user's input
During request, responding described open loop functional test request, a key control stepper motor driver open loop drives stepping
Motor rotation, and gather and export the operation information that described stepper motor is current；When receiving user's input
Closed loop functional test request time, respond described closed loop functional test request, stepper motor described in a key control
Stepper motor operating described in driver close-loop driven, and gather and export the operation that described stepper motor is current
Information, to improve the automaticity of the test process of stepper motor driver.
The method of testing of the stepper motor driver of this disclosure of the invention and stepper motor driver test fixture be by
The test fixture of multiple different tool combinations, structure is complicated, and integrated level is low, not readily portable, operation
Complexity, function singleness.
[summary of the invention]
The technical problem to be solved in the present invention is to provide a kind of simple in construction, high, easy and simple to handle the closing of integrated level
The test system of ring stepper motor and driver thereof.
In order to solve above-mentioned technical problem, the technical solution used in the present invention is, a kind of closed loop stepper motor
And the test system of driver, including microcontroller, touch-screen, driving control circuit, remote alarm interface electricity
Road, vibration detection interface circuit, voltage detecting circuit, current detection circuit, encoder interface circuit, EEPROM
Circuit and protection (under-voltage, overvoltage, cross stream) test circuit, touch-screen connects microcontroller, remote alarm interface
The output of circuit, the output of vibration detection interface circuit, the output of voltage detecting circuit, electric current are examined
The output of slowdown monitoring circuit and the output of encoder interface circuit connect microcontroller respectively；The control of microcontroller
Signal output part connects driving control circuit；Microcontroller protection test signal output part connect protection (under-voltage,
Overvoltage, excessively stream) test circuit；Eeprom circuit is connected with microcontroller.
Test noted above system, wherein,
Touch-screen, as main frame, with user's direct interaction, receives user's input test request, according to user's
Test request, it is achieved functional test；Receive from machine feedback information, and show；
Drive control circuit receive microcontroller send pulse, direction, enable signal, carry out electrical isolation,
Send measurand again to；
Encoder interface circuit receives the code device signal of measurand, and sends microcontroller to；
Vibration detection interface circuit connects vibrating sensor, gathers motor vibration data at various speeds；
Remote alarm interface circuit receives the alarm signal of measurand, and sends microcontroller to；
Voltage detecting circuit is connected with the ADC sampling module of microcontroller and the measured point of measurand, will be by
The voltage signal of the measured point surveying object sends microcontroller to；
Current detection circuit is connected with the ADC sampling module of microcontroller and the motor phase line of measurand,
The current signal of measurand is converted into voltage signal and reaches microcontroller；
Eeprom circuit is connected with the I2C module for reading and writing of microcontroller, is used for storing data, and microcontroller can
It is written and read operation；
Module, quilt are tested in the protection with microcontroller respectively of protection (under-voltage, overvoltage, cross stream) test circuit
Power interface and the motor phase line interface of surveying object connect, and receive the test of the protection test module of microcontroller
Signal, carries out defencive function detection to measurand.
Test noted above system, microcontroller includes motion-control module, encoder read module, drives
Dynamic control module, warning read module, ADC sampling module, I2C module for reading and writing, protection test module, Modbus
Serial port module；Motion-control module includes driver functions test module, encoder test module and driver
Burn-in test module.
Test noted above system, motion-control module includes:
401, on the circuit board of measurand, voltage test processes judges and reports to the police；
402, the alarm signal of measurand processes；
403, control driver operational mode to select；
404, driver set direction；
405, driver enables test；
406, driver warning function test；
407, encoder errors processes；
408, current signal processes；
409, vibration signal processing；
410, defencive function test.
Test noted above system,
Driver functions test module includes:
401, on the circuit board of measurand, voltage test processes judges and reports to the police；
403, control driver operational mode to select；
404, driver set direction；
405, driver enables test；
406, driver warning function test；
407, encoder errors processes；
408, current signal processes；
409, vibration signal processing；
410, defencive function test.
Encoder test module includes:
403, control driver operational mode to select；
404, driver set direction；
407, encoder errors processes；
Driver burn-in test module includes:
402, the alarm signal of measurand processes；
403, control driver operational mode to select；
404, driver set direction；
407, encoder errors processes.
Test noted above system,
Drive control module is connected with driving control circuit, performs the control instruction of motion-control module, controls
Drive control circuit；
Encoder read module is connected with encoder interface circuit, is converted by the signal of telecommunication of encoder interface circuit
For numerical signal, and judge the running status of tested encoder, reach motion-control module and process, finally pass
To touch-screen, show；
Warning read module is connected with remote alarm interface circuit, reads the level signal of remote alarm interface circuit, and passes
Process to motion-control module, finally reach touch-screen, show；
ADC sampling module is connected with ADC sample circuit, by the voltage signal received, current signal, shakes
Dynamic signal, is converted into digital quantity, reaches motion-control module and processes, finally reaches touch-screen, show；
I2C module for reading and writing is connected with eeprom circuit, by described encoder read module, reports to the police and reads mould
Data after the process such as block, ADC sampling module, reach in EEPROM；Also related data in EEPROM is read；
Protection test module and protection (under-voltage, overvoltage, cross stream) are tested circuit and are connected, can be respectively to tested
The defencive functions such as under-voltage, the overvoltage, excessively stream of object are tested.
Test noted above system, when testing, drives the first optocoupler drive circuit of control circuit to connect
The pulse signal input interface of driver, the direction signal input interface that the second optocoupler drive circuit is driver connected,
The enable signal input interface that 3rd optocoupler drive circuit is driver connected；The report that remote alarm interface circuit is driver connected
Alert signal output interface, the voltage test points that voltage detecting circuit is driver connected；Current detection circuit connects driving
The motor Wiring port of device and the circuit of closed loop stepper motor, encoder interface circuit connects closed loop stepper motor
Encoder, vibration detection interface circuit connects the vibrating sensor on closed loop stepper motor, protects (under-voltage, mistake
Press, cross stream) test the power supply that circuit is driver connected.
Test noted above system, the order of test is as follows automatically:
801, measured points multiple to driver voltage detects the most simultaneously, the magnitude of voltage gathered and predetermined ginseng
Examine value to contrast, determine whether to meet the requirements according to set error range, and survey in touching screen display
Test result, if having one of which test result test result beyond error range, then terminates detection automatically,
Same alarm；
802, the output electric current (first powering on alignment electric current) of driver is detected, the electricity that will set
Flow valuve compares with sampled value, in touch screen display current curve, test result set error range in,
Then prompting is normal, and test result exceeds error, then terminate detection automatically, and report to the police；
803, driver is carried out pulse function to test, use the continuous testing results side of unidirectional fixed pulse
Formula, reads the value of feedback of encoder simultaneously, obtains the running status of the motor that driver is controlled, it is judged that drive
The pulse function of dynamic device is the most normal, if test result is beyond error, terminates detection automatically, and shows knot
The most same alarm；
804, the output electric current (normal rotatory current) of driver is detected, prestore friction speed
Under (such as three speed such as 30rpm, 60rpm, 120rpm) current curve value, the most synchronized at three kinds successively
The lower current value of degree, the sampled value of two sinusoidal cycles of sampling, compare with reference value, simultaneously in touch-screen
Upper display current curve, test result is in the error range set, then prompting is normal, and test result exceeds
Error, then terminate detection automatically, and report to the police；
805, the direction function of driver is tested, use the continuous testing results side of reciprocal fixed pulse
Formula, reads the value of feedback of encoder simultaneously, obtains the running status of the motor that driver is controlled, it is judged that drive
The direction function of dynamic device is the most normal, if test result is beyond error, then terminates detection automatically, and shows
The same alarm of result；
806, the ena-bung function of driver is tested, use the continuous testing results side of unidirectional fixed pulse
Formula, reads the value of feedback of encoder simultaneously, and the motor that acquisition driver is controlled, according to result, it is judged that
The ena-bung function of driver is the most normal, as being judged as exception, then terminates detection automatically, and shows that result is same
Alarm；
807, the warning function of driver is tested, use the continuous testing results side of unidirectional fixed pulse
Formula, gives simultaneously and enables signal, allow driver belong to off-line state；Within the time set, if test system
System receives the alarm output signal of driver, confirms that driver warning function normally and is pointed out, on the contrary, then
Terminate detection automatically, and alarm；
808, detecting motor oscillating, the vibrating sensor carried according to system gathers motor the most synchronized
Vibration speed value under Du, carries out automatic decision, display test result and judgement prompting by the reference value set；
809, driver carrying out under-voltage protection test, (magnitude of voltage < drives automatic switchover driver power supply
The under-voltage protection threshold value of dynamic device), within the setting time, if the warning that test system receives driver is defeated
Go out signal, confirm that the under-voltage protection function of driver normally and is pointed out, on the contrary, then alarm；
8010, driver is carried out overvoltage protection test, automatic switchover driver power supply (magnitude of voltage >
The overvoltage protection threshold of driver), within the setting time, if test system receives the warning of driver
Output signal, confirms that the over-voltage protecting function of driver normally and is pointed out, on the contrary, then and alarm；
8011, driver is carried out overcurrent protection test, start the short circuit of motor phase line, within the setting time,
If test system receives the alarm output signal of driver, confirm that the overcurrent protection function of driver is normal
And point out, on the contrary, then alarm.
Test noted above system, during encoder test, closed loop stepper motor uses as open loop motor,
Testing procedure is as follows:
901, unidirectional test: the most at a slow speed, afterwards quickly, repeatedly testing, test system sends setting altogether
Pulse number, control closed loop stepper motor run, capturing and coding device value simultaneously, by encoder interfaces
Level changes, and contrasts with sent pulse number, it is judged that encoder is installed the most normal；
902, reciprocal quickly test: test system sends the pulse number set, and controls closed loop stepper motor fortune
OK, capturing and coding device value simultaneously, contrast with sent pulse number, it is judged that the repeatability of encoder.
Test noted above system, plural number platform driver connected in series carries out burn-in test；To driving during test
Dynamic device sets the different motion state including curve movement, speed and/or direction.
Closed loop stepper motor of the present invention and driver test system thereof have high integration, simple in construction, operation
The features such as letter makes.
[accompanying drawing explanation]
The present invention is further detailed explanation with detailed description of the invention below in conjunction with the accompanying drawings.
Fig. 1 is the theory diagram of embodiment of the present invention test system.
Fig. 2 is the architecture diagram of embodiment of the present invention MCU control module.
Fig. 3 is the theory diagram that embodiment of the present invention test system module connects.
Fig. 4 is the connection block diagram of embodiment of the present invention test system.
Fig. 5 is embodiment of the present invention driver auto test flow figure.
Fig. 6 is that embodiment of the present invention encoder test module hardware connects block diagram.
Fig. 7 is embodiment of the present invention encoder auto test flow figure.
Fig. 8 is embodiment of the present invention burn-in test wiring diagram.
[detailed description of the invention]
Embodiment of the present invention closed loop stepper motor and the structure of driver test system and principle such as Fig. 1 thereof are to figure
Shown in 8.
As it is shown in figure 1, test system includes that microcontroller (MCU control module), touch-screen, driving control
Circuit, remote alarm interface circuit, vibration detection interface circuit, voltage detecting circuit, current detection circuit, volume
Code device interface circuit, serial communication circuit, eeprom circuit and protection (under-voltage, overvoltage, excessively stream) test
Circuit.
Touch-screen connects MCU control module, the output of remote alarm interface circuit, vibration by serial communication circuit
The detection output of interface circuit, the output of voltage detecting circuit, the output of current detection circuit and volume
The output of code device interface circuit connects MCU control module respectively；The control signal output termination of MCU control module
Drive control circuit；The protection test signal output part of microcontroller connects protection (under-voltage, overvoltage, excessively stream)
Test circuit；Eeprom circuit is connected with microcontroller.
Wherein,
Touch-screen, is connected with serial communication interface circuit, as main frame, with user's direct interaction, receives and uses
Family input test request, according to the test request of user, it is achieved functional test；Receive from machine feedback information,
And directly display.
Drive control circuit, for receiving pulse that MCU control module sends, direction, enable signal, enter
Row electrical isolation, then send measurand to.
Encoder interface circuit, for receiving the code device signal of measurand, and sends MCU control mould to
The encoder read module of block.
Vibration detection interface circuit, connects vibrating sensor, gathers motor vibration data at various speeds,
Change into voltage signal, and send the ADC sampling module of MCU control module to.
Remote alarm interface circuit, for receiving the alarm signal of measurand, and sends MCU control module to
Warning read module.
Voltage detecting circuit, is connected with the ADC sampling module of MCU control module and the measured point of measurand,
The voltage signal of the measured point of measurand is sent to the ADC sampling module of MCU control module.
Current detection circuit, with ADC sampling module and the motor phase line phase of measurand of MCU control module
Connect, the current signal of measurand is converted into voltage signal and reaches the ADC sampling mould of MCU control module
Block.
Serial communication circuit, is used for connecting MCU control module and touch-screen, receives the data that touch-screen is sent
And send the Modbus serial port module of MCU control module to, and receive the Modbus string of MCU control module
The data of mouth die block also send touch-screen to.
Eeprom circuit, is used for storing data, is connected with I2C module for reading and writing, carries out reading and writing data.
Module, quilt are tested in the protection with microcontroller respectively of protection (under-voltage, overvoltage, cross stream) test circuit
Power interface and the motor phase line interface of surveying object connect, and receive the test of the protection test module of microcontroller
Signal, carries out defencive function detection to measurand.
As shown in Figures 2 and 3, the systems soft ware of microcontroller includes that motion-control module, encoder read
Module, drive control module, warning read module, Modbus serial port module, I2C module for reading and writing, ADC adopt
Original mold block, protection test module.Wherein motion-control module includes that driver functions tests module, encoder
Test module and driver burn-in test module.
Motion-control module, old including driver functions test module, encoder test module and driver
Change three kinds of operational modes such as test module, as from machine, by Modbus serial port module wait-for-response touch-screen
Data, and process；According to actual needs, optional one of which operational mode, and according to relevant parameter,
I2C module for reading and writing, drive control module and protection test module is operated；Receive encoder and read mould
Block, ADC sampling module and the data of warning read module also process；Finally by Modbus serial port module
Send to touch-screen, show.
Wherein, motion-control module is mainly used in:
1, on the circuit board of measurand, voltage test processes judges and reports to the police；
2, the alarm signal of measurand processes；
3, control driver operational mode and select (unidirectional continuous operation and round operation continuously)；
4, driver set direction；
5, driver enables test；
6, driver warning function test；
7, encoder errors processes；
8, current signal processes；
9, vibration signal processing；
10, defencive function test.
By the selection of submodule being realized different functions, such as, driver functions test module by 1,
3,9 kinds of functions compositions such as 4,5,6,7,8,9 and 10；Encoder test module is by 3,4 and 7 etc. 3
Plant function composition；Driver burn-in test module is made up of the functions such as 2,3,4 and 7.
It addition, the function of other submodules is as follows:
Modbus serial port module, is connected with serial communication interface circuit, for receiving the number that touch-screen is sent
According to, and send data to touch-screen.
Drive control module, is connected with driver control circuit, and corresponding control theing perform motion-control module refers to
Order, thus control to drive control circuit.
Encoder read module, is connected with encoder interface circuit, is turned by the signal of telecommunication of encoder interface circuit
Turn to concrete numerical value, and judge the running status of tested encoder, reach motion-control module and process,
Reach touch-screen by Modbus serial port module afterwards, show.
Warning read module, is connected with remote alarm interface circuit, reads the level signal of remote alarm interface circuit, and
Reach motion-control module to process, reach touch-screen finally by Modbus serial port module module, show.
I2C module for reading and writing, is connected with eeprom circuit, outer extension memory can be written and read data.
ADC sampling module, is connected with ADC sample circuit, for receive and by the analog quantity of voltage signal,
Current signal, vibration signal, and it is translated into digital quantity, reach motion-control module and process, finally lead to
Cross Modbus serial port module and reach touch-screen, show.
Protection test module and protection (under-voltage, overvoltage, cross stream) are tested circuit and are connected, can be respectively to tested
The defencive functions such as under-voltage, the overvoltage, excessively stream of object are tested.
The control strategy of closed loop stepper motor and driver test system is that a key automatically detects and manually examines with single step
Survey.
One key detects automatically, and i.e. when receiving the test of user's driver, test system sets automatically according to user
Determine parameter, successively the measured point voltage of test driver, phase current, enable, pulse, direction, warning,
The functions such as under-voltage, overvoltage, excessively stream, and show test result successively；Such as, when receiving user's motor volume
During code test, test system is automatically according to user's setup parameter, and testing of electric motors encoder is forward and reverse successively
Value of feedback and error amount, and show test result successively.
Driver or encoder can be selected by single step manual detection, i.e. user according to the detection demand of oneself
Property functional test.
When user selects automatic test pattern, i.e. when receiving the test of user's driver, test system is certainly
Dynamic according to user's setup parameter or default parameters, automatically test.
As shown in Figure 4, it is driven device test, needs test system and measurand are carried out one_to_one corresponding
It is connected, e.g., drives the pulse signal input interface that the first optocoupler drive circuit of control circuit is driver connected,
The direction signal input interface that second optocoupler drive circuit is driver connected, the 3rd optocoupler drive circuit is driver connected
Enable signal input interface；The alarm signal output interface that remote alarm interface circuit is driver connected, voltage detecting
The voltage test points that circuit is driver connected；Motor Wiring port and closed loop that current detection circuit is driver connected walk
Entering the circuit of motor, encoder interface circuit connects the encoder of closed loop stepper motor, vibration detection interface circuit
Connecing the vibrating sensor on closed loop stepper motor, protection (under-voltage, overvoltage, excessively stream) test circuit connects driving
Device power supply end.
Test process is as shown in Figure 5:
1, measurand measured point voltage (15V, 5V, 3.3V, Vref (1.0V-1.5V)) etc. four kinds,
Disposably detect, it is ensured that the power work of measurand is normal, according to the error range of each voltage simultaneously
(± 1% or ± 5%, can set) detects, if meeting this requirement, then shows test result and prompting
Normally, if test result is beyond error, detection automatically will be terminated, and show result alarm simultaneously,
It is easy to user maintenance；
2, on the basis of completing step 1, the output electric current carrying out measurand (first powers on alignment electricity
Stream) detection, according to setting current value, compared with systematic sampling value and bent in touching screen display electric current
Line, test result in certain error scope (± 1% or ± 5%, can set), then shows test result and carries
Show normal, if test result is beyond error, detection automatically will be terminated, and show result alarm simultaneously,
It is easy to user maintenance；
3, on the basis of completing step 2, carry out the pulse function test of measurand, use unidirectional fixing
Pulse (1 circle or multi-turn, can set) testing results mode continuously, reads the value of feedback of encoder, i.e. simultaneously
The running status (umber of pulse and speed) of the motor that measurand is controlled also processes, according to result, it is judged that
The pulse function of measurand is the most normal, and display reminding, if test result is beyond error, will terminate
Automatically detection, and show result alarm simultaneously, it is simple to user maintenance；
4, on the basis of completing step 3, the output electric current (normal rotatory current) of driver is examined
Survey, separated in time, make motor (30rpm, 60rpm, 120rpm etc. three at various speeds successively
Speed) run, simultaneously in the sampled value of each two sinusoidal cycles of speed down-sampling, and carry out with reference value
Relatively, simultaneously in touching screen display current curve, if test result is in the error range set, then
Prompting is normal, and test result exceeds error, then terminate detection automatically, and report to the police；
5, on the basis of completing step 4, carry out the direction functional test of measurand, use reciprocal fixing
Pulse (1 circle or multi-turn) testing results mode continuously, reads the value of feedback of encoder, i.e. measurand simultaneously
The running status (direction) of the motor controlled also processes, according to result, it is judged that the direction merit of measurand
Can be the most normal, and display reminding, otherwise will terminate detection automatically, and show result alarm simultaneously,
It is easy to user maintenance；
6, on the basis of completing step 5, carry out the ena-bung function test of measurand, use unidirectional fixing
Pulse (1 circle or multi-turn) testing results mode continuously, reads the value of feedback of encoder, i.e. measurand simultaneously
Running status (umber of pulse) and process, according to result, it is judged that whether the ena-bung function of measurand normal,
And display reminding, otherwise will terminate detection automatically, and show result alarm simultaneously, it is simple to user maintenance；
7, on the basis of completing step 6, carry out the warning function test of measurand, use unidirectional fixing
Pulse continuous testing results mode, gives simultaneously and enables signal, allow measurand belong to off-line state, when tested
When object reception pulse number exceedes setting position alarm threshold value, measurand warning function starts, necessarily
In time, if test system receives the alarm output signal of measurand, then this function normally and is pointed out,
On the contrary, detection automatically will be terminated, and show result alarm simultaneously, it is simple to user maintenance；
8, on the basis of completing step 7, motor oscillating detection is carried out, the vibrating sensing carried according to system
Device gathers motor vibration speed value at various speeds, in conjunction with pre-stored reference value (motor vibration diagnosis mark
Accurate), carry out automatic decision, display test result and judgement prompting.
9, on the basis of completing step 8, driver is carried out under-voltage protection test, automatic switchover driver
Power supply (magnitude of voltage < the under-voltage protection threshold value of driver), within the setting time, if test system connects
Receive the alarm output signal of driver, confirm that the under-voltage protection function of driver normally and is pointed out, on the contrary,
Then alarm；
10, on the basis of completing step 9, driver is carried out overvoltage protection test, automatic switchover driver
The power supply overvoltage protection threshold of driver (magnitude of voltage >), within the setting time, if test system connects
Receive the alarm output signal of driver, confirm that the over-voltage protecting function of driver normally and is pointed out, on the contrary,
Then alarm；
11, on the basis of completing step 10, driver is carried out overcurrent protection test, start motor phase line
Short circuit, within the setting time, if test system receives the alarm output signal of driver, confirms to drive
The overcurrent protection function of device normally and is pointed out, on the contrary, then and alarm；
By above 11 tests, the globality functional test of primary measured object can be completed, get rid of every can
The problem that can exist, reduces personnel and intervenes, and improves automaticity, and can be as the property of checking measurand
Whether can meet the important assistant criteria that design requires.
As shown in Figure 6, during encoder test, test system and open loop step actuator and tested closed loop stepping
Motor connects, and closed loop stepper motor uses as open loop motor, encoder line is connected into the volume of test system
Code device interface；Test process is as shown in Figure 7:
1, unidirectional test, the most at a slow speed (=1rps) quick (> 5rps afterwards), it is repeated several times by test, tests system
Altogether send fixed pulse number (4000), control closed loop stepper motor and run, capturing and coding device value simultaneously,
Changed by the level of encoder interfaces, and contrast with sent pulse number, it is judged that encoder is pacified
Dress is the most normal, and display reminding, if abnormal, will terminate detection automatically, and alarm, it is simple to
User maintenance；
2, reciprocal quickly (> 5rps) test, test system sends fixed pulse number (acquiescence 4000 altogether
Individual, can revise), control closed loop stepper motor and run, capturing and coding device value simultaneously, and with sent pulse
Number contrasts, it is judged that the repeatability of encoder, and display reminding, if abnormal, will terminate automatically
Detection, and alarm, it is simple to user maintenance；
As shown in Figure 8, burn-in test module serializable connects 50 step actuators and enters in the wiring of burn-in test
Row burn-in test.
1, during test, measurand is set different motion state, including curve movement, speed, direction etc.；
2, abnormal if any driver, point out the most online；
3, the most each measurand temperature detection can be carried out.
Above example closed loop stepper motor of the present invention and driver test system for closed loop stepper motor and
Driver required detection function, using ARM (or DSP) microcontroller is core, and touch-screen is man-machine interface,
There is the test system of the integration of driver test, encoder test and ageing testing function.Wherein, logical
Cross the optional different test patterns of touch-screen.Driver test pattern have voltage tester on the plate of driver,
Drive output electric current measure, control driver operational mode, direction functional test, enable test, driver
The functions such as the test of ann test, motor oscillating, defencive function test, carry out integrality to the function of driver
Test；In the case of encoder test pattern has optional different directions, different pulse number, motor pattern
Encoder is tested, and by encoder feedback, can determine whether that the installation of encoder and lead-in wire are the most correct；
Burn-in test pattern, in batch closed loop stepper motor and the disposable endurance test of driver thereof, simultaneously by touching
Touch whether screen monitor driver reports to the police, improve the efficiency of burn-in test；It is a kind of detection automatically, integrated level height,
Diverse in function, automaticity have higher integrated system.
Claims (10)
1. a test system for closed loop stepper motor and driver thereof, including microcontroller, touch-screen, drives
Dynamic control circuit, remote alarm interface circuit, vibration detection interface circuit, voltage detecting circuit, current detecting electricity
Road, encoder interface circuit, eeprom circuit and protection test circuit, touch-screen connects microcontroller, report
The alert output of interface circuit, the output of vibration detection interface circuit, the output of voltage detecting circuit,
The output of current detection circuit and the output of encoder interface circuit connect microcontroller respectively；Microcontroller
Control signal output termination drive control circuit；The protection test signal output part of microcontroller connects protection and surveys
Examination circuit；Eeprom circuit is connected with microcontroller.
Test system the most according to claim 1, it is characterised in that wherein,
Touch-screen, as main frame, with user's direct interaction, receives user's input test request, according to user's
Test request, it is achieved functional test；Receive from machine feedback information, and show；
Drive control circuit receive microcontroller send pulse, direction, enable signal, carry out electrical isolation,
Send measurand again to；
Encoder interface circuit receives the code device signal of measurand, and sends microcontroller to；
Vibration detection interface circuit connects vibrating sensor, gathers motor vibration data at various speeds,
And send microcontroller to；
Remote alarm interface circuit receives the alarm signal of measurand, and sends microcontroller to；
Voltage detecting circuit is connected with the ADC sampling module of microcontroller and the measured point of measurand, will be by
The voltage signal of the measured point surveying object sends microcontroller to；
Current detection circuit is connected with the ADC sampling module of microcontroller and the motor phase line of measurand,
The current signal of measurand is converted into voltage signal and reaches microcontroller；
Eeprom circuit is connected with the I2C module for reading and writing of microcontroller, is used for storing data, and microcontroller can
It is written and read operation；
Protection test circuit tests module, the power interface of measurand and electricity with protecting of microcontroller respectively
Machine phase line interface connects, and receives the test signal of the protection test module of microcontroller, carries out measurand
Defencive function detects.
Test system the most according to claim 2, it is characterised in that microcontroller includes motion control
Module, encoder read module, drive control module, warning read module, ADC sampling module, I2C
Module for reading and writing, protection test module, Modbus serial port module；Motion-control module includes that driver functions is surveyed
Die trial block, encoder test module and driver burn-in test module.
Test system the most according to claim 3, it is characterised in that motion-control module includes:
401, on the circuit board of measurand, voltage test processes judges and reports to the police；
402, the alarm signal of measurand processes；
403, control driver operational mode to select；
404, driver set direction；
405, driver enables test；
406, driver warning function test；
407, encoder errors processes；
408, current signal processes；
409, vibration signal processing；
410, defencive function test.
Test system the most according to claim 4, it is characterised in that
Driver functions test module includes:
401, on the circuit board of measurand, voltage test processes judges and reports to the police；
403, control driver operational mode to select；
404, driver set direction；
405, driver enables test；
406, driver warning function test；
407, encoder errors processes；
408, current signal processes；
409, vibration signal processing；
410, defencive function test；
Encoder test module includes:
403, control driver operational mode to select；
404, driver set direction；
407, encoder errors processes；
Driver burn-in test module includes:
402, the alarm signal of measurand processes；
403, control driver operational mode to select；
404, driver set direction；
407, encoder errors processes.
Test system the most according to claim 3, it is characterised in that
Drive control module is connected with driving control circuit, performs the control instruction of motion-control module, controls
Drive control circuit；
Encoder read module is connected with encoder interface circuit, is converted by the signal of telecommunication of encoder interface circuit
For numerical signal, and judge the running status of tested encoder, reach motion-control module and process, finally pass
To touch-screen, show；
Warning read module is connected with remote alarm interface circuit, reads the level signal of remote alarm interface circuit, and passes
Process to motion-control module, finally reach touch-screen, show；
ADC sampling module is connected with ADC sample circuit, by the voltage signal received, current signal, shakes
Dynamic signal, is converted into digital quantity, reaches motion-control module and processes, finally reaches touch-screen, show；
I2C module for reading and writing is connected with eeprom circuit, by described encoder read module, reports to the police and reads mould
Data after the process such as block, ADC sampling module, reach in EEPROM；Also related data in EEPROM is read；
Protection test module is tested circuit with protection and is connected, can under-voltage, overvoltage, mistake to measurand respectively
The defencive functions such as stream are tested.
Test system the most according to claim 6, it is characterised in that when testing, drives and controls
The pulse signal input interface that first optocoupler drive circuit of circuit is driver connected, the second optocoupler drive circuit connects
The direction signal input interface of driver, the 3rd optocoupler drive circuit driver connected enable signal input connect
Mouthful；The alarm signal output interface that remote alarm interface circuit is driver connected, the electricity that voltage detecting circuit is driver connected
Pressure test point；Motor Wiring port that current detection circuit is driver connected and the circuit of closed loop stepper motor, compile
Code device interface circuit connects the encoder of closed loop stepper motor, and vibration detection interface circuit connects on closed loop stepper motor
Vibrating sensor, the protection test driver connected power supply of circuit.
Test system the most according to claim 7, it is characterised in that the order of test is as follows automatically:
801, measured points multiple to driver voltage detects the most simultaneously, the magnitude of voltage gathered and predetermined ginseng
Examine value to contrast, determine whether to meet the requirements according to set error range, and survey in touching screen display
Test result, if having one of which test result beyond error range, then terminates detection, same alarm automatically；
802, the output electric current of driver is detected, the current value of setting is compared with sampled value, in touching
Touching screen display current curve, test result is in the error range set, then prompting is normal, test result
Beyond error, then terminate detection automatically, and report to the police；
803, driver is carried out pulse function to test, use the continuous testing results side of unidirectional fixed pulse
Formula, reads the value of feedback of encoder simultaneously, obtains the running status of the motor that driver is controlled, it is judged that drive
The pulse function of dynamic device is the most normal, if test result is beyond error, terminates detection automatically, and shows knot
The most same alarm；
804, the output electric current of driver is detected, prestore current curve value under friction speed, depend on
Secondary current value under three kinds of friction speeds, the sampled value of two sinusoidal cycles of sampling, compare with reference value,
Simultaneously in touching screen display current curve, test result is in the error range set, then prompting is normal,
Test result exceeds error, then terminate detection automatically, and report to the police；
805, the direction function of driver is tested, use the continuous testing results side of reciprocal fixed pulse
Formula, reads the value of feedback of encoder simultaneously, obtains the running status of the motor that driver is controlled, it is judged that drive
The direction function of dynamic device is the most normal, if test result is beyond error, then terminates detection automatically, and shows
The same alarm of result；
806, the ena-bung function of driver is tested, use the continuous testing results side of unidirectional fixed pulse
Formula, reads the value of feedback of encoder simultaneously, and the motor that acquisition driver is controlled, according to result, it is judged that
The ena-bung function of driver is the most normal, as being judged as exception, then terminates detection automatically, and shows that result is same
Alarm；
807, the warning function of driver is tested, use the continuous testing results side of unidirectional fixed pulse
Formula, gives simultaneously and enables signal, allow driver belong to off-line state；Within the time set, if test system
System receives the alarm output signal of driver, confirms that driver warning function normally and is pointed out, on the contrary, then
Terminate detection automatically, and alarm；
808, detecting motor oscillating, the vibrating sensor carried according to system gathers motor the most synchronized
Vibration speed value under Du, carries out automatic decision, display test result and judgement prompting by the reference value set；
809, driver carrying out under-voltage protection test, automatic switchover driver power supply, in the time of setting
In, if test system receives the alarm output signal of driver, confirm the under-voltage protection function of driver
Normal and point out, on the contrary, then alarm；
8010, driver is carried out overvoltage protection test, automatic switchover driver power supply, setting
In time, if test system receives the alarm output signal of driver, confirm the overvoltage protection of driver
Function normally and is pointed out, on the contrary, then and alarm；
8011, driver is carried out overcurrent protection test, start the short circuit of motor phase line, within the setting time,
If test system receives the alarm output signal of driver, confirm that the overcurrent protection function of driver is normal
And point out, on the contrary, then alarm.
Test system the most according to claim 6, it is characterised in that during encoder test, closed loop walks
Entering motor to use as open loop motor, testing procedure is as follows:
901, unidirectional test: the most at a slow speed, afterwards quickly, repeatedly testing, test system sends setting altogether
Pulse number, control closed loop stepper motor run, capturing and coding device value simultaneously, by encoder interfaces
Level changes, and contrasts with sent pulse number, it is judged that encoder is installed the most normal；
902, reciprocal quickly test: test system sends the pulse number set, and controls closed loop stepper motor fortune
OK, capturing and coding device value simultaneously, contrast with sent pulse number, it is judged that the repeatability of encoder.
Test system the most according to claim 6, it is characterised in that plural number platform driver connected in series
Carry out burn-in test；During test, driver is set the different fortune including curve movement, speed and/or direction
Dynamic state.
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| CN106325161A (en) * | 2016-08-31 | 2017-01-11 | 柳州市通顺汽车部件有限责任公司 | Mechanical oscillation control device |
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| CN111665440B (en) * | 2019-03-07 | 2022-09-13 | 依必安派特兰茨胡特有限公司 | Method for detecting defective operation of a gas blower driven by a DC motor |
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| CN110031757B (en) * | 2019-03-22 | 2020-08-07 | 中国地质大学（武汉） | Method for rapidly detecting locked rotor of motor closed-loop system |
| CN110262302A (en) * | 2019-04-11 | 2019-09-20 | 汉腾汽车有限公司 | A kind of detection method of electric machine controller MCU |
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| CN113740730A (en) * | 2021-09-10 | 2021-12-03 | 上海瀚创机器人技术有限公司 | Programmable stepping motor loop tester and testing method |
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