CN106886212A - A kind of test device of servo-drive system - Google Patents
A kind of test device of servo-drive system Download PDFInfo
- Publication number
- CN106886212A CN106886212A CN201710099923.0A CN201710099923A CN106886212A CN 106886212 A CN106886212 A CN 106886212A CN 201710099923 A CN201710099923 A CN 201710099923A CN 106886212 A CN106886212 A CN 106886212A
- Authority
- CN
- China
- Prior art keywords
- test
- signal
- module
- motor
- servo
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
-
- 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
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
- Testing And Monitoring For Control Systems (AREA)
Abstract
The present invention provides a kind of test device of servo-drive system, and the test device includes：Real-time Simulation module and main test module；Wherein, test device includes：First test pattern, the second test pattern and the 3rd test pattern；Real-time Simulation module is used for corresponding equipment in the first test pattern, the second test pattern and the 3rd test pattern Imitating servo-drive system；Main test module is used to send test signal to equipment under test；Equipment under test generates object feedback signal to test device according to test signal, and test device judges the working condition of the equipment under test according to object feedback signal.It can thus be appreciated that, the corresponding equipment in different test pattern Imitating servo-drive systems of real-time Simulation module, ensure that when equipment under test is tested in servo-drive system, it is not only the static test to equipment under test, but equipment under test is tested under the servo-drive system environment of simulation in servo-drive system, and then make test result more accurate.
Description
Technical field
The present invention relates to emulate and technical field of measurement and test, more specifically, more particularly to a kind of servo-drive system test dress
Put.
Background technology
With continuing to develop for science and technology, servo-drive system is widely used in Aero-Space, weapons, ship and industry
The fields such as automation.
Wherein, servo-drive system (servomechanism) is used to accurately follow or reappear the feedback control system of certain process
System.Illustrated from the property of servo-drive system element, servo-drive system be divided into electric servo-drive system, Hydrauservo System, electrically-
Hydrauservo System and electrically-electric servo-drive system etc..
Illustrated by taking electric servo-drive system as an example, electric servo-drive system mainly includes：Controller, analog line driver, motor and
Rotary encoder.Controller is used for the difference of the actual motion value detected according to the set-point of digital control system and by feedback device,
And then adjust controlled quentity controlled variable.Analog line driver is the major loop of the electric servo-drive system, and major function has：First, according to controlled quentity controlled variable
Size by the electric energy effect in power network to motor, the size of regulation motor torque；Second, according to the requirement of motor by perseverance
The power network dress of powering of constant frequency is pressed to be changed to the alternating current or direct current of motor demand.Motor is operated according to power supply size driving machinery.
With servo-drive system exchangeization, digitlization and integrated development trend, the test to servo-drive system product has
Critically important status, the measuring technology of existing servo-drive system is traditional electric control box, universal meter and oscillograph etc..Example
Such as, when using the technological means to controller test in servo-drive system product, by electric control box send digital quantity and
Analog quantity gathers the output quantity of tested controller by universal meter and oscillograph to tested controller, and what is most collected at last is defeated
Output car following-theory value comparative analysis, and then judge whether the function of tested controller meets requirement.Similarly, produced to servo-drive system
When analog line driver in product is tested, controlled quentity controlled variable will be simulated by technical staff and be input into power drive by electric control box
Dynamic device, the pwm signal that analog line driver is exported is gathered by oscillograph, and to signal analysis and processing.
It follows that the method for testing is a process for static test to equipment under test in servo-drive system, and servo
The course of work of system is in itself a dynamic duty process, then it is this that test how is more accurately carried out to servo-drive system
Art personnel's problem demanding prompt solution.
The content of the invention
To solve the above problems, the invention provides a kind of test device of servo-drive system, the test device solves existing
There is technology according to this static test process of the output quantity of input measurement equipment under test, by the servo system for simulating equipment under test
System environment, realizes the dynamic measurement of servo-drive system, makes measurement result more accurate.
To achieve the above object, the present invention provides following technical scheme：
A kind of test device of servo-drive system, the servo-drive system includes：Controller, analog line driver, motor and rotation
Encoder, the test device includes：Real-time Simulation module and main test module；
Wherein, the test device includes：First test pattern, the second test pattern and the 3rd test pattern；
The real-time Simulation module is used in first test pattern, second test pattern and the 3rd test
Corresponding equipment in servo-drive system described in pattern Imitating；
The main test module is used to send test signal to equipment under test；
The equipment under test generates object feedback signal to the test device, the test dress according to the test signal
Put the working condition that the equipment under test is judged according to the object feedback signal.
Preferably, it is described tested when the test device is in first test pattern in above-mentioned test device
Equipment is the controller；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module to
The controller sends the first test signal；
The controller generates the first feedback signal according to first test signal；
The real-time Simulation module is used for analog line driver, the motor and rotary encoder, foundation described in real-time Simulation
Corresponding parameter information configures corresponding analog line driver model, motor and rotary encoder model, first feedback
After signal sequentially passes through the signal transacting of the analog line driver model, the motor and rotary encoder model, generation first
Object feedback signal；
The main test module judges the working condition of the controller according to the first object feedback signal.
Preferably, it is described tested when the test device is in second test pattern in above-mentioned test device
Equipment is the analog line driver；
The real-time Simulation module is used for controller, the motor and rotary encoder described in real-time Simulation, according to relative
The parameter information answered configures corresponding controller model, motor and rotary encoder model；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module to
The controller model sends the second test signal, and the controller model feeds back according to second test signal generation second
Signal is simultaneously sent to the analog line driver；
The analog line driver generates the first control signal, the first control signal warp according to second feedback signal
After crossing the signal transacting of the motor and rotary encoder model, the second object feedback signal is generated；
The main test module judges the working condition of the analog line driver according to the second object feedback signal.
Preferably, it is described tested when the test device is in three test pattern in above-mentioned test device
Equipment is the motor and rotary encoder；
The real-time Simulation module is used for controller described in real-time Simulation, corresponding according to corresponding parameter information configuration
Controller model；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module to
The controller model sends the 3rd test signal, and the controller model is controlled according to the 3rd test signal generation second
Signal, the analog line driver drives the motor and rotary encoder to run according to second control signal；
And the motor and rotary encoder generate the 3rd object feedback signal；
The main test module judges the work of the motor and rotary encoder according to the 3rd object feedback signal
State.
Preferably, in above-mentioned test device, the main test module includes：
Signal generation unit, the signal generation unit is used to generate test signal；
Test and management unit, the test and management unit is used to set test case and test parameter；
Signal acquisition process unit, the signal acquisition process unit is used to gather the feedback signal, and according to described
Feedback signal judges the working condition of the equipment under test；
Data storage cell, the data storage cell is used to store test result.
Preferably, in above-mentioned test device, the real-time Simulation module includes：Simulation modeling unit；
The simulation modeling unit is used to build test and excitation model, and the test and excitation model is used for according to the control
The parameter information of device, the analog line driver, the motor and rotary encoder, the corresponding controller model of configuration,
The analog line driver model, the motor and rotary encoder model.
Preferably, in above-mentioned test device, the test device also includes：
Power stage analog module, the power stage analog module is used in the test process of the analog line driver, according to
The back-emf signal and current signal of the motor and rotary encoder are drawn up according to the motor and rotary encoder pattern die.
Preferably, in above-mentioned test device, ether is passed through between the main test module and the real-time Simulation module
Network Communication carries out signal interaction.
A kind of test device of the servo-drive system provided by foregoing description, the present invention, the servo-drive system is included：
Controller, analog line driver, motor and rotary encoder, the test device include：Real-time Simulation module and main test module；
Wherein, the test device includes：First test pattern, the second test pattern and the 3rd test pattern；The real-time Simulation mould
Block is used in first test pattern, second test pattern and servo-drive system described in the 3rd test pattern Imitating
In corresponding equipment；The main test module is used to send test signal to equipment under test；The equipment under test is according to described
Test signal generates object feedback signal to the test device, and the test device judges institute according to the object feedback signal
State the working condition of equipment under test.
Real-time Simulation module in the test device is relative in servo-drive system described in different test pattern Imitatings
The equipment answered, it is ensured that when equipment under test is tested in servo-drive system, is not only to being tested in the servo-drive system
The static test of equipment, but equipment under test is tested under the servo-drive system environment of simulation in the servo-drive system, and
The working environment of the servo-drive system conditions warrant of simulation in addition to equipment under test is normal, and then makes test result more smart
Really.
Brief description of the drawings
In order to illustrate more clearly about the embodiment of the present invention or technical scheme of the prior art, below will be to embodiment or existing
The accompanying drawing to be used needed for having technology description is briefly described, it should be apparent that, drawings in the following description are only this
Inventive embodiment, for those of ordinary skill in the art, on the premise of not paying creative work, can also basis
The accompanying drawing of offer obtains other accompanying drawings.
Fig. 1 is a kind of structural representation of servo-drive system；
Fig. 2 is a kind of structural representation of the test device of servo-drive system provided in an embodiment of the present invention；
Fig. 3 is a kind of principle schematic of the test device of servo-drive system provided in an embodiment of the present invention；
Fig. 4 is the principle schematic of the test device of another servo-drive system provided in an embodiment of the present invention；
Fig. 5 is the principle schematic of the test device of another servo-drive system provided in an embodiment of the present invention；
Fig. 6 is the principle schematic of the test device of another servo-drive system provided in an embodiment of the present invention；
Fig. 7 is a kind of structural representation of main test module provided in an embodiment of the present invention.
Specific embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, the technical scheme in the embodiment of the present invention is carried out clear, complete
Site preparation is described, it is clear that described embodiment is only a part of embodiment of the invention, rather than whole embodiments.It is based on
Embodiment in the present invention, it is every other that those of ordinary skill in the art are obtained under the premise of creative work is not made
Embodiment, belongs to the scope of protection of the invention.
It can be seen from background technology, when prior art means are to controller test in servo-drive system, by electrical control
Case sends digital quantity and analog quantity to tested controller, the output quantity of tested controller is gathered by universal meter and oscillograph, most
The output quantity car following-theory value comparative analysis for collecting at last, and then judge whether the function of tested controller meets requirement.Similarly,
When the analog line driver in servo-drive system is tested, controlled quentity controlled variable will be simulated by technical staff defeated by electric control box
Enter to analog line driver, the pwm signal that analog line driver is exported is gathered by oscillograph, and to signal analysis and processing.It is such
Whether measuring technology means are only merely test can be with the static test of normal work, without can determine that each sets to each equipment
The standby use requirement for whether meeting the servo-drive system, for example, a controller meets a use requirement for servo-drive system, but
Use requirement can not be met when being attached to another servo-drive system.
Furthermore, it is desirable to explanation, for example electric servo-drive system mainly includes：Controller, analog line driver, motor and rotation
Turn encoder, its operation principle is：By input control quantity signal to controller, analog line driver, motor and rotation are sequentially passed through
Turning encoder carries out signal transacting, and output result is fed back to controller is again circulated control, and then reaches accurate control
The purpose of system, is loop control theory, that is to say, that the course of work of servo-drive system is a dynamic duty process.And existing skill
The method of testing of art is a process for static test to equipment under test in servo-drive system, and the course of work sheet of servo-drive system
Body is a dynamic duty process, can not completely react the working condition of servo-drive system, then how more accurately right
It is those skilled in the art's problem demanding prompt solution that servo-drive system carries out test.
In order to solve the problem, a kind of test device of servo-drive system, the servo-drive system are the embodiment of the invention provides
Including：Controller, analog line driver, motor and rotary encoder, the test device include：Real-time Simulation module and main test
Module；
The test device includes：First test pattern, the second test pattern and the 3rd test pattern；
The real-time Simulation module is used in first test pattern, second test pattern and the 3rd test
Corresponding equipment in servo-drive system described in pattern Imitating；
The main test module is used to send test signal to equipment under test；
The equipment under test generates object feedback signal to the test device, the test dress according to the test signal
Put the working condition that the equipment under test is judged according to the object feedback signal.
By foregoing description, the real-time Simulation module in the test device is in different test pattern Imitating institutes
State corresponding equipment in servo-drive system, it is ensured that when equipment under test is tested in servo-drive system, be not only to institute
The static test of equipment under test in servo-drive system is stated, but equipment under test is in the servo-drive system environment simulated in the servo-drive system
Under tested, and working environment of the servo-drive system conditions warrant simulated in addition to equipment under test is normal, and then makes
Test result is more accurate.
In order to further be illustrated to the embodiment of the present invention, with reference to description of the invention accompanying drawing to of the invention real
Example is applied to be specifically described.
A kind of test device of servo-drive system is the embodiment of the invention provides, with reference to Fig. 1, Fig. 1 is a kind of servo-drive system
Structural representation, the servo-drive system includes：Controller 11, analog line driver 12, motor and rotary encoder 13, with reference to Fig. 2,
Fig. 2 is a kind of structural representation of the test device of servo-drive system provided in an embodiment of the present invention, and the test device includes：It is real
When analog module 21 and main test module 22；
Wherein, the test device includes：First test pattern, the second test pattern and the 3rd test pattern.
Because the servo-drive system includes：Controller 11, analog line driver 12, motor and the part of rotary encoder 13 3,
Therefore three kinds of test patterns are set to test the servo-drive system.
The real-time Simulation module 21 is used to be surveyed in first test pattern, second test pattern and the described 3rd
Corresponding equipment in servo-drive system described in die trial formula Imitating.
That is, under each test pattern, being needed in servo-drive system described in the real-time Simulation of real-time Simulation module 21
The equipment to be simulated, and then realize that equipment under test is tested under the servo-drive system environment of simulation, such as to the control
When device 11 is tested, analog line driver 12, the motor and rotary coding described in the real-time Simulation of real-time Simulation module 21
Device 13.
The main test module 22 is used to send test signal to equipment under test, and the equipment under test is believed according to the test
To the test device, the test device judges described being tested according to the object feedback signal for number generation object feedback signal
The working condition of equipment.
By foregoing description, the real-time Simulation module 21 in the test device is in different test pattern Imitatings
Corresponding equipment in the servo-drive system, it is ensured that when equipment under test is tested in servo-drive system, it is right not to be only
The static test of equipment under test in the servo-drive system, but servo-drive system ring of the equipment under test in simulation in the servo-drive system
Tested under border, and working environment of the servo-drive system conditions warrant simulated in addition to equipment under test is normal, and then
Make test result more accurate.
Based on above-described embodiment, in an alternative embodiment of the invention, with reference to Fig. 3, Fig. 3 is provided in an embodiment of the present invention one
Plant the principle schematic of the test device of servo-drive system.When the test device is in first test pattern, the quilt
Measurement equipment is the controller 11, and the main test module 22 is used to send the first test signal to the controller 11, described
Controller 11 generates the first feedback signal according to first test signal；
The real-time Simulation module 21 is used for analog line driver 12, the motor and rotary encoder described in real-time Simulation
13, configure corresponding analog line driver model, motor and rotary encoder model according to corresponding parameter information, described the
It is raw after one feedback signal sequentially passes through the signal transacting of the analog line driver model, the motor and rotary encoder model
Into first object feedback signal, that is to say, that the analog line driver model, the motor and rotary encoder model are right successively
After first feedback signal carries out signal transacting, the signals such as specific speed, position and torque can be simulated；
The controller 11 is persistently circulated control according to the first object feedback signal, forms closed loop；
The main test module 22 judges the working condition of the controller 11 according to the first object feedback signal.
By foregoing description, when testing the controller 11, the real-time mould of the real-time Simulation module 21
The analog line driver, the motor and rotary encoder are intended, equivalent to realizing the controller 11 in actual servo system
Working environment under system, that is to say, that the main test module 22 judges the control according to the first object feedback signal
The working condition of device 11, is only merely not to judge whether the controller 11 with normal work, but can judge the control
Whether device processed 11 judges whether the controller 11 meets the performance requirement of servo-drive system again on the premise of normal work.If
When the working condition of the controller 11 is unsatisfactory for the performance requirement of servo-drive system, it was demonstrated that the servo-drive system is unsatisfactory for using and wants
Ask, then only need to carry out the controller 11 subsequent treatment, with strong points, efficiency high.
Based on above-described embodiment, in an alternative embodiment of the invention, with reference to Fig. 4, Fig. 4 is provided in an embodiment of the present invention another
A kind of principle schematic of the test device of servo-drive system.It is described when the test device is in second test pattern
Equipment under test is the analog line driver 12；
The real-time Simulation module 21 is used for controller 11, the motor and rotary encoder 13 described in real-time Simulation, according to
Corresponding controller model, motor and rotary encoder model are configured according to corresponding parameter information；
The main test module 22 is used to send second test signal, the controller mould to the controller model
Type generates the second feedback signal according to second test signal；
The analog line driver 12 generates the first control signal, first control signal according to second feedback signal
By after the signal transacting of the motor and rotary encoder model, generating the second object feedback signal；
It should be noted that the main test module 22 is specially for sending test signal to equipment under test：The master
Test module 22 sends second test signal to the controller model first, is carried out at signal through the controller model
Second feedback signal is generated after reason, then second feedback signal is sent to the analog line driver.
The controller model is persistently circulated control according to the second object feedback signal, forms closed loop；
The main test module 22 judges the work shape of the analog line driver 12 according to the second object feedback signal
State.
By foregoing description, when testing the analog line driver 12, the real-time Simulation module 21 is real
When simulate the controller 11, the motor and rotary encoder 13, equivalent to realizing the analog line driver 12 in reality
Working environment under the servo-drive system of border, that is to say, that the main test module 22 judges according to the second object feedback signal
The working condition of the analog line driver 12, be only merely not judge the analog line driver 12 whether can with normal work,
But whether the analog line driver 12 is being judged on the premise of normal work, judge whether the analog line driver 12 is full again
The performance requirement of sufficient servo-drive system.If the working condition of the analog line driver 12 is unsatisfactory for the performance requirement of servo-drive system,
Prove that the servo-drive system is unsatisfactory for use requirement, then only need to carry out subsequent treatment, specific aim to the analog line driver 12
By force, efficiency high.
Based on above-described embodiment, in an alternative embodiment of the invention, with reference to Fig. 5, Fig. 5 is provided in an embodiment of the present invention another
A kind of principle schematic of the test device of servo-drive system.It is described when the test device is in three test pattern
Equipment under test is the motor and rotary encoder 13；
The real-time Simulation module 21 is used for controller 11 described in real-time Simulation, and phase is configured according to corresponding parameter information
Corresponding controller model；
The main test module 22 is used to send the 3rd test signal, the controller mould to the controller model
Type generates the second control signal according to the 3rd test signal；
The analog line driver 12 drives the motor and rotary encoder 13 to run according to second control signal, and
The motor and rotary encoder 13 generate the 3rd object feedback signal；
It should be noted that the main test module 22 is specially for sending test signal to equipment under test：The master
Test module 22 sends the 3rd test signal to the controller model first, is carried out at signal through the controller model
Second control signal is generated after reason, then second control signal is sent to the analog line driver 12 and then institute is driven
State motor and rotary encoder 13 is run, and the effect of analog line driver is needed due to the motor and rotary encoder 13
Can just work, therefore when testing the motor and rotary encoder 13, a working condition need to be provided normal and full
The analog line driver of sufficient servo-drive system job requirement.
The controller model is persistently circulated control according to the 3rd object feedback signal, forms closed loop；
The main test module 22 judges the motor and rotary encoder 13 according to the 3rd object feedback signal
Working condition.
By foregoing description, when testing the motor and rotary encoder 13, the real-time Simulation mould
The block 21 real-time Simulation controller 11, and it is normal there is provided a working condition and meet the work(of servo-drive system job requirement
Rate driver, equivalent to realizing the working environment of the motor and rotary encoder 13 under actual servo system, that is,
Say, the main test module 22 judges the work shape of the motor and rotary encoder 13 according to the 3rd object feedback signal
State, is only merely not to judge whether the motor and rotary encoder 13 with normal work, but can judge the motor
And whether rotary encoder 13 judges whether the motor and rotary encoder 13 meet servo again on the premise of normal work
The performance requirement of system.If the working condition of the motor and rotary encoder 13 is unsatisfactory for the performance requirement of servo-drive system,
Prove that the servo-drive system is unsatisfactory for use requirement, then only need to carry out subsequent treatment to the motor and rotary encoder 13,
It is with strong points, efficiency high.
It should be noted that with reference to Fig. 6, Fig. 6 is the test device of another servo-drive system provided in an embodiment of the present invention
Principle schematic.Tested in the electrical unit module 61 constituted to the controller 11 and the analog line driver 12
When, i.e., described controller 11 and the analog line driver 12 are integrated in one, because the servo-drive system needs real electric current
Feedback can just complete current closed-loop, therefore based on above-described embodiment, in an alternative embodiment of the invention, the test device is also
Including：
Power stage analog module 62, the power stage analog module 62 is used for according to the motor and rotary encoder model
Simulate the back-emf signal and current signal of the motor and rotary encoder.
Concrete principle is as follows：The power stage analog module 62 passes through equivalent to the combination of power inductance and power resistor
The power PWM signal of the transmission of the analog line driver 12 is received, power is consumed, and then simulate real during servo-drive system works
Electric current, while gathering current signal is sent to the real-time Simulation module 21, the motor in the real-time Simulation module 21
And rotary encoder model brings into operation, the motor and the rotary encoder model reception current signal simulation out position are anti-
Feedback signal and feedback speed signal, send to the electrical unit module 61, and then complete the closed loop of whole servo-drive system, described
Main test module 22 judges that the electrical unit module 61 works according to the position feed back signal and the feedback speed signal
It is whether normal.
In embodiments of the present invention, with reference to Fig. 7, Fig. 7 is a kind of structure of main test module provided in an embodiment of the present invention
Schematic diagram, the main test module 22 includes：
Signal generation unit 71, the signal generation unit 71 is used to generate test signal；
Wherein, the test signal is：First test signal, second test signal and the 3rd test letter
Number.
Test and management unit 72, the test and management unit 72 is used to set test case and test parameter；
That is, before the test device is tested the servo-drive system, the good related communications protocol of configuration is defeated
After entering the information such as the test item that output port and selection needs are carried out, the main test device 22 is according to the flow for pre-setting
Send command signal and collection signal feedback quantity, and then realize automatic test, whole test process without manual intervention, while
Some malfunction routines that set that can be artificial realize detection to servo-drive system.
Wherein, signal is carried out by serial communication between the main test module 22 and the equipment under test to interact, it is described
Signal is carried out between main test module 22 and the real-time Simulation module 21 by ethernet communication to interact, and in the main test
I/O mouthfuls etc. of correlation is configured in module 22.
Also, the cycle time between test case can also be set, during test required for completing each test case
Between and testing sequence etc., depending on specific facilities can be according to actual conditions.
Signal acquisition process unit 73, the signal acquisition process unit 73 is used to gather the feedback signal, and foundation
The feedback signal judges the working condition of the equipment under test.
Data storage cell 74, the data storage cell 74 is used to store test result.
Wherein, the data storage cell 74 can realize the store function to test result, in order to subsequently to test
Result is reviewed, and avoids artificial operation, and then makes the test result more accurate.
Wherein, in embodiments of the present invention, the real-time Simulation module 21 includes：
Simulation modeling unit；
The simulation modeling unit is used to build test and excitation model, and the framework of the test and excitation model is flexibly set,
According to the parameter information of the controller 11, the analog line driver 12, the motor and rotary encoder 13, configure corresponding
The controller model, the analog line driver model, the motor and rotary encoder model, and the test and excitation
Model can automatically generate C code, with the resolving processing function to signal, and configure i.e. achievable by changing relevant parameter
The reconstruct of model, makes the versatility of the test device very strong.
The test device of a kind of servo-drive system provided by foregoing description, the present invention, by real-time Simulation servo
The closed loop test environment of equipment under test and realization automation dynamic test, solve prior art and go survey according to input quantity in system
The static test of the output quantity of equipment under test is measured, makes test result more accurate.And the test device is not limited to watching
The test of the function logic being devices under in dress system, such as when device performance test is controlled, can be by real-time mould
Intend the output result of module, judge the control performance of controller.Communication interface, fault diagnosis can also be tested.
Also, built by implementation model in real-time Simulation module, tested setting need to be only retained during test
Standby entity apparatus, miscellaneous equipment is all simulated by real-time Simulation module, and then substantially increases testing efficiency, and is solved
Determine because of miscellaneous equipment cisco unity malfunction, and caused the inaccurate problem of test result.And surveyed in the real-time Simulation module
The analog architectures of examination excitation model flexibly, can by change relevant parameter configure can the corresponding model of completion build, enter
And make the versatility of test device provided by the present invention very strong.
The foregoing description of the disclosed embodiments, enables professional and technical personnel in the field to realize or uses the present invention.
Various modifications to these embodiments will be apparent for those skilled in the art, as defined herein
General Principle can be realized in other embodiments without departing from the spirit or scope of the present invention.Therefore, the present invention
The embodiments shown herein is not intended to be limited to, and is to fit to and principles disclosed herein and features of novelty phase one
The scope most wide for causing.
Claims (8)
1. a kind of test device of servo-drive system, the servo-drive system includes：Controller, analog line driver, motor and rotation are compiled
Code device, it is characterised in that the test device includes：Real-time Simulation module and main test module；
Wherein, the test device includes：First test pattern, the second test pattern and the 3rd test pattern；
The real-time Simulation module is used in first test pattern, second test pattern and the 3rd test pattern
Corresponding equipment in servo-drive system described in Imitating；
The main test module is used to send test signal to equipment under test；
The equipment under test generates object feedback signal to the test device according to the test signal, the test device according to
The working condition of the equipment under test is judged according to the object feedback signal.
2. test device according to claim 1, it is characterised in that when the test device is in the described first test mould
During formula, the equipment under test is the controller；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module is to described
Controller sends the first test signal；
The controller generates the first feedback signal according to first test signal；
The real-time Simulation module is used for analog line driver, the motor and rotary encoder described in real-time Simulation, according to relative
The parameter information answered configures corresponding analog line driver model, motor and rotary encoder model, first feedback signal
After sequentially passing through the signal transacting of the analog line driver model, the motor and rotary encoder model, first object is generated
Feedback signal；
The main test module judges the working condition of the controller according to the first object feedback signal.
3. test device according to claim 1, it is characterised in that when the test device is in the described second test mould
During formula, the equipment under test is the analog line driver；
The real-time Simulation module is used for controller, the motor and rotary encoder described in real-time Simulation, according to corresponding
Parameter information configures corresponding controller model, motor and rotary encoder model；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module is to described
Controller model sends the second test signal, and the controller model generates the second feedback signal according to second test signal
And send to the analog line driver；
The analog line driver generates the first control signal according to second feedback signal, and first control signal is by institute
After stating the signal transacting of motor and rotary encoder model, the second object feedback signal is generated；
The main test module judges the working condition of the analog line driver according to the second object feedback signal.
4. test device according to claim 1, it is characterised in that when the test device is in the described 3rd test mould
During formula, the equipment under test is the motor and rotary encoder；
The real-time Simulation module is used for controller described in real-time Simulation, and corresponding control is configured according to corresponding parameter information
Device model processed；
Wherein, the main test module is specially for sending test signal to equipment under test：The main test module is to described
Controller model sends the 3rd test signal, and the controller model is according to the 3rd test signal generation the second control letter
Number, the analog line driver drives the motor and rotary encoder to run according to second control signal；
And the motor and rotary encoder generate the 3rd object feedback signal；
The main test module judges the working condition of the motor and rotary encoder according to the 3rd object feedback signal.
5. test device according to claim 1, it is characterised in that the main test module includes：
Signal generation unit, the signal generation unit is used to generate test signal；
Test and management unit, the test and management unit is used to set test case and test parameter；
Signal acquisition process unit, the signal acquisition process unit is used to gather the feedback signal, and according to the feedback
Signal judges the working condition of the equipment under test；
Data storage cell, the data storage cell is used to store test result.
6. test device according to claim 1, it is characterised in that the real-time Simulation module includes：Simulation modeling list
Unit；
The simulation modeling unit is used to build test and excitation model, the test and excitation model be used for according to the controller,
The parameter information of the analog line driver, the motor and rotary encoder, configures the corresponding controller model, described
Analog line driver model, the motor and rotary encoder model.
7. test device according to claim 6, it is characterised in that the test device also includes：
Power stage analog module, the power stage analog module is used to draw up institute according to the motor and rotary encoder pattern die
State the back-emf signal and current signal of motor and rotary encoder.
8. test device according to claim 1, it is characterised in that the main test module and the real-time Simulation module
Between signal interaction is carried out by ethernet communication.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710099923.0A CN106886212B (en) | 2017-02-23 | 2017-02-23 | Servo system's testing arrangement |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710099923.0A CN106886212B (en) | 2017-02-23 | 2017-02-23 | Servo system's testing arrangement |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106886212A true CN106886212A (en) | 2017-06-23 |
| CN106886212B CN106886212B (en) | 2020-04-03 |
Family
ID=59179913
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710099923.0A Active CN106886212B (en) | 2017-02-23 | 2017-02-23 | Servo system's testing arrangement |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN106886212B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562036A (en) * | 2017-08-08 | 2018-01-09 | 许继集团有限公司 | A kind of test device and method of testing of precisely load control system |
| CN110333711A (en) * | 2019-07-03 | 2019-10-15 | 天津中科华盈科技有限公司 | A kind of ageing tester and method for DC brushless motor controller |
| CN113595245A (en) * | 2021-07-23 | 2021-11-02 | 许继集团有限公司 | Test system and method of precise load control system based on 5G communication |
| CN113848863A (en) * | 2021-10-22 | 2021-12-28 | 江苏杰瑞科技集团有限责任公司 | Universal servo system test switching device |
Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08137531A (en) * | 1994-11-14 | 1996-05-31 | Nippon Telegr & Teleph Corp <Ntt> | Device and method for testing operating of robot control software |
| US20080278106A1 (en) * | 2007-05-11 | 2008-11-13 | Fu David T | Apparatus, system, and method for simulating outputs of a resolver to test motor-resolver systems |
| CN201188125Y (en) * | 2008-03-17 | 2009-01-28 | 上海海事大学 | Electric machine characteristic test system supported by multi-data acquisition mode |
| CN201352254Y (en) * | 2009-01-23 | 2009-11-25 | 上海工程技术大学 | Motor load simulator |
| CN101598766A (en) * | 2009-07-07 | 2009-12-09 | 华中科技大学 | A kind of full-automatic testing device of open type portable motor driver |
| US20140222212A1 (en) * | 2013-01-24 | 2014-08-07 | Trane International Inc. | Dynamic simulated motor |
| CN105955071A (en) * | 2016-07-13 | 2016-09-21 | 北京润科通用技术有限公司 | Load simulation circuit and power level motor simulation test equipment |
-
2017
- 2017-02-23 CN CN201710099923.0A patent/CN106886212B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08137531A (en) * | 1994-11-14 | 1996-05-31 | Nippon Telegr & Teleph Corp <Ntt> | Device and method for testing operating of robot control software |
| US20080278106A1 (en) * | 2007-05-11 | 2008-11-13 | Fu David T | Apparatus, system, and method for simulating outputs of a resolver to test motor-resolver systems |
| CN201188125Y (en) * | 2008-03-17 | 2009-01-28 | 上海海事大学 | Electric machine characteristic test system supported by multi-data acquisition mode |
| CN201352254Y (en) * | 2009-01-23 | 2009-11-25 | 上海工程技术大学 | Motor load simulator |
| CN101598766A (en) * | 2009-07-07 | 2009-12-09 | 华中科技大学 | A kind of full-automatic testing device of open type portable motor driver |
| US20140222212A1 (en) * | 2013-01-24 | 2014-08-07 | Trane International Inc. | Dynamic simulated motor |
| CN105955071A (en) * | 2016-07-13 | 2016-09-21 | 北京润科通用技术有限公司 | Load simulation circuit and power level motor simulation test equipment |
Non-Patent Citations (1)
| Title |
|---|
| 李乐荣: "基于PAC的电机控制器快速控制原型的研究", 《电子设计工程》 * |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107562036A (en) * | 2017-08-08 | 2018-01-09 | 许继集团有限公司 | A kind of test device and method of testing of precisely load control system |
| CN110333711A (en) * | 2019-07-03 | 2019-10-15 | 天津中科华盈科技有限公司 | A kind of ageing tester and method for DC brushless motor controller |
| CN110333711B (en) * | 2019-07-03 | 2024-02-13 | 天津中科华盈科技有限公司 | Aging testing device and method for direct current brushless motor controller |
| CN113595245A (en) * | 2021-07-23 | 2021-11-02 | 许继集团有限公司 | Test system and method of precise load control system based on 5G communication |
| CN113595245B (en) * | 2021-07-23 | 2023-12-26 | 河南源网荷储电气研究院有限公司 | Testing system and method of accurate load control system based on 5G communication |
| CN113848863A (en) * | 2021-10-22 | 2021-12-28 | 江苏杰瑞科技集团有限责任公司 | Universal servo system test switching device |
Also Published As
| Publication number | Publication date |
|---|---|
| CN106886212B (en) | 2020-04-03 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106886212A (en) | A kind of test device of servo-drive system | |
| CN104965466B (en) | A kind of DC MOTOR CONTROL teaching experiment system | |
| CN108768220A (en) | A kind of integrative coordinated control device and method of articulated robot | |
| CN201274125Y (en) | Experiment apparatus for numerically controlled lathe | |
| CN103869244B (en) | A kind of Motor Measuring System | |
| CN108194264B (en) | Wind power generation simulation system and control method thereof | |
| CN104635669B (en) | A kind of I＆C system verification method | |
| CN105182942A (en) | Servo-based master-slave position synchronous control system and method | |
| CN104407519B (en) | Semi-physical simulation system of AC-DC-AC metallurgy rolling mill transmission system | |
| CN114326492A (en) | Digital twin virtual-real linkage system of process industrial equipment | |
| CN115933429A (en) | Method for building real-time simulation system based on voltage source type wind turbine generator system | |
| CN106647712B (en) | Direct-current grid control strategy test macro and method | |
| CN104678967B (en) | General industrial computer joint DSP realizes PWM controller Rapid Prototype Design method and apparatus | |
| CN209335656U (en) | A kind of industrial robot function test system | |
| CN113942012A (en) | Mechanical arm joint method, system, computer and readable storage medium | |
| CN103941594A (en) | Electric-hydraulic braking rapid control prototype of electric vehicle | |
| CN103207570B (en) | Rotary transformer signal simulation system and method applied to loader-unloader analog machine | |
| CN204557889U (en) | Distributed pneumatic control multi-function test stand | |
| CN104317287B (en) | The analogy method and system of a kind of motor signal | |
| CN206671793U (en) | A kind of emulation test system of distributed linear switched reluctance motor | |
| CN102818953B (en) | Wind condition simulation system and method for realizing wind condition simulation system on wind turbine generator test bed | |
| CN105807750B (en) | A kind of the semi-hardware type simulation test device and test method of city rail vehicle motion control unit | |
| CN108089521A (en) | A kind of hydraulic machinery test stand electric control system based on WinCC and PLC | |
| CN201374136Y (en) | Multifunctional teaching device | |
| CN100415124C (en) | Self control designed teaching experiment platform for tobacco industry |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |