CN107272663A - A kind of quick checking device of 1553B bus types servo-drive system test equipment - Google Patents
A kind of quick checking device of 1553B bus types servo-drive system test equipment Download PDFInfo
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- CN107272663A CN107272663A CN201710628439.2A CN201710628439A CN107272663A CN 107272663 A CN107272663 A CN 107272663A CN 201710628439 A CN201710628439 A CN 201710628439A CN 107272663 A CN107272663 A CN 107272663A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- 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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
A kind of quick checking device of 1553B bus types servo-drive system test equipment, it is interacted by analog quantity cable and 1553B buses with the test equipment, the test equipment sends command signal by 1553B buses to the quick checking device, the quick checking device receives the signal that the outside test equipment is sent using transformer coupled mode, and by the signal resolution into analog output to respective socket on signal it is high-end.The quick checking device makes 1553B bus type servo-drive system test equipments in line, its test function and the integrity of measuring accuracy can be detected in advance, the test equipment is completed to send signal and gather the verifying work of semiotic function, the electric property of the test equipment, software protocol are detected using the quick checking device, the efficiency of research and development of products, debugging and field testing fault detect is greatly improved accordingly.
Description
Technical field
The present invention relates to a kind of quick checking device of 1553B bus types servo-drive system test equipment, belong to servo-drive system
Technical field of measurement and test.
Background technology
1553B bus type servo-drive system test equipments are that the automatic test based on networking and digital bussing technique is set
Complicated test system that is standby, being made up of computer, power supply case, transfer box and cable etc., passes through the 1553B in system
Bus interface card is done directly the transmission and the collection to 1553B bus remote terminal answers signals of control signal, and analog quantity is led to
Cross after signal converting case completes the conditioning of analog signal and be acquired and handle into collection of simulant signal card, complete simultaneously
The output of 1553B bus control signals, the reception of gathered data decoding and management, data processing, image are shown.
1553B bus type test equipments are widely used to servo-drive system testing field.In the prior art, 1553B buses
The debugging of formula test equipment designs can only verify the correctness and reliability of bus communication by final system integration test, this to test
Card often can only functionally prove whether product meets design requirement, it is impossible to Quantitative design index, in development process also not
The electric or protocol malfunctions of system terminal, cable can be found in the very first time, it is impossible to capture the EMC characteristic index of network.
When 1553B bus type test equipments break down, test equipment designs and user of service are often absorbed in condition at one's wit's end, only
Electric property can be checked by means of legacy equipment (such as oscillograph, universal meter), such a mode efficiency is low, complex operation, reliable
Property is poor.In addition, its test function and the integrity of measuring accuracy are not detected in advance in line, if the test equipment
Breaking down will lead to not judge in time be product bug on test equipment failure or bullet, delay experiment overall progress.
The content of the invention
(1) technical problem to be solved
It is an object of the invention to the disadvantages mentioned above and deficiency for overcoming prior art, there is provided a kind of 1553B bus types servo
The quick checking device of system test equipment, makes 1553B bus type servo-drive system test equipments in outfield in use, can shift to an earlier date
Its test function and the integrity of measuring accuracy are detected, 1553B bus type servo-drive systems test equipment is completed and sends signal and adopt
Collect the verifying work of semiotic function, electric property, software association using the quick checking device to 1553B bus test equipments
View is detected, the efficiency of research and development of products, debugging and field testing fault detect is greatly improved accordingly.
(2) technical scheme
To achieve these goals, technical solution of the invention is as follows：
A kind of quick checking device of 1553B bus types servo-drive system test equipment, the quick checking device passes through mould
Analog quantity cable and 1553B buses are interacted with the test equipment, and the test equipment is by 1553B buses to described quick
Calibration equipment sends command signal, and the quick checking device receives the outside test equipment using transformer coupled mode and sent out
Come signal, and by the signal resolution into analog output to respective socket on signal it is high-end, the test equipment can lead to
Cross analog acquisition board to be acquired imitated output quantity by analog quantity cable, judging the signal of 1553B buses transmission is
No correct, whether precision reaches design requirement；The quick checking device includes five functional modules：Data management module, DSP
Data processing module, MIL-STD-1553B bus communication modules, FPGA/CPU Logic control modules and servo-drive system character modules
Intend module；Wherein, data management module is interacted with DSP data processing modules, DSP data processing modules and MIL-STD-
1553B bus communication modules are interacted, data management module, DSP data processing modules, MIL-STD-1553B bus communication modules
It can be interacted respectively with FPGA/CPU Logic control modules, FPGA/CPU Logic control modules are handed over servo-drive system characteristic simulation module
Mutually；The quick checking device includes hardware system and software systems.
Further, the hardware system is that the low power consumption digital based on Power PC Processor/simulation integration is embedded
System hardware platform, including embedded system platform, power module, 1553B buses, analog output, RS232 interfaces and one
100 m ethernet interface.
Further, the Power PC Processor be MPC8280, in the embedded system platform, MPC8280 by
Embedded Power PC core and Communications Processor Module composition, Communications Processor Module shares the peripheral work of embedded Power PC core
Make；MPC8280 interface unit includes storage control, a 60x-to-PCI bus bridge；MPC8280 communication process
Module supports 3 serial communication controllers, 2 Multi Channel Controllers, 4 serial communication controllers, 2 serial management controls simultaneously
Device processed, 1 SPI and an I2C interface；The MPC8280 also include BOOTROM, storage Flash,
One SDRAM, a CPLD, BOOTROM, Flash and SDRAM are articulated in MPC8280 60X buses；It is utilized respectively logical
Interrogate processing module Serial Management Controller extension all the way RS232 interfaces, Fast Sequential communication controler extension all the way 100,000,000 with
Too network interface.
Further, in the power module, the quick checking device provides 28V dc sources by outside, and inside makes
With DC-DC module by 28V be converted to+5V, ± 15 output, and in the quick checking device functional module need+3.3V ,+
1.5V operating voltages, then converted by DC-DC chips by+5V.
Further, the 1553B buses are integrated with two transceivers, agreement, memory management, processor interface logic
And a RAM；The 1553B buses internal RAM can provide 16 bit data bus and 16 bit address buses and be read and write for CPU；Carry
It is connected for active and standby two-way 1553B differential lines with 1553B buses；The instruction from the test equipment is received, and by CPU to instruction
Carry out dissection process.
Further, in analog output, by data signal the calibration equipment internal conversion be analog signal, mould
It is -10V~+10V to intend signal output voltage scope, is realized from ADI companies AD5547BRUZ；Meanwhile, using high-precision analog
The two paths of signals that digital quantizer AD7006 is exported to AD5547BRUZ carries out back production monitoring.
Further, the software systems are used for the analog servo system function in the case of no servo-drive system, described
Software systems include the embedded software operated in the quick checking device and the control software for operating in control computer,
The software systems include configuration parameter acquisition module, configuration preserving module, verification data generation module, rapid verification dress
Put function equivalent module, protocol data processing module, 1553B data interface modules, analogue data interface module, operating system,
File system, driving, board suppot package.
Further, the 1553B data interface modules include following functions：
1) data are obtained from 1553B buses；
2) CRC check is performed, verification is by then sending the data to application module；If failure, BU61580 corresponding states are set
Position, and misregistration；
3) the 1553B bus message data of application module transmission are received；
4) calculate message packets crc value and organize bag；
5) packet of generation is sent to 1553B bus memories by driving.
Further, the quick checking device function check module includes following functions：
1) self-inspection and feedback result；
2) synch command and feedback result are performed；
3) sequential and control instruction are performed, the wherein transmission cycle of control instruction is 10ms；
4) main actuator analog quantity test parameter order is performed；
5) rolling control actuator analog quantity test；
6) parameter is bound；
7) program is bound.
Further, the protocol data processing module includes following functions：
1) 1553B bus protocol data are parsed, invalid data is handled；
2) 1553B bus protocols data are distributed to corresponding simulation unit；
3) simulation unit feedback data is obtained；
4) lower layer interface feedback data to the test equipment is passed through；
5) adc data is obtained；
6) DAC data are sent.
(3) beneficial effect
The beneficial effects of the invention are as follows：
(1) employ digitizing technique, can servo system controller on imitating shell, be used as the quick checking device end real
Now 1553B bus type servo-drive system test equipments end equipment, analog acquisition equipment and digital cable connection status are carried out quick
Function and performance detection verification, effectively improve the self calibration automatic test level of 1553B bus type servo-drive system test equipments.
(2) in the case where specifying excitation, analog servo system completes signal feedback, and quickly the test equipment software can be set
Parameter is put to be detected；
(3) utilize its autgmentability, it is possible to achieve multichannel analog amount is exported, complete test equipment numeral described in different model
The verifying work of analog acquisition, small volume is easy to carry, it is adaptable to which military enterprise's test equipment carries out detection school in outfield
Test.
Brief description of the drawings
The present invention is further described with reference to the accompanying drawings and examples.
Fig. 1 is the quick checking device fundamental diagram of the 1553B bus type servo-drive system test equipments of the present invention.
Fig. 2 is the quick checking device hardware system structure figure of the 1553B bus type servo-drive system test equipments of the present invention.
Fig. 3 is the quick checking device software system structure figure of the 1553B bus type servo-drive system test equipments of the present invention.
Embodiment
Reference picture 1, the quick checking device of 1553B bus type servo-drive system test equipments of the invention passes through analog quantity electricity
Cable and 1553B buses are interacted with the test equipment.The test equipment is filled by 1553B buses to the rapid verification
Transmission command signal is put, the quick checking device receives the letter that the outside test equipment is sent using transformer coupled mode
Number, and by the signal resolution into analog output to respective socket on signal it is high-end.Now, the test equipment can pass through
Analog acquisition board is acquired by analog quantity cable to imitated output quantity, judge 1553B buses transmission signal whether
Correctly, whether precision reaches design requirement.
1553B bus type servo-drive system test equipments quick checking device includes five functional modules：Data management module,
DSP data processing modules, MIL-STD-1553B bus communication modules, FPGA/CPU Logic control modules and servo-drive system are special
Levy analog module.Wherein, data management module is interacted with DSP data processing modules, DSP data processing modules and MIL-
STD-1553B bus communication modules are interacted, data management module, DSP data processing modules, MIL-STD-1553B bus communications
Module can be interacted with FPGA/CPU Logic control modules respectively, FPGA/CPU Logic control modules and servo-drive system characteristic simulation mould
Block is interacted.
1553B bus type servo-drive system test equipments quick checking device includes hardware system and software systems.
1st, reference picture 2, the hardware system is as follows：
1553B bus type servo-drive system test equipment quick checking devices are to be based on high-performance Power PC Processor
The integrated embedded system hardware platform of MPC8280 low power consumption digital/simulation, including embedded system platform, power module,
1553B buses, analog output, RS232 interfaces and a 100 m ethernet interface.The quick checking device output correspondence is closed
System is as shown in table 1.
The 1553B bus type servo-drive system test equipments quick checking device of table 1 exports corresponding relation
(1) embedded system platform
MPC8280 is made up of embedded Power PC core (G2_LE) and Communications Processor Module (CPM), Power PC core
(G2_LE) it is a kind of embedded MPC603e microprocessors, it has 16KB instruction buffers and 16K data buffer storages.Communication process mould
Block (CPM) has shared the periphery work of embedded Power PC core, and the architecture of this dual processor is compared to traditional system
The power consumption of processing unit of structure is much smaller.MPC8280 system interface units include flexible storage control, a 60x-
To-PCI bus bridges.MPC8280 Communications Processor Module (CPM) is while support 3 quick serial communication controllers (FCC), 2
Individual Multi Channel Controller (MCC), 4 serial communication controllers (SCC), 2 Serial Management Controllers (SMC), 1 Serial Peripheral
Interface (SPI) and an I2C interface.
The Boot Flash that MPC8280 includes a 1MB start code for storage, 64MB storage Flash is used
System effectiveness is improved in storage system file and user data, 64bits/256MB SDRAM, while using 1 CPLD processing
Logic on plate.Boot flash, data Flash and SDRAM are articulated in MPC8280 60X buses.And it is equipped with necessary electricity
Source, clock and reseting module,
System debug for convenience, is utilized respectively CPM Serial Management Controller (SMC) extension RS232 interfaces, fast all the way
Fast serial communication controller (FCC) extends 100 m ethernet interface all the way.
(2) power module
The quick checking device provides 28V dc sources by outside, and inside is converted to 28V using DC-DC module+
5V, ± 15 outputs, and+3.3V ,+the 1.5V operating voltage that functional module needs in the quick checking device, then pass through DC-DC
Chip is converted by+5V.
(3) 1553B buses
1553B buses (RT) realize that corresponding isolating transformer uses B-3226 from the micro- SM61581S6 of Shenzhen state, become
Pressure ratio selection 1：1.79, using transformer coupled mode.SM61581S6 be integrated with two transceivers, agreement, memory management,
Processor interface logic and a RAM.SM61581S6 internal RAMs can provide 16 bit data bus and 16 bit address buses (are set
Meter is actual to use 13 bit address lines) for CPU read-writes；Active and standby two-way 1553B differential lines are provided with 1553B buses to be connected.
SM61581S6 is received and come to the instruction of the test equipment as 1553B buses (RT), and carries out parsing to instruction by CPU
Reason.
(4) analog output
To realize to whether digital signal output accurately verifies, by data signal calibration equipment internal conversion for simulation
Signal.Analog output voltage signal scope is -10V~+10V, is realized from ADI companies AD5547BRUZ, and AD5547BRUZ is
Binary channels, precision, 16, multiplication, low-power consumption, electric current output, input digital analog converter parallel, powered using+5V single supplies, four
The multiplication reference voltage of quadrant output is ± 10V, and output bandwidth reaches as high as 4MHz.Needed because AD5547BRUZ two-way is exported
It is coupled with above 48 pins of 8255 connectors, so respectively using 6 operational amplifiers to AD5547BRUZ two-way
Output signal carries out following processing, then is output on 8255 stitch, so not only ensure that port number but also had realized between passage
It is mutually isolated.
Meanwhile, the AD5547BRUZ two paths of signals exported is entered using high-precision analog digital quantizer (ADC) AD7006
Row back production is monitored.
2nd, reference picture 3, the software systems are as follows:
The software systems of 1553B bus type servo-drive system test equipment quick checking devices are used in no servo-drive system
In the case of analog servo system function.The software systems include the embedded software that operates in the quick checking device and
Operate in the control software of control computer.The software systems include configuration parameter acquisition module, configuration preserving module, verification
Data generation module, the quick checking device (RT) function equivalent module, protocol data processing module, 1553B data-interfaces
Module, analogue data interface module, operating system, file system, driving, board suppot package.
The operating system of the software systems is VxWorks 5.5.1, and it can reliably ensure real-time, and cut performance
It is good.The quick checking device operating system uses Vxworks, and the CPU according to use and the exploitation of single plate hardware peripheral chip
Corresponding board suppot package and driving, file system use FAT32 file system.
Software systems are divided into BSP bags module and drive module, and BSP bags module mainly completes configuration CPU and related peripherals, added
Carry the function that operating system and other needs are supported；Drive module mainly includes 1553B buses (i.e. SM61581S6) chip and driven
Dynamic and ADC/DAC drivings.
1553B data interface modules include following functions：
1) data are obtained from 1553B buses (i.e. SM61581S6)；
2) CRC check is performed, verification is by then sending the data to application module；If failure, BU61580 corresponding states are set
Position, and misregistration；
3) the 1553B bus message data of application module transmission are received；
4) calculate message packets crc value and organize bag；
5) packet of generation is sent to 1553B buses (i.e. SM61581S6) internal memory by driving；
6) in above-mentioned steps, CRC is CRC16 check codes.
Calibration equipment data generation module includes following functions：
1) equivalent data is generated according to configuration file；
2) according to parameter bookbinding generation verification data of the test equipment to the quick checking device；
The quick checking device function check module includes following functions：
1) self-inspection and feedback result；
2) synch command and feedback result are performed；
3) sequential and control instruction are performed, the wherein transmission cycle of control instruction is 10ms.4) main actuator simulation is performed
Measure examination parameter command；
5) rolling control actuator analog quantity test；
6) parameter is bound；
7) program is bound.
Protocol data processing module includes following functions：
1) 1553B bus protocol data are parsed, invalid data is handled；
2) 1553B bus protocols data are distributed to corresponding simulation unit；
3) simulation unit feedback data is obtained；
4) lower layer interface feedback data to the test equipment is passed through；
5) adc data is obtained；
6) DAC data are sent.
Claims (10)
1. a kind of quick checking device of 1553B bus types servo-drive system test equipment, it is characterised in that：The rapid verification dress
Put and interacted by analog quantity cable and 1553B buses with the test equipment, the test equipment by 1553B buses to
The quick checking device sends command signal, and the quick checking device receives the outside survey using transformer coupled mode
The signal sent of examination equipment, and by the signal resolution into analog output to respective socket on signal it is high-end, the test
Equipment can be acquired by analog acquisition board by analog quantity cable to imitated output quantity, judge that 1553B buses are transmitted
Signal it is whether correct, whether precision reaches design requirement；The quick checking device includes five functional modules：Data management
Module, DSP data processing modules, MIL-STD-1553B bus communication modules, FPGA/CPU Logic control modules and servo system
System characteristic simulation module；Wherein, data management module is interacted with DSP data processing modules, DSP data processing modules with
MIL-STD-1553B bus communication modules are interacted, data management module, DSP data processing modules, MIL-STD-1553B buses
Communication module can be interacted with FPGA/CPU Logic control modules respectively, FPGA/CPU Logic control modules and servo-drive system character modules
Intend module interaction；The quick checking device includes hardware system and software systems.
2. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 1, its feature exists
In：The hardware system is the integrated embedded system hardware platform of the low power consumption digital based on Power PC Processor/simulation,
Connect including embedded system platform, power module, 1553B buses, analog output, RS232 interfaces and a 100 m ethernet
Mouthful.
3. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 2, its feature exists
In：The Power PC Processor is MPC8280, and in the embedded system platform, MPC8280 is in embedded PowerPC
Core and Communications Processor Module composition, Communications Processor Module share the periphery work of embedded Power PC core；MPC8280's connects
Mouth unit includes storage control, a 60x-to-PCI bus bridge；MPC8280 Communications Processor Module supports 3 simultaneously
Individual serial communication controller, 2 Multi Channel Controllers, 4 serial communication controllers, 2 Serial Management Controllers, 1 it is serial
Peripheral interface and an I2C interface；The MPC8280 also includes a BOOTROM, storage Flash, SDRAM, one
Individual CPLD, BOOTROM, Flash and SDRAM are articulated in MPC8280 60X buses；It is utilized respectively Communication processing module
RS232 interfaces, Fast Sequential communication controler extend 100 m ethernet interface all the way all the way for Serial Management Controller extension.
4. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 2, its feature exists
In：In the power module, the quick checking device provides 28V dc sources by outside, and inside will using DC-DC module
28V be converted to+5V, ± 15 output, and in the quick checking device functional module need+3.3V ,+1.5V operating voltage,
Converted again by DC-DC chips by+5V.
5. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 2, its feature exists
In：The 1553B buses are integrated with two transceivers, agreement, memory management, processor interface logic and a RAM；Institute
16 bit data bus and 16 bit address buses can be provided for CPU read-writes by stating 1553B buses internal RAM；Active and standby two-way 1553B is provided
Differential lines are connected with 1553B buses；The instruction from the test equipment is received, and dissection process is carried out to instruction by CPU.
6. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 2, its feature exists
In：In analog output, by data signal the calibration equipment internal conversion be analog signal, analog output voltage signal
Scope is -10V~+10V, is realized from ADI companies AD5547BRUZ；Meanwhile, using high-precision analog digital quantizer
The two paths of signals that AD7006 is exported to AD5547BRUZ carries out back production monitoring.
7. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 1, its feature exists
In：The software systems are used for the analog servo system function in the case of no servo-drive system, and the software systems include fortune
Embedded software of the row in the quick checking device and the control software for operating in control computer, the software systems bag
Include configuration parameter acquisition module, configuration preserving module, verification data generation module, the quick checking device function equivalent mould
Block, protocol data processing module, 1553B data interface modules, analogue data interface module, operating system, file system, drive
Dynamic, board suppot package.
8. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 7, its feature exists
In：The 1553B data interface modules include following functions：
1) data are obtained from 1553B buses；
2) CRC check is performed, verification is by then sending the data to application module；If failure, BU61580 corresponding states position is set,
And misregistration；
3) the 1553B bus message data of application module transmission are received；
4) calculate message packets crc value and organize bag；
5) packet of generation is sent to 1553B bus memories by driving.
9. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 7, its feature exists
In：The quick checking device function check module includes following functions：
1) self-inspection and feedback result；
2) synch command and feedback result are performed；
3) sequential and control instruction are performed, the wherein transmission cycle of control instruction is 10ms；
4) main actuator analog quantity test parameter order is performed；
5) rolling control actuator analog quantity test；
6) parameter is bound；
7) program is bound.
10. a kind of quick checking device of 1553B bus types servo-drive system test equipment as claimed in claim 7, its feature
It is：The protocol data processing module includes following functions：
1) 1553B bus protocol data are parsed, invalid data is handled；
2) 1553B bus protocols data are distributed to corresponding simulation unit；
3) simulation unit feedback data is obtained；
4) lower layer interface feedback data to the test equipment is passed through；
5) adc data is obtained；
6) DAC data are sent.
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| CN109344019A (en) * | 2018-09-21 | 2019-02-15 | 北京计算机技术及应用研究所 | 1553B agreement general-purpose interface semi-automation test macro and method based on SOPC system |
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| CN111942616A (en) * | 2020-08-24 | 2020-11-17 | 北京特种机械研究所 | 1553B bus type falling frame test equipment and method |
| CN112631171A (en) * | 2020-12-10 | 2021-04-09 | 南京理工大学 | Servo control system and control method based on MIL-STD-1553B bus protocol |
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| CN115061852A (en) * | 2022-08-15 | 2022-09-16 | 广东科伺智能科技有限公司 | Functional board card, production system of functional board card and use method of servo system |
| CN115599074A (en) * | 2022-10-21 | 2023-01-13 | 扬州宇安电子科技有限公司（Cn） | Main control board software and hardware testing method, device and system |
| CN116756043A (en) * | 2023-08-10 | 2023-09-15 | 东方空间技术(山东)有限公司 | Software testing method, device and equipment of target equipment and storage medium |
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| CN113848846B (en) * | 2021-08-18 | 2023-10-31 | 北京精密机电控制设备研究所 | Online upgrade method for heterogeneous network servo controller combined software |
| CN115061852A (en) * | 2022-08-15 | 2022-09-16 | 广东科伺智能科技有限公司 | Functional board card, production system of functional board card and use method of servo system |
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| CN116756043A (en) * | 2023-08-10 | 2023-09-15 | 东方空间技术(山东)有限公司 | Software testing method, device and equipment of target equipment and storage medium |
| CN116756043B (en) * | 2023-08-10 | 2023-11-03 | 东方空间技术(山东)有限公司 | Software testing method, device and equipment of target equipment and storage medium |
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