CN107703917A - Controller performance detection method and system - Google Patents
Controller performance detection method and system Download PDFInfo
- Publication number
- CN107703917A CN107703917A CN201710991103.2A CN201710991103A CN107703917A CN 107703917 A CN107703917 A CN 107703917A CN 201710991103 A CN201710991103 A CN 201710991103A CN 107703917 A CN107703917 A CN 107703917A
- Authority
- CN
- China
- Prior art keywords
- information
- controller
- kinematics parameters
- output
- control
- 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.)
- Pending
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
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0221—Preprocessing measurements, e.g. data collection rate adjustment; Standardization of measurements; Time series or signal analysis, e.g. frequency analysis or wavelets; Trustworthiness of measurements; Indexes therefor; Measurements using easily measured parameters to estimate parameters difficult to measure; Virtual sensor creation; De-noising; Sensor fusion; Unconventional preprocessing inherently present in specific fault detection methods like PCA-based methods
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Feedback Control In General (AREA)
Abstract
The invention provides a kind of controller performance detection method and system, it is related to robotic technology field, to solve the technical problem that method of testing is cumbersome present in prior art, efficiency is low, method of testing can be simplified, improve operating efficiency.Wherein, this method includes the control performance information of acquisition controller, and analysis calculating is carried out to control performance information, obtain kinematics parameters information, kinematics parameters information is evaluated according to evaluation criterion, obtains evaluation result information, by kinematics parameters information and evaluation result information output display.
Description
Technical field
The present invention relates to robotic technology field, more particularly, to a kind of controller performance detection method and system.
Background technology
Robot development in recent years is swift and violent, and application is more and more wider.Industry and some special dimensions are to robot technology requirement
Also more and more higher.Controller is robot core part, and its function and performance quality directly determine the function and property of robot
Energy.The method of traditional detection robot controller has：Tested using controller+robot in kind, with instrument or sensing
Device is detected, and is obtained data and is carried out calculating analysis, is finally evaluated.Error is introduced to controller in the presence of robot in kind
It can have a great influence；Because controller species is more, can not directly same robot in kind matching, its result can not compare without referential
Compared with its performance.Shortcoming is that real machine people's space is big, and process is cumbersome, and detection and evaluation method be not comprehensive, is not also formed
Standardization and sequencing.
The problem of existing for above-mentioned traditional robot controller detection method, a kind of controller performance detection side is invented
Method and system, solves problem above.
The content of the invention
In view of this, it is an object of the invention to provide controller performance detection method and system, to alleviate prior art
Middle traditional robot controller detection method needs that space existing for real machine people is big, and process is cumbersome, detection and evaluation
The incomplete problem of method, method of testing can be simplified, improve operating efficiency, be furthermore possible to more comprehensively detect and evaluate control
Device performance processed, be advantageous to the standardization and sequencing of detection method and evaluation criterion.
In a first aspect, the embodiments of the invention provide a kind of controller performance detection method, wherein, including：
The control performance information of acquisition controller；
Analysis calculating is carried out to the control performance information, obtains kinematics parameters information；
The kinematics parameters information is evaluated according to evaluation criterion, obtains evaluation result information；
By the kinematics parameters information and the evaluation result information output display.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the first of first aspect, wherein, institute
Stating the control performance information of acquisition controller includes：
First output information of acquisition controller, and first output information is changed, the output letter of generation second
Breath；
Second output information is counted and timing, obtain the movement instruction.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of second of first aspect, wherein, institute
Stating control performance information includes posture information, and the kinematics parameters information includes repetitive positioning accuracy information, described to described
Control performance information carries out analysis calculating, and obtaining kinematics parameters information includes：
The test preparatory condition of setting first, first preparatory condition include the first load value, First Speed threshold value, preset
Positional information and first circulation number；
Position movement is carried out according to the described first test preparatory condition control machine people, obtains the posture information；
Repeatedly analysis is carried out to the posture information to calculate, and obtains the repetitive positioning accuracy information.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the third of first aspect, wherein, institute
Stating control performance information includes fitting a straight line information, and the kinematics parameters information includes space line path accuracy information, institute
State and analysis calculating is carried out to the control performance information, obtaining kinematics parameters information includes：
The test preparatory condition of setting second, the second test preparatory condition include the second load value, second speed threshold value, preset
Straight line information and second circulation number；
Moved linearly according to the described second test preparatory condition control machine people, obtain the fitting a straight line information；
Analysis calculating is carried out to the fitting a straight line information, obtains the space line path accuracy information.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 4th of first aspect kind, wherein, institute
Stating control performance information includes fitting circle arc information, and the kinematics parameters information includes space circular arc path accuracy information, institute
State and analysis calculating is carried out to the control performance information, obtaining kinematics parameters information includes：
Set the 3rd test preparatory condition, it is described 3rd test preparatory condition include the 3rd load value, third speed threshold value,
Preset diameters information and the 3rd cycle-index；
Circular arc movement is carried out according to the described 3rd test preparatory condition control machine people, obtains the fitting circular-arc information；
Analysis calculating is carried out to the fitting circular-arc information, obtains the space circular arc path accuracy information.
With reference in a first aspect, the embodiments of the invention provide the possible embodiment of the 5th of first aspect kind, wherein, institute
Stating control performance information includes motor actual rotational angle information and electric machine theory corner information, and the kinematics parameters information includes position
Control accuracy information is put, it is described that analysis calculating is carried out to the control performance information according to control algolithm, obtain kinematics parameters
Information includes：
The pulse information of acquisition controller, and the motor actual rotational angle information is calculated according to the pulse information；
First and last location point information is set, and according to the first and last location point information gathering motor corner information；
The electric machine theory corner information is obtained according to the motor corner information；
Deviation is carried out to the motor actual rotational angle information and the electric machine theory corner information according to the control algolithm
Calculate, obtain the position control accuracy information.
With reference to the first possible embodiment of first aspect, the embodiments of the invention provide the 6th of first aspect kind
Possible embodiment, wherein, methods described also includes：
First output information is adjusted according to the evaluation result information, generates the 3rd output information.
Second aspect, the embodiment of the present invention also provide a kind of controller performance detecting system, wherein, including：
Collecting unit, the control performance information for acquisition controller；
Detection unit is controlled, for carrying out analysis calculating to the control performance information, obtains kinematics parameters information；
Evaluation unit, for being evaluated according to evaluation criterion the kinematics parameters information, obtain evaluation result letter
Breath；
Display unit, for by the kinematics parameters information and the evaluation result information output display.
With reference to second aspect, the embodiments of the invention provide the possible embodiment of the first of second aspect, wherein, institute
Stating collecting unit includes：
Multiplexer, changed for the first output information of acquisition controller, and to first output information,
Generate the second output information；
Data collecting system, for being counted to second output information and timing, obtain the control performance letter
Breath.
With reference to the first possible embodiment of second aspect, the embodiments of the invention provide second of second aspect
Possible embodiment, wherein, the system also includes：
Controller, for being adjusted according to the evaluation result information to first output information, generation the 3rd is defeated
Go out information.
The embodiment of the present invention brings following beneficial effect：Controller performance detection method and system provided by the invention,
Control performance information including acquisition controller, analysis calculating is carried out to the control performance information, obtain kinematics parameters letter
Breath, evaluates the kinematics parameters information according to evaluation criterion, evaluation result information is obtained, by the kinematics parameters
Information and the evaluation result information output display.The present invention can simplify method of testing, improve operating efficiency.
Other features and advantages of the present invention will illustrate in the following description, also, partly become from specification
Obtain it is clear that or being understood by implementing the present invention.The purpose of the present invention and other advantages are in specification, claims
And specifically noted structure is realized and obtained in accompanying drawing.
To enable the above objects, features and advantages of the present invention to become apparent, preferred embodiment cited below particularly, and coordinate
Appended accompanying drawing, is described in detail below.
Brief description of the drawings
, below will be to specific in order to illustrate more clearly of the specific embodiment of the invention or technical scheme of the prior art
The required accompanying drawing used is briefly described in embodiment or description of the prior art, it should be apparent that, in describing below
Accompanying drawing is some embodiments of the present invention, for those of ordinary skill in the art, before creative work is not paid
Put, other accompanying drawings can also be obtained according to these accompanying drawings.
Fig. 1 is the controller performance detection method flow chart that the embodiment of the present invention one provides；
Fig. 2 is the particular flow sheet of the control performance information Step for the acquisition controller that the embodiment of the present invention two provides；
Fig. 3 is the controller test platform structure schematic diagram that the embodiment of the present invention three provides；
Fig. 4 is the controller performance detecting system schematic diagram that the embodiment of the present invention four provides.
Icon：100- collecting units；110- multiplexers；120- data collecting systems；200- controls detection unit；
300- evaluation units；400- display units；500- controllers.
Embodiment
To make the purpose, technical scheme and advantage of the embodiment of the present invention clearer, below in conjunction with accompanying drawing to the present invention
Technical scheme be clearly and completely described, it is clear that described embodiment is part of the embodiment of the present invention, rather than
Whole embodiments.Based on the embodiment in the present invention, those of ordinary skill in the art are not making creative work premise
Lower obtained every other embodiment, belongs to the scope of protection of the invention.
At present, in the test to robot controller performance, without individual event performance detection and evaluation method means, so exist
Need repeatedly to call the test program to match in actual test, when testing the multinomial performance index of controller, process
Very cumbersome operation sequence could complete the test and evaluation to properties.
Based on this, controller performance detection method and system provided in an embodiment of the present invention, method of testing can be simplified, carried
High workload efficiency.
For ease of understanding the present embodiment, first to the controller performance detection method disclosed in the embodiment of the present invention
Describe in detail.
Embodiment one：
Fig. 1 is the controller performance detection method flow chart that the embodiment of the present invention one provides.
Reference picture 1, controller performance detection method comprise the following steps：
Step S110, the control performance information of acquisition controller.
Specifically, because amount controller to be measured has a variety of brands or model, its data exported has a variety of communication marks
Standard, therefore in order to carry out normal data communication, it is desirable to provide there is the intermediate equipment changed to data, turn herein for multichannel
Parallel operation.The output information of controller is handled and matches transmission to data collecting system by multiplexer；Data acquisition system
Unite and the output information of controller is analyzed and processed, get the movement instruction of controller reality output.According to robot not
Same moving process, movement instruction are corresponding with different control performance information, such as pose, straight line, circular arc and position control etc.
The information of aspect.
Step S120, analysis calculating is carried out to control performance information, obtains kinematics parameters information.
Specifically, by controlling computer installed and invoking and control performance information match Wireless Test Toolset, Wireless Test Toolset
In contain control algolithm, according to control algolithm to carrying out analysis calculating to control performance information, obtain kinematics parameters information.Control
Algorithm processed can be the calculation procedure for including kinematics formula, kinematics parameters information include terminal position, speed, acceleration,
The many kinds of parameters such as corner, angular speed, angular acceleration, movement locus.
Step S130, kinematics parameters information is evaluated according to evaluation criterion, obtains evaluation result information；
Specifically, by assessment process, according to statistics, calculate and with reference to aspect evaluation criterion to kinematics parameters information
Evaluated, export evaluation result information.In addition, evaluation result information can feed back to controller, so that controller is moving
During the data message of output is adjusted according to the evaluation result information of feedback.
Step S140, by kinematics parameters information and evaluation result information output display.
Specifically, kinematics parameters information can be with chart, evaluation table, 3-D graphic or its other party with evaluation result information
Formula is shown on the interface of display system.
Embodiment two：
Fig. 2 is the collection movement instruction method flow diagram that the embodiment of the present invention two provides.
Reference picture 2, in controller performance detection method step S110 realization comprise the following steps：
Step S210, the first output information of acquisition controller, and the first output information is changed, generation second is defeated
Go out information；
Step S220, is counted and timing to the second output information, obtains control performance information.
Specifically, multiplexer directly obtains the first output information of controller, by the first output information be converted to
The second output information that data collecting system matches, complete the conversion of communication standard and transmit the second output information to data
Acquisition system；Data collecting system has A/D inputs, D/A outputs, timing/timer and other a variety of operational modules, can be complete
The analysis (statistics, timing, calculating etc.) of paired second output information, obtains control performance information.
In addition, controller performance detection method also comprises the following steps：
The first output information is adjusted according to evaluation result information, generates the 3rd output information.
Specifically, controlling computer by evaluation result feedback of the information to controller, controller is in motion process according to feedback
Evaluation result information (such as pulse period etc. of adjustment output information) is adjusted to the first output information, generation the 3rd is defeated
Go out information.
Controller motion control test mainly includes repetitive positioning accuracy test, straight path accuracy test, space circular arc
Path accuracy is tested and position control accuracy tests four aspect contents.The four aspect contents for more than, controller performance is examined
Step S120 does specific expansion description in survey method.
Include posture information in control performance information, kinematics parameters information includes the situation of repetitive positioning accuracy information
Under, in controller performance detection method step S120 realization may include steps of：
First, setting first test preparatory condition, first preparatory condition include the first load value, First Speed threshold value,
Preset position information and first circulation number.
Specifically, the first test preparatory condition is as shown in table 1.
Table 1
| Load | Speed | Position | Cycle-index |
| 0% nominal load | 50%th, 100% normal speed | P1-P2-P3-P4-P5 | 30 |
Secondly, position movement is carried out according to the first test preparatory condition control machine people, obtains posture information.
Specifically, measuring method, since P1, robot is moved to P5, P4, P3, P2, P1 circulation measurement 30 times successively, often
It is secondary to be measured at arrival end, obtain posture information.
Finally, repeatedly analysis is carried out to posture information according to control algolithm to calculate, obtains repetitive positioning accuracy information.
Specifically, First Speed threshold value be 50% and 100% normal speed in the case of, be divided to two groups record successively P5,
P4, P3, P2 and P1 repeatable accuracy value, and average value and maximum are calculated respectively, analyze to obtain repetitive positioning accuracy letter with this
Breath.
Include fitting a straight line information in control performance information, kinematics parameters information includes space line path accuracy information
In the case of, in controller performance detection method step S120 realization can also comprise the following steps：
First, the test of setting second preparatory condition, above-mentioned second test preparatory condition include the second load value, second speed
Threshold value, default straight line information and second circulation number.
Specifically, the second test preparatory condition is as shown in table 2.
Table 2
| Load | Speed | Straight line | Cycle-index |
| 0% nominal load | 8m/min, 20m/min, 40m/min | P2-P4-P2 | 3 |
| 0% nominal load | 8m/min, 20m/min, 40m/min | P3-P5-P3 | 3 |
Secondly, moved linearly according to the second test preparatory condition control machine people, obtain fitting a straight line information.
Finally, analysis calculating is carried out to fitting a straight line information according to control algolithm, obtains space line path accuracy information.
Specifically, since P2, robot is moved to P3, returns P2 and circulates 3 times.Controller is using automatic triggering pattern
Positional information is gathered, straight line is fitted, obtains fitting a straight line information.The maximum fitness bias of the straight line is set to space line
Path accuracy.P3-P5-P3 straight paths method of testing is similarly.
Include fitting circle arc information in control performance information, kinematics parameters information includes space circular arc path accuracy information
In the case of, in controller performance detection method step S120 realization can also comprise the following steps：
First, the test of setting the 3rd preparatory condition, the 3rd test preparatory condition include the 3rd load value, third speed threshold
Value, preset diameters information and the 3rd cycle-index.
Specifically, the 3rd test preparatory condition is as shown in table 3.
Table 3
| Load | Speed | Diameter | Cycle-index |
| 0% nominal load | 8m/min, 20m/min, 40m/min | 400mm | 3 |
Secondly, circular arc movement is carried out according to the 3rd test preparatory condition control machine people, obtains being fitted circular-arc information.
Finally, analysis calculating is carried out to fitting circular-arc information according to control algolithm, obtains space circular arc path accuracy information.
Specifically, robot uses arc interpolation, track is the test trails in test plane using P1 as the center of circle
Inscribed circle, three times, controller is finally fitted a circle, is obtained being fitted circular arc letter using automatic triggering pattern gathered data for circulation
Breath.The maximum fitness bias of circular arc is defined as space circular arc path accuracy.
Include motor actual rotational angle information and electric machine theory corner information, kinematics parameters packet in control performance information
In the case of including position control accuracy information, step S120 realization can also be including following step in controller performance detection method
Suddenly：
First, the pulse information of acquisition controller, and motor actual rotational angle information is calculated according to pulse information；
Secondly, first and last location point information is set, and according to first and last location point information gathering motor corner information；
Again, electric machine theory corner information is obtained according to motor corner information；
Finally, deviation calculating is carried out to motor actual rotational angle information and electric machine theory corner information according to control algolithm, obtained
To position control accuracy information.
Specifically, the position control accuracy of controller is detected with 3DOF virtual parallel robot.Set robot
First and last location point is respectively A and B.Acquisition controller pulse information simultaneously counts 3 tunnels：N1, N2 and N3, unit is " individual ", to pulse
Information time counts：T1, T2 and T3, unit is " second ", and gathers individual pulse corner；First and last location point can also be known simultaneously
A and B motor corner.Way counting, time counting and individual pulse corner in pulse information, can be real in the hope of motor
Border corner information；Electric machine theory corner information is obtained according to motor corner information, i.e., with first and last location point A and B motor corner
Make the difference and try to achieve electric machine theory corner information and be：(α1-β1,α2-β2,α3-β3)；Finally, virtual parallel robot is from first location point A
The deviation for moving to last location point B motors actual rotational angle and theoretical corner is：(|α1-β1-Q1|,|α2-β2-Q2|,|α3-β3-Q
3 |), wherein, location point A three groups of motor corners headed by β 1, β 2 and β 3, three groups of motors that α 1, α 2 and α 3 are last location point B turn
Angle, Q1, Q2 and Q3 are three groups of motor actual rotational angles.The deviation of motor actual rotational angle and theoretical corner judges that terminal position is inclined
Difference, the position control accuracy of Indirect evaluation controller.
Embodiment three：
Fig. 3 is the controller test platform structure schematic diagram that the embodiment of the present invention three provides.
Reference picture 3, controller test platform include electric power system, controller, electric input/output unit, multipath conversion
Device, data collecting system, control computer, server and display system, wherein, control computer includes virtual robot, data
Processing system and Wireless Test Toolset.
Electric power system provides operating voltage for other components.Electric input/output unit can acquisition controller it is other
General-purpose interface output signal, or emulation external security control device or other input signals, such as scram button.Tester mainly wraps
Digital oscilloscope, logic analyser and universal meter etc. are included, is mainly used in testing controller output interface electric property.It is more
The data message that the robot controller of different brands, model exports is handled, matches to send to data and adopt by road converter
Collecting system and then control virtual robot motion.Data collecting system monitoring and the movement instruction of acquisition controller.Virtual machine
People provides three test models, including 6DOF robot, SCARA robots and Delta robots, it is possible to achieve robot
Body kinematics, fortune Mechanics Simulation, the various working conditions of real machine people are simulated by changing parameter；Coding can also be realized
The I/O signal simulations such as device, security control, alarm, and signal interaction can be carried out with controller by the general connection equipment of device processed；Also
Integrated multiple kinds analytical capabilities, the various motions of virtual robot are converted into by controller control signal.Control computer will
The movement instruction of controller output is handled through data handling system and is stored in server, and test processes are being carried out to movement instruction
During, it is necessary to installed and invoking Wireless Test Toolset.Display system is used for showing various data in test process and to surveying
The control of examination process, multiple displays can be included, be respectively intended to show that various parameters are matched somebody with somebody in the main interface of test, measurement process
Put, test process data and three-dimensional artificial robot figure and evaluation result information etc., and the above can be beaten
Print is set.
Can be with back-to-back running state to controller in virtual robot motion process, controller is according to the evaluation knot fed back to
Fruit information, the motion control signal in next cycle is suitably adjusted by the control algolithm (such as pid algorithm) carried.
It should be noted that Wireless Test Toolset is to support the programming system of robot control detection, it would be preferable to support above-mentioned
The functions such as kinematics test, packet parsing.
Specifically, 1 kinematics Wireless Test Toolset
By taking interpolation operation as an example：The test that numerical value by adjusting " F=" is regulated the speed.Then with " x=" and " y=" from
Give x, y assignment.Then corresponding interpolation operation is tested.
2 packet parsing kits
Packet parsing mainly includes two Core Features, is that controller control data extraction module and data format turn respectively
Change the mold block.Controller control data extraction module is believed with CAN interface card, etherCAT slave stations card, pulse signal acquisition card, numeral
Number capture card extraction data, then carry out the conversion of data format by data format conversion module, are converted to unified form number
According to output.
Example IV：
Fig. 4 is the controller performance detecting system schematic diagram that the embodiment of the present invention four provides.
Reference picture 4, controller performance detecting system include：
Collecting unit 100, the control performance information for acquisition controller；
Detection unit 200 is controlled, for carrying out analysis calculating to control performance information, obtains kinematics parameters information；
Evaluation unit 300, for being evaluated according to evaluation criterion kinematics parameters information, obtain evaluation result letter
Breath；
Display unit 400, for by kinematics parameters information and evaluation result information output display.
According to the exemplary embodiment of the present invention, collecting unit 100 includes：
Multiplexer 110, for the first output information of acquisition controller, and output information is changed, generated
Second output information；
Data collecting system 120, for being counted to the second output information and timing, obtain movement instruction.
According to the exemplary embodiment of the present invention, controller performance detecting system also includes：
Controller 500, for being adjusted according to evaluation result information to the first output information, the output letter of generation the 3rd
Breath.
The controller performance detecting system that the embodiment of the present invention is provided, its realization principle and caused technique effect are with before
It is identical to state embodiment of the method, to briefly describe, controller performance detecting system embodiment part does not refer to part, refers to foregoing
Corresponding contents in embodiment of the method.
The embodiment of the present invention brings following beneficial effect：Controller performance detection method and system provided by the invention,
Control performance information including acquisition controller, analysis calculating is carried out to control performance information according to control algolithm, moved
Parameter information is learned, kinematics parameters information is evaluated according to evaluation criterion, evaluation result information is obtained, by kinematics parameters
Information and evaluation result information output display.The present invention can simplify method of testing, improve detection efficiency, can realize to control
The test respectively of device individual event performance.
In addition, in the description of the embodiment of the present invention, unless otherwise clearly defined and limited, term " installation ", " phase
Even ", " connection " should be interpreted broadly, for example, it may be being fixedly connected or being detachably connected, or be integrally connected；Can
To be mechanical connection or electrical connection；Can be joined directly together, can also be indirectly connected by intermediary, Ke Yishi
The connection of two element internals.For the ordinary skill in the art, with concrete condition above-mentioned term can be understood at this
Concrete meaning in invention.
In the description of the invention, it is necessary to explanation, term " " center ", " on ", " under ", "left", "right", " vertical ",
The orientation or position relationship of the instruction such as " level ", " interior ", " outer " be based on orientation shown in the drawings or position relationship, merely to
Be easy to the description present invention and simplify description, rather than instruction or imply signified device or element must have specific orientation,
With specific azimuth configuration and operation, therefore it is not considered as limiting the invention.In addition, term " first ", " second ",
" the 3rd " is only used for describing purpose, and it is not intended that instruction or hint relative importance.
What the embodiment of the present invention was provided is controlled the computer program product of device method for testing performance, including stores
The computer-readable recording medium of the executable non-volatile program code of processor, the instruction that described program code includes can use
In the method described in previous methods embodiment that performs, specific implementation can be found in embodiment of the method, will not be repeated here.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.Device embodiment described above is only schematical, for example, the division of the unit,
Only a kind of division of logic function, can there is other dividing mode when actually realizing, in another example, multiple units or component can
To combine or be desirably integrated into another system, or some features can be ignored, or not perform.It is another, it is shown or beg for
The mutual coupling of opinion or direct-coupling or communication connection can be by some communication interfaces, device or unit it is indirect
Coupling or communication connection, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in the executable non-volatile computer read/write memory medium of a processor.Based on such understanding, the present invention
The part that is substantially contributed in other words to prior art of technical scheme or the part of the technical scheme can be with software
The form of product is embodied, and the computer software product is stored in a storage medium, including some instructions are causing
One computer equipment (can be personal computer, server, or network equipment etc.) performs each embodiment institute of the present invention
State all or part of step of method.And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-
Only Memory), random access memory (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with
The medium of store program codes.
Finally it should be noted that：Embodiment described above, it is only the embodiment of the present invention, to illustrate the present invention
Technical scheme, rather than its limitations, protection scope of the present invention is not limited thereto, although with reference to the foregoing embodiments to this hair
It is bright to be described in detail, it will be understood by those within the art that：Any one skilled in the art
The invention discloses technical scope in, it can still modify to the technical scheme described in previous embodiment or can be light
Change is readily conceivable that, or equivalent substitution is carried out to which part technical characteristic；And these modifications, change or replacement, do not make
The essence of appropriate technical solution departs from the spirit and scope of technical scheme of the embodiment of the present invention, should all cover the protection in the present invention
Within the scope of.Therefore, protection scope of the present invention described should be defined by scope of the claims.
Claims (10)
- A kind of 1. controller performance detection method, it is characterised in that including：The control performance information of acquisition controller；Analysis calculating is carried out to the control performance information, obtains kinematics parameters information；The kinematics parameters information is evaluated according to evaluation criterion, obtains evaluation result information；By the kinematics parameters information and the evaluation result information output display.
- 2. controller performance detection method according to claim 1, it is characterised in that the controlling of the acquisition controller Energy information includes：First output information of acquisition controller, and first output information is changed, generate the second output information；Second output information is counted and timing, obtain the control performance information.
- 3. controller performance detection method according to claim 1, it is characterised in that the control performance information includes position Appearance information, the kinematics parameters information includes repetitive positioning accuracy information, described that the control performance information is analyzed Calculate, obtaining kinematics parameters information includes：The test preparatory condition of setting first, first preparatory condition include the first load value, First Speed threshold value, predeterminated position Information and first circulation number；Position movement is carried out according to the described first test preparatory condition control machine people, obtains the posture information；Repeatedly analysis is carried out to the posture information to calculate, and obtains the repetitive positioning accuracy information.
- 4. controller performance detection method according to claim 1, it is characterised in that the control performance information includes intending Straight line information is closed, the kinematics parameters information includes space line path accuracy information, described to the control performance information Analysis calculating is carried out, obtaining kinematics parameters information includes：The test preparatory condition of setting second, the second test preparatory condition include the second load value, second speed threshold value, preset Straight line information and second circulation number；Moved linearly according to the described second test preparatory condition control machine people, obtain the fitting a straight line information；Analysis calculating is carried out to the fitting a straight line information, obtains the space line path accuracy information.
- 5. controller performance detection method according to claim 1, it is characterised in that the control performance information includes intending Circular-arc information is closed, the kinematics parameters information includes space circular arc path accuracy information, described to the control performance information Analysis calculating is carried out, obtaining kinematics parameters information includes：The 3rd test preparatory condition is set, the 3rd test preparatory condition includes the 3rd load value, third speed threshold value, preset Diameter information and the 3rd cycle-index；Circular arc movement is carried out according to the described 3rd test preparatory condition control machine people, obtains the fitting circular-arc information；Analysis calculating is carried out to the fitting circular-arc information, obtains the space circular arc path accuracy information.
- 6. controller performance detection method according to claim 1, it is characterised in that the control performance information includes electricity Machine actual rotational angle information and electric machine theory corner information, the kinematics parameters information includes position control accuracy information, described Analysis calculating is carried out to the control performance information, obtaining kinematics parameters information includes：The pulse information of acquisition controller, and the motor actual rotational angle information is calculated according to the pulse information；First and last location point information is set, and according to the first and last location point information gathering motor corner information；The electric machine theory corner information is obtained according to the motor corner information；Deviation calculating is carried out to the motor actual rotational angle information and the electric machine theory corner information according to the control algolithm, Obtain the position control accuracy information.
- 7. controller performance detection method according to claim 2, it is characterised in that methods described also includes：First output information is adjusted according to the evaluation result information, generates the 3rd output information.
- A kind of 8. controller performance detecting system, it is characterised in that including：Collecting unit, the control performance information for acquisition controller；Detection unit is controlled, for carrying out analysis calculating to the control performance information, obtains kinematics parameters information；Evaluation unit, for being evaluated according to evaluation criterion the kinematics parameters information, obtain evaluation result information；Display unit, for by the kinematics parameters information and the evaluation result information output display.
- 9. controller performance detecting system according to claim 8, it is characterised in that the collecting unit includes：Multiplexer, change, generate for the first output information of acquisition controller, and to first output information Second output information；Data collecting system, for being counted to second output information and timing, obtain the control performance information.
- 10. controller performance detecting system according to claim 9, it is characterised in that the system also includes：Controller, for being adjusted according to the evaluation result information to first output information, the output letter of generation the 3rd Breath.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710991103.2A CN107703917A (en) | 2017-10-20 | 2017-10-20 | Controller performance detection method and system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710991103.2A CN107703917A (en) | 2017-10-20 | 2017-10-20 | Controller performance detection method and system |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN107703917A true CN107703917A (en) | 2018-02-16 |
Family
ID=61181691
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710991103.2A Pending CN107703917A (en) | 2017-10-20 | 2017-10-20 | Controller performance detection method and system |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107703917A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113043274A (en) * | 2021-03-25 | 2021-06-29 | 中车青岛四方车辆研究所有限公司 | Robot performance evaluation method and system |
| CN113534763A (en) * | 2020-04-15 | 2021-10-22 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle controller testing method, device, equipment and storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6876942B2 (en) * | 2002-09-18 | 2005-04-05 | Lsi Logic Corporation | Methods and systems for enhanced automated system testing |
| CN102004489A (en) * | 2010-10-15 | 2011-04-06 | 北京交通大学 | Test system and method of data-driven vehicle-mounted operation control system |
| CN103217973A (en) * | 2013-04-18 | 2013-07-24 | 山东大学 | Performance testing method and performance testing device of bus type motion control system |
| CN105468888A (en) * | 2014-09-12 | 2016-04-06 | 广州汽车集团股份有限公司 | Method and device for assessing automobile motion control performance |
| CN106768014A (en) * | 2016-11-15 | 2017-05-31 | 中国电子产品可靠性与环境试验研究所 | Industrial robot Reliability Synthesis detection means |
-
2017
- 2017-10-20 CN CN201710991103.2A patent/CN107703917A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6876942B2 (en) * | 2002-09-18 | 2005-04-05 | Lsi Logic Corporation | Methods and systems for enhanced automated system testing |
| CN102004489A (en) * | 2010-10-15 | 2011-04-06 | 北京交通大学 | Test system and method of data-driven vehicle-mounted operation control system |
| CN103217973A (en) * | 2013-04-18 | 2013-07-24 | 山东大学 | Performance testing method and performance testing device of bus type motion control system |
| CN105468888A (en) * | 2014-09-12 | 2016-04-06 | 广州汽车集团股份有限公司 | Method and device for assessing automobile motion control performance |
| CN106768014A (en) * | 2016-11-15 | 2017-05-31 | 中国电子产品可靠性与环境试验研究所 | Industrial robot Reliability Synthesis detection means |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113534763A (en) * | 2020-04-15 | 2021-10-22 | 北京京东乾石科技有限公司 | Unmanned aerial vehicle controller testing method, device, equipment and storage medium |
| CN113043274A (en) * | 2021-03-25 | 2021-06-29 | 中车青岛四方车辆研究所有限公司 | Robot performance evaluation method and system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107775664B (en) | Location of controls control performance test method and device | |
| CN110262279B (en) | Control system and control method | |
| CN104457645B (en) | A kind of robot tooling center points scaling method of utilization two-dimensional measurement function flat board | |
| CN107894762A (en) | Practicality imitation test method, apparatus and system | |
| CN104142219B (en) | A kind of axis system operational modal analysis method based on multiple spot pulse excitation | |
| CN109947233B (en) | Experimental apparatus operation behavior recording system | |
| CN105373011B (en) | Detect the real-time emulation system and computer of electro-optical tracking device | |
| CN101275987A (en) | Equipment test system and method | |
| CN101726414A (en) | Method and system thereof for measuring trial run parameter of aeroengine | |
| CN110260790A (en) | A kind of detection device and its detection method of the punching angle steel based on 3D vision | |
| CN107703917A (en) | Controller performance detection method and system | |
| CN116168164B (en) | Digital twin visualization method based on robot industrial chain | |
| CN110046074A (en) | Data center's dynamic environment monitors system and monitoring method | |
| CN101017374A (en) | Polypropylene melting index softsensoring instrument based on blind signal analysis and method thereof | |
| CN103885867A (en) | Online evaluation method of performance of analog circuit | |
| CN112985867B (en) | Steering engine testing method, device, equipment and storage medium | |
| CN111241747A (en) | Method and system for solving inverse kinematics of mechanical arm, computer equipment and storage medium | |
| CN109350952A (en) | Method for visualizing, device and electronic equipment applied to golf ball flight trajectories | |
| CN106092053A (en) | A kind of robot resetting system and localization method thereof | |
| CN106447781B (en) | It is a kind of based on Minkowski and towards the collision checking method of automatic assembling | |
| CN108942938A (en) | A kind of four axis robotic arm motion control methods and system based on eeg signal | |
| CN106799025B (en) | Ball hitting detection method, device, equipment and intelligent terminal | |
| CN110053046A (en) | Robot control method and its system based on customized event | |
| CN212362989U (en) | Built-in shell motion attitude detection device | |
| CN104950692B (en) | A kind of crawl analogue system suitable for underactuated manipulator |
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 | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20180216 |
|
| RJ01 | Rejection of invention patent application after publication |