CN108106873A - The method and system of servo-drive system reliability test evaluation - Google Patents
The method and system of servo-drive system reliability test evaluation Download PDFInfo
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- CN108106873A CN108106873A CN201711342763.4A CN201711342763A CN108106873A CN 108106873 A CN108106873 A CN 108106873A CN 201711342763 A CN201711342763 A CN 201711342763A CN 108106873 A CN108106873 A CN 108106873A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
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Abstract
The present invention relates to a kind of method and systems of servo-drive system reliability test evaluation.The step of the method, includes：Obtain the sensitive stress of servo-drive system, for sensitive stress, the maximum of sensitive stress when obtaining each component no-failure operation in servo-drive system respectively, according to the maximum of the sensitive stress of each component, the trial stretch of the corresponding sensitive stress of each component is determined respectively, the stress test condition of each component is set respectively in the trial stretch of sensitive stress, each component is separately subjected to accelerated test under the conditions of respective stress test, obtain the trouble unit and fault mode during servo-drive system failure, the fault time of servo-drive system is obtained according to trouble unit and the fault mode.By the way that all parts of servo-drive system are separately carried out Acceleration study, so as to more be accurately obtained the fault time of servo-drive system.
Description
Technical field
The present invention relates to technical field of reliability evaluation, more particularly to a kind of side of servo-drive system reliability test evaluation
Method and system.
Background technology
To examine the reliability level of product, generally require to carry out reliability test for newly grinding product, that is, pass through trial-production
A small amount of model machine carries out life test, could enter batch production after verifying its reliability level.However, with product servo failure
Time is increasingly longer, is tested under use environment corresponding " normal stress ", it usually needs the very long test period, it is difficult to meet
The engineering demand quickly developed, therefore often tested under " harsh stress ", it is this to be tested under " harsh stress "
To expose out of order research technique as early as possible, it is known as accelerated test.The accelerated test of traditional product servo is primarily directed to watching
The weak link of product is taken, is designed by accelerated stress, carries out accelerated test, however, this test method is simply produced from servo
The allomeric function of product considers the problems of its fault time, and the reliability evaluation accuracy for causing servo-drive system is low.
The content of the invention
Based on this, it is necessary to for product servo servo-drive system reliability evaluation accuracy it is low the problem of, one kind is provided
The method and system of servo-drive system reliability test evaluation.
A kind of method of servo-drive system reliability test evaluation, includes the following steps：
Obtain the sensitive stress of servo-drive system；
For the sensitive stress, the limiting value for operation of each component sensitive stress in the servo-drive system is obtained respectively；
According to the limiting value for operation of the sensitive stress of each component, the examination of the corresponding sensitive stress of each component is determined respectively
Scope is tested, the proof stress condition of each component is set respectively in the trial stretch of the sensitive stress；
Each component is separately subjected to accelerated test under the conditions of respective proof stress, obtain the fault time of servo-drive system with
And trouble unit, according to the fault time and the MTBF of trouble unit evaluation servo-drive system.
A kind of system of servo-drive system reliability test evaluation, including：
Stress acquisition module, for obtaining the sensitive stress of servo-drive system；
Stress is known the real situation module, and for being directed to the sensitive stress, obtaining that each component in the servo-drive system is sensitive respectively should
The limiting value for operation of power；
Experimental condition determining module for the limiting value for operation of the sensitive stress according to each component, determines each respectively
The trial stretch of the corresponding sensitive stress of component sets the experiment of each component should respectively in the trial stretch of the sensitive stress
Power condition；
Fault time computing module for each component separately to be carried out accelerated test under the conditions of respective proof stress, obtains
Fault time and trouble unit to servo-drive system evaluate servo-drive system according to the fault time and trouble unit
MTBF。
A kind of computer equipment including memory, processor and is stored on the memory and can be in the processing
The computer program run on device, the processor realize above-mentioned servo-drive system reliability examination when performing the computer program
The method for testing evaluation.
The method and system of above-mentioned servo-drive system reliability test evaluation, by analyzing the sensitivity of servo-drive system at work
Then stress types are known the real situation by working limit, the work pole of sensitive stress can be born by obtaining all parts in servo-drive system
Limit value, it is recognised that different components are different to the ability to bear of identical sensitive stress in servo-drive system, it is servo therefore
System all parts set experimental condition respectively, and all parts in servo-drive system are separately carried out load test, by recording event
Hinder component, obtain the fault time of servo-drive system corresponding component.The said program of the present invention, for servo-drive system different parts
It is different to the ability to bear of identical stress, experiment condition is set respectively, so as to improve the essence of the reliability evaluation of servo-drive system
True property.
In one of the embodiments, the sensitive stress of servo-drive system can be obtained in the following manner：According to servo system
Working environment where uniting selects the stress that there is influence on the reliability of the servo-drive system should as the sensitivity of servo-drive system
Power.
In one of the embodiments, the servo-drive system includes：Servo-driver and servomotor；The sensitive stress
Including temperature stress；The working limit of each part temperatures stress in the servo-drive system can be obtained respectively in the following manner
Value：Pre-set initial temperature is obtained, the servomotor is connected with servo-driver, the servomotor is described first
It works at a temperature of beginning；The servo-driver works at normal temperatures；The pre-set retention time is obtained, by the default first temperature
Spend step-length, the initial temperature adjusts the test temperature value of servomotor；Wherein, work is kept in each test temperature
The retention time；When detecting the servomotor failure, the first test temperature value at this time is recorded as the servo
The limiting value of the temperature of motor；With, pre-set initial temperature is obtained, the servomotor is connected with servo-driver,
The servo-driver works under the initial temperature；The servomotor works at normal temperatures；Obtain pre-set guarantor
The time is held, the test temperature value of servo-driver is adjusted by default second temperature step-length, the initial temperature；Detecting
When stating servo-driver failure, limiting value of the second test temperature value as the temperature of the servo-driver at this time is recorded.
It in one of the embodiments, can be in the following manner according to the working limit of the sensitive stress of each component
Value determines the trial stretch of the corresponding sensitive stress of each component respectively：The scope of temperature when determining to test using equation below：
Wherein, tmaxRepresent the maximum of temperature during experiment；tminRepresent the minimum value of temperature during experiment；k1When representing experiment
Pre-set temperature grade；β represents the limiting value for operation of component；A, b and c represent constant.
In one of the embodiments, can be set respectively in the trial stretch of the sensitive stress in the following manner
The proof stress condition of each component：The mathematic(al) representation for determining test temperature interval is：
When β represents the first test temperature value, the test temperature for setting servomotor is respectively ts1=ts min、 I=1,2 ... k1-1；Wherein, ts1Represent the 1st grade of test temperature of servomotor；tsiIt represents
Servomotor i-stage test temperature；Represent servomotor kth1Grade test temperature；ts minAnd ts maxServo electricity is represented respectively
The minimum value and maximum of temperature when machine is tested；ΔtsRepresent the test temperature interval of servomotor；
In β the second test temperature values, the test temperature for setting servo-driver is respectively：tq1=tq min、 I=1,2 ... k1-1；Wherein, tq1Represent the 1st grade of test temperature of servo-driver；tqiTable
Show servo-driver i-stage test temperature；Represent servo-driver kth1Grade test temperature；tq minAnd tq maxIt represents respectively
The minimum value and maximum of temperature when servo-driver is tested；ΔtqRepresent the test temperature interval of servo-driver.
In one of the embodiments, can in the following manner by each component under the conditions of respective proof stress separate into
Row accelerated test：The 1st grade of test temperature of servomotor and the 1st grade of test temperature of servo-driver, servomotor i-stage are tested
Temperature and servo-driver i-stage test temperature and servomotor kth1Grade test temperature and servo-driver kth1Grade experiment
Temperature correspondence establishment k1A humid test group；Wherein, the servomotor in each humid test group is connected with servo-driver；It will
Each humid test group carries out accelerated test according to its temperature value.
In one of the embodiments, the load stress of servo-drive system when can also obtain accelerated test；
According to the nominal torque of servo-drive system, the load test condition for determining the load stress of servo-drive system is：Wherein, L1Represent that the 1st grade of experiment of servo-drive system is negative
It carries；LiRepresent servo-drive system i-stage test load；Represent servo-drive system kth2Grade test load；D represents preset constant；k2Table
Show the default grade of load；L represents the nominal torque；
It is described by each component separately carry out accelerated test under the conditions of respective stress test the step of, further include：
Each humid test group is corresponded into the 1st grade of test load of loading, i-stage test load and kth2Grade experiment
Load carries out accelerated test.
In one of the embodiments, can be watched in the following manner according to the fault time and trouble unit evaluation
The MTBF of dress system：According to the fault time and trouble unit, respectively obtain the servomotor and servo-driver exists
Fault time when being tested under given temperature stress and load stress；Exist so as to respectively obtain servomotor and servo-driver
Service life distribution under various experimental conditions；Meng Teka is carried out in being distributed respectively from the service life of the servomotor and servo-driver
Lip river is sampled, and each sampling results is substituted into double stress Aileen's models, the Maximum-likelihood estimation of unknown parameter is carried out, respectively obtains
The service life of servomotor and servo-driver under room temperature and nominal load；Respectively by servomotor and servo-driver in institute
The service life stated under room temperature and nominal load carries out service life fitting of distribution, and carries out the test of fitness of fot；The institute that will be upchecked
The service life under room temperature and nominal load is stated respectively as servomotor and the service life sample of servo-driver；By servo electricity
The service life sample of machine and the service life sample of the servo-driver merge into the service life sample of servo-drive system, to the servo-drive system
Service life sample carry out parameter Estimation, and carry out goodness Fitness Test, obtain the service life distribution of servo-drive system, the servo-drive system
The MTBF for being desired for servo-drive system of service life distribution.
Description of the drawings
Fig. 1 is the schematic flow chart of the method that servo-drive system reliability test is evaluated in an embodiment；
Fig. 2 is the schematic flow chart of the method that servo-drive system reliability test is evaluated in another embodiment；
Fig. 3 is test temperature sectional view of knowing the real situation in an embodiment；
Fig. 4 is the schematic diagram that servo-driver and servomotor separately carry out accelerated test in an embodiment；
Fig. 5 is the schematic diagram of the system that servo-drive system reliability test is evaluated in an embodiment.
Specific embodiment
It is below in conjunction with the accompanying drawings and preferably real further to illustrate the effect of the technological means of the invention taken and acquirement
Example is applied, to the technical solution of the embodiment of the present invention, carries out clear and complete description.
Fig. 1 is the schematic flow chart of the method that servo-drive system reliability test is evaluated in an embodiment, as shown in Figure 1,
The described method includes：
S101 obtains the sensitive stress of servo-drive system.
In this step, the sensitive stress of servo-drive system is mainly that the use occasion of servo-drive system easily produces servo-drive system
The environment or working stress of raw failure.
S102 for the sensitive stress, obtains the working limit of each component sensitive stress in the servo-drive system respectively
Value.
All parts are different to the ability to bear of identical sensitive stress in servo-drive system, in this step, for
Servo-drive system difference component carries out knowing the real situation for sensitive stress.
S103 according to the limiting value for operation of the sensitive stress of each component, determines that the corresponding sensitivity of each component should respectively
The trial stretch of power sets the proof stress condition of each component respectively in the trial stretch of the sensitive stress.
It in this step, can be according to sensitivity by determining the limiting value for operation of each component sensitive stress in servo-drive system
The limiting value for operation of stress determines the proof stress condition of each component progress accelerated test in servo-drive system.
Each component under the conditions of respective proof stress is separately carried out accelerated test, obtains the failure of servo-drive system by S104
Time and trouble unit, according to the fault time and the MTBF of trouble unit evaluation servo-drive system.
In this step, each component in servo-drive system under respective experimental condition can individually be tested, also may be used
It is tested so that each component in servo-drive system is combined under respective experimental condition, then according to experimental result, evaluates servo
The MTBF of system.
In the present embodiment, by analyzing the sensitive stress type of servo-drive system at work, working limit is then passed through
Know the real situation, the limiting value for operation of sensitive stress can be born by obtaining all parts in servo-drive system, it is recognised that in servo-drive system not
It is different to the ability to bear of identical sensitive stress with component, therefore, test bar is set respectively for servo-drive system all parts
All parts in servo-drive system are separately carried out load test by part, by recording trouble unit, obtain servo-drive system corresponding component
Fault time.It is different to the ability to bear of identical stress for servo-drive system different parts, experiment condition is set respectively,
So as to improve the accuracy of the reliability evaluation of servo-drive system.
Fig. 2 is the schematic flow chart of the method that servo-drive system reliability test is evaluated in another embodiment, such as Fig. 2 institutes
Show, accelerated test process includes：
S201 analyzes sensitive stress type.
Sensitive stress easily causes environmental stress, working stress of servo-drive system failure etc., according to making for servo-drive system
With occasion, determine to influence the sensitive stress of servo-drive system reliability.
In one embodiment, the sensitive stress type of servo-drive system can be obtained in the following manner：According to servo-drive system
The working environment at place selects the stress that there is influence on the reliability of the servo-drive system should as the sensitivity of servo-drive system
Power.Such as servo-drive system use is in robot, then sensitive stress can be robot humiture, vibration, load etc..
S202, working limit stress are known the real situation.
Working limit stress is the limit of servo-drive system no-failure operation under sensitive stress, in order to obtain optimal acceleration
Effect, working limit stress should be considered by accelerating the setting of sensitive stress, and therefore, the working limit for carrying out servo-drive system first should
Power is known the real situation, and here, need to consider the servo-driver of servo-drive system and the respective working limit stress of servomotor.
It, in one embodiment, can be by following for the limit of servomotor and servo-driver corresponding temperature stress
The limit stress value of sensitive stress when mode obtains each component no-failure operation in the servo-drive system respectively：Acquisition is pre-set
Initial temperature, the servomotor is connected with servo-driver, the servomotor works under the initial temperature；Institute
Servo-driver is stated to work at normal temperatures；The pre-set retention time is obtained, by default first temperature step-length, described initial
Temperature adjusts the test temperature value of servomotor；Wherein, in each test temperature is kept described in work the retention time；
When detecting the servomotor failure, the limit of the first test temperature value as the temperature of the servomotor at this time is recorded
Value；With obtain pre-set initial temperature, the servomotor be connected with servo-driver, the servo-driver exists
It works under the initial temperature；The servomotor works at normal temperatures；The pre-set retention time is obtained, by default
Two temperature step-lengths, the initial temperature adjust the test temperature value of servo-driver；Detecting the servo-driver failure
When, record limiting value of the second test temperature value as the temperature of the servo-driver at this time.
Specifically, it can be appropriately arranged with larger temperature step-length (servo-driver temperature step-length before inversion temperature Γ
10 DEG C, a length of 20 DEG C of servomotor temperature step), after inversion temperature Γ is reached, shorten temperature step-length (servo-driver temperature step
It is 3-5 DEG C long, a length of 5-10 DEG C of servomotor temperature step), each experimental temperature retention time τ takes 10 minutes, and load and rotating speed are equal
According to the specified rotary inertia and rated speed of servomotor in servo-drive system.Detailed test parameters is as shown in table 1：
Table 1
Fig. 3 is test temperature sectional view of knowing the real situation in an embodiment.
The grade of S203, temperature stress and load stress is set.
In one embodiment, it can determine that each component corresponds in the following manner according to the maximum of the sensitive stress
Sensitive stress trial stretch：The scope of temperature when determining to test using equation below：
Wherein, tmaxRepresent the maximum of temperature during experiment；tminRepresent the minimum value of temperature during experiment；A, b and c are represented
Constant；k1Represent pre-set temperature grade during experiment；β represents the limiting value for operation of component.
It is carried out specifically, can be set in the following manner in the servo-drive system in the trial stretch of each component
The experimental condition of Acceleration study：The mathematic(al) representation for determining test temperature interval is：
When β represents the first test temperature value, the test temperature for setting servomotor is respectively ts1=ts min、 I=1,2 ... k1-1；Wherein, ts1Represent the 1st grade of test temperature of servomotor；tsiIt represents
Servomotor i-stage test temperature；Represent servomotor kth1Grade test temperature；ts minAnd ts maxServo electricity is represented respectively
The minimum value and maximum of temperature when machine is tested；ΔtsRepresent the test temperature interval of servomotor.
In β the second test temperature values, the test temperature for setting servo-driver is respectively：tq1=tq min、 I=1,2 ... k1-1；Wherein, tq1Represent the 1st grade of test temperature of servo-driver；tqiTable
Show servo-driver i-stage test temperature；Represent servo-driver kth1Grade test temperature；tq minAnd tq maxIt represents respectively
The minimum value and maximum of temperature when servo-driver is tested；ΔtqRepresent the test temperature interval of servo-driver.
Specifically, for temperature, the limiting temperature of servomotor is the first test temperature value, the pole of servo-driver
It is the second test temperature value to limit temperature, is calculated as β respectively1And β2, temperature grade k13 grades are cannot be below, general recommendations takes 3,4 or 5
Grade.
(1), highest and lowest test temperature is set：tmax=β -10,β=β1Or β=β2；
(2), test temperature interval is set：
(3), test temperature is determined：t1=tmin,tk=tmax；I=2,3 .., k-1.
Note servomotor and the test temperature of servo-driver are respectivelyWith
In one embodiment, load stress during temperature accelerated test is also set up, it, specifically can basis for load stress
The nominal torque of servo-drive system, the load test condition for determining the load stress of servo-drive system are：Wherein, L1Represent the 1st grade of test load of servo-drive system；
LiRepresent servo-drive system i-stage test load；Represent servo-drive system kth2Grade test load；D represents preset constant；k2It represents
The default grade of load；L represents the nominal torque.
For the selection of load, it is necessary first to set grade of load k2, it is recommended here that grade of load k22 grades are set, according to warp
Test the load for obtaining servo-drive system no-failure operation, it is however generally that, the several times of nominal torque are selected respectively as test load.
Here two test loads are calculated separately as L1And L2。
Servo-driver and servomotor are separately carried out accelerated test by S204.
In one embodiment, each component separately can be accelerated under the conditions of respective stress test in the following manner
Experiment：By the 1st grade of test temperature of servomotor and the 1st grade of test temperature of servo-driver, servomotor i-stage test temperature with
Servo-driver i-stage test temperature and servomotor kth1Grade test temperature and servo-driver kth1Grade test temperature pair
K should be established1A humid test group；Wherein, the servomotor in each humid test group is connected with servo-driver；It will be described every
A humid test group carries out accelerated test according to its temperature value.
Specifically when selecting to load, each humid test group is corresponded into the 1st grade of test load of loading, i-stage is tested
Load and kth2Grade test load, carries out accelerated test.
Fig. 4 is the schematic diagram that servo-driver and servomotor separately carry out accelerated test in an embodiment.Root
According to the grade (temperature grade is arranged to 3 grades, and the grade of load is arranged to 2 grades) of setting, permutation and combination is carried out for load and temperature
Battery of tests condition is formed, every group of accelerated test includes the sample of 5.As shown in table 2：
Table 2
S205 carries out truncation to accelerated test.
In one embodiment, the scheme of Based on Censored Data may be employed, truncation rule is：Under every group of experimental condition, servo is driven
Dynamic device and servomotor are found failure and occur 3 times or more.Fault sample is replaced after failure to continue to test.
S206 carries out failure analysis to accelerated test result.
, it is necessary to which fault sample is carried out failure analysis after breaking down in a test group, the tool of servo-drive system is determined
Body trouble location, trouble location are divided into servo-driver and servomotor.And the fault mode after failure.
S207, evaluates failure, and analysis obtains the fault time of servo-drive system.
In one embodiment, in the following manner may be employed, servo-drive system is evaluated according to the fault time and trouble unit
MTBF：According to the fault time and trouble unit, the servomotor and servo-driver are respectively obtained to constant temperature
Spend fault time when being tested under stress and load stress；So as to respectively obtain servomotor and servo-driver in various examinations
Service life distribution under the conditions of testing；
Monte Carlo sampling is carried out in being distributed respectively from the service life of the servomotor and servo-driver, will be sampled every time
As a result substitute into double stress Aileen's models, carry out the Maximum-likelihood estimation of unknown parameter, respectively obtain servomotor and servo is driven
Dynamic service life of the device under room temperature and nominal load；
The service life of servomotor and servo-driver under the room temperature and nominal load is subjected to service life distribution respectively
Fitting, and carry out the test of fitness of fot；Using the service life under the room temperature and nominal load upchecked as servo
The service life sample of motor and servo-driver；
The service life sample of the service life sample of the servomotor and the servo-driver is merged into the longevity of servo-drive system
Sample is ordered, parameter Estimation is carried out to the service life sample of the servo-drive system, and carries out goodness Fitness Test, obtains servo-drive system
Service life is distributed, the MTBF for being desired for servo-drive system of the servo-drive system service life distribution.
In the present embodiment, the service life of servomotor and servo-driver distribution can select Weibull distribution, for
When the service life sample of servo-drive system carries out parameter Estimation, Weibull distribution can also be selected, in addition, being examined being fitted goodness
When, if the test fails, the service life under experiment condition is needed to be distributed and is fitted again.
Based on the thought identical with the method for the servo-drive system reliability test evaluation in above-described embodiment, the present invention also carries
For the system of servo-drive system reliability test evaluation, which can be used for the side for performing above-mentioned servo-drive system reliability test evaluation
Method.For convenience of description, servo-drive system reliability test evaluation system embodiment structure diagram in, illustrate only with
The relevant part of the embodiment of the present invention, it will be understood by those skilled in the art that the restriction of schematic structure not structure paired systems, it can
To include either combining some components or different components arrangement than illustrating more or fewer components.
Fig. 5 is the schematic diagram of the system that servo-drive system reliability test is evaluated in an embodiment, as shown in figure 5,
The system comprises：
Stress acquisition module 301, for obtaining the sensitive stress of servo-drive system.
Stress is known the real situation module 302, and for being directed to the sensitive stress, it is sensitive to obtain each component in the servo-drive system respectively
The limiting value for operation of stress.
Experimental condition determining module 303 for the limiting value for operation of the sensitive stress according to each component, determines respectively
The trial stretch of the corresponding sensitive stress of each component, sets the experiment of each component respectively in the trial stretch of the sensitive stress
Stress condition.
Fault time computing module 304, for each component separately to be carried out accelerated test under the conditions of respective proof stress,
Fault time and the trouble unit of servo-drive system are obtained, servo-drive system is evaluated according to the fault time and trouble unit
MTBF。
In one embodiment, the stress types acquisition module 301 is additionally operable to the working environment according to where servo-drive system,
Select the presence of sensitive stress of the stress influenced as servo-drive system on the reliability of the servo-drive system.
In another embodiment, the component of the servo-drive system includes：Servo-driver and servomotor；The sensitivity should
Power includes temperature stress；Stress module 302 of knowing the real situation is additionally operable to obtain pre-set initial temperature, by the servomotor and watches
It takes driver to be connected, the servomotor works under the initial temperature；The servo-driver works at normal temperatures；It obtains
The pre-set retention time is adjusted the test temperature value of servomotor by default first temperature step-length, the initial temperature；
Wherein, in each test temperature is kept described in work the retention time；When detecting the servomotor failure, record
Limiting value of the first test temperature value as the temperature of the servomotor at this time；With, pre-set initial temperature is obtained,
The servomotor is connected with servo-driver, the servo-driver works under the initial temperature；The servo electricity
Machine works at normal temperatures；The pre-set retention time is obtained, is watched by default second temperature step-length, initial temperature adjusting
Take the test temperature value of driver；When detecting the servo-driver failure, the second test temperature value recorded at this time is made
For the limiting value of the temperature of the servo-driver.
Optionally, the scope of temperature when the experimental condition acquisition module 303 is additionally operable to determine to test using equation below：
Wherein, tmaxRepresent the maximum of temperature during experiment；tminRepresent the minimum value of temperature during experiment；A, b and c are represented
Constant；k1Represent pre-set temperature grade during experiment；β represents the limiting value for operation of component.
In one embodiment, experimental condition acquisition module 303 is additionally operable to determine that the mathematic(al) representation at test temperature interval is：
When β represents the first test temperature value, the test temperature for setting servomotor is respectivelyWherein, ts1Represent the 1st grade of experiment temperature of servomotor
Degree；tsiRepresent servomotor i-stage test temperature；Represent servomotor kth1Grade test temperature；ts minAnd ts maxRespectively
Represent the minimum value and maximum of temperature during servomotor experiment；ΔtsRepresent the test temperature interval of servomotor；
When β represents the second test temperature value, the test temperature for setting servo-driver is respectively：Wherein, tq1Represent the 1st grade of examination of servo-driver
Test temperature；tqiRepresent servo-driver i-stage test temperature；Represent servo-driver kth1Grade test temperature；tq minAnd tq maxThe minimum value and maximum of temperature during servo-driver experiment are represented respectively；ΔtqBetween the test temperature for representing servo-driver
Every.
Optionally, fault time computing module 304 is additionally operable to the 1st grade of test temperature of servomotor and servo-driver the
1 grade of test temperature, servomotor i-stage test temperature and servo-driver i-stage test temperature and servomotor kth1Grade
Test temperature and servo-driver kth1Grade test temperature correspondence establishment k1A humid test group；Wherein, in each humid test group
Servomotor be connected with servo-driver；Each humid test group is subjected to accelerated test according to its temperature value.
In one embodiment, load selecting module is further included, the load selecting module is used to watch when obtaining accelerated test
The load stress of dress system；According to the nominal torque of servo-drive system, the load test condition of the load stress of servo-drive system is determined
For：Wherein, L1Represent the 1st grade of experiment of servo-drive system
Load；LiRepresent servo-drive system i-stage test load；Represent servo-drive system kth2Grade test load；D represents preset constant；k2
Represent the default grade of load；L represents the nominal torque；The fault time computing module is additionally operable to each temperature
Test group corresponds to the 1st grade of test load of loading, i-stage test load and kth2Grade test load, carries out accelerated test.
In one embodiment, fault time computing module 304 is additionally operable to according to the fault time and trouble unit, point
The fault time when servomotor and servo-driver are tested under given temperature stress and load stress is not obtained；From
And respectively obtain the service life distribution of servomotor and servo-driver under a variety of experimental conditions；
Monte Carlo sampling is carried out in being distributed respectively from the service life of the servomotor and servo-driver, will be sampled every time
As a result substitute into double stress Aileen's models, carry out the Maximum-likelihood estimation of unknown parameter, respectively obtain servomotor and servo is driven
Dynamic service life of the device under room temperature and nominal load；
The service life of servomotor and servo-driver under the room temperature and nominal load is subjected to service life distribution respectively
Fitting, and carry out the test of fitness of fot；Using the service life under the room temperature and nominal load upchecked as servo
The service life sample of motor and servo-driver；
The service life sample of the service life sample of the servomotor and the servo-driver is merged into the longevity of servo-drive system
Sample is ordered, parameter Estimation is carried out to the service life sample of the servo-drive system, and carries out goodness Fitness Test, obtains servo-drive system
Service life is distributed, the MTBF for being desired for servo-drive system of the servo-drive system service life distribution.
It will appreciated by the skilled person that realizing all or part of flow in above-described embodiment method, being can
To be completed by the relevant hardware of computer program instructions, the program can be stored in computer read/write memory medium
In, it is independent production marketing or use.Described program upon execution, can perform the whole of the embodiment such as above-mentioned each method
Or part steps.Wherein, the storage medium can be magnetic disc, CD, read-only memory (Read-Only Memory,
) or random access memory (Random Access Memory, RAM) etc. ROM.
In one embodiment, the storage medium may also be disposed in computer equipment, and the computer equipment further includes
Processor.The processor can perform when performing the program in the storage medium as the embodiment of above-mentioned each method whole or
Part steps.
Each technical characteristic of embodiment described above can be combined arbitrarily, to make description succinct, not to above-mentioned reality
It applies all possible combination of each technical characteristic in example to be all described, as long as however, the combination of these technical characteristics is not deposited
In contradiction, the scope that this specification is recorded all is considered to be.
Embodiment described above only expresses the several embodiments of the present invention, and description is more specific and detailed, but simultaneously
It cannot therefore be construed as limiting the scope of the patent.It should be pointed out that come for those of ordinary skill in the art
It says, without departing from the inventive concept of the premise, various modifications and improvements can be made, these belong to the protection of the present invention
Scope.Therefore, the protection domain of patent of the present invention should be determined by the appended claims.
Claims (10)
- A kind of 1. method of servo-drive system reliability test evaluation, which is characterized in that include the following steps：Obtain the sensitive stress of servo-drive system；For the sensitive stress, the limiting value for operation of each component sensitive stress in the servo-drive system is obtained respectively；According to the experiment model of the limiting value for operation of the sensitive stress of each component, the respectively corresponding sensitive stress of definite each component It encloses, the proof stress condition of each component is set respectively in the trial stretch of the sensitive stress；Each component under the conditions of respective proof stress is separately subjected to accelerated test, obtains fault time and the event of servo-drive system Hinder component, according to the fault time and the MTBF of trouble unit evaluation servo-drive system.
- 2. the method for servo-drive system reliability test evaluation according to claim 1, which is characterized in that the acquisition servo The step of sensitive stress type of system, including：Working environment according to where servo-drive system selects to have the reliability of the servo-drive system stress influenced as watching The sensitive stress of dress system.
- 3. the method for servo-drive system reliability test evaluation according to claim 1, which is characterized in that the servo-drive system In component include：Servo-driver and servomotor；The sensitive stress includes：Temperature stress；Described the step of obtaining the limiting value for operation of each part temperatures stress in the servo-drive system respectively, including：Pre-set initial temperature is obtained, the servomotor is connected with servo-driver, the servomotor is described It works under initial temperature；The servo-driver works at normal temperatures；The pre-set retention time is obtained, by default first Temperature step-length, the initial temperature adjust the test temperature value of servomotor；Wherein, work is kept in each test temperature Make the retention time；When detecting the servomotor failure, temperature of the first test temperature value as the servomotor at this time is recorded Limiting value；With obtain pre-set initial temperature, the servomotor be connected with servo-driver, the servo-driver exists It works under the initial temperature；The servomotor works at normal temperatures；The pre-set retention time is obtained, by default Two temperature step-lengths, the initial temperature adjust the test temperature value of servo-driver；When detecting the servo-driver failure, the second test temperature value at this time is recorded as the servo-driver The limiting value of temperature.
- 4. the method for servo-drive system reliability test evaluation according to claim 3, which is characterized in that described in the basis The limiting value for operation of the sensitive stress of each component determines the trial stretch of the corresponding sensitive stress of each component, step bag respectively It includes：The scope of temperature when determining to test using equation below：<mfenced open = "{" close = ""> <mtable> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mrow> <mi>m</mi> <mi>a</mi> <mi>x</mi> </mrow> </msub> <mo>=</mo> <mi>&beta;</mi> <mo>-</mo> <mi>a</mi> </mrow> </mtd> </mtr> <mtr> <mtd> <mrow> <msub> <mi>t</mi> <mi>min</mi> </msub> <mo>=</mo> <mfrac> <mrow> <msub> <mi>t</mi> <mi>max</mi> </msub> <mo>-</mo> <mi>b</mi> </mrow> <msub> <mi>k</mi> <mn>1</mn> </msub> </mfrac> <mo>+</mo> <mi>c</mi> </mrow> </mtd> </mtr> </mtable> </mfenced>Wherein, tmaxRepresent the maximum of test temperature；tminRepresent the minimum value of test temperature；k1It represents to pre-set during experiment Temperature grade；β represents the limiting value for operation of component；A, b and c represent constant.
- 5. the method for servo-drive system reliability test evaluation according to claim 4, which is characterized in that should in the sensitivity The stress test condition of each component is set respectively in the trial stretch of power, and step includes：The mathematic(al) representation for determining test temperature interval is：<mrow> <mi>&Delta;</mi> <mi>t</mi> <mo>=</mo> <mrow> <mo>(</mo> <mrow> <mfrac> <mn>1</mn> <msub> <mi>t</mi> <mi>min</mi> </msub> </mfrac> <mo>-</mo> <mfrac> <mn>1</mn> <msub> <mi>t</mi> <mi>max</mi> </msub> </mfrac> </mrow> <mo>)</mo> </mrow> <mo>/</mo> <msub> <mi>k</mi> <mn>1</mn> </msub> <mo>-</mo> <mn>1</mn> </mrow>When β represents the first test temperature value, the test temperature for setting servomotor is respectivelyWherein, ts1Represent the 1st grade of experiment temperature of servomotor Degree；tsiRepresent servomotor i-stage test temperature；Represent servomotor kth1Grade test temperature；tsminAnd tsmaxTable respectively Show the minimum value and maximum of servomotor test temperature；ΔtsRepresent the test temperature interval of servomotor；When β represents the second test temperature value, the test temperature for setting servo-driver is respectively：Wherein, tq1Represent the 1st grade of examination of servo-driver Test temperature；tqiRepresent servo-driver i-stage test temperature；Represent servo-driver kth1Grade test temperature；tqminWith tqmaxThe minimum value and maximum of temperature during servo-driver experiment are represented respectively；ΔtqRepresent the test temperature of servo-driver Interval.
- 6. the method for servo-drive system reliability test according to claim 5 evaluation, which is characterized in that it is described will it is described often A humid test group corresponds to the 1st grade of test load of loading, i-stage test load and kth2Grade test load, carries out acceleration examination The step of testing, including：By the 1st grade of test temperature of servomotor and the 1st grade of test temperature of servo-driver, servomotor i-stage test temperature with Servo-driver i-stage test temperature and servomotor kth1Grade test temperature and servo-driver kth1Grade test temperature pair K should be established1A humid test group；Wherein, the servomotor in each humid test group is connected with servo-driver；Each humid test group is subjected to accelerated test according to its temperature value.
- 7. the method for servo-drive system reliability test evaluation according to claim 6, which is characterized in that further include：The load stress of servo-drive system when obtaining accelerated test；According to the nominal torque of servo-drive system, the load test condition for determining the load stress of servo-drive system is：Wherein, L1Represent the 1st grade of test load of servo-drive system； LiRepresent servo-drive system i-stage test load；Represent servo-drive system kth2Grade test load；D represents preset constant；k2It represents The default grade of load；L represents the nominal torque；It is described by each component separately carry out accelerated test under the conditions of respective stress test the step of, further include：Each humid test group is corresponded into the 1st grade of test load of loading, i-stage test load and kth2Grade test load, Carry out accelerated test.
- 8. the method for servo-drive system reliability test evaluation according to claim 7, which is characterized in that described in the basis The step of MTBF of fault time and trouble unit evaluation servo-drive system, including：According to the fault time and trouble unit, respectively obtaining the servomotor and servo-driver should in given temperature Fault time when being tested under power and load stress；So as to respectively obtain servomotor and servo-driver in various test bars Service life distribution under part；Monte Carlo sampling is carried out in being distributed respectively from the service life of the servomotor and servo-driver, by each sampling results It substitutes into double stress Aileen's models, carries out the Maximum-likelihood estimation of unknown parameter, respectively obtain servomotor and servo-driver Service life under room temperature and nominal load；The service life of servomotor and servo-driver under the room temperature and nominal load is subjected to service life fitting of distribution respectively, And carry out the test of fitness of fot；Using the service life under the room temperature and nominal load upchecked as servomotor and The service life sample of servo-driver；The service life sample of the service life sample of the servomotor and the servo-driver is merged into the service life sample of servo-drive system This, parameter Estimation is carried out to the service life sample of the servo-drive system, and carries out goodness Fitness Test, obtains the service life of servo-drive system Distribution, the MTBF for being desired for servo-drive system of the servo-drive system service life distribution.
- 9. a kind of system of servo-drive system reliability test evaluation, which is characterized in that including：Stress acquisition module, for obtaining the sensitive stress of servo-drive system；Stress is known the real situation module, for being directed to the sensitive stress, obtains each component sensitive stress in the servo-drive system respectively Limiting value for operation；Proof stress designs module, for the limiting value for operation of the sensitive stress according to each component, determines each component respectively The trial stretch of corresponding sensitive stress sets the proof stress item of each component respectively in the trial stretch of the sensitive stress Part；Evaluation module for each component separately to be carried out accelerated test under the conditions of respective proof stress, obtains servo-drive system Fault time and trouble unit, according to the fault time and the MTBF of trouble unit evaluation servo-drive system.
- 10. a kind of computer equipment, including memory, processor and it is stored on the memory and can be in the processor The computer program of upper operation, which is characterized in that the processor realized when performing the computer program as claim 1 to The method of servo-drive system reliability test evaluation described in 8 any one.
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