CN108279380A - The Simulated System and method of motor - Google Patents
The Simulated System and method of motor Download PDFInfo
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- CN108279380A CN108279380A CN201810149571.XA CN201810149571A CN108279380A CN 108279380 A CN108279380 A CN 108279380A CN 201810149571 A CN201810149571 A CN 201810149571A CN 108279380 A CN108279380 A CN 108279380A
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- external force
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- Control Of Electric Motors In General (AREA)
Abstract
The embodiment of the invention discloses a kind of Simulated System of motor and methods.The system comprises：Motor driver, simulation external force control signal generation device and simulation external force output device to be measured；Motor driver to be measured is connected with the driving signal input of measured motor is waited for, waits for that measured motor works for driving；It simulates external force and controls signal generation device, be connected with simulation external force output device, be used to obtain simulation external force control parameter, and according to simulation external force control parameter, generate the outer force control signal of simulation and be sent to simulation external force output device；External force output device is simulated, is connected with the output shaft of measured motor is waited for, for according to outer force control signal is simulated, the matched simulation external force of generation, which is applied to, to be waited on measured motor, to realize to waiting for that the operating mode of measured motor is simulated in work.The technical solution of the embodiment of the present invention is realized carries out continuous and accurate simulation to the gravity and frictional force operating mode of servo motor.
Description
Technical field
The present embodiments relate to the Simulated Systems and side of Motor Measuring Technology field more particularly to a kind of motor
Method.
Background technology
Servo motor refers to the engine that control machinery element operates in servo-drive system, is that a kind of subsidy motor becomes indirectly
Speed variator.Servo motor can make control speed, and positional precision is very accurate, voltage signal can be converted to torque and rotating speed with
Drive control object.
Due to the presence of gravity and frictional force during the work time, the work of servo motor can be exported and be had an impact, because
Compensation function of this servo motor generally all with gravity and frictional force is exported with stablizing.In the prior art to servo motor
In gravity and the test process of Friction Compensation performance, it will usually establish corresponding mechanical structure analog servomechanism suspension weight (weight
Power) or operating mode of the servo dragging with viscous damping (frictional force).As shown in Figure 1 in the prior art to the work of servo motor
The system that condition is simulated, wherein simulation tooling is for simulating gravity and frictional force, and by shaft coupling by simulation
Gravity or frictional force are loaded onto the output shaft of servo motor.It is illustrated in figure 2 the exemplary plot of the simulation tooling in Fig. 1, wherein figure
Left side is gravity simulation tooling in 2, can simulate different gravity by replacing the weight of different quality, right side is in Fig. 2
Frictional force simulates tooling, can screw pressure by adjusting to adjust the frictional force between friction plate and disk.
The precision of gravity simulation tooling and frictional force shown in Fig. 2 simulation tooling is relatively low, and can not achieve to gravity and
The continuous adjustment of frictional force, correction and maintenance are time-consuming and laborious, and especially frictional force can also be with the change of temperature, humidity and house dust
Change and changes.
Invention content
In view of this, an embodiment of the present invention provides a kind of Simulated System of motor and method, it is existing to solve
In the Simulated System of motor, gravity simulation device and friction force simulating device precision are relatively low, and can not achieve to gravity and
Frictional force carries out continuously adjustable technological deficiency.
In a first aspect, an embodiment of the present invention provides a kind of Simulated Systems of motor, including：Wait for that measured motor drives
Device, simulation external force control signal generation device and simulation external force output device；
The motor driver to be measured is connected with the driving signal input of measured motor is waited for, for driving the electricity to be measured
Machine works；
The simulation external force controls signal generation device, is connected with the simulation external force output device, for obtaining simulation
External force control parameter, and according to the simulation external force control parameter, generate the outer force control signal of simulation and be sent to outside the simulation
Power output device, the simulation external force control parameter include：Frictional force control parameter and/or GRAVITY CONTROL parameter；
The simulation external force output device waits for that the output shaft of measured motor is connected with described, for according to the simulation external force
Control signal, generate matched simulation external force be applied to it is described wait on measured motor, with realization to the electricity to be measured in work
The operating mode of machine is simulated.
In above system, it is preferred that the simulation external force output device includes：Load motor and load motor driving
Device, the power supply output end and control signal output of the load motor driver supply input with the load motor respectively
End is connected with control signal input, and the output shaft of the load motor waits for that the output shaft of measured motor is connected with described, described negative
Motor driver is carried with simulation external force control signal generation device to be connected；
The simulation external force control signal generation device is specifically used for：Simulation external force control parameter is obtained, according to the mould
Quasi- external force control parameter calculates external force equivalent moment, and will equivalent voltage corresponding with the external force equivalent moment be sent to it is described
Load motor driver.
In above system, it is preferred that further include：Tachometric survey component, the input terminal of the tachometric survey component with
The load motor and/or it is described wait for that measured motor is connected, the control of the output end of the tachometric survey component and the simulation external force
Signal generation device is connected；
The tachometric survey component for measuring the load motor or the rotating speed for waiting for measured motor, and will measure
To rotary speed data be sent to the simulation external force and control signal generation device；
The simulation external force control signal generation device is specifically used for：Obtain the rotating speed number that the tachometric survey component measures
According to, and using the rotary speed data as a frictional force control parameter.
In above system, it is preferred that further include：Data processing equipment, the data processing equipment respectively with it is described
Tachometric survey component, simulation external force control signal generation device are connected with the motor driver to be measured；
The simulation external force controls signal generation device, is additionally operable to force control signal outside the simulation being sent to the number
According to processing equipment；
The tachometric survey component is additionally operable to the rotary speed data being sent to the data processing equipment；
The motor driver to be measured is additionally operable to be used to drive and described waits for that the drive signal of measured motor is sent to the number
According to processing equipment；
The data processing equipment, for according to force control signal outside the rotary speed data, the simulation and described to be measured
The drive signal of motor waits for whether measured motor is working properly described in judgement.
In above system, it is preferred that the tachometric survey component is speed probe；
The input terminal of the tachometric survey component and the load motor and/or it is described wait for that measured motor is connected, including：
The input terminal of the speed probe and the load motor described wait for that measured motor is connected；
The output shaft of the load motor waits for that the output shaft of measured motor is connected with described, including：
The output shaft of the load motor waits for that the output shaft of measured motor is connected by shaft coupling with described.
In above system, it is preferred that the tachometric survey component is torque sensor；
The input terminal of the tachometric survey component and the load motor and/or it is described wait for that measured motor is connected, including：
First connecting pin of the torque sensor and second connection end respectively with the output shaft of the load motor and institute
It states and waits for that the output shaft of measured motor is connected；
The output shaft of the load motor waits for that the output shaft of measured motor is connected with described, including：
The output shaft of the load motor is connected by first shaft coupling with the first connecting pin of the torque sensor, together
Shi Suoshu waits for that the output shaft of measured motor is connected by second shaft coupling with the second connection end of the torque sensor.
In above system, it is preferred that the simulation external force control parameter includes：The quality of fictitious load, simulation weight
Direction, setting friction coefficient and the setting acceleration of gravity of power, wherein the direction of the simulated gravity is straight up or vertically
Downwards；
External force control parameter is simulated in the acquisition, and external force equivalent moment is calculated according to the simulation external force control parameter, and
Equivalent voltage corresponding with the external force equivalent moment is sent to the load motor driver, including：
Obtain the quality of the fictitious load, the direction of the simulated gravity, the setting friction coefficient, setting weight
Power acceleration and the rotary speed data；
Gravity is calculated according to the quality of the fictitious load, the direction of the simulated gravity and the setting acceleration of gravity
Equivalent moment；
Frictional force equivalent moment is calculated according to the setting friction coefficient and the rotary speed data；
External force equivalent moment is calculated according to the gravity equivalent moment and the frictional force equivalent moment, and by the external force
The corresponding equivalent voltage of equivalent moment is sent to the load motor driver.
In above system, it is preferred that the simulation external force controls signal generation device and includes：Micro-control unit sum number
Type matrix intends converting unit；
The micro-control unit, for calculating external force equivalent moment according to the simulation external force control parameter；
The D/A conversion unit, for converting the external force equivalent moment to the equivalent voltage.
In second aspect, an embodiment of the present invention provides a kind of working condition simulation methods of motor, are applied to the present invention and implement
In the Simulated System of motor described in example, including：
Obtain simulation external force control parameter；
The outer force control signal of simulation, which is generated, according to the simulation external force control parameter is sent to simulation external force output device, with
Make the simulation external force output device according to force control signal outside the simulation, generates matched simulation external force and be applied to electricity to be measured
On machine, to realize to waiting for that the operating mode of measured motor is simulated described in work, wherein the simulation external force control parameter packet
It includes：Frictional force control parameter and/or GRAVITY CONTROL parameter.
In the above-mentioned methods, it is preferred that external force control parameter is simulated in the acquisition, including：
By speed probe or torque sensor obtain described in wait for the rotary speed data of measured motor, and by the rotary speed data
As a frictional force control parameter, while obtaining other simulation external force control parameters input by user；
It is described that simulation external force output dress is sent to according to the outer force control signal of simulation external force control parameter generation simulation
It sets, including：
Simulation external force control is generated according to the rotary speed data and described other simulation external force control parameters input by user
Signal is sent to simulation external force output device.
In the above-mentioned methods, it is preferred that input by user other simulate external force control parameters and include：
The quality of fictitious load, the direction of simulated gravity, setting friction coefficient and setting acceleration of gravity, wherein described
The direction of simulated gravity is straight up or straight down；
It is described to generate with described other simulation external force control parameters input by user according to the rotary speed data and simulate external force
Control signal is sent to simulation external force output device, including：
Gravity is calculated according to the quality of the fictitious load, the direction of the simulated gravity and the setting acceleration of gravity
Equivalent moment；
Frictional force equivalent moment is calculated according to the setting friction coefficient and the rotary speed data；
External force equivalent moment is calculated according to the gravity equivalent moment and the frictional force equivalent moment, and by the external force
The corresponding equivalent voltage of equivalent moment is sent to the load motor driver in the simulation external force output device.
An embodiment of the present invention provides a kind of Simulated System of motor and method, the Simulated System packets of the motor
It includes：It is connected with the driving signal input of measured motor is waited for, for driving the motor driver to be measured and the simulation that wait for measured motor work
External force output device is connected, and for obtaining simulation external force control parameter, and according to simulation external force control parameter, generates simulation external force
Control signal be sent to simulation external force output device simulation external force control signal generation device and with the output that waits for measured motor
Axis is connected, for according to outer force control signal is simulated, the matched simulation external force of generation, which is applied to, to be waited on measured motor, with realization pair
The simulation external force output device for waiting for the operating mode of measured motor and being simulated in work, solves the Work condition analogue system of existing motor
In system, gravity simulation device and friction force simulating device precision are relatively low, and can not achieve and continuously adjusted to gravity and frictional force
Whole technological deficiency realizes and carries out continuous and accurate simulation to the gravity and frictional force operating mode of servo motor.
Description of the drawings
Fig. 1 is the structure chart for the system that the operating mode in the prior art to servo motor is simulated；
Fig. 2 is the exemplary plot of simulation tooling shown in FIG. 1；
Fig. 3 is a kind of structure chart of the Simulated System 1 for motor that the embodiment of the present invention one provides；
Fig. 4 is a kind of structure chart of the Simulated System 1 of motor provided by Embodiment 2 of the present invention；
Fig. 5 is a kind of structure chart of the Simulated System 1 for motor that the embodiment of the present invention three provides；
Fig. 6 is a kind of flow chart of the working condition simulation method for motor that the embodiment of the present invention four provides；
Fig. 7 is a kind of flow chart of the working condition simulation method for motor that the embodiment of the present invention five provides.
Specific implementation mode
To make the objectives, technical solutions, and advantages of the present invention clearer, below in conjunction with the accompanying drawings to of the invention specific real
Example is applied to be described in further detail.It is understood that specific embodiment described herein is used only for explaining the present invention,
Rather than limitation of the invention.
It also should be noted that only the parts related to the present invention are shown for ease of description, in attached drawing rather than
Full content.It should be mentioned that some exemplary embodiments are described before exemplary embodiment is discussed in greater detail
At the processing or method described as flow chart.Although operations (or step) are described as the processing of sequence by flow chart,
It is that many of which operation can be implemented concurrently, concomitantly or simultaneously.In addition, the sequence of operations can be by again
It arranges.The processing can be terminated when its operations are completed, it is also possible to the additional step being not included in attached drawing.
The processing can correspond to method, function, regulation, subroutine, subprogram etc..
Embodiment one
Fig. 3 is a kind of structure chart of the Simulated System 1 for motor that the embodiment of the present invention one provides.The present embodiment motor
Simulated System 1 specifically include：Motor driver 11, simulation external force control signal generation device 12 and simulation to be measured are outside
Power output device 13.
Wherein, motor driver 11 to be measured is connected with the driving signal input of measured motor 2 is waited for, for driving electricity to be measured
Machine 2 works.
Wherein, simulation external force controls signal generation device 12, is connected with simulation external force output device 13, for obtaining simulation
External force control parameter, and according to simulation external force control parameter, generate the outer force control signal of simulation and be sent to simulation external force output dress
13 are set, simulation external force control parameter includes：Frictional force control parameter and/or GRAVITY CONTROL parameter.
Wherein, simulation external force output device 13, is connected with the output shaft of measured motor 2 is waited for, for according to simulation external force control
Signal generates matched simulation external force and is applied to and waits on measured motor 2, with realization to the operating mode for waiting for measured motor 2 in work into
Row simulation.
In the present embodiment, the effect of the Simulated System 1 of motor be controlled using motor driver 11 to be measured it is to be measured
Motor 2 is under the working condition of the different operating parameter of a variety of different operating modes or same operating mode, meanwhile, simulation
It waits for gravity that measured motor 2 is born in real work situation and frictional force and is loaded onto the output shaft for waiting for measured motor 2, detect institute
The gravity and frictional force of simulation treat the size whether current working status of measured motor 2 has an impact and influence.
It will be appreciated by persons skilled in the art that motor during the work time can be by the shadow of external force of gravity and frictional force
It rings, all includes in general, inside motor external force compensation circuit, which can be to the external weight suffered by motor
Power and frictional force compensate, so that motor works normally.It is a but due to the presence of motor individual difference and defect rate
Due level is not achieved in the external force compensation ability of other motor, if by such motor application to real work, it may
There are security risks, therefore, should be tested the external force compensation ability of motor before motor is using preceding or manufacture.
In the present embodiment, motor driver 11 to be measured, to wait for that measured motor 2 provides drive signal so that wait for measured motor 2 by
It works according to the operating mode of setting.Motor driver 11 to be measured can be typically servo-driver etc..
In the present embodiment, simulation external force control signal generation device 12 is specifically used for obtaining simulation external force control parameter,
Wherein, simulation external force control parameter specifically refers to frictional force control parameter, and/or GRAVITY CONTROL parameter.For example, simulation is outer
Power control parameter can be specifically the gravity numerical value and friction value of required simulation, or for calculating the required gravity simulated
With the parameter of frictional force etc..In addition, the mode that simulation external force control signal generation device 12 obtains simulation external force control parameter has
Body can directly input acquisition by operating personnel, can also be acquisition etc., this implementation from setting server by network
Example is not limited this.
Further, in the present embodiment, simulation external force control signal generation device 12 is also particularly useful for outer according to simulation
Power control parameter generates the outer force control signal of simulation and is sent to simulation external force output device 13, so that simulation external force output device 13
Output simulation external force corresponding with simulation external force control parameter.Wherein, it can be typically voltage letter to simulate outer force control signal
Number etc..
Further, simulation external force output device 13 is specifically used for, according to outer force control signal is simulated, generating matched mould
Quasi- external force, is applied on the output shaft for waiting for measured motor 2, to realize to waiting for that the operating mode of measured motor 2 is simulated in work.Mould
Quasi- external force output device 13 can be specifically motor and motor driver, can also be motor etc..
An embodiment of the present invention provides a kind of Simulated System 1 of motor, the Simulated System 1 of the motor includes：
It is connected with the driving signal input of measured motor is waited for, for driving the motor driver to be measured 11 and the simulation that wait for measured motor work
External force output device 13 is connected, and for obtaining simulation external force control parameter, and according to simulation external force control parameter, it is outer to generate simulation
Force control signal be sent to simulation external force output device 13 simulation external force control signal generation device 12 and with wait for measured motor
2 output shaft is connected, and is used for according to outer force control signal is simulated, and the matched simulation external force of generation, which is applied to, to be waited on measured motor 2,
To realize to the simulation external force output device 13 for waiting for the operating mode of measured motor 2 and being simulated in work, solves existing motor
Simulated System in, gravity simulation device and friction force simulating device precision are relatively low, and can not achieve to gravity and friction
Power carries out continuously adjustable technological deficiency, realizes and carries out continuous and accurate mould to the gravity and frictional force operating mode of servo motor
It is quasi-.
Embodiment two
Fig. 4 is a kind of structure chart of the Simulated System 1 of motor provided by Embodiment 2 of the present invention.It is more than the present embodiment
It states and optimizes based on embodiment, in the present embodiment, simulation external force output device 13 is optimized for：131 He of load motor
Load motor driver 132, the power supply output end and control signal output of load motor driver 132 respectively with load motor
131 energization input is connected with control signal input, the output shaft of load motor 131 and the output shaft phase for waiting for measured motor 2
Even, load motor driver 132 is connected with simulation external force control signal generation device 12.
Correspondingly, simulation external force control signal generation device 12 is optimized for：External force control parameter is simulated specifically for obtaining,
According to simulation external force control parameter calculate external force equivalent moment, and will equivalent voltage corresponding with external force equivalent moment be sent to it is negative
Carry motor driver 132.
Further, the Simulated System 1 of motor is optimized for：Further include tachometric survey component 14, tachometric survey component
14 input terminal and load motor 131, and/or wait for that measured motor 2 is connected, output end and the simulation external force control of tachometric survey component 14
Signal generation device 12 processed is connected；Tachometric survey component 14, for measuring load motor 131 or waiting for the rotating speed of measured motor 2, and will
It measures obtained rotary speed data and is sent to simulation external force control signal generation device 12；It simulates external force and controls signal generation device 12
It is optimized for：The rotary speed data measured specifically for obtaining tachometric survey component 14, and using rotary speed data as a frictional force control
Parameter processed.
Further, the Simulated System 1 of motor is optimized for：Further include data processing equipment 15, data processing equipment
15 are connected with tachometric survey component 14, simulation external force control signal generation device 12 and motor driver to be measured 11 respectively；Simulation
External force control signal generation device 12 is optimized for：Outer force control signal will be simulated by, which being additionally operable to, is sent to data processing equipment 15；Turn
Fast measuring part 14 is optimized for：It is additionally operable to rotary speed data being sent to data processing equipment 15；Motor driver 11 to be measured optimizes
For：It is additionally operable to be used to drive to wait for that the drive signal of measured motor 2 is sent to data processing equipment 15；Data processing equipment 15 is used
According to rotary speed data, the outer force control signal of simulation and the drive signal for waiting for measured motor, judgement waits for whether measured motor 2 works just
Often.
Further, tachometric survey component 14 is optimized for torque sensor.
Correspondingly, by the input terminal of tachometric survey component 14 and load motor 131, and/or wait for that measured motor 2 is connected, optimization
For：First connecting pin of torque sensor and second connection end respectively with the output shaft of load motor 131 and wait for the defeated of measured motor 2
Shaft is connected.
Correspondingly, the output shaft of load motor 131 is connected with the output shaft of measured motor 2 is waited for, is optimized for：Load motor
131 output shaft is connected by first shaft coupling with the first connecting pin of torque sensor, while waiting for that the output shaft of measured motor 2 is logical
Second shaft coupling is crossed with the second connection end of torque sensor to be connected.
Further, it is by simulation external force Optimization about control parameter：The quality of fictitious load, the direction of simulated gravity, setting
Friction coefficient and setting acceleration of gravity, wherein the direction of simulated gravity is straight up or straight down.
Correspondingly, it will obtain and simulate external force control parameter, external force equivalent moment is calculated according to simulation external force control parameter, and
Equivalent voltage corresponding with external force equivalent moment is sent to load motor driver 132, is optimized for：Obtain the matter of fictitious load
Amount, the direction of simulated gravity, setting friction coefficient, setting acceleration of gravity and rotary speed data；According to the quality of fictitious load, mould
The direction of quasi- gravity and setting acceleration of gravity calculate gravity equivalent moment；It is rubbed according to setting friction coefficient and rotary speed data calculating
Wipe power equivalent moment；External force equivalent moment is calculated according to gravity equivalent moment and frictional force equivalent moment, and by external force equivalent force
The corresponding equivalent voltage of square is sent to load motor driver 132.
Further, simulation external force control signal generation device 12 is optimized for：Including 121 sum number type matrix of micro-control unit
Quasi- converting unit 122；Micro-control unit 121, for calculating external force equivalent moment according to simulation external force control parameter；Digital simulation
Converting unit 122, for converting external force equivalent moment to equivalent voltage.
In the present embodiment, simulation external force output device 13 specially load motor 131 and load motor driver 132,
Load motor 132 is set as torque operating mode, the outer force control signal of the simulation that load motor driver 132 is used to receive
The equivalent voltage corresponding with external force equivalent moment that generation device 12 is sent is sent to load motor 132, so that load motor 132
The torque of output is equal with external force equivalent moment, and acts on the output shaft for waiting for measured motor 2.
In the present embodiment, tachometric survey component 14 is also added, while tachometric survey component 14 is optimized for torque and is passed
Sensor, torque sensor for obtaining the current rotating speed for waiting for measured motor 2, then the output shaft of load motor 131 with wait for measured motor 2
The succession of output shaft be specially that the output shaft of load motor 131 passes through the first of first shaft coupling and torque sensor and connects
It connects end to be connected, while waiting for that the output shaft of measured motor 2 is connected by second shaft coupling with the second connection end of torque sensor.Separately
Outside, in general, the output signal of torque sensor is smaller pulse voltage signal, which is difficult to by other
Equipment identifies, therefore, when using torque sensor, at the signal that can generally be matched simultaneously with torque sensor using one
Equipment is managed to the data processings such as the output signal of torque sensor is amplified, in order to which other equipment is identified.
Further, torque sensor can directly measure the current torque for the output shaft for waiting for measured motor 2, meanwhile, may be used also
To measure the current rotating speed and rotation direction of the output shaft for waiting for measured motor 2.By waiting for what measured motor 2 was born in actual operation
Frictional force is usually and waits for that the current rotating speed of measured motor 2 is relevant, therefore, in the present embodiment increases torque sensor to obtain
It waits for the current rotating speed of measured motor 2, and the outer force control signal of simulation is sent to using the current rotating speed for waiting for measured motor 2 as rotary speed data
Generation device 12, meanwhile, the current rotating speed of measured motor 2 will be waited for as a frictional force control parameter.
In the present embodiment, simulation external force control parameter is specially the quality of fictitious load, the direction of simulated gravity, setting
Friction coefficient and setting acceleration of gravity.Wherein, the direction of simulated gravity is straight up or straight down.Wherein, setting weight
Power acceleration can be typically 9.8 etc..Wherein, the numerical value for setting friction coefficient is specifically set according to different motors
's.
Meanwhile in the present embodiment, simulation external force control signal generation device 12 is specifically included into 121 He of micro-control unit
D/A conversion unit 122.
Wherein, micro-control unit 121, for calculating external force equivalent moment according to simulation external force control parameter, then, at this
In embodiment, micro-control unit 121 is specifically according to the quality of fictitious load, the direction of simulated gravity, setting friction coefficient, sets
Determine acceleration of gravity and waits for that the current rotating speed of measured motor 2 calculates external force equivalent moment.
Specifically, micro-control unit 121 specifically can be according to the quality of fictitious load, the direction of simulated gravity and setting
Acceleration of gravity calculates gravity equivalent moment.It illustratively, can be by the quality of fictitious load, the direction of simulated gravity and setting
Acceleration of gravity is multiplied to obtain gravity equivalent moment, wherein if the current operation that measured motor 2 is treated in the direction of simulated gravity is
Resistance, then the direction of simulated gravity is numerical value " -1 " in calculating process；If measured motor 2 is treated in the direction of simulated gravity
Current operation is power, then the direction of simulated gravity is numerical value "+1 " in calculating process.
Further, micro-control unit 121 specifically can be according to setting friction coefficient and the current rotating speed meter for waiting for measured motor
Calculate frictional force equivalent moment.Illustratively, can will setting friction coefficient with wait for that the current rotating speed of measured motor is multiplied and rubbed
Power equivalent moment.
Further, micro-control unit 121 can specifically calculate outer according to gravity equivalent moment and frictional force equivalent moment
Power equivalent moment.Illustratively, gravity equivalent moment can be added with frictional force equivalent moment to obtain external force equivalent moment.
Wherein, D/A conversion unit 122, for converting external force equivalent moment to equivalent voltage.
In the present embodiment, also add data processing equipment 15, data processing equipment 15 respectively with tachometric survey component
14, simulation external force control signal generation device 12 is connected with motor driver 11 to be measured, receives and simulates outer force control signal generation
The current rotating speed for waiting for measured motor 2 that the outer force control signal of simulation that device 12 is sent, tachometric survey component 14 are sent and to be measured
The drive signal for waiting for measured motor 2 that motor driver 11 is sent.Data processing equipment 15 is specifically used for basis and waits for working as measured motor 2
Preceding rotating speed, the outer force control signal of simulation and the drive signal for waiting for measured motor 2, judgement wait for whether measured motor 2 is working properly.
For example, the basis first of data processing equipment 15 waits for that the drive signal determination of measured motor 2 waits for the normal of measured motor 2
Then the range of speeds first judges that the corresponding external force equivalent moment of force control signal is outside the simulation according to the outer force control signal of simulation
It is no to wait within the external force tolerance range of measured motor 2, if the corresponding external force equivalent moment of the outer force control signal of simulation is to be measured
Within the external force tolerance range of motor 2, then continue to judge whether the current rotating speed for waiting for measured motor 2 predetermined waits for measured motor
Within 2 rated speed range；If the corresponding external force equivalent moment of the outer force control signal of simulation is not in the external force for waiting for measured motor 2
It within tolerance range, then reports an error, while can also show " external force over range " etc. and remind word；If that waits for measured motor 2 works as forward
Speed then judges to wait for compensation of the measured motor 2 to gravity and frictional force within the predetermined rated speed range for waiting for measured motor 2
Ability is qualified, and can show that corresponding word is prompted；If waiting for the current rotating speed of measured motor 2 not in predetermined electricity to be measured
Within the rated speed range of machine 2, then the compensation ability qualification for waiting for measured motor 2 to gravity and frictional force is judged, and can show
Corresponding word is prompted.
Second embodiment of the present invention provides a kind of Simulated Systems 1 of motor, and simulation external force output device 13 is specific
Load motor 131 and load motor driver 132 are turned to, simulation external force control signal generation device 12 is embodied as：Including
Micro-control unit 121 and D/A conversion unit 122, optimization increase tachometric survey component 14, and by tachometric survey component
14 are optimized for torque sensor, while also optimization increases data processing equipment 15.System solves the problem the works of existing motor
In condition simulation system, gravity simulation device and friction force simulating device precision are relatively low, and can not achieve to gravity and frictional force into
Row continuously adjustable technological deficiency realizes and controls the simulation external force control that signal generation device 12 obtains according to by simulating external force
The current rotating speed that parameter processed and torque sensor measurement obtained wait for measured motor 2 calculates external force equivalent moment, treats measured motor 2
Gravity and frictional force operating mode carry out continuous and accurate simulation, at the same time it can also wait for measured motor 2 by data processing equipment judgement
Gravity and frictional force compensation ability it is whether qualified.
Embodiment three
Fig. 5 is a kind of structure chart of the Simulated System 1 for motor that the embodiment of the present invention three provides.It is more than the present embodiment
It states and optimizes based on embodiment, in the present embodiment, tachometric survey component 14 is optimized for speed probe.
Correspondingly, by the input terminal of tachometric survey component 14 and load motor 131, and/or wait for that measured motor 2 is connected, optimization
For：The input terminal of speed probe 14 and load motor 131, or wait for that measured motor 2 is connected.
Correspondingly, the output shaft of load motor 131 is connected with the output shaft of measured motor 2 is waited for, is optimized for：Load motor
131 output shaft is connected with the output shaft of measured motor 2 is waited for by shaft coupling.
In the present embodiment, the tachometric survey component 14 for obtaining the current rotating speed for waiting for measured motor 2 is speed probe,
Rather than torque sensor, therefore, the output shaft of load motor 131 and wait for measured motor 2 output shaft connection type in this implementation
Example in it is different in embodiment two.As shown in figure 5, the output shaft of load motor 131 passes through with the output shaft of measured motor 2 is waited for
One shaft coupling is connected.
In the present embodiment, speed probe is specifically used for measuring the current rotating speed for waiting for measured motor 2, due to load motor
131 output shaft is connected with the output shaft of measured motor 2 is waited for, therefore, speed probe is mounted on load motor 131 or mounted on waiting for
The current rotating speed for waiting for measured motor 2 is can measure on measured motor 2, as shown in figure 5, in the present embodiment, speed probe is mounted on
On load motor 131.
In the present embodiment, speed probe equally waits for that the current rotating speed of measured motor 2 is sent to simulation by what measurement obtained
External force controls signal generation device 12 and data processing equipment 15.
In the present embodiment, motor driver 11 to be measured, load motor 131, load motor driver 132, data processing
Micro-control unit in equipment 15, simulation external force control signal generation device 12 and simulation external force control signal generation device 12
121 and 122 respective connection type of D/A conversion unit and operation principle it is identical as embodiment two, no longer carried out secondary
Repeated explanation.
The embodiment of the present invention three provides a kind of Simulated System 1 of motor, and tachometric survey component 14 is optimized for turning
Fast sensor.System solves the problem in the Simulated System of existing motor, gravity simulation device and friction force simulating device
Precision is relatively low, and can not achieve and carry out continuously adjustable technological deficiency to gravity and frictional force, realizes according to outer by simulating
What the simulation external force control parameter and speed probe measurement that force control signal generation device 12 obtains obtained waits for working as measured motor 2
Preceding rotating speed calculates external force equivalent moment, treats the gravity of measured motor 2 and frictional force operating mode carries out continuous and accurate simulation, together
When, it can also judge whether the compensation ability of the gravity for waiting for measured motor 2 and frictional force is qualified by data processing equipment 15.
Example IV
Fig. 6 is a kind of flow chart of the working condition simulation method for motor that the embodiment of the present invention four provides.It is electric in the present embodiment
The working condition simulation method of machine is applied in the Simulated System of the motor described in the embodiment of the present invention, specifically includes：
410, simulation external force control parameter is obtained.
In the present embodiment, simulation external force control parameter specifically refers to frictional force control parameter, and/or GRAVITY CONTROL ginseng
Number specifically, simulation external force control parameter can be specifically the gravity numerical value and friction value of required simulation, or is used for
The parameter etc. of the gravity and frictional force simulated needed for calculating.
Wherein, the parameter for calculating the required gravity simulated can be specifically quality, the simulated gravity of fictitious load
Direction and setting acceleration of gravity etc.；Parameter for calculating the required gravity simulated can be specifically setting friction coefficient and wait for
Current rotating speed data of measured motor etc..
420, the outer force control signal of simulation is generated according to simulation external force control parameter and is sent to simulation external force output device, with
Make simulation external force output device according to outer force control signal is simulated, the matched simulation external force of generation, which is applied to, to be waited on measured motor,
To realize to waiting for that the operating mode of measured motor is simulated in work.
In the present embodiment, after obtaining simulation external force control parameter, mould can be generated according to simulation external force control parameter
Intend outer force control signal, and force control signal outside the simulation is sent to simulation external force output device.Simulate external force output device
It receives after simulating outer force control signal, can generate according to simulation external force control signal work and simulate outer force control signal
Matched external force, which is applied to, to be waited on measured motor.Wherein, it can be typically voltage signal etc. to simulate outer force control signal.
In the present embodiment, wait for that Working mode set should be torque mode by measured motor.
Further, if the parameter for calculating the required gravity simulated includes to wait for the current rotating speed number of measured motor
According to, then, the external force for controlling Signal Matching with simulation external force is applied to for the first time in simulation external force output device and waits for measured motor
On after, if wait for the rotating speed of measured motor change (referred here to certainly according to waiting for the running parameter of measured motor, it is to be measured
Variation of the output rotating speed of motor in normal range (NR) will stop if waiting for that the rotating speed of measured motor is abnormal variation
Test.), then accordingly based upon waiting for that force control signal can change outside simulation that the rotating speed of measured motor obtains, then at this time
Simulation the generated external force of external force output device can also change, that is, simulate the power that external force output device applies and waits for measured motor
It can change, it can be seen that, the outer force control signal → simulation external force → of simulation external force control parameter → simulation waits for measured motor
Current rotating speed → simulation external force control parameter is the process of a circulation change.
The embodiment of the present invention four provides a kind of working condition simulation method of motor, and this method obtains simulation external force control first
Then parameter generates the outer force control signal of simulation according to simulation external force control parameter and is sent to simulation external force output device, so that
External force output device is simulated according to outer force control signal is simulated, the matched simulation external force of generation, which is applied to, to be waited on measured motor, with
It realizes to waiting for that the operating mode of measured motor is simulated in work, in the Simulated System for solving existing motor, Gravity Mode
Quasi- device and friction force simulating device precision are relatively low, and can not achieve and lacked to gravity and frictional force progress continuously adjustable technology
It falls into, realizes and continuous and accurate simulation is carried out to the gravity and frictional force operating mode of servo motor.
Embodiment five
Fig. 7 is a kind of flow chart of the working condition simulation method for motor that the embodiment of the present invention five provides.It is more than the present embodiment
It states and optimizes based on embodiment, in the present embodiment, simulate external force control parameter by obtaining, be optimized for：It is passed by rotating speed
The rotary speed data of measured motor is waited for described in sensor or torque sensor acquisition, and using rotary speed data as a frictional force control ginseng
Number, while obtaining other simulation external force control parameters input by user.
Correspondingly, the outer force control signal of simulation will be generated according to simulation external force control parameter is sent to simulation external force output dress
It sets, is optimized for：It generates according to rotary speed data and other simulation external force control parameters input by user and simulates outer force control signal hair
It send to simulation external force output device.
Further, it is by other simulation external force Optimization about control parameter input by user：The quality of fictitious load, simulation weight
The direction of power, setting friction coefficient and setting acceleration of gravity, wherein the direction of simulated gravity be straight up or vertically to
Under.
Correspondingly, simulation external force control will be generated according to rotary speed data and other simulation external force control parameters input by user
Signal is sent to simulation external force output device, is optimized for：According to the quality of fictitious load, the direction of simulated gravity and setting gravity
Acceleration calculation gravity equivalent moment；Frictional force equivalent moment is calculated according to setting friction coefficient and rotary speed data；According to gravity
Equivalent moment and frictional force equivalent moment calculate external force equivalent moment, and the corresponding equivalent voltage of external force equivalent moment is sent to
Simulate the load motor driver in external force output device.
Correspondingly, the method for the present embodiment specifically includes：
510, by speed probe or torque sensor obtain described in wait for the rotary speed data of measured motor, and by rotary speed data
As a frictional force control parameter, at the same obtain the quality of fictitious load input by user, simulated gravity direction, setting rub
Wipe coefficient and setting acceleration of gravity.
In the present embodiment, simulation external force control parameter is obtained by two ways, first, passing through speed probe
Or torque sensor obtains the rotary speed data for waiting for measured motor；Second, inputting the quality for obtaining its fictitious load, simulation by user
Direction, setting friction coefficient and the setting acceleration of gravity of gravity, and after obtaining rotary speed data, rub as one
Power control parameter.
Wherein, wait for that the rotary speed data of measured motor specifically refers to wait for the data such as the current rotating speed of measured motor.Wherein, simulated gravity
Direction be straight up or straight down.Wherein, setting acceleration of gravity can be typically 9.8 etc..In addition, different waits for
Measured motor should be corresponding with different setting friction coefficient.
520, gravity equivalent force is calculated according to the quality of fictitious load, the direction of simulated gravity and setting acceleration of gravity
Square.
It illustratively, can be by the way that the direction of the quality of fictitious load, simulated gravity be multiplied with setting acceleration of gravity
Obtain gravity equivalent moment.What needs to be explained here is that if the current operation that measured motor 2 is treated in the direction of simulated gravity is resistance
Power, then the direction of simulated gravity is numerical value " -1 " in calculating process；If working as measured motor 2, is treated in the direction of simulated gravity
Preceding rotation is power, then the direction of simulated gravity is numerical value "+1 " in calculating process.
530, frictional force equivalent moment is calculated according to setting friction coefficient and rotary speed data.
Illustratively, friction coefficient can will be set to be multiplied to obtain frictional force equivalent moment with rotary speed data.
540, external force equivalent moment is calculated according to gravity equivalent moment and frictional force equivalent moment, and by external force equivalent moment
Corresponding equivalent voltage be sent to simulation external force output device in load motor driver so that load motor driver according to
Equivalent voltage, the matched simulation external force of control load motor generation, which is applied to, to be waited on measured motor, to realize to being waited in work
The operating mode of measured motor is simulated.
Illustratively, gravity equivalent moment can be added with frictional force equivalent moment to obtain external force equivalent moment.
In the present embodiment, it is specially corresponding equivalent with the external force equivalent moment being calculated to simulate outer force control signal
Voltage.
The embodiment of the present invention five provides a kind of working condition simulation method of motor, embodies simulation external force control parameter
Acquisition methods embody simulation external force control parameter, embody further the generation method for simulating outer force control signal.This method
In the Simulated System for solving existing motor, gravity simulation device and friction force simulating device precision are relatively low, and cannot
Realize and continuously adjustable technological deficiency carried out to gravity and frictional force, realize to the gravity of servo motor and frictional force operating mode into
Row is continuous and accurately simulates.
Note that above are only presently preferred embodiments of the present invention and institute's application technology principle.It will be appreciated by those skilled in the art that
The present invention is not limited to specific embodiments described here, can carry out for a person skilled in the art it is various it is apparent variation,
It readjusts and substitutes without departing from protection scope of the present invention.Therefore, although being carried out to the present invention by above example
It is described in further detail, but the present invention is not limited only to above example, without departing from the inventive concept, also
May include other more equivalent embodiments, and the scope of the present invention is determined by scope of the appended claims.
Claims (11)
1. a kind of Simulated System of motor, which is characterized in that including：Motor driver to be measured, the outer force control signal of simulation
Generation device and simulation external force output device；
The motor driver to be measured is connected with the driving signal input of measured motor is waited for, described measured motor work is waited for for driving
Make；
The simulation external force controls signal generation device, is connected with the simulation external force output device, for obtaining simulation external force
Control parameter, and according to the simulation external force control parameter, it is defeated that the outer force control signal of generation simulation is sent to the simulation external force
Go out device, the simulation external force control parameter includes：Frictional force control parameter and/or GRAVITY CONTROL parameter；
The simulation external force output device waits for that the output shaft of measured motor is connected with described, for being controlled according to the simulation external force
Signal, generate matched simulation external force be applied to it is described wait on measured motor, with realization to waiting for measured motor described in work
Operating mode is simulated.
2. system according to claim 1, which is characterized in that the simulation external force output device includes：
Load motor and load motor driver, the power supply output end and control signal output point of the load motor driver
It is not connected with the energization input of the load motor and control signal input, the output shaft of the load motor is waited for described
The output shaft of measured motor is connected, and the load motor driver is connected with simulation external force control signal generation device；
The simulation external force control signal generation device is specifically used for：Simulation external force control parameter is obtained, according to outside the simulation
Power control parameter calculates external force equivalent moment, and equivalent voltage corresponding with the external force equivalent moment is sent to the load
Motor driver.
3. system according to claim 2, which is characterized in that further include：Tachometric survey component, the tachometric survey component
Input terminal and the load motor and/or it is described wait for that measured motor is connected, output end and the mould of the tachometric survey component
Quasi- external force control signal generation device is connected；
The tachometric survey component, for measuring the load motor or the rotating speed for waiting for measured motor, and measurement is obtained
Rotary speed data is sent to the simulation external force control signal generation device；
The simulation external force control signal generation device is specifically used for：The rotary speed data that the tachometric survey component measures is obtained,
And using the rotary speed data as a frictional force control parameter.
4. system according to claim 3, which is characterized in that further include：Data processing equipment, the data processing equipment
It is connected respectively with the tachometric survey component, simulation external force control signal generation device and the motor driver to be measured；
The simulation external force controls signal generation device, is additionally operable to force control signal outside the simulation being sent at the data
Manage equipment；
The tachometric survey component is additionally operable to the rotary speed data being sent to the data processing equipment；
The motor driver to be measured is additionally operable to be used to drive and described waits for that the drive signal of measured motor is sent at the data
Manage equipment；
The data processing equipment, for according to force control signal outside the rotary speed data, the simulation and described waiting for measured motor
Drive signal, wait for whether measured motor working properly described in judgement.
5. system according to claim 3 or 4, which is characterized in that the tachometric survey component is speed probe；
The input terminal of the tachometric survey component and the load motor and/or it is described wait for that measured motor is connected, including：
The input terminal of the speed probe and the load motor described wait for that measured motor is connected；
The output shaft of the load motor waits for that the output shaft of measured motor is connected with described, including：
The output shaft of the load motor waits for that the output shaft of measured motor is connected by shaft coupling with described.
6. device according to claim 3 or 4, which is characterized in that the tachometric survey component is torque sensor；
The input terminal of the tachometric survey component and the load motor and/or it is described wait for that measured motor is connected, including：
First connecting pin of the torque sensor and second connection end respectively with the output shaft of the load motor and described wait for
The output shaft of measured motor is connected；
The output shaft of the load motor waits for that the output shaft of measured motor is connected with described, including：
The output shaft of the load motor is connected by first shaft coupling with the first connecting pin of the torque sensor, while institute
It states and waits for that the output shaft of measured motor is connected by second shaft coupling with the second connection end of the torque sensor.
7. system according to claim 3 or 4, which is characterized in that the simulation external force control parameter includes：Fictitious load
Quality, simulated gravity direction, setting friction coefficient and setting acceleration of gravity, wherein the direction of the simulated gravity is
Straight up or straight down；
External force control parameter is simulated in the acquisition, according to simulation external force control parameter calculating external force equivalent moment, and will be with
The corresponding equivalent voltage of the external force equivalent moment is sent to the load motor driver, including：
Obtain the quality of the fictitious load, the direction of the simulated gravity, the setting friction coefficient, the setting gravity add
Speed and the rotary speed data；
It is equivalent that gravity is calculated according to the quality of the fictitious load, the direction of the simulated gravity and the setting acceleration of gravity
Torque；
Frictional force equivalent moment is calculated according to the setting friction coefficient and the rotary speed data；
External force equivalent moment is calculated according to the gravity equivalent moment and the frictional force equivalent moment, and the external force is equivalent
The corresponding equivalent voltage of torque is sent to the load motor driver.
8. system according to claim 2, which is characterized in that the simulation external force controls signal generation device and includes：It is micro-
Control unit and D/A conversion unit；
The micro-control unit, for calculating external force equivalent moment according to the simulation external force control parameter；
The D/A conversion unit, for converting the external force equivalent moment to the equivalent voltage.
9. a kind of working condition simulation method of motor is applied to the Work condition analogue of the motor as described in any one of claim 1-8
In system, which is characterized in that including：
Obtain simulation external force control parameter；
The outer force control signal of simulation is generated according to the simulation external force control parameter and is sent to simulation external force output device, so that institute
Simulation external force output device is stated according to force control signal outside the simulation, generate matched simulation external force be applied to wait for measured motor it
On, to realize to waiting for that the operating mode of measured motor is simulated described in work, wherein the simulation external force control parameter includes：
Frictional force control parameter and/or GRAVITY CONTROL parameter.
10. according to the method described in claim 9, it is characterized in that, the acquisition simulate external force control parameter, including：
By speed probe or torque sensor obtain described in wait for the rotary speed data of measured motor, and using the rotary speed data as
One frictional force control parameter, while obtaining other simulation external force control parameters input by user；
It is described that simulation external force output device, packet are sent to according to the outer force control signal of simulation external force control parameter generation simulation
It includes：
It generates according to the rotary speed data and described other simulation external force control parameters input by user and simulates outer force control signal
It is sent to simulation external force output device.
11. according to the method described in claim 10, it is characterized in that, described other simulation external force control parameters input by user
Including：
The quality of fictitious load, the direction of simulated gravity, setting friction coefficient and setting acceleration of gravity, wherein the simulation
The direction of gravity is straight up or straight down；
It is described to generate simulation external force with described other simulation external force control parameters input by user according to the rotary speed data and control
Signal is sent to simulation external force output device, including：
It is equivalent that gravity is calculated according to the quality of the fictitious load, the direction of the simulated gravity and the setting acceleration of gravity
Torque；
Frictional force equivalent moment is calculated according to the setting friction coefficient and the rotary speed data；
External force equivalent moment is calculated according to the gravity equivalent moment and the frictional force equivalent moment, and the external force is equivalent
The corresponding equivalent voltage of torque is sent to the load motor driver in the simulation external force output device.
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