CN108279380B - System and method for simulating working conditions of motor - Google Patents
System and method for simulating working conditions of motor Download PDFInfo
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- CN108279380B CN108279380B CN201810149571.XA CN201810149571A CN108279380B CN 108279380 B CN108279380 B CN 108279380B CN 201810149571 A CN201810149571 A CN 201810149571A CN 108279380 B CN108279380 B CN 108279380B
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Abstract
The embodiment of the invention discloses a working condition simulation system and method of a motor. The system comprises: the device comprises a motor driver to be tested, an analog external force control signal generating device and an analog external force output device; the motor driver to be tested is connected with the driving signal input end of the motor to be tested and used for driving the motor to be tested to work; the simulation external force control signal generating device is connected with the simulation external force output device and used for acquiring simulation external force control parameters, generating simulation external force control signals according to the simulation external force control parameters and sending the simulation external force control signals to the simulation external force output device; and the simulated external force output device is connected with the output shaft of the motor to be tested and used for generating matched simulated external force to be applied to the motor to be tested according to the simulated external force control signal so as to simulate the working condition of the motor to be tested in work. The technical scheme of the embodiment of the invention realizes continuous and accurate simulation of the gravity and friction working conditions of the servo motor.
Description
Technical Field
The embodiment of the invention relates to the technical field of motor testing, in particular to a working condition simulation system and method of a motor.
Background
The servo motor is an engine which controls mechanical elements to operate in a servo system, and is an auxiliary motor indirect speed changing device. The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object.
Since the gravity and the friction force have an influence on the working output of the servo motor during the working process, the servo motor generally has a function of compensating the gravity and the friction force to stabilize the output. In the prior art, in the process of testing the gravity and friction compensation performance of a servo motor, a corresponding mechanical structure is usually established to simulate the working condition of viscous damping (friction) of servo suspended weights (gravity) or servo dragging. Fig. 1 shows a system for simulating a working condition of a servo motor in the prior art, in which a simulation tool is used for simulating gravity and friction, and the simulated gravity or friction is loaded to an output shaft of the servo motor through a coupling. Fig. 2 is a schematic diagram of the simulation tool in fig. 1, wherein the left side of fig. 2 is a gravity simulation tool, which can simulate different gravity by replacing weights with different masses, and the right side of fig. 2 is a friction simulation tool, which can adjust the friction between the friction plate and the disc by adjusting the tightening pressure.
The gravity simulation tool and the friction simulation tool shown in fig. 2 have low precision, cannot realize continuous adjustment of gravity and friction, and are time-consuming and labor-consuming in correction and maintenance, and particularly, the friction can also change along with changes of temperature, humidity and indoor dust.
Disclosure of Invention
In view of this, embodiments of the present invention provide a system and a method for simulating a working condition of a motor, so as to solve technical defects that a gravity simulation device and a friction simulation device in an existing working condition simulation system of a motor have low precision and cannot continuously adjust gravity and friction.
In a first aspect, an embodiment of the present invention provides a system for simulating operating conditions of a motor, including: the device comprises a motor driver to be tested, an analog external force control signal generating device and an analog external force output device;
the motor driver to be tested is connected with a driving signal input end of the motor to be tested and used for driving the motor to be tested to work;
the simulation external force control signal generating device is connected with the simulation external force output device and used for acquiring simulation external force control parameters, generating simulation external force control signals according to the simulation external force control parameters and sending the simulation external force control signals to the simulation external force output device, wherein the simulation external force control parameters comprise: a friction control parameter, and/or a gravity control parameter;
the simulation external force output device is connected with an output shaft of the motor to be tested and used for generating matched simulation external force to be applied to the motor to be tested according to the simulation external force control signal so as to simulate the working condition of the motor to be tested in work.
In the above system, preferably, the analog external force output means includes: the load motor driver is connected with the simulated external force control signal generating device;
the analog external force control signal generating device is specifically configured to: acquiring a simulation external force control parameter, calculating an external force equivalent moment according to the simulation external force control parameter, and sending an equivalent voltage corresponding to the external force equivalent moment to the load motor driver.
In the above system, it is preferable that the system further includes: the input end of the rotating speed measuring component is connected with the load motor and/or the motor to be measured, and the output end of the rotating speed measuring component is connected with the simulated external force control signal generating device;
the rotating speed measuring component is used for measuring the rotating speed of the load motor or the motor to be measured and sending the measured rotating speed data to the simulated external force control signal generating device;
the analog external force control signal generating device is specifically configured to: and acquiring the rotating speed data measured by the rotating speed measuring part, and taking the rotating speed data as one friction force control parameter.
In the above system, it is preferable that the system further includes: the data processing equipment is respectively connected with the rotating speed measuring component, the simulated external force control signal generating device and the motor driver to be tested;
the analog external force control signal generating device is also used for sending the analog external force control signal to the data processing equipment;
the rotating speed measuring component is also used for sending the rotating speed data to the data processing equipment;
the motor driver to be tested is also used for sending a driving signal for driving the motor to be tested to the data processing equipment;
and the data processing equipment is used for judging whether the motor to be detected works normally or not according to the rotating speed data, the simulated external force control signal and the driving signal of the motor to be detected.
In the above system, preferably, the rotation speed measuring means is a rotation speed sensor;
the input of rotational speed measuring unit with load motor, and/or the motor that awaits measuring links to each other, includes:
the input end of the rotating speed sensor is connected with the load motor or the motor to be detected;
the output shaft of load motor with the output shaft of the motor that awaits measuring links to each other, includes:
and the output shaft of the load motor is connected with the output shaft of the motor to be tested through a coupler.
In the above system, preferably, the rotation speed measuring means is a torque sensor;
the input of rotational speed measuring unit with load motor, and/or the motor that awaits measuring links to each other, includes:
the first connecting end and the second connecting end of the torque sensor are respectively connected with the output shaft of the load motor and the output shaft of the motor to be tested;
the output shaft of load motor with the output shaft of the motor that awaits measuring links to each other, includes:
the output shaft of the load motor is connected with the first connecting end of the torque sensor through a first coupler, and meanwhile, the output shaft of the motor to be tested is connected with the second connecting end of the torque sensor through a second coupler.
In the above system, preferably, the simulated external force control parameter includes: simulating the mass of a load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward;
the acquiring of the control parameter of the simulated external force, calculating the equivalent moment of the external force according to the control parameter of the simulated external force, and sending the equivalent voltage corresponding to the equivalent moment of the external force to the load motor driver comprises the following steps:
acquiring the mass of the simulated load, the direction of the simulated gravity, the set friction coefficient, the set gravitational acceleration and the rotating speed data;
calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration;
calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data;
and calculating an external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending an equivalent voltage corresponding to the external force equivalent moment to the load motor driver.
In the above system, preferably, the analog external force control signal generating means includes: the system comprises a micro control unit and a digital-analog conversion unit;
the micro control unit is used for calculating the external force equivalent moment according to the simulated external force control parameter;
and the digital-analog conversion unit is used for converting the external force equivalent moment into the equivalent voltage.
In a second aspect, an embodiment of the present invention provides a method for simulating operating conditions of a motor, which is applied to a system for simulating operating conditions of a motor according to an embodiment of the present invention, and includes:
acquiring a simulation external force control parameter;
according to simulation external force control parameter generates simulation external force control signal and sends to simulation external force output device to make simulation external force output device according to simulation external force control signal generates the simulation external force that matches and applys on waiting to detect the motor, in order to realize simulating the work the operating mode of waiting to detect the motor, wherein, simulation external force control parameter includes: a friction control parameter, and/or a gravity control parameter.
In the above method, preferably, the acquiring the simulated external force control parameter includes:
acquiring the rotating speed data of the motor to be tested through a rotating speed sensor or a torque sensor, taking the rotating speed data as a friction control parameter, and acquiring other simulated external force control parameters input by a user;
the step of generating a simulation external force control signal according to the simulation external force control parameter and sending the simulation external force control signal to a simulation external force output device comprises the following steps:
and generating a simulated external force control signal according to the rotating speed data and other simulated external force control parameters input by the user, and sending the simulated external force control signal to a simulated external force output device.
In the above method, preferably, the other simulated external force control parameters input by the user include:
simulating the mass of a load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward;
the method for generating a simulation external force control signal according to the rotating speed data and other simulation external force control parameters input by the user and sending the simulation external force control signal to a simulation external force output device comprises the following steps:
calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration;
calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data;
and calculating an external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending an equivalent voltage corresponding to the external force equivalent moment to a load motor driver in the external force simulation output device.
The embodiment of the invention provides a working condition simulation system and a working condition simulation method of a motor, wherein the working condition simulation system of the motor comprises the following steps: a motor driver to be tested connected with the driving signal input end of the motor to be tested and used for driving the motor to be tested to work, and a simulated external force output device, a simulated external force control signal generating device for acquiring the simulated external force control parameters, generating a simulated external force control signal according to the simulated external force control parameters, sending the simulated external force control signal to the simulated external force output device, and connecting with the output shaft of the motor to be tested, used for generating matched simulated external force to be applied on the motor to be tested according to the simulated external force control signal, so as to realize the simulation external force output device for simulating the working condition of the working motor to be tested, solve the problems that the precision of a gravity simulation device and a friction simulation device is lower in the existing working condition simulation system of the motor, and the technical defect that the gravity and the friction force can not be continuously adjusted is overcome, and the continuous and accurate simulation of the gravity and friction force working conditions of the servo motor is realized.
Drawings
FIG. 1 is a block diagram of a prior art system for simulating the operating conditions of a servo motor;
FIG. 2 is an exemplary diagram of the simulation tool shown in FIG. 1;
fig. 3 is a structural diagram of a working condition simulation system 1 of a motor according to an embodiment of the present invention;
fig. 4 is a structural diagram of a working condition simulation system 1 of a motor according to a second embodiment of the present invention;
fig. 5 is a structural diagram of a working condition simulation system 1 of a motor according to a third embodiment of the present invention;
fig. 6 is a flowchart of a working condition simulation method of a motor according to a fourth embodiment of the present invention;
fig. 7 is a flowchart of a working condition simulation method of a motor according to a fifth embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, embodiments of the present invention are described in further detail below with reference to the accompanying drawings. It is to be understood that the specific embodiments described herein are merely illustrative of the invention and are not limiting of the invention.
It should be further noted that, for the convenience of description, only some but not all of the relevant aspects of the present invention are shown in the drawings. Before discussing exemplary embodiments in more detail, it should be noted that some exemplary embodiments are described as processes or methods depicted as flowcharts. Although a flowchart may describe the operations (or steps) as a sequential process, many of the operations can be performed in parallel, concurrently or simultaneously. In addition, the order of the operations may be re-arranged. The process may be terminated when its operations are completed, but may have additional steps not included in the figure. The processes may correspond to methods, functions, procedures, subroutines, and the like.
Example one
Fig. 3 is a structural diagram of a working condition simulation system 1 of a motor according to an embodiment of the present invention. The working condition simulation system 1 of the motor of the embodiment specifically includes: the device comprises a motor driver 11 to be tested, a simulated external force control signal generating device 12 and a simulated external force output device 13.
The motor driver 11 to be tested is connected with a driving signal input end of the motor 2 to be tested and used for driving the motor 2 to be tested to work.
Wherein, simulation external force control signal generating device 12 links to each other with simulation external force output device 13 for acquire simulation external force control parameter, and according to simulation external force control parameter, generate simulation external force control signal and send to simulation external force output device 13, simulation external force control parameter includes: a friction control parameter, and/or a gravity control parameter.
The simulated external force output device 13 is connected with an output shaft of the motor 2 to be tested, and is used for generating a matched simulated external force to be applied to the motor 2 to be tested according to the simulated external force control signal so as to simulate the working condition of the motor 2 to be tested in work.
In this embodiment, the motor condition simulation system 1 is configured to control the motor 2 to be tested to be in different working modes or working states of different working parameters of the same working mode by using the motor driver 11 to be tested, and at the same time, simulate gravity and friction force borne by the motor 2 to be tested in an actual working condition and load the gravity and friction force to the output shaft of the motor 2 to be tested, and detect whether the simulated gravity and friction force affect the current working state of the motor 2 to be tested and the magnitude of the effect.
As will be understood by those skilled in the art, the motor is affected by external gravity and friction during operation, and generally, an external force compensation circuit is included in the motor and can compensate for the external gravity and friction received by the motor, so that the motor can operate normally. However, the external force compensation capability of an individual motor may not reach a proper level due to the individual difference of the motor and the defective rate, and if such a motor is applied to an actual operation, there may be a safety hazard, and therefore, the external force compensation capability of the motor should be tested before the motor is used or before the motor is shipped.
In this embodiment, the motor driver 11 to be tested provides a driving signal for the motor 2 to be tested, so that the motor 2 to be tested operates according to a set operating mode. The motor driver 11 to be tested may typically be a servo driver or the like.
In this embodiment, the simulated external force control signal generating device 12 is specifically configured to obtain a simulated external force control parameter, where the simulated external force control parameter specifically refers to a friction control parameter and/or a gravity control parameter. For example, the simulated external force control parameter may specifically be a gravity value and a friction value to be simulated, or a parameter for calculating the gravity and the friction to be simulated. In addition, the mode of acquiring the analog external force control parameter by the analog external force control signal generating device 12 may be specifically, directly input by an operator, or may be acquired from a setting server through a network, and the like, which is not limited in this embodiment.
Further, in the present embodiment, the analog external force control signal generating device 12 is further specifically configured to generate an analog external force control signal according to the analog external force control parameter and send the analog external force control signal to the analog external force output device 13, so that the analog external force output device 13 outputs the analog external force corresponding to the analog external force control parameter. The analog external force control signal may typically be a voltage signal or the like.
Further, the simulated external force output device 13 is specifically configured to generate a matched simulated external force according to the simulated external force control signal, and apply the matched simulated external force to the output shaft of the motor 2 to be tested, so as to simulate the working condition of the motor 2 to be tested in operation. The analog external force output device 13 may be a motor and a motor driver, and may also be a motor or the like.
The embodiment of the invention provides a working condition simulation system 1 of a motor, wherein the working condition simulation system 1 of the motor comprises: a motor driver 11 to be tested which is connected with the driving signal input end of the motor to be tested and is used for driving the motor to be tested to work and a simulation external force output device 13, a simulation external force control signal generating device 12 for obtaining the simulation external force control parameter, generating a simulation external force control signal according to the simulation external force control parameter, sending the simulation external force control signal to the simulation external force output device 13, and connecting with the output shaft of the motor 2 to be tested, used for generating matched simulated external force to be applied on the motor 2 to be tested according to the simulated external force control signal, the simulation external force output device 13 for simulating the working condition of the motor 2 to be tested in work solves the problems that the precision of a gravity simulation device and a friction simulation device is lower in the existing motor working condition simulation system, and the technical defect that the gravity and the friction force can not be continuously adjusted is overcome, and the continuous and accurate simulation of the gravity and friction force working conditions of the servo motor is realized.
Example two
Fig. 4 is a structural diagram of a working condition simulation system 1 of a motor according to a second embodiment of the present invention. The present embodiment is optimized based on the above-described embodiment, and in the present embodiment, the simulated external force output device 13 is optimized as follows: the load motor drive device comprises a load motor 131 and a load motor driver 132, wherein a power supply output end and a control signal output end of the load motor driver 132 are respectively connected with a power supply input end and a control signal input end of the load motor 131, an output shaft of the load motor 131 is connected with an output shaft of a motor 2 to be tested, and the load motor driver 132 is connected with a simulation external force control signal generating device 12.
Accordingly, the analog external force control signal generating device 12 is optimized to: specifically, the load motor driver 132 is configured to obtain a simulated external force control parameter, calculate an external force equivalent moment according to the simulated external force control parameter, and send an equivalent voltage corresponding to the external force equivalent moment to the load motor driver 132.
Further, the working condition simulation system 1 of the motor is optimized as follows: the device also comprises a rotating speed measuring component 14, wherein the input end of the rotating speed measuring component 14 is connected with the load motor 131 and/or the motor 2 to be measured, and the output end of the rotating speed measuring component 14 is connected with the analog external force control signal generating device 12; a rotation speed measuring part 14 for measuring the rotation speed of the load motor 131 or the motor 2 to be measured and sending the measured rotation speed data to the simulated external force control signal generating device 12; the analog external force control signal generating device 12 is optimized as follows: and is specifically configured to acquire the rotation speed data measured by the rotation speed measuring unit 14, and use the rotation speed data as a friction control parameter.
Further, the working condition simulation system 1 of the motor is optimized as follows: the device is characterized by further comprising a data processing device 15, wherein the data processing device 15 is respectively connected with the rotating speed measuring component 14, the simulation external force control signal generating device 12 and the motor driver 11 to be tested; the analog external force control signal generating device 12 is optimized as follows: and for sending the simulated external force control signal to the data processing device 15; the rotation speed measuring part 14 is optimized as follows: and also for sending rotational speed data to the data processing device 15; the motor driver 11 to be tested is optimized as follows: and is also used to send a drive signal for driving the motor 2 to be tested to the data processing device 15; and the data processing equipment 15 is used for judging whether the motor 2 to be detected works normally or not according to the rotating speed data, the simulated external force control signal and the driving signal of the motor to be detected.
Further, the rotation speed measuring means 14 is optimized as a torque sensor.
Accordingly, the input of the rotation speed measuring unit 14 is connected to the load motor 131, and/or the motor 2 to be measured, and is optimized as follows: the first connecting end and the second connecting end of the torque sensor are respectively connected with the output shaft of the load motor 131 and the output shaft of the motor 2 to be measured.
Correspondingly, the output shaft of the load motor 131 is connected with the output shaft of the motor 2 to be tested, and the optimization is as follows: the output shaft of the load motor 131 is connected with the first connecting end of the torque sensor through a first coupler, and the output shaft of the motor 2 to be measured is connected with the second connecting end of the torque sensor through a second coupler.
Further, the simulated external force control parameters are optimized as: simulating the mass of the load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward.
Correspondingly, the simulated external force control parameters are obtained, the external force equivalent torque is calculated according to the simulated external force control parameters, and the equivalent voltage corresponding to the external force equivalent torque is sent to the load motor driver 132, and the optimization is as follows: acquiring the mass of a simulated load, the direction of a simulated gravity, a set friction coefficient, a set gravity acceleration and rotation speed data; calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration; calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data; and calculating an external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending an equivalent voltage corresponding to the external force equivalent moment to the load motor driver 132.
Further, the analog external force control signal generating means 12 is optimized to: comprises a micro control unit 121 and a digital-analog conversion unit 122; the micro-control unit 121 is used for calculating an external force equivalent moment according to the simulated external force control parameter; and the digital-to-analog conversion unit 122 is used for converting the external equivalent moment into an equivalent voltage.
In this embodiment, the simulated external force output device 13 is specifically a load motor 131 and a load motor driver 132, the load motor 132 is set to be in a torque working mode, and the load motor driver 132 is configured to send the equivalent voltage corresponding to the external force equivalent moment sent by the received simulated external force control signal generation device 12 to the load motor 132, so that the torque output by the load motor 132 is equal to the external force equivalent moment and acts on the output shaft of the motor 2 to be tested.
In this embodiment, the rotating speed measuring component 14 is further added, and the rotating speed measuring component 14 is optimized to be a torque sensor, the torque sensor is used for obtaining the current rotating speed of the motor 2 to be measured, so that the output shaft of the load motor 131 is connected with the output shaft of the motor 2 to be measured, specifically, the output shaft of the load motor 131 is connected with the first connecting end of the torque sensor through the first coupler, and the output shaft of the motor 2 to be measured is connected with the second connecting end of the torque sensor through the second coupler. In addition, since the output signal of the torque sensor is generally a small pulse voltage signal which is difficult to be recognized by other devices, when the torque sensor is used, data processing such as amplification is generally performed on the output signal of the torque sensor by using one signal processing device which is matched with the torque sensor, so that the other devices can recognize the output signal.
Further, the torque sensor can directly measure the current torque of the output shaft of the motor 2 to be measured, and simultaneously, the current rotating speed and the rotating direction of the output shaft of the motor 2 to be measured can also be measured. Because the friction force borne by the motor 2 to be measured in actual operation is generally related to the current rotating speed of the motor 2 to be measured, in this embodiment, a torque sensor is added to obtain the current rotating speed of the motor 2 to be measured, and the current rotating speed of the motor 2 to be measured is sent to the simulated external force control signal generating device 12 as rotating speed data, and meanwhile, the current rotating speed of the motor 2 to be measured is used as a friction force control parameter.
In the present embodiment, the simulated external force control parameters are specifically the mass of the simulated load, the direction of the simulated gravity, the set friction coefficient, and the set gravitational acceleration. Wherein the direction of the simulated gravity is vertically upward or vertically downward. Among them, the set gravitational acceleration may typically be 9.8 or the like. Wherein, the value of the set friction coefficient is specifically set according to different motors.
Meanwhile, in the present embodiment, the analog external force control signal generating device 12 specifically includes a micro control unit 121 and a digital-to-analog conversion unit 122.
The micro control unit 121 is configured to calculate an external force equivalent moment according to the simulated external force control parameter, and then, in this embodiment, the micro control unit 121 specifically calculates the external force equivalent moment according to the mass of the simulated load, the direction of the simulated gravity, the set friction coefficient, the set gravitational acceleration, and the current rotation speed of the motor 2 to be measured.
Specifically, the micro control unit 121 may specifically calculate the gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity, and the set gravitational acceleration. For example, the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration may be multiplied to obtain the gravity equivalent moment, wherein if the direction of the simulated gravity is resistance to the current rotation of the motor 2 to be measured, the direction of the simulated gravity is a value "-1" in the calculation process; if the direction of the simulated gravity is to power the current rotation of the motor 2 to be measured, the direction of the simulated gravity is the value "+ 1" during the calculation.
Further, the micro control unit 121 may specifically calculate the friction equivalent torque according to the set friction coefficient and the current rotation speed of the motor to be measured. For example, the friction equivalent torque may be obtained by multiplying the set friction coefficient by the current rotation speed of the motor to be measured.
Further, the micro control unit 121 may specifically calculate the external force equivalent torque according to the gravity equivalent torque and the friction equivalent torque. For example, the gravity equivalent moment and the friction equivalent moment may be added to obtain the external force equivalent moment.
The digital-to-analog conversion unit 122 is configured to convert the external equivalent torque into an equivalent voltage.
In this embodiment, a data processing device 15 is further added, and the data processing device 15 is respectively connected to the rotation speed measuring unit 14, the analog external force control signal generating device 12 and the motor driver 11 to be tested, and receives the analog external force control signal sent by the analog external force control signal generating device 12, the current rotation speed of the motor 2 to be tested sent by the rotation speed measuring unit 14, and the driving signal of the motor 2 to be tested sent by the motor driver 11 to be tested. The data processing device 15 is specifically configured to determine whether the motor 2 to be tested is working normally according to the current rotation speed of the motor 2 to be tested, the analog external force control signal, and the driving signal of the motor 2 to be tested.
For example, the data processing device 15 first determines the normal rotation speed range of the motor 2 to be tested according to the driving signal of the motor 2 to be tested, then first determines whether the external force equivalent torque corresponding to the simulated external force control signal is within the external force bearing range of the motor 2 to be tested according to the simulated external force control signal, and if the external force equivalent torque corresponding to the simulated external force control signal is within the external force bearing range of the motor 2 to be tested, then continuously determines whether the current rotation speed of the motor 2 to be tested is within the previously determined normal rotation speed range of the motor 2 to be tested; if the external force equivalent torque corresponding to the simulated external force control signal is not within the external force bearing range of the motor 2 to be tested, an error is reported, and reminding characters such as 'external force over-range' and the like can be displayed; if the current rotating speed of the motor 2 to be detected is within the previously determined normal rotating speed range of the motor 2 to be detected, judging that the gravity and friction compensation capability of the motor 2 to be detected is qualified, and displaying corresponding characters for prompting; and if the current rotating speed of the motor 2 to be detected is not within the previously determined normal rotating speed range of the motor 2 to be detected, judging that the compensation capability of the motor 2 to be detected on the gravity and the friction is qualified, and displaying corresponding characters for prompting.
The second embodiment of the present invention provides a working condition simulation system 1 of a motor, in which a simulated external force output device 13 is embodied as a load motor 131 and a load motor driver 132, and a simulated external force control signal generation device 12 is embodied as: including the micro control unit 121 and the digital-analog conversion unit 122, the rotation speed measuring part 14 is optimally added, and the rotation speed measuring part 14 is optimally optimized as a torque sensor, and the data processing device 15 is also optimally added. The system overcomes the technical defects that the precision of a gravity simulation device and a friction simulation device is low and the gravity and the friction cannot be continuously adjusted in the existing working condition simulation system of the motor, realizes the calculation of the external force equivalent moment according to the simulated external force control parameters acquired by the simulated external force control signal generation device 12 and the current rotating speed of the motor 2 to be tested measured by a torque sensor, continuously and accurately simulates the gravity and friction working conditions of the motor 2 to be tested, and can judge whether the compensation capacity of the gravity and the friction of the motor 2 to be tested is qualified or not through data processing equipment.
EXAMPLE III
Fig. 5 is a structural diagram of a working condition simulation system 1 of a motor according to a third embodiment of the present invention. The present embodiment is optimized based on the above-described embodiment, in which the rotation speed measuring means 14 is optimized as a rotation speed sensor.
Accordingly, the input of the rotation speed measuring unit 14 is connected to the load motor 131, and/or the motor 2 to be measured, and is optimized as follows: the input end of the rotation speed sensor 14 is connected with the load motor 131 or the motor 2 to be measured.
Correspondingly, the output shaft of the load motor 131 is connected with the output shaft of the motor 2 to be tested, and the optimization is as follows: the output shaft of the load motor 131 is connected with the output shaft of the motor 2 to be tested through a coupler.
In the present embodiment, the rotation speed measuring component 14 for obtaining the current rotation speed of the motor 2 to be measured is a rotation speed sensor, not a torque sensor, and therefore, the connection manner of the output shaft of the load motor 131 and the output shaft of the motor 2 to be measured is different from that in the second embodiment. As shown in fig. 5, the output shaft of the load motor 131 is connected to the output shaft of the motor 2 to be measured through a coupling.
In this embodiment, the rotation speed sensor is specifically configured to measure the current rotation speed of the motor 2 to be measured, and since the output shaft of the load motor 131 is connected to the output shaft of the motor 2 to be measured, the rotation speed sensor is installed on the load motor 131 or installed on the motor 2 to be measured, so as to measure the current rotation speed of the motor 2 to be measured, as shown in fig. 5, in this embodiment, the rotation speed sensor is installed on the load motor 131.
In the present embodiment, the rotation speed sensor also transmits the measured current rotation speed of the motor 2 to be measured to the analog external force control signal generating device 12 and the data processing apparatus 15.
In this embodiment, the connection mode and the operation principle of the motor driver 11 to be tested, the load motor 131, the load motor driver 132, the data processing device 15, the analog external force control signal generating device 12, and the micro control unit 121 and the digital-to-analog conversion unit 122 in the analog external force control signal generating device 12 are the same as those of the embodiment, and the description thereof will not be repeated.
The third embodiment of the invention provides a working condition simulation system 1 of a motor, and a rotating speed measuring component 14 is optimized to be a rotating speed sensor. The system overcomes the technical defects that the precision of a gravity simulation device and a friction simulation device is low and the gravity and the friction cannot be continuously adjusted in the existing working condition simulation system of the motor, realizes the purpose of calculating the external force equivalent moment according to the simulated external force control parameters acquired by the simulated external force control signal generation device 12 and the current rotating speed of the motor 2 to be tested measured by the rotating speed sensor, continuously and accurately simulates the gravity and friction working conditions of the motor 2 to be tested, and meanwhile, can judge whether the compensation capacity of the gravity and the friction of the motor 2 to be tested is qualified or not through the data processing equipment 15.
Example four
Fig. 6 is a flowchart of a working condition simulation method of a motor according to a fourth embodiment of the present invention. The working condition simulation method of the motor in the embodiment is applied to the working condition simulation system of the motor in the embodiment of the invention, and specifically comprises the following steps:
410. and acquiring a simulation external force control parameter.
In this embodiment, the simulated external force control parameter specifically refers to a friction force control parameter and/or a gravity control parameter, and specifically, the simulated external force control parameter may specifically be a gravity value and a friction force value to be simulated, or a parameter used for calculating the gravity force and the friction force to be simulated, and the like.
The parameters for calculating the gravity to be simulated specifically may be mass of the simulated load, direction of the simulated gravity, set gravitational acceleration, and the like; the parameters for calculating the gravity to be simulated can be specifically set friction coefficients, current rotating speed data of the motor to be tested and the like.
420. And generating a simulation external force control signal according to the simulation external force control parameter and sending the simulation external force control signal to the simulation external force output device, so that the simulation external force output device generates matched simulation external force according to the simulation external force control signal and applies the simulation external force to the motor to be tested, and the simulation of the working condition of the motor to be tested in the working process is realized.
In this embodiment, after the analog external force control parameter is obtained, the analog external force control signal is generated according to the analog external force control parameter, and is sent to the analog external force output device. After receiving the analog external force control signal, the analog external force output device works according to the analog external force control signal to generate an external force matched with the analog external force control signal and apply the external force to the motor to be tested. The analog external force control signal may typically be a voltage signal or the like.
In this embodiment, the motor under test should set the operation mode to the torque mode.
Further, if the parameter for calculating the gravity to be simulated includes the current rotation speed data of the motor to be tested, after the external force matched with the simulated external force control signal is applied to the motor to be tested by the simulated external force output device for the first time, if the rotation speed of the motor to be tested changes (of course, the output rotation speed of the motor to be tested changes in a normal range according to the working parameter of the motor to be tested, and if the rotation speed of the motor to be tested changes abnormally, the test is stopped), the simulated external force control signal correspondingly obtained according to the rotation speed of the motor to be tested changes, and the external force generated by the simulated external force output device changes at the moment, that is, the force applied by the simulated external force output device to the motor to be tested also changes, so that the simulated external force control parameter → the simulated external force control signal → the simulated external force → the current rotation speed of the motor to be tested → the simulated external force control parameter is a cyclic change And (5) a chemical conversion process.
The fourth embodiment of the invention provides a working condition simulation method of a motor, which comprises the steps of firstly obtaining a simulation external force control parameter, then generating a simulation external force control signal according to the simulation external force control parameter, and sending the simulation external force control signal to a simulation external force output device, so that the simulation external force output device generates a matched simulation external force to be applied to the motor to be tested according to the simulation external force control signal, thereby realizing the simulation of the working condition of the motor to be tested in the working process, solving the technical defects that the precision of a gravity simulation device and a friction simulation device is lower and the continuous adjustment of the gravity and the friction cannot be realized in the existing working condition simulation system of the motor, and realizing the continuous and accurate simulation of the working condition of the gravity and the friction of a servo motor.
EXAMPLE five
Fig. 7 is a flowchart of a working condition simulation method of a motor according to a fifth embodiment of the present invention. In this embodiment, the simulation external force control parameters are obtained by optimizing the following steps: and acquiring the rotating speed data of the motor to be tested through a rotating speed sensor or a torque sensor, taking the rotating speed data as a friction force control parameter, and acquiring other simulated external force control parameters input by a user.
Correspondingly, generating a simulation external force control signal according to the simulation external force control parameter and sending the simulation external force control signal to a simulation external force output device, and optimizing the simulation external force control signal into: and generating a simulated external force control signal according to the rotating speed data and other simulated external force control parameters input by the user and sending the simulated external force control signal to the simulated external force output device.
Further, other simulated external force control parameters input by the user are optimized as follows: simulating the mass of the load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward.
Correspondingly, generating a simulation external force control signal according to the rotating speed data and other simulation external force control parameters input by a user and sending the simulation external force control signal to a simulation external force output device, wherein the optimization is as follows: calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration; calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data; and calculating the external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending the equivalent voltage corresponding to the external force equivalent moment to a load motor driver in the external force simulation output device.
Correspondingly, the method of the embodiment specifically includes:
510. and acquiring the rotating speed data of the motor to be detected through a rotating speed sensor or a torque sensor, taking the rotating speed data as a friction force control parameter, and simultaneously acquiring the mass of a simulated load, the direction of the simulated gravity, a set friction coefficient and a set gravitational acceleration input by a user.
In this embodiment, the analog external force control parameter is obtained in two ways, one of which is to obtain the rotation speed data of the motor to be measured through a rotation speed sensor or a torque sensor; and secondly, acquiring the mass of the simulated load, the direction of the simulated gravity, the set friction coefficient and the set gravity acceleration through user input, and taking the obtained data as a friction force control parameter after acquiring the rotating speed data.
The rotating speed data of the motor to be detected specifically refers to data such as the current rotating speed of the motor to be detected. Wherein the direction of the simulated gravity is vertically upward or vertically downward. Among them, the set gravitational acceleration may typically be 9.8 or the like. In addition, different motors to be tested should have different set friction coefficients.
520. And calculating the gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration.
For example, the gravity equivalent moment may be obtained by multiplying the mass of the dummy load, the direction of the dummy gravity, and the set gravitational acceleration. It should be noted here that if the direction of the simulated gravity is resistance to the current rotation of the motor 2 to be measured, the direction of the simulated gravity is a numerical value "-1" in the calculation process; if the direction of the simulated gravity is to power the current rotation of the motor 2 to be measured, the direction of the simulated gravity is the value "+ 1" during the calculation.
530. And calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data.
For example, the friction equivalent torque may be obtained by multiplying the set friction coefficient by the rotational speed data.
540. And calculating the external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending equivalent voltage corresponding to the external force equivalent moment to a load motor driver in the external force simulation output device, so that the load motor driver controls a load motor to generate matched simulated external force to be applied to the motor to be tested according to the equivalent voltage, thereby simulating the working condition of the motor to be tested in work.
For example, the gravity equivalent moment and the friction equivalent moment may be added to obtain the external force equivalent moment.
In this embodiment, the analog external force control signal is specifically an equivalent voltage corresponding to the calculated external force equivalent moment.
The fifth embodiment of the invention provides a working condition simulation method of a motor, which embodies the acquisition method of the control parameters of the simulated external force, embodies the control parameters of the simulated external force and also embodies the generation method of the control signals of the simulated external force. The method overcomes the technical defects that the precision of a gravity simulation device and a friction simulation device is low and the gravity and the friction can not be continuously adjusted in the conventional working condition simulation system of the motor, and realizes continuous and accurate simulation of the gravity and friction working conditions of the servo motor.
It is to be noted that the foregoing is only illustrative of the preferred embodiments of the present invention and the technical principles employed. It will be understood by those skilled in the art that the present invention is not limited to the particular embodiments described herein, but is capable of various obvious changes, rearrangements and substitutions as will now become apparent to those skilled in the art without departing from the scope of the invention. Therefore, although the present invention has been described in greater detail by the above embodiments, the present invention is not limited to the above embodiments, and may include other equivalent embodiments without departing from the spirit of the present invention, and the scope of the present invention is determined by the scope of the appended claims.
Claims (10)
1. A condition simulation system for an electric machine, comprising: the device comprises a motor driver to be tested, an analog external force control signal generating device and an analog external force output device;
the motor driver to be tested is connected with a driving signal input end of the motor to be tested and used for driving the motor to be tested to work;
the simulation external force control signal generating device is connected with the simulation external force output device and used for acquiring simulation external force control parameters, generating simulation external force control signals according to the simulation external force control parameters and sending the simulation external force control signals to the simulation external force output device, wherein the simulation external force control parameters comprise: a friction control parameter, and/or a gravity control parameter;
the simulated external force output device is connected with an output shaft of the motor to be tested and used for generating matched simulated external force to be applied to the motor to be tested according to the simulated external force control signal so as to simulate the working condition of the motor to be tested in work;
wherein the analog external force output device includes: the load motor driver is connected with the simulated external force control signal generating device;
the analog external force control signal generating device is specifically configured to: acquiring a simulation external force control parameter, calculating an external force equivalent moment according to the simulation external force control parameter, and sending an equivalent voltage corresponding to the external force equivalent moment to the load motor driver;
the load motor driver is used for sending the equivalent voltage which is sent by the received simulation external force control signal generating device and corresponds to the external force equivalent moment to the load motor so as to enable the torque output by the load motor to be equal to the external force equivalent moment and act on the output shaft of the motor to be tested.
2. The system of claim 1, further comprising: the input end of the rotating speed measuring component is connected with the load motor and/or the motor to be measured, and the output end of the rotating speed measuring component is connected with the simulated external force control signal generating device;
the rotating speed measuring component is used for measuring the rotating speed of the load motor or the motor to be measured and sending the measured rotating speed data to the simulated external force control signal generating device;
the analog external force control signal generating device is specifically configured to: and acquiring the rotating speed data measured by the rotating speed measuring part, and taking the rotating speed data as one friction force control parameter.
3. The system of claim 2, further comprising: the data processing equipment is respectively connected with the rotating speed measuring component, the simulated external force control signal generating device and the motor driver to be tested;
the analog external force control signal generating device is also used for sending the analog external force control signal to the data processing equipment;
the rotating speed measuring component is also used for sending the rotating speed data to the data processing equipment;
the motor driver to be tested is also used for sending a driving signal for driving the motor to be tested to the data processing equipment;
and the data processing equipment is used for judging whether the motor to be detected works normally or not according to the rotating speed data, the simulated external force control signal and the driving signal of the motor to be detected.
4. A system according to claim 2 or 3, wherein the rotation speed measuring means is a rotation speed sensor;
the input of rotational speed measuring unit with load motor, and/or the motor that awaits measuring links to each other, includes:
the input end of the rotating speed sensor is connected with the load motor or the motor to be detected;
the output shaft of load motor with the output shaft of the motor that awaits measuring links to each other, includes:
and the output shaft of the load motor is connected with the output shaft of the motor to be tested through a coupler.
5. A system according to claim 2 or 3, wherein the rotational speed measuring means is a torque sensor;
the input of rotational speed measuring unit with load motor, and/or the motor that awaits measuring links to each other, includes:
the first connecting end and the second connecting end of the torque sensor are respectively connected with the output shaft of the load motor and the output shaft of the motor to be tested;
the output shaft of load motor with the output shaft of the motor that awaits measuring links to each other, includes:
the output shaft of the load motor is connected with the first connecting end of the torque sensor through a first coupler, and meanwhile, the output shaft of the motor to be tested is connected with the second connecting end of the torque sensor through a second coupler.
6. The system of claim 2 or 3, wherein the simulated external force control parameters comprise: simulating the mass of a load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward;
the acquiring of the control parameter of the simulated external force, calculating the equivalent moment of the external force according to the control parameter of the simulated external force, and sending the equivalent voltage corresponding to the equivalent moment of the external force to the load motor driver comprises the following steps:
acquiring the mass of the simulated load, the direction of the simulated gravity, the set friction coefficient, the set gravitational acceleration and the rotating speed data;
calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration;
calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data;
and calculating an external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending an equivalent voltage corresponding to the external force equivalent moment to the load motor driver.
7. The system of claim 1, wherein the analog external force control signal generating means comprises: the system comprises a micro control unit and a digital-analog conversion unit;
the micro control unit is used for calculating the external force equivalent moment according to the simulated external force control parameter;
and the digital-analog conversion unit is used for converting the external force equivalent moment into the equivalent voltage.
8. A method for simulating an operating condition of an electric motor, applied to an operating condition simulation system of an electric motor according to any one of claims 1 to 7, comprising:
acquiring a simulation external force control parameter;
according to simulation external force control parameter generates simulation external force control signal and sends to simulation external force output device to make simulation external force output device according to simulation external force control signal generates the simulation external force that matches and applys on waiting to detect the motor, in order to realize simulating the work the operating mode of waiting to detect the motor, wherein, simulation external force control parameter includes: a friction control parameter, and/or a gravity control parameter;
according to simulation external force control parameter generates simulation external force control signal and sends to simulation external force output device to make simulation external force output device according to simulation external force control signal generates the simulation external force of matching and applies on the motor that awaits measuring, include: calculating an external force equivalent moment according to the simulated external force control parameters, and sending an equivalent voltage corresponding to the external force equivalent moment to a load motor driver in the simulated external force output device, so that the load motor driver controls a load motor in the simulated external force output device to generate a matched simulated external force to be applied to a motor to be tested according to the equivalent voltage;
the load motor driver is used for sending the equivalent voltage which is sent by the received simulation external force control signal generating device and corresponds to the external force equivalent moment to the load motor so as to enable the torque output by the load motor to be equal to the external force equivalent moment and act on the output shaft of the motor to be tested.
9. The method of claim 8, wherein the obtaining simulated external force control parameters comprises:
acquiring the rotating speed data of the motor to be tested through a rotating speed sensor or a torque sensor, taking the rotating speed data as a friction control parameter, and acquiring other simulated external force control parameters input by a user;
the step of generating a simulation external force control signal according to the simulation external force control parameter and sending the simulation external force control signal to a simulation external force output device comprises the following steps:
and generating a simulated external force control signal according to the rotating speed data and other simulated external force control parameters input by the user, and sending the simulated external force control signal to a simulated external force output device.
10. The method of claim 9, wherein the user-entered other simulated external force control parameters comprise:
simulating the mass of a load, simulating the direction of gravity, setting a friction coefficient and setting gravity acceleration, wherein the direction of the simulated gravity is vertically upward or vertically downward;
the method for generating a simulation external force control signal according to the rotating speed data and other simulation external force control parameters input by the user and sending the simulation external force control signal to a simulation external force output device comprises the following steps:
calculating gravity equivalent moment according to the mass of the simulated load, the direction of the simulated gravity and the set gravity acceleration;
calculating the friction equivalent torque according to the set friction coefficient and the rotating speed data;
and calculating an external force equivalent moment according to the gravity equivalent moment and the friction force equivalent moment, and sending an equivalent voltage corresponding to the external force equivalent moment to a load motor driver in the external force simulation output device.
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