CN109443397A - A kind of motor positioning accuracy test device and method - Google Patents
A kind of motor positioning accuracy test device and method Download PDFInfo
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- CN109443397A CN109443397A CN201811491613.4A CN201811491613A CN109443397A CN 109443397 A CN109443397 A CN 109443397A CN 201811491613 A CN201811491613 A CN 201811491613A CN 109443397 A CN109443397 A CN 109443397A
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- encoder
- positioning accuracy
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- accuracy test
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
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- General Physics & Mathematics (AREA)
- Control Of Position Or Direction (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of motor positioning accuracy test device and methods, belong to servo controller technical field.Motor positioning accuracy test device of the invention, comprising: shaft coupling, motor are fixedly connected on the side of shaft coupling；Encoder, the encoder are fixedly connected on the other side of shaft coupling；Control circuit, the control circuit are connect with encoder and display device, and the location information of encoder is exported by display device；The display device, the location information of real-time display encoder.The present invention can intuitively determine stable state positioning accuracy by the positional fluctuation of encoder；Using less test device, the test of stable position tracking error is realized.
Description
Technical field
The invention belongs to servo controller technical fields, and in particular to a kind of motor positioning accuracy test device and method.
Background technique
Position tracking error is proposed in " AC servo driver general technical specifications " (JB/T 10184-2000)
The test method of (including stable position tracking error and dynamic tracking error).That is the motor work of servo-driver is controlled in position
Under mode processed, input position command signal measures the offset counter of driver.But the specific standard of no one of text or
Person's method is carried out measurement error and is counted, also without relevant test device in industry.
With the rapid development of semiconductor processing technology, most of encoder supports the coding based on FPGA on current market
Device control and the means of communication, and HDL (Hardware Description Language, hardware needed for providing fpga chip
Description language) code, this is conducive to us and is measured using high-precision encoder to positioning accuracy.The encoder of selection is only
Have disclosed communication protocol or it is available to user, can be placed directly in FPGA and can lead to encoder
The IP kernel of letter.
Summary of the invention
It is an object of the present invention to provide a kind of motor positioning accuracy test devices, can utilize less test device, realize
The test of stable position tracking error.
Specifically, the present invention adopts the following technical solutions realize.
On the one hand, the present invention provides a kind of motor positioning accuracy test device,
Shaft coupling, motor are fixedly connected on the side of shaft coupling；
Encoder, the encoder are fixedly connected on the other side of shaft coupling；
Control circuit, the control circuit are connect with encoder and display device, by the location information of encoder by showing
Device output；The display device, the location information of real-time display encoder.
Furthermore, the shaft coupling is set to dragging on testboard.
It furthermore, further include input equipment, the input equipment connects to the control circuit, for encoder to be arranged
Type.
Furthermore, the precision of the encoder is higher than motor internal encoder precision.
Furthermore, the control circuit includes:
Controller, the type of the controller storage encoder, detects the type of encoder, the encoder that will be attached thereto
It is matched with the encoder type of storage；
Interface circuit, component and controller information interaction for controller connection.
On the other hand, the present invention provides a kind of motor positioning accuracy test method, is tested by above-mentioned motor positioning accuracy
Device is realized characterized by comprising
It is set as position control mode to measured motor, and sets 0 for position command increment, driving motor rotation；
Receive the location information of encoder；
The location information of display encoder.
It furthermore, further include the type for detecting the encoder being connected to motor；When detected encoder type with
In controller when the matching of preset encoder type, the location information of encoder is received.
Furthermore, further include, when the encoder type being arranged in detected encoder type and controller not
Timing is prompted.
It furthermore, further include that the encoder type in controller is arranged by input equipment.
It furthermore, further include confirmation control circuit and display device before the location information for receiving encoder
Between communicate it is whether normal.
Furthermore, repeat the motor positioning accuracy to multiple motors to test, and the wave of comparison position information
Dynamic amplitude, to judge positioning accuracy；When fluctuating range is big, determines that the positioning accuracy of the motor is low, when fluctuating range is small, sentence
The positioning accuracy of the fixed motor is high.
Beneficial effects of the present invention are as follows: motor positioning accuracy test device of the invention, by FPGA with it is high-precision
Encoder is communicated, and by display module read-out encoder positional fluctuation, intuitively determines the stable position of driver
Tracking error；Using less test device, the test of stable position tracking error is realized.
Detailed description of the invention
Fig. 1 is the test device composition schematic diagram of the embodiment of the present invention.
Fig. 2 is the director demon flow chart of the embodiment of the present invention.
Fig. 3 is the setting encoder type flow chart of the embodiment of the present invention.
Fig. 4 is the front panel schematic diagram of the light-emitting nixie tube of the embodiment of the present invention.
Specific embodiment
Below with reference to embodiment and referring to attached drawing, present invention is further described in detail.
Embodiment:
One embodiment of the present of invention is a kind of motor positioning accuracy test device.
As shown in Figure 1, the motor positioning accuracy test device of the present embodiment includes to dragging testboard, a high-precision volume
Code device (such as 23bit), control circuit, control circuit is connect with encoder and light-emitting nixie tube, by the location information of encoder
Exported by light-emitting nixie tube, and on light-emitting nixie tube real-time display encoder location information.Wherein, it is set on testboard to dragging
Be equipped with shaft coupling, motor to be tested is fixed on to the side for dragging testboard, connect with shaft coupling, encoder be fixed on to drag survey
The other side of test stand, connect with shaft coupling；Preferably, shaft coupling is using rigidity, shaft coupling, so that band when the motor rotation of side
The encoder of the dynamic other side rotates with it, and the position deviation when motor of side is rotated is accurately transferred to the volume of the other side
Code device, reduces error caused by shaft coupling deformation itself.The precision of encoder is higher than motor internal encoder precision, so as to
Detect position deviation when motor rotation.Control circuit include a controller based on FPGA, with encoder is matched connects
Mouth circuit, controller are connect by interface circuit with human-computer interaction key and light-emitting nixie tube.Controller can also be used and is based on
The controller etc. of ASIC, communicates between controller and encoder as long as can be realized.
As shown in Figure 1, position control mode will be set as to measured motor when carrying out the test of steady-state error positioning accuracy, and
0 is set by position command increment, i.e. control driver is fixed on current position.Electricity can be sent instructions to by host computer
Mode position inside machine or motor is configured.Driving motor starts to carry out positioning accuracy detection.
After motor positioning accuracy detection device powers on, start encoder communicating circuit and communication program.Communication program
For realizing the communication protocol between controller and encoder, generally provided by encoder producer.As shown in figure 3, controller is first
The type for the encoder for dragging testboard side is detected to being fixed on, when the volume being arranged in the encoder type and controller
When code device type matching, the real-time position information (such as 20000 in Fig. 3) of the encoder is shown in light-emitting nixie tube；When this
When the encoder type being arranged in encoder type and controller mismatches, " Error " is shown in light-emitting nixie tube.Shine number
When pipe shows " Error ", operator can give again motor by operating human-computer interaction key, after the type of encoder is arranged
Positioning accuracy detection device powers on, and makes encoder normal operation.
Encoder type in controller can be set referring to following table by human-computer interaction key, and setting up procedure can pass through
Light-emitting nixie tube front panel is shown.
The river encoders that rub of setting in the present embodiment are Class1 more, and Nikon encoder type is 2.As shown in figure 4, function
Code indicates that pressing " Mode " key can mutually switch with PXX.00.The entrance of " SET " key is pressed after selected function code P01.00 to check
The numerical value of the function code, is pressedThree keys carry out parameter modification.The encoder class selected in the present embodiment
Type is to rub river encoders more, then modifies after parameter is 1, save parameter by " SET ", after display " donE ", illustrate that parameter is protected
It is saved as function." Mode " key is pressed again exits the function code.
Since the position command increment of motor is 0, motor should be stablized a fixed position, when driver exists surely
When state position error, motor will be fluctuated in fixed position or so, and the position for the encoder being connected to the motor at this time also will be
One fixed position or so fluctuation can read the fluctuation of encoder position at this time, the positional fluctuation by light-emitting nixie tube
The as positional fluctuation of motor, the encoder real time position undulating value shown by front panel intuitively provide stable state positioning and miss
Difference.
If you need to compare the positioning accuracy of the motor of multiple producers, above step can be repeated, and compares each corresponding coding
The positional fluctuation of device, fluctuation is bigger, illustrates that positioning accuracy is poorer, conversely, then positioning accuracy is better.
It is appreciated that embodiment as described herein can be by hardware, software, firmware, middleware, microcode or any combination thereof
To realize.For hardware implementation mode, processing unit can be at one or more specific integrated circuits (ASIC), digital signal
Manage device (DSP), digital signal processing device (DSPD), programmable logic device (PLD), field programmable gate array (FPGA),
Processor, microcontroller, microprocessor, is designed to execute other electronic units of function described herein or its group controller
It is realized in closing.It, can be by it when with software, firmware, middleware or microcode, program code or code segment to realize embodiment
Be stored in the machine readable media of such as storage assembly.
Although the present invention has been described by way of example and in terms of the preferred embodiments, embodiment is not for the purpose of limiting the invention.Not
It is detached from the spirit and scope of the present invention, any equivalent change or retouch done also belongs to the protection scope of the present invention.Cause
This protection scope of the present invention should be based on the content defined in the claims of this application.
Claims (11)
1. a kind of motor positioning accuracy test device characterized by comprising
Shaft coupling, motor are fixedly connected on the side of shaft coupling；
Encoder, the encoder are fixedly connected on the other side of shaft coupling；
Control circuit, the control circuit are connect with encoder and display device, by the location information of encoder by display device
Output；The display device, the location information of real-time display encoder.
2. motor positioning accuracy test device as described in claim 1, which is characterized in that the shaft coupling be set to drag survey
In test stand.
3. motor positioning accuracy test device as described in claim 1, which is characterized in that it further include input equipment, it is described defeated
Enter equipment to connect to the control circuit, for the type of encoder to be arranged.
4. motor positioning accuracy test device as described in claim 1, which is characterized in that the precision of the encoder is higher than electricity
Machine internal encoder precision.
5. motor positioning accuracy test device as described in claim 1, which is characterized in that the control circuit includes:
Controller, the type of controller storage encoder, detects the type of encoder, by the encoder being attached thereto with deposit
The encoder type of storage is matched；
Interface circuit, component and controller information interaction for controller connection.
6. a kind of motor positioning accuracy test method, real as the motor positioning accuracy test device as described in Claims 1 to 5
It is existing characterized by comprising
It is set as position control mode to measured motor, and sets 0 for position command increment, driving motor rotation；
Receive the location information of encoder；
The location information of display encoder.
7. motor positioning accuracy test method as claimed in claim 6, which is characterized in that further include that detection is connected to motor
Encoder type；When detected encoder type is matched with encoder type preset in controller, coding is received
The location information of device.
8. motor positioning accuracy test method as claimed in claim 7, which is characterized in that further include, when detected coding
When the encoder type being arranged in device type and controller mismatches, prompted.
9. motor positioning accuracy test method as claimed in claim 6, which is characterized in that further include being set by input equipment
Set the encoder type in controller.
10. motor positioning accuracy test method as claimed in claim 6, which is characterized in that the position for receiving encoder
It further include whether normally being communicated between confirmation control circuit and display device before information.
11. the motor positioning accuracy test method as described in claim 6~10 is any, which is characterized in that multiple motor weights
The motor positioning accuracy test, and the fluctuating range of comparison position information are carried out, again to judge positioning accuracy；Work as fluctuating range
When big, determine that the positioning accuracy of the motor is low, when fluctuating range is small, determines that the positioning accuracy of the motor is high.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201811491613.4A CN109443397A (en) | 2018-12-07 | 2018-12-07 | A kind of motor positioning accuracy test device and method |
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| Application Number | Priority Date | Filing Date | Title |
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| CN201811491613.4A CN109443397A (en) | 2018-12-07 | 2018-12-07 | A kind of motor positioning accuracy test device and method |
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| CN109443397A true CN109443397A (en) | 2019-03-08 |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106909125A (en) * | 2016-12-26 | 2017-06-30 | 武汉华中数控股份有限公司 | A kind of monitoring system and method for motor processability index |
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| US6392854B1 (en) * | 2000-07-27 | 2002-05-21 | Motorola, Inc. | Method and system for testing continuity of a motor and associated drive circuitry |
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| CN203396574U (en) * | 2013-06-14 | 2014-01-15 | 北京星达科技发展有限公司 | Micro pump transmission mechanism testing device |
| CN103808444A (en) * | 2014-02-14 | 2014-05-21 | 奇瑞汽车股份有限公司 | Measuring system for measuring cogging torque of permanent magnet synchronous motor |
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| CN107655511A (en) * | 2017-11-03 | 2018-02-02 | 常州寻心电子科技有限公司 | A kind of magnetic encoder calibrating installation and method |
| CN108801629A (en) * | 2018-06-15 | 2018-11-13 | 深圳超磁机器人科技有限公司 | Integrated magnetism speed reducer tests system |
| CN209085632U (en) * | 2018-12-07 | 2019-07-09 | 珠海格力电器股份有限公司 | A kind of motor positioning accuracy test device |
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Patent Citations (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS56168224A (en) * | 1980-04-21 | 1981-12-24 | Westinghouse Electric Corp | Position monitor |
| US6392854B1 (en) * | 2000-07-27 | 2002-05-21 | Motorola, Inc. | Method and system for testing continuity of a motor and associated drive circuitry |
| CN201845234U (en) * | 2010-11-16 | 2011-05-25 | 北京航天数控系统有限公司 | Servo synchronous testing device |
| CN203396574U (en) * | 2013-06-14 | 2014-01-15 | 北京星达科技发展有限公司 | Micro pump transmission mechanism testing device |
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| CN106909125A (en) * | 2016-12-26 | 2017-06-30 | 武汉华中数控股份有限公司 | A kind of monitoring system and method for motor processability index |
| CN106842024A (en) * | 2017-01-25 | 2017-06-13 | 东南大学 | A kind of New-type electric machine control performance test system |
| CN107655511A (en) * | 2017-11-03 | 2018-02-02 | 常州寻心电子科技有限公司 | A kind of magnetic encoder calibrating installation and method |
| CN108801629A (en) * | 2018-06-15 | 2018-11-13 | 深圳超磁机器人科技有限公司 | Integrated magnetism speed reducer tests system |
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| CN106909125A (en) * | 2016-12-26 | 2017-06-30 | 武汉华中数控股份有限公司 | A kind of monitoring system and method for motor processability index |
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