CN109460011B - Comprehensive performance testing device and method for bus type motion control system - Google Patents
Comprehensive performance testing device and method for bus type motion control system Download PDFInfo
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- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
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Abstract
The invention discloses a comprehensive performance testing device and method for a bus type motion control system. The testing device comprises an upper computer and a lower computer; the upper computer is an EtherCAT real-time master station built based on IPC; the lower computer comprises a data monitor and a plurality of pulse acquisition modules. The data monitor is connected to the bus of the target motion control system to collect the control data of the motion controller and the state data of the servo driver, and triggers each pulse collecting module to synchronously collect the rotation speed and torque data through DC periodic synchronizing signals, and the collected data and the recorded collecting time value are uploaded to the upper computer. The data listener also comprises a unified clock source, so that all data acquisition is based on the same time sequence. The invention can collect the control data of the motion controller, the state data of the servo driver and the rotating speed and torque data of the servo motor at the same time, thereby realizing the joint test of the motion controller, the multi-axis servo driver and the servo motor.
Description
Technical Field
The invention relates to a comprehensive performance testing device and method for a bus type motion control system.
Background
The motion control bus based on the industrial Ethernet, such as EtherCAT, SERCOS, has the advantages of high communication rate, good anti-interference performance, strong real-time performance and the like, and has gradually replaced the traditional interface modes of pulse, analog quantity and the like between the motion controller and the servo driver. The digital characteristic of the motion control bus converts the entire motion control system into a fully digital whole. Therefore, more open data interaction between the motion controller and the servo driver can be realized, and a more excellent control algorithm can be designed on the basis, so that the overall performance of the motion control system is indirectly improved.
In order to improve the overall performance of the motion control system, the overall optimization design is required to be carried out from three aspects of a motion controller, a servo driver and a servo motor. And an objective and effective performance test data is an important reference basis for optimizing design of products, so that an objective and effective test method is needed to evaluate the overall performance of the motion control system.
At present, a sensing measurement technology for the rotating speed and torque of a servo motor has been widely applied, and a measurement platform for a servo driving system is formed on the basis, and related documents can be seen in: cao Yu, li Shesong (micro-motors, 2013, 46 (10)), teng Fulin, hu Yowen, li Hongsheng, deng Wei (electric drive, 2011, 41 (01)), wang Chuanjun (ac servo characteristic analysis and test (motor and control application, 2018, 45 (06)) and the like.
However, the test platform in the prior art only tests the servo driver and the servo motor, lacks joint test of the motion controller and a plurality of servo systems, and cannot analyze the comprehensive performance of the whole motion control system.
The patent of 201310136420.8 discloses a method for testing a motion control system by analyzing collected motion control bus data, but only aims at a motion controller and a servo driver, the actual rotation speed and torque of a servo motor cannot be synchronously tested, and due to the existence of clock jitter errors, the collected motion control data of the patent scheme cannot be subjected to precise data fusion based on time phase sequence with the measured rotation speed and torque data.
Therefore, in order to comprehensively analyze the performance of the motion control system, a new test method is needed to realize the joint test of the motion controller, the multi-axis servo driver and the servo motor.
Disclosure of Invention
The invention provides a comprehensive performance testing device and method for a bus type motion control system, which aims at: the joint test of the motion controller, the multi-axis servo driver and the servo motor is realized.
The technical scheme of the invention is as follows:
the utility model provides a comprehensive performance testing arrangement to bus type motion control system, the target motion control system that awaits measuring includes motion controller and a plurality of servo driver by motion controller control, servo driver is connected with servo motor, servo motor is connected with load, its characterized in that: the testing device comprises an upper computer and a lower computer;
the lower computer comprises a data monitor and a plurality of pulse acquisition modules;
the data monitor is connected with the motion controller and the servo drivers through the EtherCAT bus to form a first EtherCAT network, the motion controller controls each servo driver, and the data monitor is used for collecting control data of the motion controller and state data of the servo drivers in the first EtherCAT network;
the servo motor is provided with a rotating speed and torque sensor which is used for detecting the rotating speed and the torque of the servo motor; the rotating speed and torque sensor is also used for converting the collected rotating speed and torque values into output pulse signals with specified specifications; the pulse acquisition module is connected with each rotating speed and torque sensor in a one-to-one correspondence manner and is used for acquiring rotating speed and torque data when each servo motor drives a load;
the data monitor is also connected with each pulse acquisition module through an EtherCAT bus to form a second EtherCAT network, and each pulse acquisition module periodically and synchronously acquires rotating speed and torque data, records a synchronous signal trigger time value and forwards the synchronous signal trigger time value to the upper computer by taking the clock of the data monitor as a reference clock;
the data monitor is also connected with the upper computer and is used for sending control data of the motion controller, state data of the servo driver and rotating speed and torque data of the servo motor to the upper computer;
the data listener also includes a unified clock source for unifying clock signals of the first EtherCAT network and the second EtherCAT network.
As a further improvement of the invention: the upper computer is provided with a first network port and a second network port;
the data monitor also comprises a CPU, an FPGA chip, an EtherCAT slave station chip, a network port A, a network port B, a network port C, a network port D and a network port E;
the CPU, the FPGA and the EtherCAT slave station chip are all connected with the unified clock source;
the network port A and the network port B are respectively connected with the FPGA chip, and the FPGA chip is also connected with the CPU; the net port A is connected with the motion controller, and the net port B is connected with the servo driver to form the first EtherCAT network; the FPGA chip is used for realizing data forwarding between the network port A and the network port B, collecting control data of the motion controller through the network port A, collecting state data of the servo driver through the network port B, adding time stamps into the data collected through the network port A and the network port B, and sending the data to the CPU;
the CPU is connected with the network port E, and the network port E is connected with the first network port of the upper computer and is used for sending data acquired by the FPGA chip to the upper computer;
the EtherCAT slave station chip in the data monitor is connected with the network port D, the network port D is connected with the EtherCAT slave station chip in each pulse acquisition module through an EtherCAT bus to form the second EtherCAT network, and the pulse acquisition module acquires pulse values of the rotating speed torque sensor according to synchronous signals of the EtherCAT slave station chip and transmits the acquired data to an upper computer through the data monitor by the second EtherCAT network;
the EtherCAT slave station chip in the data listener is also connected with the CPU and is used for sending the periodic synchronizing signal to the CPU; the CPU stores the time stamp generated by recording the periodic synchronizing signal into a process data object and sends the process data object to a master station of a second EtherCAT network;
the EtherCAT slave station chip in the data monitor is also connected with the network port C, the network port C is connected with the second network port, the collected rotating speed torque data and the corresponding time stamp are packaged into a data packet, and the data packet is sent to the upper computer through the network port C, and the upper computer is a master station of the second EtherCAT network.
The invention also provides a test method based on the test device, which comprises the following steps:
collecting control data of a motion controller and state data of a servo driver through a first EtherCAT network: ethernet data packets acquired by the network port A and the network port B are processed by the FPGA chip, added with time stamps when the data packets reach the corresponding network ports, then sent to the CPU, and then sent to the upper computer by the network port E;
meanwhile, collecting the rotating speed and torque data of each servo motor through a second EtherCAT network: the distributed clock mechanism of EtherCAT is utilized, the clock of the data monitor is used as a reference clock, the EtherCAT slave station chip in each pulse acquisition module periodically and simultaneously triggers a synchronous signal, and pulse values sent by the rotating speed torque sensor are synchronously acquired; at this time, the EtherCAT chip in the data monitor will trigger the synchronous signal too, the CPU in the data monitor will record the time value that this synchronous signal triggers; in the next cycle communication period of the second EtherCAT network, the pulse values acquired by the pulse acquisition modules and the recorded time values when the synchronous signals are triggered are sent to a master station of the second EtherCAT network together, namely an upper computer connected with a data monitor network port C;
and the upper computer performs data fusion on control data of the motion controller, state data of the servo driver and rotating speed and torque data of the servo motor based on time sequences to obtain control data, state data and rotating speed and torque data which correspond to each moment.
As a further improvement of the method: setting the time of receiving control data by the network port A as Ta, the time of receiving state data by the network port B as Tb, and Ts as the triggering time of the periodic synchronous signals; when data fusion is performed at a certain time Ts, a Ta maximum value Ta smaller than the current Ts is obtained based on the Ts max Then find out that Tb is larger than Ta max Minimum value Tb of min ，Ta max The corresponding data packet contains control data issued by the motion controller before the Ts, tb min The corresponding data packet contains the corresponding Ta max The servo driver state data of the control data is transmitted, the data packet corresponding to Ts contains the rotating speed torque data of the servo motor at the moment, and the control data, the state data and the rotating speed torque data are written into one at the same moment of TsThe stripe data record is used as a data fusion result at the moment.
Compared with the prior art, the invention has the following positive effects: (1) The invention can collect the control data of the motion controller, the state data of the servo driver and the rotating speed and torque data of the servo motor at the same time, thereby realizing the joint test of the motion controller, the multi-axis servo driver and the servo motor; (2) Based on the EtherCAT networking topological structure and the high-precision synchronization characteristic, the distributed synchronization measurement of the rotating speeds and the torque of a plurality of servo motors is realized, and the acquisition period can reach 50 microseconds; (3) The data monitor designed by the invention unifies the acquisition time sequence of the motion control data on the motion control bus and the real rotating speed and torque data of the servo motor, and provides feasibility for realizing precise data fusion based on time phase sequence; (4) The data fusion method based on the time phase sequence can cope with various situations that the communication period of a motion control system to be tested is the same as or different from that of a test system, and ensures that the time jitter error is less than 1 data acquisition period; (5) The invention can test the comprehensive performance of the motion control system without modifying the control programs or parameter configurations of the motion controller and the servo driver in the original motion control system in practical application, has little influence on the motion control system to be tested, and can truly and objectively reflect the comprehensive performance of the motion control system.
In summary, the invention has the characteristics of strong practicability, comprehensive test data system, high test precision and the like, and has better practical value and application prospect.
Drawings
Fig. 1 is a schematic diagram of a frame of the present invention.
Fig. 2 is a schematic diagram of a data listener according to the present invention.
Fig. 3 is a schematic view of the installation position of the rotational speed torque sensor.
Fig. 4 is a timing diagram of an EtherCAT network.
Fig. 5 is a flow chart of data fusion based on time phase.
Fig. 6 is a schematic diagram of the data recording format after fusion.
Detailed Description
The technical scheme of the invention is described in detail below with reference to the accompanying drawings:
referring to fig. 1, a comprehensive performance testing device for a bus type motion control system is provided, wherein a target motion control system to be tested comprises a motion controller and a plurality of servo drivers controlled by the motion controller, wherein the servo drivers are connected with a servo motor, and the servo motor is connected with a load.
The target motion control system to be detected uses EtherCAT as a motion control bus, which is an open protocol motion control bus, and motion control data can be conveniently extracted from bus data.
The testing device mainly comprises an upper computer and a lower computer.
The lower computer comprises a data monitor and a plurality of pulse acquisition modules; and the interior of each lower computer node is integrated with an EtherCAT slave station, and the clock of the industrial Ethernet data listener is used as the reference clock of the EtherCAT.
The data monitor is connected with the motion controller and the servo drivers through the EtherCAT bus to form a first EtherCAT network, and the motion controller controls each servo driver to enable the data monitor to be used for collecting control data of the motion controller and state data of the servo drivers through the first EtherCAT network.
As shown in fig. 3, a rotational speed and torque sensor is installed on the servo motor, and the rotational speed and torque sensor is located between the servo motor and the transmission load simulation device. The rotating speed and torque sensor can detect the rotating speed and torque of the servo motor in real time and synchronously convert the rotating speed and torque into pulse signals with specific specifications. The pulse acquisition modules are connected with the rotating speed and torque sensors in a one-to-one correspondence manner and are used for acquiring the rotating speed and torque data when the servo motors drive loads.
As shown in fig. 1, the data acquisition module is further connected with each pulse acquisition module and the upper computer through an EtherCAT bus to form a second EtherCAT network, so that a DC mode of the EtherCAT network, that is, a distributed clock mode, is enabled, each pulse acquisition module takes a clock of the data acquisition module as a DC reference clock, and EtherCAT slave station chips in the pulse acquisition module and the data acquisition module periodically and simultaneously start synchronous signals to trigger synchronous acquisition of rotational speed torque data and record a trigger time value of the synchronous signals.
The pulse acquisition module can be purchased from the market or developed based on the FPGA. Each pulse acquisition module is provided with at least two pulse acquisition channels which are respectively connected with a rotating speed output channel and a torque output channel of the rotating speed and torque sensor. The data fusion software running on the upper computer can convert the collected pulse value into rotating speed and torque according to the parameter specification of the sensor.
The data monitor is also connected with the upper computer, and the collected control data of the motion controller and the state data of the servo driver are sent to the upper computer through the gigabit Ethernet port; and the servo motor rotating speed and torque data and the acquisition time value acquired by the second EtherCAT network are also transmitted to the upper computer.
The data listener also includes a unified clock source for unifying clock signals of the first EtherCAT network and the second EtherCAT network.
After the upper computer receives the control data, the state data and the rotating speed torque data with the consistent clock signals, the data are fused according to time sequence, and the data are used as the basis for the analysis of the subsequent test data.
Specifically, as shown in fig. 1, the upper computer is an IPC (industrial computer) having at least a first network port and a second network port, and one of them is a gigabit ethernet. The Windows operating system is operated on the IPC, and the real-time expansion software and the EtherCAT master station software are installed on the IPC, so that the PC becomes a high-real-time EtherCAT master station, the real-time requirement of EtherCAT is met, and the EtherCAT master station and the data fusion analysis software are operated on the PC.
As shown in fig. 2, the data listener further includes a CPU, an FPGA chip, an EtherCAT slave chip, a network port a, a network port B, a network port C, a network port D, and a network port E.
And the CPU, the FPGA and the EtherCAT slave station chip are all connected with the unified clock source.
The network port A and the network port B are respectively connected with the FPGA chip, and the FPGA chip is also connected with the CPU; and the network port A and the network port B are connected into a first EtherCAT network of the target motion control system, the network port A is connected with the motion controller, the network port B is connected with the servo driver, and the network port A and the network port B are responsible for communication data acquisition. The FPGA chip is used for realizing delay-free data forwarding between the network port A and the network port B, does not interfere with an EtherCAT network of a motion control system to be tested, is also used for collecting control data of the motion controller through the network port A and collecting state data of a servo driver through the network port B, and is used for sending the data collected through the network port A and the network port B to the CPU after adding a time stamp when a data packet arrives.
The CPU is connected with the network port E, the network port E is a gigabit industrial Ethernet interface, and the network port E is connected with a gigabit first network port and is used for sequencing data acquired by the FPGA chip according to the network port and time of a data source and then sending the data to the upper computer.
In a second EtherCAT network of the network port C and the network port D access test system, the Ethernet port C and the network port D are used as EtherCAT slave station communication interfaces and are respectively connected with IPC and each pulse acquisition module to acquire and upload rotational speed and torque data: the EtherCAT slave station chip in the data monitor is connected with the network port D, the network port D is connected with the EtherCAT slave station chip in each pulse acquisition module in a linear mode through an EtherCAT bus to form the second EtherCAT network, the DC mechanism of the EtherCAT network is utilized, the EtherCAT slave station chips in each pulse acquisition module and the data monitor periodically trigger synchronous signals at the same time, so that pulse values sent by a rotating speed torque sensor are synchronously acquired, and acquired data are sent to an upper computer through the second EtherCAT network, namely the EtherCAT real-time master station built based on IPC.
The EtherCAT slave station chip in the data listener is also connected with the CPU and is used for sending the periodic synchronizing signal to the CPU; and the CPU stores the time stamp data generated according to the periodic synchronizing signal into a Process Data Object (PDO), and sends the time stamp data to an upper computer through an EtherCAT slave station chip in the data listener, namely a second EtherCAT network real-time master station built based on IPC. The EtherCAT slave chip is combined with the CPU, so that the pulse acquisition time value can be accurately recorded, and the time jitter is ensured to be less than 1 microsecond.
The EtherCAT slave station chip in the data monitor is also connected with the network port C, the network port C is connected with the second network port, a data packet is formed by the time stamp in the process data object along with the value acquired by the pulse acquisition module at the corresponding time stamp moment, and the data packet is returned to the EtherCAT master station of the IPC by the EtherCAT network.
As shown in fig. 1 and 2, the test method based on the above test system comprises the following steps:
collecting control data of a motion controller and state data of a servo driver through a first EtherCAT network: ethernet data packets acquired by the network port A and the network port B are processed by the FPGA chip, added with time stamps when the data packets reach the corresponding network ports, then sent to the CPU, and then sent to the upper computer by the network port E;
meanwhile, collecting the rotating speed and torque data of each servo motor through a second EtherCAT network: the data monitor and the EtherCAT slave station chip in each pulse acquisition module generate periodic synchronous signals by using a DC mechanism of EtherCAT, each pulse acquisition module synchronously acquires pulse values sent by a rotating speed torque sensor when the synchronous signals arrive, the data monitor records the triggering time of the synchronous signals, and the values acquired by each pulse acquisition module and corresponding time stamps form a data packet in the next cycle communication period of the second EtherCAT network and return the data packet to the EtherCAT master station upper computer in the upper computer through a network port C.
The upper computer captures a data packet sent by the industrial Ethernet data monitor from the gigabit network card interface by using a wireless share, and then stores the data packet into a local memory to be recorded as a file A; the EtherCAT master station software periodically reads the pulse value acquired by each pulse acquisition module and the pulse acquisition triggering time recorded by the industrial Ethernet data monitor, designs a data transfer software to store the acquired data into a local memory, and records the data as a file B. So far, the data acquisition of the clock source for the joint test of the motion controller, the multi-axis servo driver and the servo motor is realized.
Then, starting data fusion analysis software on the PC, and carrying out data fusion on control data of the motion controller, state data of the servo driver and rotating speed and torque data of the servo motor based on time sequence to obtain control data, state data and rotating speed and torque data which correspond to each moment.
As shown in fig. 4, ta is the time when the motion controller issues control data to reach the industrial ethernet data listener port a; tb is the time when the servo driver feedback data packet arrives at the industrial Ethernet data listener network port B; ts is the synchronization signal trigger time of the EtherCAT slave chip of the data listener. According to the magnitude relation between the communication periods of the motion control system to be tested and the test system, three situations can be divided as shown in fig. 4: relation A, the communication period of the motion control system to be tested is equal to that of the test system; the communication period of the motion control system to be tested is smaller than that of the test system; and C, the communication period of the motion control system to be tested is larger than that of the test system.
The design principle of the industrial Ethernet data listener integrating EtherCAT is known that the CPU, the FPGA chip and the EtherCAT slave station chip share a unified clock source, so that Ta, tb and Ts are all based on the same clock phase sequence. The time sequence relationship among the three is Ta (x) < Ts (n) < Ta (x+1) and Ta (x) < Tb (x) < Ta (x+1), wherein x is the serial number of a data packet in the motion control system to be tested, and control data sent out at the time of Ta (x) corresponds to state data at the time of Tb (x).
The purpose of the upper computer for data fusion is to locate Ta (x) and Tb (x) corresponding to a certain Ts (n), so as to obtain a group of control data-state data-rotational speed torque data records corresponding to time. The fusion process is realized by data fusion analysis software of an upper computer, and the specific method comprises the following steps:
as shown in FIG. 5, when data fusion is performed at a certain time point Ts, a Ta maximum value Ta smaller than the current Ts in Ta is obtained based on the time point Ts max Then find out that Tb is larger than Ta max Minimum value Tb of min ，Ta max The corresponding data packet contains control data issued by the motion controller before the Ts, tb min The corresponding data packet contains the corresponding Ta max Servo driver for transmitting control dataThe state data, the data packet corresponding to the TS contains the rotating speed and torque data of the servo motor at the moment, so that the control data issued by the motion controller corresponding to the moment of the TS, the state data of the servo driver and the real rotating speed and torque data of the servo motor can be obtained. And writing the group of data and the TS time into a data record as a data fusion result of the time. A typical data fusion format is shown in fig. 6. And supplementing adjacent data of Ts, ta and Tb into corresponding data segments under the condition that the communication period of the test system is unequal to the communication period of the motion control system to be tested.
So far, control data issued by a motion controller in a motion control system, state data fed back by a servo driver and real rotating speed and torque data corresponding to a servo motor are obtained. On the basis, certain motion reference data (such as the starting position of a servo motor, an electronic gear ratio and the like) are added, and analysis operation of consistency data analysis and the like can be performed after data processing.
Claims (3)
1. The utility model provides a comprehensive performance testing arrangement to bus type motion control system, the target motion control system that awaits measuring includes motion controller and a plurality of servo driver by motion controller control, servo driver is connected with servo motor, servo motor is connected with load, its characterized in that: the testing device comprises an upper computer and a lower computer;
the lower computer comprises a data monitor and a plurality of pulse acquisition modules;
the data monitor is connected with the motion controller and the servo drivers through the EtherCAT bus to form a first EtherCAT network, the motion controller controls each servo driver, and the data monitor is used for collecting control data of the motion controller and state data of the servo drivers in the first EtherCAT network;
the servo motor is provided with a rotating speed and torque sensor which is used for detecting the rotating speed and the torque of the servo motor; the rotating speed and torque sensor is also used for converting the collected rotating speed and torque values into output pulse signals with specified specifications; the pulse acquisition module is connected with each rotating speed and torque sensor in a one-to-one correspondence manner and is used for acquiring rotating speed and torque data when each servo motor drives a load;
the data monitor is also connected with each pulse acquisition module through an EtherCAT bus to form a second EtherCAT network, and each pulse acquisition module periodically and synchronously acquires rotating speed and torque data, records a synchronous signal trigger time value and forwards the synchronous signal trigger time value to the upper computer by taking the clock of the data monitor as a reference clock;
the data monitor is also connected with the upper computer and is used for sending control data of the motion controller, state data of the servo driver and rotating speed and torque data of the servo motor to the upper computer;
the data listener also comprises a unified clock source, wherein the unified clock source is used for unifying clock signals of the first EtherCAT network and the second EtherCAT network;
the upper computer is provided with a first network port and a second network port;
the data monitor also comprises a CPU, an FPGA chip, an EtherCAT slave station chip, a network port A, a network port B, a network port C, a network port D and a network port E;
the CPU, the FPGA and the EtherCAT slave station chip are all connected with the unified clock source;
the network port A and the network port B are respectively connected with the FPGA chip, and the FPGA chip is also connected with the CPU; the net port A is connected with the motion controller, and the net port B is connected with the servo driver to form the first EtherCAT network; the FPGA chip is used for realizing data forwarding between the network port A and the network port B, collecting control data of the motion controller through the network port A, collecting state data of the servo driver through the network port B, adding time stamps into the data collected through the network port A and the network port B, and sending the data to the CPU;
the CPU is connected with the network port E, and the network port E is connected with the first network port of the upper computer and is used for sending data acquired by the FPGA chip to the upper computer;
the EtherCAT slave station chip in the data monitor is connected with the network port D, the network port D is connected with the EtherCAT slave station chip in each pulse acquisition module through an EtherCAT bus to form the second EtherCAT network, and the pulse acquisition module acquires pulse values of the rotating speed torque sensor according to synchronous signals of the EtherCAT slave station chip and transmits the acquired data to an upper computer through the data monitor by the second EtherCAT network;
the EtherCAT slave station chip in the data listener is also connected with the CPU and is used for sending the synchronous signal to the CPU; the CPU stores the time stamp generated by recording the synchronous signal into a process data object and sends the process data object to a master station of a second EtherCAT network;
the EtherCAT slave station chip in the data monitor is also connected with the network port C, the network port C is connected with the second network port, the collected rotating speed torque data and the corresponding time stamp are packaged into a data packet, and the data packet is sent to the upper computer through the network port C, and the upper computer is a master station of the second EtherCAT network.
2. A testing method based on the testing device according to claim 1, characterized in that:
collecting control data of a motion controller and state data of a servo driver through a first EtherCAT network: ethernet data packets acquired by the network port A and the network port B are processed by the FPGA chip, added with time stamps when the data packets reach the corresponding network ports, then sent to the CPU, and then sent to the upper computer by the network port E;
meanwhile, collecting the rotating speed and torque data of each servo motor through a second EtherCAT network: the distributed clock mechanism of EtherCAT is utilized, the clock of the data monitor is used as a reference clock, the EtherCAT slave station chip in each pulse acquisition module periodically and simultaneously triggers a synchronous signal, and pulse values sent by the rotating speed torque sensor are synchronously acquired; at this time, the EtherCAT chip in the data monitor will trigger the synchronous signal too, the CPU in the data monitor will record the time value that this synchronous signal triggers; in the next cycle communication period of the second EtherCAT network, the pulse values acquired by the pulse acquisition modules and the recorded time values when the synchronous signals are triggered are sent to a master station of the second EtherCAT network together, namely an upper computer connected with a data monitor network port C;
and the upper computer performs data fusion on control data of the motion controller, state data of the servo driver and rotating speed and torque data of the servo motor based on time sequences to obtain control data, state data and rotating speed and torque data which correspond to each moment.
3. The test method of claim 2, wherein the specific method for the upper computer to perform data fusion is as follows: setting the time of receiving control data by the network port A as Ta, the time of receiving state data by the network port B as Tb, and Ts as the triggering time of the periodic synchronous signals; when data fusion is performed at a certain time Ts, a Ta maximum value Ta smaller than the current Ts is obtained based on the Ts max Then find out that Tb is larger than Ta max Minimum value Tb of min ，Ta max The corresponding data packet contains control data issued by the motion controller before the Ts, tb min The corresponding data packet contains the corresponding Ta max And the data packet corresponding to the transmitted servo driver state data of the control data, ts comprises the rotating speed and torque data of the servo motor at the moment, and the control data, the state data and the rotating speed and torque data are written into a data record at the same moment of Ts to be used as a data fusion result at the moment.
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| CN111123843B (en) * | 2019-12-26 | 2023-03-28 | 深圳科士达科技股份有限公司 | Servo driver period synchronous position instruction processing method |
| CN111272127B (en) * | 2020-02-21 | 2021-06-29 | 东莞市三姆森光电科技有限公司 | Method for measuring and controlling synchronization through EtherCAT bus |
| CN111488005B (en) * | 2020-04-28 | 2023-05-30 | 中船动力研究院有限公司 | Marine low-speed machine rotating speed distribution system, method and equipment |
| CN112040540B (en) * | 2020-09-14 | 2023-02-03 | 中国工程物理研究院电子工程研究所 | Time synchronization architecture and time synchronization method based on three-level wireless sensor network |
| CN112247985B (en) * | 2020-09-21 | 2021-12-14 | 珠海格力电器股份有限公司 | Clock synchronization method, robot control system and robot |
| CN113110364A (en) * | 2021-05-26 | 2021-07-13 | 哈尔滨理工大学 | Service robot control system based on industrial Ethernet |
| CN113377080A (en) * | 2021-05-31 | 2021-09-10 | 北京电子工程总体研究所 | Networked servo driver and electric mechanism test system and method |
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