CN109901459A - A kind of calibration system of servo simulator - Google Patents
A kind of calibration system of servo simulator Download PDFInfo
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- CN109901459A CN109901459A CN201811558170.6A CN201811558170A CN109901459A CN 109901459 A CN109901459 A CN 109901459A CN 201811558170 A CN201811558170 A CN 201811558170A CN 109901459 A CN109901459 A CN 109901459A
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Abstract
The present invention relates to a kind of calibration systems of servo simulator, including bus measurement and control host computer, signal adaptation case and Signal Generator of Ultra-low Frequency, and bus measurement and control host computer includes bus control unit module, four part of digital multimeter module, oscilloscope module and data communication module；Bus control unit module is connect with the input terminal of signal adaptation case and Signal Generator of Ultra-low Frequency respectively by data communication module, the input terminal of the output end connection signal adaptive box of Signal Generator of Ultra-low Frequency, digital multimeter module and oscilloscope module are also separately connected the input terminal of signal adaptation case, and the output end of signal adaptation case is separately connected telemetering and the control interface of servo simulator.The calibration system of servo simulator provided by the invention constructs novel ultralow frequency Frequency Response Analysis device, realizes the automatic calibration of servo unit simulator, simplifies calibration operation, avoids introducing and thinks error.
Description
Technical field
The present invention relates to special test equipment field of measuring techniques more particularly to a kind of calibration systems of servo simulator.
Background technique
Important single machine of the servo unit tester as verifying servo mechanism basic performance, in servo mechanism research and production
Play a significant role.Since the working method of servo unit tester is closely corresponding with servo mechanism, magnitude tracing is carried out to it
It needs to be realized by servo simulator.Servo simulator uses interface form same as servo mechanism, and it is equivalent to be divided into actuator
Device (internal resistance of analog equivalent device and frequency characteristic) and mechanism energy simulator (internal resistance of the simulation mechanism energy) two types, servo etc.
The magnitude accuracy and reliability of effect device directly affects the performance of servo mechanism.
For the calibration of servo simulator, existing means mainly pass through in hand-held number table point-to-point measurement servo simulator
The mode of resistance is realized.Since the interface of hand-held number table is air plug, measure between multiple groups contact pin in corresponding servo simulator
Resistance easily malfunctions, cumbersome, is readily incorporated error.And it is realized by Frequency Response Analyser to actuator frequency characteristic simulator
Calibration, the frequency characteristic of actuator is concentrated mainly on 20Hz ultralow frequency range below, and general Frequency Response Analyser is ultralow
Frequency range measuring point is less, it is difficult to the really frequency characteristic of reflection actuator.
Summary of the invention
In view of the above-mentioned problems, the object of the present invention is to provide a kind of calibration system of servo simulator, it is novel to construct
Ultralow frequency Frequency Response Analysis device realizes the automatic calibration of servo unit simulator, simplifies calibration operation, avoids introducing and thinks error.
To achieve the above object, the present invention takes following technical scheme: a kind of calibration system of servo simulator, feature
It is, including bus measurement and control host computer, signal adaptation case and Signal Generator of Ultra-low Frequency, and the bus measurement and control host computer includes bus
Controller module, four part of digital multimeter module, oscilloscope module and data communication module；
The bus control unit module is believed with the signal adaptation case and ultralow frequency respectively by the data communication module
The input terminal connection of number generator, the output end of the Signal Generator of Ultra-low Frequency connect the input terminal of the signal adaptation case,
The digital multimeter module and oscilloscope module are also separately connected the input terminal of the signal adaptation case, the signal adaptation case
Output end be separately connected telemetering and the control interface of the servo simulator；
The bus control unit module controls the signal adaptation case and ultra-low frequency signal by the data communication module
Calibration procedure of the generator as built in the bus control unit module executes corresponding movement, and passes through the digital multimeter mould
Block realizes the calibration to each Measurement channel internal resistance of the servo simulator；The oscilloscope module acquires institute by calibration procedure
Each Measurement channel input/output voltage Wave data of servo simulator is stated, and controls the signal adaptation case and measures channel
Switching, realize calibration to each Measurement channel frequency response characteristic of the servo simulator；The Signal Generator of Ultra-low Frequency
Calibration for each Measurement channel frequency response characteristic of the servo simulator provides the pumping signal of ultralow frequency range, and shows with described
Wave device module collectively forms Frequency Response Analysis device, realizes special to amplitude-frequency in each Measurement channel frequency response characteristic of the servo simulator
The calibration of property and phase-frequency characteristic；The data communication module has multiple communication interfaces, realizes the bus control unit module pair
The data interaction and drive control of the signal adaptation case and Signal Generator of Ultra-low Frequency.
The calibration system, it is preferred that the Signal Generator of Ultra-low Frequency is that a frequency, first phase and amplitude etc. are adjustable
Frequency synthesizer, using fpga chip as DDS data processing chip, mainly by phase accumulator, ROM inquiry table, DA turn
Parallel operation and low-pass filter composition；The phase accumulator is cascaded by N full adders and N accumulator registers, with frequency
Control word carries out accumulating operation；The ROM inquiry table is a waveform register, is used for tabling look-up, and by the waveform of reading
Data are sent into the D/A converter and are converted to stepped analog waveform, finally by the low-pass filter by stepped analog waveform
The smooth sinusoidal continuous voltage waveform for ultralow frequency exports.
The calibration system, it is preferred that the clock frequency of DDS and output frequency are in the Signal Generator of Ultra-low Frequency
Two relevant parameters, the output frequency of DDS are as follows:
The frequency control word of N DDS are as follows:
Fw [N-1:0]=2Nfo/fs (2)
In formula, foFor output frequency；fsIt is clock frequency, fw [N-1:0] is frequency control word；N is the position of phase accumulator
Number.
The calibration system, it is preferred that the calibration of each Measurement channel internal resistance of servo simulator mainly by
The digital multimeter module is switched as standard scale, and by the switching circuit inside the signal adaptation case by calibration procedure
The internal resistance of each Measurement channel of servo simulator is realized.
The calibration system, it is preferred that the calibration of each Measurement channel frequency response characteristic of servo simulator is main
It is by Signal Generator of Ultra-low Frequency generation ultralow frequency alternating voltage as the pumping signal input servo simulator, and
Acquire the input voltage waveform and output voltage waveforms of each Measurement channel of servo simulator respectively by the oscilloscope module,
Input/output voltage Wave data of the automatic measurement under different excitation signal frequency；Right back-pushed-type (3)~(6) calculate frequency
Rate response characteristic, to construct Frequency Response Analysis device to realize the school of each Measurement channel frequency response characteristic of the servo simulator
It is quasi-；
In formula, a is the real frequency of frequency response characteristic；B is the empty frequency of frequency response characteristic；N is the frequency response moment；F (n) is related letter
Number n point value；NcFor relevant cycle；DfFor frequency density, i.e. the points signaled in a period；
It is obtained by above formula (3) and (4):
The calculation formula of amplitude-frequency characteristic r are as follows:
The calculation formula of phase-frequency characteristic θ are as follows:
The calibration system, it is preferred that the bus measurement and control host computer further includes bus cabinet, and the bus control unit
Module, digital multimeter module, oscilloscope module and data communication module are bus type board, and each module is inserted into bus cabinet
Constitute portable bus measurement and control host computer.
The calibration system, it is preferred that bus is appointing in PXI bus, PXIe bus, cpci bus and vxi bus
It anticipates one kind.
The invention adopts the above technical scheme, which has the following advantages: 1, servo simulator provided by the invention
Calibration system constructs novel ultralow frequency Frequency Response Analysis device, realizes the automatic calibration of servo unit simulator, simplifies calibration behaviour
Make, avoids introducing and think error.2, Signal Generator of Ultra-low Frequency of the invention, which is used, realizes a kind of high property based on fpga chip
Energy, easy-operating DDS frequency synthesizer can produce the frequency signal of the ultralow frequency of high precision high stability degree, and have output frequency
The rate time is short, and frequency conversion speed is fast, and frequency stability is high, high resolution, and output frequency is accurate, spuious the features such as having transplanted.
Detailed description of the invention
Fig. 1 is the calibration connection figure of calibration system of the embodiment of the present invention Yu servo simulator；
Fig. 2 is the structural schematic diagram of Signal Generator of Ultra-low Frequency of the embodiment of the present invention.
Specific embodiment
Presently preferred embodiments of the present invention is described in detail below with reference to attached drawing, it is of the invention to be clearer to understand
Objects, features and advantages.It should be understood that embodiment shown in the drawings does not limit the scope of the present invention, and only it is
Illustrate the connotation of technical solution of the present invention.
As shown in Figure 1, the calibration system of servo simulator provided in this embodiment, including bus measurement and control host computer, signal are suitable
With case and Signal Generator of Ultra-low Frequency, and bus measurement and control host computer includes bus control unit module, digital multimeter module, oscillograph
Four part of module and data communication module.Bus control unit module by data communication module respectively with signal adaptation case and ultralow
The input terminal of frequency signal generator connects, the input terminal of the output end connection signal adaptive box of Signal Generator of Ultra-low Frequency, number
Multimeter module and oscilloscope module are also separately connected the input terminal of signal adaptation case, and the output end of signal adaptation case is separately connected
The telemetering of servo simulator and control interface.
Wherein, bus control unit module controls signal adaptation case by data communication module and Signal Generator of Ultra-low Frequency is pressed
Calibration procedure built in bus control unit module executes corresponding movement, and equivalent to servo by the realization of digital multimeter module
The calibration of each Measurement channel internal resistance of device.Oscilloscope module by the input of each Measurement channel of calibration procedure acquisition servo simulator/
Output voltage waveforms data, and the switching that signal adaptation case measures channel is controlled, it realizes respectively to measure servo simulator and lead to
The calibration of road frequency response characteristic.Signal Generator of Ultra-low Frequency is the calibration of each Measurement channel frequency response characteristic of servo simulator
The pumping signal of ultralow frequency range is provided, and collectively forms Frequency Response Analysis device with oscilloscope module, servo simulator is respectively surveyed in realization
Measure the calibration of amplitude-frequency characteristic and phase-frequency characteristic in channel frequence response characteristic.Data communication module has multiple communication interfaces, real
Existing data interaction and drive control of the bus control unit module to signal adaptation case and Signal Generator of Ultra-low Frequency.
In the above-described embodiments, it is preferred that as shown in Fig. 2, Signal Generator of Ultra-low Frequency is a frequency, first phase and amplitude
Etc. adjustable frequency synthesizer, using fpga chip as DDS data processing chip, mainly inquired by phase accumulator, ROM
The part such as table, D/A converter and low-pass filter forms, its working principle is that generating frequency in a manner of numerical control and phase is controllable
The sine wave of system.Phase accumulator is cascaded by N full adders and N accumulator registers, is added up with frequency control word
Operation.ROM inquiry table is a waveform register, is used for tabling look-up, and the Wave data of reading is sent into D/A converter and is turned
It is changed to stepped analog waveform, is finally smoothly the sinusoidal continuous voltage of ultralow frequency by stepped analog waveform by low-pass filter
Waveform output.
In the above-described embodiments, it is preferred that the DDS parameter of Signal Generator of Ultra-low Frequency determines the final of frequency synthesizer
Performance, wherein the output frequency of DDS and clock frequency are two relevant parameters, the output frequency of DDS are as follows:
The frequency control word of N DDS are as follows:
Fw [N-1:0]=2Nfo/fs (2)
In formula, foFor output frequency；fsIt is clock frequency；Fw [N-1:0] is frequency control word；N is the position of phase accumulator
Number.
In order to guarantee the output quality of Signal Generator of Ultra-low Frequency signal, output frequency is generally no greater than system clock frequency
40%, in order to avoid there is aliasing.After clock frequency determines, the frequency resolution of DDS depends on the word length of phase accumulator, word
Length is bigger, and frequency resolution is higher.
In the above-described embodiments, it is preferred that the calibration of each Measurement channel internal resistance of servo simulator is mainly by number
Multimeter module is as standard scale, and it is each by calibration procedure switching servo simulator to pass through the switching circuit inside signal adaptation case
The internal resistance of Measurement channel is realized.
In the above-described embodiments, it is preferred that the calibration of each Measurement channel frequency response characteristic of servo simulator is mainly logical
It crosses Signal Generator of Ultra-low Frequency and generates ultralow frequency alternating voltage as pumping signal input servo simulator, and by oscilloscope module
The input voltage waveform and output voltage waveforms of each Measurement channel of servo simulator are acquired respectively, and automatic measurement is believed in different excitations
Input/output voltage Wave data under number frequency；Calculated frequency response characteristic is carried out in right back-pushed-type (3)~(6), to construct frequency
Analyzer is rung to realize the calibration of each Measurement channel frequency response characteristic of servo simulator.
In formula, a is the real frequency of frequency response characteristic；B is the empty frequency of frequency response characteristic；N is the frequency response moment；F (n) is related letter
Number n point value；NcFor relevant cycle；DfFor frequency density, i.e. the points signaled in a period.
It is obtained by above formula (3) and (4):
The calculation formula of amplitude-frequency characteristic r are as follows:
The calculation formula of phase-frequency characteristic θ are as follows:
In the above-described embodiments, it is preferred that bus measurement and control host computer further includes bus cabinet, and bus control unit module, number
Word multimeter module, oscilloscope module and data communication module are bus type board, and each module insertion bus cabinet is constituted just
Take the bus measurement and control host computer of formula.
In the above-described embodiments, it is preferred that bus can be in PXI bus, PXIe bus, cpci bus and vxi bus
Any one.
The various embodiments described above are merely to illustrate the present invention, wherein the structure of each component, connection type and manufacture craft etc. are all
It can be varied, all equivalents and improvement carried out based on the technical solution of the present invention should not exclude
Except protection scope of the present invention.
Claims (7)
1. a kind of calibration system of servo simulator, which is characterized in that including bus measurement and control host computer, signal adaptation case and ultralow frequency
Signal generator, and the bus measurement and control host computer includes bus control unit module, digital multimeter module, oscilloscope module sum number
According to four part of communication module；
The bus control unit module is sent out with the signal adaptation case and ultra-low frequency signal respectively by the data communication module
The input terminal connection of raw device, the output end of the Signal Generator of Ultra-low Frequency connects the input terminal of the signal adaptation case, described
Digital multimeter module and oscilloscope module are also separately connected the input terminal of the signal adaptation case, the signal adaptation case it is defeated
Outlet is separately connected telemetering and the control interface of the servo simulator；
The bus control unit module controls the signal adaptation case by the data communication module and ultra-low frequency signal occurs
Calibration procedure of the device as built in the bus control unit module executes corresponding movement, and real by the digital multimeter module
Now to the calibration of each Measurement channel internal resistance of the servo simulator；The oscilloscope module by calibration procedure acquire described in watch
Each Measurement channel input/output voltage Wave data of simulator is taken, and controls the signal adaptation case and measures cutting for channel
It changes, realizes the calibration to each Measurement channel frequency response characteristic of the servo simulator；The Signal Generator of Ultra-low Frequency is institute
The calibration for stating each Measurement channel frequency response characteristic of servo simulator provides the pumping signal of ultralow frequency range, and with the oscillograph
Module collectively forms Frequency Response Analysis device, realize to amplitude-frequency characteristic in each Measurement channel frequency response characteristic of the servo simulator and
The calibration of phase-frequency characteristic；The data communication module has multiple communication interfaces, realizes the bus control unit module to described
The data interaction and drive control of signal adaptation case and Signal Generator of Ultra-low Frequency.
2. calibration system according to claim 1, which is characterized in that the Signal Generator of Ultra-low Frequency be a frequency,
The adjustable frequency synthesizer such as first phase and amplitude, using fpga chip as DDS data processing chip, mainly by phase-accumulated
Device, ROM inquiry table, D/A converter and low-pass filter composition；The phase accumulator is by N full adders and N cumulative deposits
Device cascades, and carries out accumulating operation with frequency control word；The ROM inquiry table is a waveform register, is made for tabling look-up
With, and the Wave data of reading is sent into the D/A converter and is converted to stepped analog waveform, finally by the low-pass filtering
Device exports the sinusoidal continuous voltage waveform that stepped analog waveform is smoothly ultralow frequency.
3. calibration system according to claim 2, which is characterized in that the clock of DDS in the Signal Generator of Ultra-low Frequency
Frequency and output frequency are two relevant parameters, the output frequency of DDS are as follows:
The frequency control word of N DDS are as follows:
Fw [N-1:0]=2Nfo/fs (2)
In formula, foFor output frequency；fsIt is clock frequency, fw [N-1:0] is frequency control word；N is the digit of phase accumulator.
4. calibration system according to claim 1, which is characterized in that each Measurement channel internal resistance of servo simulator
Calibration mainly by the digital multimeter module as standard scale, and pass through the switching circuit inside the signal adaptation case
Switch the internal resistance of each Measurement channel of servo simulator by calibration procedure to realize.
5. calibration system according to claim 1, which is characterized in that each Measurement channel frequency response of servo simulator
The calibration of characteristic mainly generates ultralow frequency alternating voltage as pumping signal by the Signal Generator of Ultra-low Frequency and inputs institute
Servo simulator is stated, and acquires the input voltage waveform of each Measurement channel of servo simulator respectively by the oscilloscope module
And output voltage waveforms, input/output voltage Wave data of the automatic measurement under different excitation signal frequency；Right back-pushed-type
(3) calculated frequency response characteristic is carried out in~(6), to construct Frequency Response Analysis device to realize each Measurement channel frequency of the servo simulator
The calibration of rate response characteristic；
In formula, a is the real frequency of frequency response characteristic；B is the empty frequency of frequency response characteristic；N is the frequency response moment；F (n) is coherent signal n
Point value；NcFor relevant cycle；DfFor frequency density, i.e. the points signaled in a period；
It is obtained by above formula (3) and (4):
The calculation formula of amplitude-frequency characteristic r are as follows:
The calculation formula of phase-frequency characteristic θ are as follows:
6. according to claim 1 to 5 described in any item calibration systems, which is characterized in that the bus measurement and control host computer further includes
Bus cabinet, and the bus control unit module, digital multimeter module, oscilloscope module and data communication module are bus
Formula board, each module insertion bus cabinet constitute portable bus measurement and control host computer.
7. according to claim 1 to 5 described in any item calibration systems, which is characterized in that bus be PXI bus, PXIe bus,
Any one in cpci bus and vxi bus.
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| US20050197796A1 (en) * | 2004-08-16 | 2005-09-08 | Daigle Clayton H. | Calibrating analog-to-digital systems using a precision reference and a pulse-width modulation circuit to reduce local and large signal nonlinearities |
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| CN204347228U (en) * | 2014-12-12 | 2015-05-20 | 西安航天计量测试研究所 | A kind of engine special test equipment field calibration device |
| CN204945356U (en) * | 2015-09-14 | 2016-01-06 | 江西洪都航空工业集团有限责任公司 | A kind of Calibration for Special Testing Equipment platform |
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- 2018-12-19 CN CN201811558170.6A patent/CN109901459B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20050197796A1 (en) * | 2004-08-16 | 2005-09-08 | Daigle Clayton H. | Calibrating analog-to-digital systems using a precision reference and a pulse-width modulation circuit to reduce local and large signal nonlinearities |
| CN101109973A (en) * | 2007-07-11 | 2008-01-23 | 北京大学深圳研究生院 | Waveform generator based on direct numerical frequency synthesizer |
| CN203149382U (en) * | 2013-03-29 | 2013-08-21 | 成都飞机设计研究所 | Virtual apparatus bus product calibration platform |
| CN103926547A (en) * | 2014-04-03 | 2014-07-16 | 上海市计量测试技术研究院 | Radio frequency identification tester calibration device and method |
| CN204347228U (en) * | 2014-12-12 | 2015-05-20 | 西安航天计量测试研究所 | A kind of engine special test equipment field calibration device |
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