CN109976300A - The performance indicator detection method and computer storage medium of servo-system - Google Patents
The performance indicator detection method and computer storage medium of servo-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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- G—PHYSICS
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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 the performance indicator detection methods and computer storage medium of a kind of servo-system.The servo-system includes an at least servo motor, performance indicator detection method includes: that at least two in following test: step response test, parabola response test, closed loop frequency response test and circularity response test are successively carried out to each servo motor when receiving detection instruction.The present invention, which realizes, carries out testing performance index to each servo motor in servo-system automatically, alleviates the burden of tester, substantially increases testing efficiency.
Description
Technical field
The present invention relates to digital control systems to detect maintenance technology field, in particular to the performance indicator detection of a kind of servo-system
Method and computer storage medium.
Background technique
Numerically-controlled machine tool has been widely used for the hi-tech industries such as aerospace, automobile, consumer electronics, substantially increases
Production efficiency and machining accuracy become the important foundation of scientific and technological progress and technology development.But according to statistics, every year due to digital control system
Failure caused by production loss reach hundreds billion of RMB, therefore stability about numerically-controlled machine tool, Performance Evaluation etc.
Cause extensive concern both domestic and external and research.
Currently, in servo-system the servo parameter of each servo motor performance indexes can only individual event tested,
It adjusts, and needs professional commissioning staff's debugging, debugging takes long time, low efficiency.And the performance indicator of test result output expresses list
One is intuitive, and amateur commissioning staff can not assess servo performance according to the performance indicator that test obtains, and is unfavorable for the dimension of system
Shield and fault diagnosis.
Summary of the invention
The technical problem to be solved by the present invention is in order to overcome the performance indexes of servo parameter in the prior art can only
Individual event is tested, the defect of low efficiency, provides the performance indicator detection method and computer storage medium of a kind of servo-system.
The present invention is to solve above-mentioned technical problem by following technical proposals:
A kind of performance indicator detection method of servo-system, the servo-system include an at least servo motor, feature
It is, when receiving detection instruction, at least two in following test successively is carried out to each servo motor:
Step response test, parabola response test, closed loop frequency response test and circularity response test.
Preferably, detection method includes the following steps for the performance indicator when carrying out step response test:
It sends step and to the servo-system and controls the servo motor according to the step
Operation；
The running track of the servo motor is detected, and extracts fisrt feature parameter；
Judge the numerical value of each fisrt feature parameter whether in respective threshold range.
Preferably, the fisrt feature parameter includes at least one of following parameter:
Rise time, overshoot and stable time.
Preferably, after the step of extracting fisrt feature parameter, the performance indicator detection method further include:
The rise time and/or overshoot are calculated according to following scoring formula and/or stablize score value and the output of time:
Wherein, SetpFeatureScore is the score value of the fisrt feature parameter, and x is that actually measured fisrt feature is joined
Several numerical value；The threshold value of x_ref, x_max characterization fisrt feature parameter.
In the present solution, x_ref and x_max can self-setting according to actual needs.X_ref is the performance of step response test
The numerical value for each characteristic parameter tested when reaching qualification, actual test are less than the score value of the numerical value then this characteristic parameter
It is 100 points；The numerical value of x_max each characteristic parameter when being servo performance very poor (down state), the number that actual test obtains
Value is more than that this of numerical value characteristic parameter score value is 0；Wherein, x_ref and x_max needed before formal service stage, according to
The characteristics of application is to servo performance requirement and servo-system, is previously set.Formally in use, according to the feature extracted
Parameter value calculates every score value and output automatically.
It should be noted that above-mentioned formula is a kind of easy linear methods of marking, it is more convenient intuitive.But the present invention is not
It is limited to the marking mode of this fixation, in the deformation type or other non-linear methods of marking that this linear methods of marking generates,
It all belongs to the scope of protection of the present invention.
Preferably, the performance indicator detection method is further comprising the steps of:
Obtain the weight coefficient of each fisrt feature parameter；
The step for characterizing servo motor is generated according to the weight coefficient and the score value of the fisrt feature parameter to ring
Answer the scoring of performance.
Preferably, detection method includes the following steps for the performance indicator when carrying out parabola response test:
Parabola detection instruction is sent to the servo-system and controls the servo motor and is detected according to the parabola
Instruction operation；
The running track of the servo motor is detected, and extracts second feature parameter；
Judge the numerical value of each second feature parameter whether in respective threshold range.
Preferably, the second feature parameter includes at least one of following parameter:
Maximum tracking error, the first related coefficient of tracking error curve and command speed curve, tracking error curve with
Second related coefficient of command acceleration curve；
The parabola detection instruction includes parabola response curve；
Described instruction rate curve and described instruction accelerating curve are generated according to the parabola detection instruction.
Preferably, after the step of extracting second feature parameter, the performance indicator detection method further include:
Score value and the output of first related coefficient and/or the second related coefficient are calculated according to following scoring formula:
Wherein, CorrScore is the score value of the first related coefficient or the second related coefficient, and w is the first related coefficient or the
The numerical value of two related coefficients；W_ref is coefficient threshold.
In the present solution, actually obtaining the first related coefficient (or second related coefficient) in w namely parabola response test
Numerical value；W_ref is the related coefficient score value obtained when parabola response performance is met the requirements.
And/or score value and the output of the maximum tracking error are calculated according to following scoring formula:
Wherein, MaxFe is the score value of maximum tracking error, and R is the numerical value of maximum tracking error.R_max and R_ref be with
With error threshold.
R is also the numerical value of the maximum tracking error actually obtained in parabola response test；R_max is parabola response
Maximum tracking error permissible value when performance very poor (down state), actual test are greater than the numerical value then this characteristic parameter
Score value is 0 point；R_ref is that parabola response performance reaches the maximum tracking error numerical value tested when qualification, actual test
Less than the numerical value then this characteristic parameter score value be 100 points.
Preferably, the performance indicator detection method is further comprising the steps of:
Obtain the weight coefficient of each second feature parameter；
The parabola responsiveness for characterizing servo motor is generated according to the weight coefficient and the second feature parameter
The scoring of energy.
Preferably, detection method includes the following steps for the performance indicator when carrying out closed loop frequency response test:
Closed loop frequency response is sent to instruct to the servo-system and control the servo motor according to the closed loop frequency
Response instruction operation；
Response current and the response position of the servo motor are detected, and extracts third feature parameter；
Judge the numerical value of each third feature parameter whether in respective threshold range.
Preferably, the third feature parameter includes at least one of following parameter:
Electric current loop bandwidth, electric current loop resonance amplitude, position loop bandwidth and position ring resonance amplitude.
Preferably, after the step of extracting third feature parameter, the performance indicator detection method further include:
Score value and the output of the electric current loop bandwidth and/or position loop bandwidth are calculated according to following scoring formula:
Wherein, bandWidScore is the score value of electric current loop bandwidth or position loop bandwidth, and g is electric current loop bandwidth or position ring
The numerical value of bandwidth；G_ref and g_min is loop bandwidth threshold value；
And/or the score value of the electric current loop resonance amplitude or position ring resonance amplitude is calculated simultaneously according to following scoring formula
Output:
Wherein, ResPeaScore is the score value of electric current loop resonance amplitude or position ring resonance amplitude, and h is electric current loop resonance
Amplitude or position ring resonance amplitude；H_ref and h_max is resonance amplitude thresholds.
Specifically, g namely actually obtaining electric current loop bandwidth or position loop bandwidth when closed loop frequency response test doing
Numerical value；Electric current loop bandwidth or position loop bandwidth number are obtained when g_min is closed loop frequency response performance very poor (down state)
Value, actual test be less than the numerical value then this characteristic parameter score value be 0 point；G_ref is that closed loop frequency response performance reaches conjunction
The numerical value of the electric current loop bandwidth or position loop bandwidth tested when lattice, actual test are greater than the numerical value then this characteristic parameter
Score value is 100 points.
H is actually detected obtained electric current loop resonance amplitude or position ring resonance amplitude；H_max is maximum allowable electricity
Flow the numerical value of ring resonance amplitude or position ring resonance amplitude, the score value that actual test is greater than the numerical value then this characteristic parameter is 0
Point；H_ref is that closed loop frequency response performance reaches the electric current loop resonance amplitude tested when qualification or position ring resonance amplitude
Referential data, actual test be less than the numerical value then this characteristic parameter score value be 100 points
Preferably, the performance indicator detection method is further comprising the steps of:
Obtain the weight coefficient of each third feature parameter；
The closed loop frequency response for characterizing servo motor is generated according to the weight coefficient and the third feature parameter
The scoring of performance.
Preferably, detection method includes the following steps for the performance indicator when carrying out circularity response test:
It sends roundness measurement movement instruction and to servo-system and controls first servo motor and the second servo motor according to institute
State the operation of roundness measurement movement instruction；
The Circular test of the first servo motor and the operation of the second servo motor is obtained, and extracts the circle of the Circular test
Degree；
Judge the circularity whether within the scope of roundness threshold；
The first servo motor and second servo motor are used to drive the two-axle interlocking of lathe.
Preferably, after the step of extracting the circularity of the Circular test, the performance indicator detection method further include:
Score value and the output of the circularity are calculated according to following scoring formula:
Wherein, circleScore is the score value of circularity, and ca is circularity；Ca_ref and ca_max is roundness threshold.
Specifically, ca is the actually detected circularity numerical value arrived；Ca_max is the numerical value of maximum allowable circularity, actual test
Then the score value of this characteristic parameter is 0 point when greater than the numerical value；Ca_ref is that circularity performance reaches the ginseng tested when qualification
Examine numerical value, the score value that actual test circularity is less than the numerical value then this characteristic parameter is 100 points.
The present invention also provides a kind of computer storage mediums, are stored thereon with computer program, the computer program quilt
The step of processor realizes above-mentioned performance indicator detection method when executing.
The positive effect of the present invention is that: the present invention realize automatically to each servo motor in servo-system into
Row testing performance index alleviates the burden of tester, substantially increases testing efficiency.
Detailed description of the invention
The performance indicator detection method that Fig. 1 is a preferred embodiment of the present invention servo-system carries out step response test
Flow chart.
Fig. 2 is the step response curve schematic diagram that step response test is carried out in Fig. 1.
The performance indicator detection method that Fig. 3 is a preferred embodiment of the present invention servo-system carries out parabola response test
Flow chart.
Fig. 4 is the parabola response curve schematic diagram that parabola response test is carried out in Fig. 3.
The performance indicator detection method that Fig. 5 is a preferred embodiment of the present invention servo-system carries out closed loop frequency response survey
The flow chart of examination.
Fig. 6 is the closed loop frequency response curve synoptic diagram that closed loop frequency response test is carried out in Fig. 5.
The performance indicator detection method that Fig. 7 is a preferred embodiment of the present invention servo-system carries out circularity response test
Flow chart.
Specific embodiment
The present invention is further illustrated below by the mode of embodiment, but does not therefore limit the present invention to the reality
It applies among a range.
The performance indicator detection method of the present embodiment, which realizes, automatically tests servo-system, and servo-system includes extremely
A few servo motor, performance indicator detection method includes: successively to carry out when receiving detection instruction to each servo motor
At least two tests in step response test, parabola response test, closed loop frequency response test and circularity response test.Its
In, the successive testing sequence of test item, the quantity of test item and test item can self-setting according to actual needs.Inspection
Survey instruction can manually generate, such as by way of key namely in one-key operation servo-system each motor each test item
Mesh；Detection instruction can also automatically generate, such as by way of script, and the period that test instruction generates, periodically realization pair is arranged
The test of servo-system.
The detection method of the present embodiment can be realized to be detected to using the servo-system of all kinds of control models, with PID (one
Kind of the very strong control model of robustness) for control, in PID controller debugging, PID controller can be carried out to servo motor
Parameter setting.When debugging PID, certain feature instruction (steps, parabola detection instruction, closed loop frequency response are run
Instruction and roundness measurement movement instruction), the automatic data and curves (namely running track of servo motor) for drawing response pass through sound
Curve is answered to can be determined that whether PID control performance reaches user's requirement.If the PID control performance of some motor is unsatisfactory for user
It is required that user needs to change PID setup parameter, above-mentioned steps, observe the response characteristic of motor again, want until meeting user
It asks.
Pid parameter introduction:
(1) proportional gain: position ring proportional gain represents the control rigidity of the axis.
The setting value is bigger, and responsiveness is faster.But if setting is excessive on the poor lathe of rigidity, will lead to vibration and
Overshoot.
(2) differential gain: the position ring differential gain represents the damping of the axis, plays the effect for inhibiting vibration, increases in ratio
Benefit it is higher and cause vibration when, can suitably increase the parameter.
(3) integral gain: position ring integral gain.For eliminating steady-state error.
Specifically, in the present embodiment, when carrying out step response test, as shown in Figure 1, performance indicator detection method includes
Following steps:
Step 101a, step is sent to servo-system and control servo motor and transported according to step
Row.
Wherein, step includes step response curve information.
Step 102a, the running track of servo motor is detected, and extracts fisrt feature parameter.
Wherein, fisrt feature parameter includes at least one of following parameter: rise time, overshoot and stable time.
Referring to fig. 2, stablize time ts: step response reach and be maintained in ± 5% error band of final value it is required most in short-term
Between；Also bring definition to stablize the time with ± 2% error of final value sometimes.The present embodiment selects ± 5% error to bring definition.
Overshoot σp, peak value h (tp) percentage beyond final value h (∞), it may be assumed that
Stepped curve rise time tr, step response from the 10% of final value rise to the 90% of final value needed for the time.
Step 103a, judge the numerical value of each fisrt feature parameter whether in respective threshold range.
If being judged as YES, illustrate that fisrt feature parameter meets the requirement of user, then carries out next test item or to next
Servo motor is tested；If being judged as NO, illustrate that fisrt feature parameter is unsatisfactory for the requirement of user, then servo motor is carried out
It adjusts, until the numerical value of fisrt feature parameter is in threshold range.
It should be noted that the reference threshold range of fisrt feature parameter can obtain in the following manner:
Before lathe puts goods on the market, the servo performance of each kinematic axis of lathe is debugged, until servo performance reaches
Expectation index obtains the threshold range of every fisrt feature parameter, as basic parameter.For example, certain digital control system servo motor
After debugging when optimum state step response relevant parameter are as follows: stepped curve rise time 6ms, overshoot 20%, step is steady
It fixes time as 35ms.The parameter of the worst acceptable step of servo-system are as follows: rise time 12ms, overshoot 80%,
Stablizing the time is 100ms.
In the present embodiment, extract fisrt feature parameter the step of after, performance indicator detection method further include:
Step 104a, score value and the output of each fisrt feature parameter are calculated according to scoring formula.
Wherein, fisrt feature parameter includes: rise time, overshoot and stablizes the time.The score value of fisrt feature parameter
SetpFeatureScore include: the score value RiseTimeScore of rise time, overshoot score value OverShootScore,
Stablize the score value SettlingScore of time.
When calculating the score value RiseTimeScore of rise time, rise time when due to servo-system optimum state is
6ms, worst acceptable rise time are 12ms, therefore x_max=12, x_ref=6.To calculate point of rise time
The scoring formula of value is as follows:
Wherein, x1 is the numerical value of actually measured rise time.
When calculating the score value OverShootScore of overshoot, overshoot when due to servo-system optimum state is
20%, the worst acceptable rise time is 80%, therefore x_max=0.8, x_ref=0.2.To calculate overshoot
Score value scoring formula meter it is as follows:
Wherein, x2 is the numerical value of actually measured overshoot.
When calculating the score value SettlingScore for stablizing the time, stabilization time when due to servo-system optimum state is
35ms, worst acceptable stable time are 100ms, therefore x_max=100, x_ref=35.To calculate and stablize the time
Score value scoring formula it is as follows:
Wherein, x3 is the numerical value of actually measured stabilization time.
In the present embodiment, performance indicator detection method is further comprising the steps of:
Step 105a, the weight coefficient of each fisrt feature parameter is obtained.
Step 106a, the step for characterizing servo motor is generated according to weight coefficient and the score value of fisrt feature parameter to ring
Answer the scoring of performance.
For example, weight coefficient is set as 0.25 entirely, then the calculation formula of step response performance scoring StepScore is as follows:
In the present embodiment, when carrying out parabola response test, as shown in figure 3, performance indicator detection method includes following
Step:
Step 101b, it sends parabola detection instruction and to servo-system and controls servo motor according to parabola detection instruction
Operation.
Wherein, parabola detection instruction includes parabola response curve.
Step 102b, the running track of servo motor is detected, and extracts second feature parameter.
Wherein, second feature parameter includes at least one of following parameter:
Maximum tracking error reflects the rigidity of servo-system, and rigidity is bigger, and tracking error is smaller.
First related coefficient of tracking error curve and command speed curve, the first related coefficient reflect velocity feed forward
Degree of compensation, value range is [- 1,1], when the first related coefficient is closer to 1, illustrates that tracking error is more positively correlated with speed,
It is insufficient to represent velocity feed forward compensation；When the first related coefficient closer -1, illustrate that tracking error is more negatively correlated with speed, represents
Velocity feed forward degree of compensation it is excessive；When the first related coefficient is closer to 0, representative is more uncorrelated, represents velocity feed forward compensation
Relatively mild, servo-system can be eliminated very well due to velocity variations bring tracking error.The calculating of first related coefficient is public
Formula is as follows:
Wherein, N is the number of collection point, EiRepresent the error of i-th of collection point, ViIt is the instruction speed of i-th of collection point
Degree,It is the average value of tracking error,Represent the average value of command speed.
Second related coefficient of tracking error curve and command acceleration curve reflects the compensation journey of feed forward of acceleration
Degree, value range is [- 1,1], when the second related coefficient is closer to 1, illustrates that tracking error is more positively correlated with acceleration speed,
It is insufficient to represent the compensation of acceleration velocity feed forward；When the second related coefficient closer -1, illustrate that tracking error is more negative with acceleration
It is excessive to represent feed forward of acceleration degree of compensation for correlation；When the second related coefficient is closer to 0, representative is more uncorrelated, represents and adds
Velocity feed forward compensation is relatively mild, and servo-system can be eliminated very well due to acceleration change bring tracking error.
Referring to fig. 4, curve a is actual speed curve and command speed curve, since two lines are overlapped, therefore only does a song
Line, curve b are tracking error curve, and curve c is accelerating curve.Using this paths planning method, can intuitively reflect
The performance of velocity feed forward compensation and the feed forward of acceleration compensation of motor servo.Command speed curve and command acceleration curve according to
Parabola detection instruction generates.
Step 103b, judge the numerical value of each second feature parameter whether in respective threshold range.
If being judged as YES, illustrate that second feature parameter meets the requirement of user, then carries out next test item or to next
Servo motor is tested；If being judged as NO, illustrate that second feature parameter is unsatisfactory for the requirement of user, then servo motor is carried out
It adjusts, until the numerical value of second feature parameter is in threshold range.
It should be noted that the parameter threshold range of second feature parameter can obtain in the following manner:
Before lathe puts goods on the market, the servo performance of each kinematic axis of lathe is debugged, until servo performance reaches
Expectation index obtains the threshold range of every second feature parameter, as basic parameter.For example, certain digital control system servo motor
The relevant parameter that parabola responds when optimum state after debugging are as follows: velocity correlation coefficint 0.2, acceleration related coefficient 0.2 are maximum
Tracking error is 5 μm.
In the present embodiment, extract second feature parameter the step of after, performance indicator detection method further include:
Step 104b, score value and the output of each second feature parameter are calculated according to scoring formula.
Specifically, the scoring formula for calculating the score value of the first related coefficient or the second related coefficient is as follows:
Wherein, CorrScore is the score value of the first related coefficient or the second related coefficient, and w is the first actually measured phase
The numerical value of relationship number or the second related coefficient；W_ref is coefficient threshold.
The scoring formula for calculating the score value of maximum tracking error is as follows:
Wherein, MaxFe is the score value of maximum tracking error, and R is the numerical value of actually measured maximum tracking error, R_max
It is tracking error threshold value with R_ref.
In the present embodiment, performance indicator detection method is further comprising the steps of:
Step 105b, the weight coefficient of each second feature parameter is obtained.
Step 106b, the parabola responsiveness for characterizing servo motor is generated according to weight coefficient and second feature parameter
The scoring of energy.
For example, weight coefficient is set as 1/3 entirely, then the calculation formula of parabola response performance scoring ParabolicScore
It is as follows:
Wherein, VelCorrScore is the first related coefficient, and AccCorrScore is the second related coefficient.
In the present embodiment, when carrying out closed loop frequency response test, as shown in figure 5, performance indicator detection method include with
Lower step:
Step 101c, closed loop frequency response is sent to instruct to servo-system and control servo motor according to closed loop frequency response
Detection instruction operation.
Wherein, closed loop frequency response instruction includes closed loop frequency response calibration curve information.
Closed loop frequency response test is for the common evaluation of servo-system and analysis method.The knot of closed loop frequency response test
Fruit shows that Bode diagram generally comprises amplitude figure and phase angle figure generally in the form of Bode diagram.The present embodiment is concerned only with amplitude figure, such as
Shown in Fig. 6, the log scale that abscissa all presses frequency is drawn, and ordinate is linear coordinate, and unit is decibel.
Step 102c, actual response current and the response position of servo motor are detected, and extracts third feature parameter.
For conventional PID control mode, electric current loop and position ring can be done to servo-system and carries out frequency response respectively
Test, obtains electric current loop Bode diagram, position ring Bode diagram.If it is other types of control model, there may not be electric current loop, but be
Carry out position servo control, must there is sensu lato position ring, therefore, it is (right can carry out frequency response test to position ring
The servo-system of speed control is only done, then can do speed ring closed loop frequency response test to the servo-system).The spy of Bode diagram
The two of them levied in parameter are that the present embodiment is of interest:
Bandwidth.- 3 decibels of corresponding frequency values in Bode diagram, referring to the fc in Fig. 6.Reflect the rapidity of response.If
It is PID cascade Mach-Zehnder interferometer, it is desirable that it is wide that the band of inner ring is wider than outer band, as electric current loop bandwidth is greater than position loop bandwidth.
Resonance amplitude.The peak point that ordinate is positive in Bode diagram, if resonance amplitude is 0 without peak point.Referring to
Mr in Fig. 6 reflects the oscillating characteristic of response.
In the present embodiment, using PID control, closed loop frequency response test is carried out respectively to electric current loop and position ring.
The index (third feature parameter) of closed loop frequency response test mainly includes at least one of following parameter:
Electric current loop bandwidth, electric current loop resonance amplitude, position loop bandwidth and position ring resonance amplitude.
Step 103c, judge the numerical value of each third feature parameter whether in respective threshold range.
If being judged as YES, illustrate that third feature parameter meets the requirement of user, then carries out next test item or to next
Servo motor is tested；If being judged as NO, illustrate that third feature parameter is unsatisfactory for the requirement of user, then servo motor is carried out
It adjusts, until the numerical value of third feature parameter is in threshold range.
It should be noted that the parameter threshold range of third feature parameter can obtain in the following manner:
Before lathe puts goods on the market, the servo performance of each kinematic axis of lathe is debugged, until servo performance reaches
Expectation index obtains the threshold range of every third feature parameter, as basic parameter.For example, certain digital control system servo motor
The relevant parameter that Byrd responds when optimum state after debugging are as follows: electric current loop bandwidth is 500Hz, and electric current loop resonance amplitude is 1dB, position
Setting loop bandwidth is 50Hz, and position ring resonance amplitude is 3dB.
In the present embodiment, extract third feature parameter the step of after, performance indicator detection method further include: step
104c, score value and the output that each third feature parameter is calculated according to scoring formula.
When the score value of calculating current loop bandwidth, electric current loop bandwidth when due to servo-system optimum state is 500Hz, worst
Acceptable electric current loop bandwidth is 100Hz, therefore g_ref=500, g_min=100.To calculating current loop bandwidth
The scoring formula of the score value of CurbandWidScore is as follows:
Wherein, 1 be actually measured electric current loop bandwidth numerical value.
Electric current when the score value CurResPeaScore of calculating current ring resonance amplitude, when due to servo-system optimum state
Ring resonance amplitude is 1, and worst acceptable electric current loop resonance amplitude is 6, therefore h_ref=1, h_max=6.To calculate
The scoring formula of the score value of electric current loop resonance amplitude is as follows:
Wherein, h1 is actually measured electric current loop resonance amplitude.
Position ring when the score value PosbandWidScore of calculating position loop bandwidth, when due to servo-system optimum state
Bandwidth is 50Hz, and worst acceptable position loop bandwidth is 10Hz, therefore g_ref=50, g_min=10.To calculate position
The scoring formula for setting the score value of loop bandwidth PosbandWidScore is as follows:
Wherein, g2 is the numerical value of actually measured position loop bandwidth.
Position when the score value PosResPeaScore of calculating position ring resonance amplitude, when due to servo-system optimum state
Ring resonance amplitude is 3, and worst acceptable position ring resonance amplitude is 8, therefore h_ref=3, h_max=8.To calculate
The scoring formula of the score value of position ring resonance amplitude is as follows:
Wherein, h2 is actually measured position ring resonance amplitude.
In the present embodiment, performance indicator detection method is further comprising the steps of:
Step 105c, the weight coefficient of each third feature parameter is obtained.
Step 106c, the closed loop frequency response for characterizing servo motor is generated according to weight coefficient and third feature parameter
The scoring of performance.
For example, weight coefficient is set as 0.25 entirely, then the calculation formula of closed loop frequency response Performance Score BodeScore is such as
Under:
In the present embodiment, the servo performance of single motor on numerically-controlled machine tool can not only be assessed, can also be evaluated
Servo matching degree between multiple motors.It, should be each before user sets best match a reference value if preceding method is identical
The servo performance of relevant motor is debugged to optimum state, after passing through by the detection of third party's detecting instrument, selects to be detected two
A motor carries out servo matching detection, i.e. circularity response test.Circularity response test is by analysis acquisition two axis of lathe connection
The physical location of dynamic Circular test, is compared with the standard round of instruction, obtains corresponding characteristic parameter to assess two motors
Servo matching.Roundness measurement result includes information abundant, is a kind of method of important assessment lathe entirety servo performance.
Specifically, in the present embodiment, when carrying out circularity response test, as shown in fig. 7, performance indicator detection method includes
Following steps:
Step 101d, roundness measurement movement instruction is sent to servo-system and controls first servo motor and the second servo electricity
Machine is run according to roundness measurement movement instruction.
Wherein, first servo motor and the second servo motor are used to drive the two-axle interlocking of lathe.Roundness measurement movement refers to
Enabling includes circularity response curve information.
Step 102d, the Circular test of first servo motor and the operation of the second servo motor is obtained, and extracts the circle of Circular test
Degree.
Step 103d, judge circularity whether within the scope of roundness threshold.
If being judged as YES, illustrate that the linkage parameter of two motors meets the requirement of user, then carry out next test item or
Two servo motors are reselected to be tested；If being judged as NO, illustrate that linkage parameter is unsatisfactory for the requirement of user, then to two
Servo motor is adjusted, until circularity is within the scope of roundness threshold.
The rough calculation method of one kind of roundness threshold range presented below:
Circle_accuracy=maX_R-min_R；
Wherein max_R is indicated on the basis of instructing the center of circle, the smallest circle that the Circular test of actual motion can be included
Radius, i.e. the radius of circumscribed circle；
Min_R is indicated on the basis of instructing the center of circle, inside actual motion Circular test, not by the perforative maximum of actual path
Round radius, the i.e. radius of inscribed circle.
For example, roundness measurement result is 5 μm when optimum state after the debugging of certain digital control system servo motor.
In the present embodiment, after the step of extracting the circularity of Circular test, performance indicator detection method further include:
Step 104d, score value and the output of circularity are calculated according to scoring formula.
When calculating the score value circleScore of circularity, circularity when due to servo-system optimum state is 5, it is worst can
The circularity of receiving is 10, therefore ca_max=10, ca_ref=5.To which the scoring formula for calculating the score value of circularity is as follows:
Wherein, ca is actually measured circularity.
It in the present embodiment, can also be scored according to step response, parabola response is scored, closed loop frequency response scoring and circularity
The physical examination total score motorServoScore of scoring assessment servo motor, for example, by using following formula:
In the present embodiment, the performance indexes of servo performance is presented in the form of the score value that scores, by suitably dividing
With weight, the integrated performance index of servo motor is presented, simple, intuitive facilitates amateur commissioning staff to assess servo performance, with
It takes prevention or corrective measure, such as connection professional to carry out servo parameter debugging, improves servo performance.In addition, with
Comprehensive servo performance is presented in form-separating, and convenient and efficient is convenient regularly to carry out state analysis and assessment, and root to servo-system
According to the variation tendency of historical data prediction conditions of machine tool, care and maintenance is carried out to lathe in time, loss is made to be reduced to minimum journey
Degree.
The embodiment of the present invention also provides a kind of computer storage medium, is stored thereon with computer program, computer program
The step of performance indicator detection method of the present embodiment is realized when being executed by processor.
Although specific embodiments of the present invention have been described above, it will be appreciated by those of skill in the art that this is only
For example, protection scope of the present invention is to be defined by the appended claims.Those skilled in the art without departing substantially from
Under the premise of the principle and substance of the present invention, many changes and modifications may be made, but these change and
Modification each falls within protection scope of the present invention.
Claims (16)
1. a kind of performance indicator detection method of servo-system, the servo-system includes that an at least servo motor, feature exists
In successively carrying out at least two in following test to each servo motor when receiving detection instruction:
Step response test, parabola response test, closed loop frequency response test and circularity response test.
2. the performance indicator detection method of servo-system as described in claim 1, which is characterized in that carrying out step response survey
When examination, detection method includes the following steps for the performance indicator:
Step is sent to the servo-system and controls the servo motor and is run according to the step；
The running track of the servo motor is detected, and extracts fisrt feature parameter；
Judge the numerical value of each fisrt feature parameter whether in respective threshold range.
3. the performance indicator detection method of servo-system as claimed in claim 2, which is characterized in that the fisrt feature parameter
Including at least one of following parameter:
Rise time, overshoot and stable time.
4. the performance indicator detection method of servo-system as claimed in claim 3, which is characterized in that extract fisrt feature parameter
The step of after, the performance indicator detection method further include:
The rise time and/or overshoot are calculated according to following scoring formula and/or stablize score value and the output of time:
Wherein, SetpFeatureScore is the score value of the fisrt feature parameter, and x is the numerical value of the fisrt feature parameter；
The threshold value of x_ref, x_max characterization fisrt feature parameter.
5. the performance indicator detection method of servo-system as claimed in claim 4, which is characterized in that the performance indicator detection
Method is further comprising the steps of:
Obtain the weight coefficient of each fisrt feature parameter；
The step response for characterizing servo motor is generated according to the weight coefficient and the score value of the fisrt feature parameter
The scoring of energy.
6. the performance indicator detection method of servo-system as described in claim 1, which is characterized in that carrying out parabola response
When test, detection method includes the following steps for the performance indicator:
It sends parabola detection instruction and to the servo-system and controls the servo motor according to the parabola detection instruction
Operation；
The running track of the servo motor is detected, and extracts second feature parameter；
Judge the numerical value of each second feature parameter whether in respective threshold range.
7. the performance indicator detection method of servo-system as claimed in claim 6, which is characterized in that the second feature parameter
Including at least one of following parameter:
Maximum tracking error, the first related coefficient of tracking error curve and command speed curve, tracking error curve and instruction
Second related coefficient of accelerating curve；
The parabola detection instruction includes parabola response curve；
Described instruction rate curve and described instruction accelerating curve are generated according to the parabola response curve.
8. the performance indicator detection method of servo-system as claimed in claim 7, which is characterized in that extract second feature parameter
The step of after, the performance indicator detection method further include:
Score value and the output of first related coefficient and/or the second related coefficient are calculated according to following scoring formula:
Wherein, CorrScore is the score value of the first related coefficient or the second related coefficient, and w is the first related coefficient or the second phase
The numerical value of relationship number；W_ref is coefficient threshold；
And/or score value and the output of the maximum tracking error are calculated according to following scoring formula:
Wherein, MaxFe is the score value of maximum tracking error, and R is the numerical value of maximum tracking error, and R_max and R_ref are to follow mistake
Poor threshold value.
9. the performance indicator detection method of servo-system as claimed in claim 8, which is characterized in that the performance indicator detection
Method is further comprising the steps of:
Obtain the weight coefficient of each second feature parameter；
The parabola response performance for characterizing servo motor is generated according to the weight coefficient and the second feature parameter
Scoring.
10. the performance indicator detection method of servo-system as described in claim 1, which is characterized in that carrying out closed loop frequency
When response test, detection method includes the following steps for the performance indicator:
Closed loop frequency response is sent to instruct to the servo-system and control the servo motor according to the closed loop frequency response
Instruction operation；
Response current and the response position of the servo motor are detected, and extracts third feature parameter；
Judge the numerical value of each third feature parameter whether in respective threshold range.
11. the performance indicator detection method of servo-system as claimed in claim 10, which is characterized in that the third feature ginseng
Number includes at least one of following parameter:
Electric current loop bandwidth, electric current loop resonance amplitude, position loop bandwidth and position ring resonance amplitude.
12. the performance indicator detection method of servo-system as claimed in claim 11, which is characterized in that extract third feature ginseng
After several steps, the performance indicator detection method further include:
Score value and the output of the electric current loop bandwidth and/or position loop bandwidth are calculated according to following scoring formula:
Wherein, bandWidScore is the score value of electric current loop bandwidth or position loop bandwidth, and g is electric current loop bandwidth or position loop bandwidth
Numerical value, g_ref and g_min are loop bandwidth threshold value；
And/or the score value of the electric current loop resonance amplitude and/or position ring resonance amplitude and defeated is calculated according to following scoring formula
Out:
Wherein, ResPeaScore is the score value of electric current loop resonance amplitude or position ring resonance amplitude, and h is electric current loop resonance amplitude
Or position ring resonance amplitude；H_ref and h_max is resonance amplitude thresholds.
13. the performance indicator detection method of servo-system as claimed in claim 12, which is characterized in that the performance indicator inspection
Survey method is further comprising the steps of:
Obtain the weight coefficient of each third feature parameter；
The closed loop frequency response performance for characterizing servo motor is generated according to the weight coefficient and the third feature parameter
Scoring.
14. the performance indicator detection method of servo-system as described in claim 1, which is characterized in that carrying out circularity response
When test, detection method includes the following steps for the performance indicator:
It sends roundness measurement movement instruction and to servo-system and controls first servo motor and the second servo motor according to the circle
Degree detection movement instruction operation；
The Circular test of the first servo motor and the operation of the second servo motor is obtained, and extracts the circularity of the Circular test；
Judge the circularity whether within the scope of roundness threshold；
The first servo motor and second servo motor are used to drive the two-axle interlocking of lathe.
15. the performance indicator detection method of servo-system as claimed in claim 14, which is characterized in that extract the Circular test
Circularity the step of after, the performance indicator detection method further include:
Score value and the output of the circularity are calculated according to following scoring formula:
Wherein, circleScore is the score value of circularity, and ca is circularity, and ca_ref and ca_max are roundness threshold.
16. a kind of computer storage medium, is stored thereon with computer program, which is characterized in that the computer program is located
Manage the step of realizing claim 1 to 15 described in any item performance indicator detection methods when device executes.
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