CN111289822B - Industrial robot demonstrator testing method based on electric fast transient pulse group - Google Patents
Industrial robot demonstrator testing method based on electric fast transient pulse group Download PDFInfo
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Abstract
The invention discloses an industrial robot demonstrator testing method based on an electric fast transient pulse group. The electric fast transient pulse group is a common and extremely harmful electromagnetic interference type of an industrial robot control power supply system. The interference degree of the electrified fast transient pulse group of the detected demonstrator is divided into three levels; then, controlling a robot actuating mechanism to perform track planning movement under three different interference pulse parameter set working conditions through the detected demonstrator, and judging the interference degree level of the detected demonstrator for the electrified fast transient pulse group under each working condition; wherein, if the observed and taught ware receives the electric fast transient pulse crowd interference degree grade and is not I level under certain operating mode, then before carrying out next operating mode motion, reset through the host computer to the observed and taught ware earlier. According to the invention, the anti-interference performance of the demonstrator is evaluated by recording the occurrence rate of the packet loss times between the demonstrator and the upper computer, the oscilloscope curve and whether the demonstrator works normally, so that the demonstrator can be deeply researched for reliability.
Description
Technical Field
The invention belongs to the technical field of electromagnetic compatibility testing, and particularly relates to an industrial robot demonstrator testing method based on an electric fast transient pulse group.
Background
The demonstrator is used as a necessary component of an industrial robot system, and an operator can control the robot to perform welding, carrying, cutting, spraying and other work through operations such as touch screen keys, rotary pulse knobs and the like. However, the demonstrator may be affected by electromagnetic interference in a complex electromagnetic environment, and the reliability of the demonstrator is critical to the reliable operation of the whole robot system.
The electric fast transient pulse group is used as a common electromagnetic interference type of an industrial robot control power supply system, has very rich harmonic components, and can generate serious electromagnetic interference on a demonstrator power supply system. The interference is mainly expressed in the form that a common-mode signal acts on a power line of the demonstrator, enters the equipment through a port and is converted into a differential-mode signal to influence the normal work of the demonstrator.
Therefore, in order to reduce the electromagnetic interference of the electric fast transient pulse group to the demonstrator and improve the operation stability of the demonstrator in a complex electromagnetic environment, a detailed electric fast transient pulse group test scheme research needs to be carried out on the demonstrator. Researchers mainly take radiation, surge, conduction and the like as research objects to perform a large amount of theoretical analysis, the electric fast transient pulse group interference research on the demonstrator is less, and an industrial robot demonstrator testing method based on the electric fast transient pulse group is lacked.
Disclosure of Invention
The invention aims to provide a method for testing an industrial robot demonstrator based on an electric fast transient pulse group, aiming at the defects of the prior art.
The method comprises the following specific steps:
step one, connecting an L, N, GND port of a switch power supply with a power supply port of a junction box, connecting an I/O port of a tested demonstrator with an I/O port of the junction box, and connecting a pulse input port of an oscilloscope with the I/O port of the junction box; the communication port of the junction box is connected with the Ethernet port of the upper computer; and an L1 port, an N port and a PE port of the coupling and decoupling network are respectively connected with a L, N, GND port of the switching power supply. The coupling and decoupling network is used for filtering clutter signals and coupling the electric fast transient pulse group pulse to the switching power supply. The switching power supply supplies power to the detected demonstrator. The upper computer is in pulse communication with the detected demonstrator; the oscilloscope displays the acquired I/O signals.
Dividing the interference degree grade of the electrified fast transient pulse group of the tested demonstrator into a grade I, a grade II and a grade III; after the tested teaching device bears the electric fast transient pulse group, the incidence rate of the packet loss times of the communication between the upper computer and the tested teaching device is less than 25%, the oscillograph curve is normal, and the tested teaching device works normally. And the second level is that after the tested and indicated device bears the electric fast transient pulse group, the packet loss frequency occurrence rate of the communication between the upper computer and the tested and indicated device is 25% -75%, the oscilloscope curve is normal, the tested and indicated device works normally, and the packet loss frequency occurrence rate of the communication between the upper computer and the tested and indicated device after the electric fast transient pulse group is less than 25%. The level III is that the packet loss frequency of the communication between the upper computer and the tested teaching device is more than 75 percent, or the curve of the tested teaching device is abnormal, and after the electric fast transient pulse group passes, the packet loss incidence rate of the communication between the upper computer and the oscilloscope is still more than 75 percent, or the oscilloscope curve is still not normal.
And thirdly, operating a touch screen key on the tested demonstrator under a working condition, rotating the pulse knob, controlling the robot actuating mechanism to perform track planning movement, and judging the interference degree grade of the electrified fast transient pulse group of the tested demonstrator. The working condition one is as follows: injecting a first electrical fast transient burst into the switching power supply through the coupling and decoupling network, wherein the application time of the first electrical fast transient burst is 600 s; the duration of the first electrical fast transient pulse burst is 15ms, the time interval of a single pulse in the first electrical fast transient pulse burst is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the first electrical fast transient pulse burst is +/-0.5 kV.
And step four, if the interference degree grade of the electrified fast transient pulse group of the detected demonstrator is judged to be not I grade in the step three, resetting the detected demonstrator through the upper computer, otherwise not processing the detected demonstrator. And then, under a second working condition, operating a touch screen key on the tested demonstrator, rotating the pulse knob, controlling the robot actuating mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the tested demonstrator. The second working condition is as follows: injecting a second electrical fast transient burst into the switching power supply through the coupling decoupling network, the second electrical fast transient burst having an application time of 600 s; the duration of the second electric fast transient pulse group is 15ms, the interval time of a single pulse in the second electric fast transient pulse group is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the second electric fast transient pulse group is +/-1 kV;
and step five, if the interference degree grade of the electrified fast transient pulse group of the detected demonstrator is judged to be not I grade in the step four, resetting the detected demonstrator through the upper computer, otherwise not processing the detected demonstrator. And then, under the third working condition, operating a touch screen key on the tested demonstrator, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the tested demonstrator. The third working condition is as follows: injecting a third electrical fast transient burst into the switching power supply through the coupling and decoupling network, wherein the application time of the third electrical fast transient burst is 600 s; the third electrical fast transient burst has a duration of 15ms, a single pulse interval of 300ms in the third electrical fast transient burst, a single pulse width of 50ns, a pulse repetition rate of 5kHz, and a peak voltage of ± 2 kV.
Further, the switching power supply reduces the voltage of the 220V power supply to the 24V power supply to supply power to the detected demonstrator.
Further, the upper computer adopts a computer.
Further, the oscillograph normally shows that the oscillograph has peak values and changes periodically.
Further, the normal operation of the detected demonstrator is as follows: and controlling the error between the actual position of the robot actuating mechanism and the track not to exceed the execution precision of the robot actuating mechanism in the process of carrying out track planning movement by the robot actuating mechanism.
The invention has the beneficial effects that:
the invention provides an electric fast transient pulse group testing method which is not available in the field of industrial robot demonstrator at present, aiming at the condition that demonstrator itself can not directly judge the influence degree of electric fast transient pulse group interference, and evaluating the anti-interference performance of the demonstrator by recording the occurrence rate of packet loss times between the demonstrator and an upper computer, an oscilloscope curve and whether the demonstrator normally works or not.
Drawings
FIG. 1 is a block diagram of the connection of the elements of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
The industrial robot demonstrator testing method based on the electric fast transient pulse group comprises the following specific steps:
step one, as shown in fig. 1, connecting an L, N, GND port of a switching power supply 1 with a power supply port of a junction box, connecting an I/O port of a tested demonstrator 6 with an I/O port of the junction box 3, and connecting a pulse input port of an oscilloscope 4 with the I/O port of the junction box; the communication port of the junction box 3 is connected with the Ethernet port of the upper computer 2; the L1 port, the N port and the PE port of the coupling and decoupling network 5 are respectively connected to the L, N, GND port of the switching power supply 1. The coupling and decoupling network 5 comprises coupling means and decoupling means for filtering out spurious signals and coupling the electrical fast transient burst pulses to the switching power supply 1. The switching power supply 1 reduces the 220V power supply to the 24V power supply to supply power to the detected indicator 6. The upper computer 2 adopts a computer and is used for establishing pulse communication with the detected demonstrator 6; the oscilloscope 4 displays the acquired I/O signal.
Dividing the interference degree grade of the electrified fast transient pulse group of the tested demonstrator into a grade I, a grade II and a grade III; after the tested teaching device bears the electric fast transient pulse group, the occurrence rate of packet loss times of communication between the upper computer and the tested teaching device is less than 25%, the oscillograph curve is normal (the oscillograph curve has a peak value and changes periodically), and the tested teaching device works normally (the error between the actual position and the track of the robot actuating mechanism in the process of controlling the robot actuating mechanism to carry out track planning movement does not exceed the execution precision of the robot actuating mechanism, and when the electric fast transient pulse group is not interfered, the error between the actual position and the track in the process of carrying out track planning movement by the robot actuating mechanism does not exceed the execution precision of the robot actuating mechanism). And the second level is that after the tested and indicated device bears the electric fast transient pulse group, the packet loss frequency occurrence rate of the communication between the upper computer and the tested and indicated device is 25% -75%, the oscilloscope curve is normal, the tested and indicated device works normally, and the packet loss frequency occurrence rate of the communication between the upper computer and the tested and indicated device after the electric fast transient pulse group is less than 25%. The level III is that the packet loss frequency of the communication between the upper computer and the tested teaching device is more than 75 percent, or the curve of the tested teaching device is abnormal, and after the electric fast transient pulse group passes, the packet loss incidence rate of the communication between the upper computer and the oscilloscope is still more than 75 percent, or the oscilloscope curve is still not normal.
And step three, operating a touch screen key on the tested demonstrator 6 under a working condition, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the tested demonstrator. The first working condition is as follows: injecting a first electrical fast transient burst into the switching power supply 1 through the coupling and decoupling network 5, the application time of the first electrical fast transient burst being 600 s; the duration of the first electrical fast transient pulse burst is 15ms, the time interval of a single pulse in the first electrical fast transient pulse burst is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the first electrical fast transient pulse burst is +/-0.5 kV.
And step four, if the interference degree grade of the electrified fast transient pulse group of the detected demonstrator is judged to be not I grade in the step three, resetting the detected demonstrator, otherwise, not processing the detected demonstrator. And then, under the second working condition, operating a touch screen key on the tested demonstrator 6, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the tested demonstrator. The second working condition is as follows: injecting a second electrical fast transient burst into the switching power supply 1 through the coupling and decoupling network 5, the second electrical fast transient burst being applied for a time of 600 s; the duration of the second electric fast transient pulse group is 15ms, the interval time of a single pulse in the second electric fast transient pulse group is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the second electric fast transient pulse group is +/-1 kV;
and step five, if the interference degree grade of the electrified fast transient pulse group of the detected demonstrator is judged to be not I grade in the step four, resetting the detected demonstrator, otherwise, not processing the detected demonstrator. And then, under the third working condition, operating a touch screen key on the tested demonstrator 6, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the tested demonstrator. The third working condition is as follows: injecting a third electrical fast transient burst into the switching power supply 1 through the coupling and decoupling network 5, wherein the application time of the third electrical fast transient burst is 600 s; the third electrical fast transient burst has a duration of 15ms, a single pulse interval of 300ms in the third electrical fast transient burst, a single pulse width of 50ns, a pulse repetition rate of 5kHz, and a peak voltage of ± 2 kV.
Claims (5)
1. An industrial robot demonstrator testing method based on an electric fast transient pulse group is characterized in that: the method comprises the following specific steps:
step one, connecting an L, N, GND port of a switch power supply with a power supply port of a junction box, connecting an I/O port of a tested demonstrator with an I/O port of the junction box, and connecting a pulse input port of an oscilloscope with the I/O port of the junction box; the communication port of the junction box is connected with the Ethernet port of the upper computer; an L1 port, an N port and a PE port of the coupling and decoupling network are respectively connected with a L, N, GND port of the switching power supply; the coupling and decoupling network is used for filtering clutter signals and coupling the electric fast transient pulse group pulse to the switching power supply; the switch power supply supplies power to the detected demonstrator; the upper computer is in pulse communication with the detected demonstrator; the oscilloscope displays the acquired I/O signal;
dividing the interference degree grade of the electrified fast transient pulse group of the tested demonstrator into a grade I, a grade II and a grade III; in the stage I, after the tested demonstrator bears the electric fast transient pulse group, the occurrence rate of packet loss times of the communication between the upper computer and the tested demonstrator is less than 25%, the oscilloscope curve is normal, and the tested demonstrator works normally; the second level is that after the tested teaching device bears the electric fast transient pulse group, the packet loss frequency occurrence rate of the communication between the upper computer and the tested teaching device is 25% -75%, the oscilloscope curve is normal, the tested teaching device works normally, and the packet loss frequency occurrence rate of the communication between the upper computer and the tested teaching device after the electric fast transient pulse group is less than 25%; the level III is that the packet loss frequency of the communication between the upper computer and the detected teaching device is more than 75 percent, or the curve of the detected teaching device is abnormal, and after the electric fast transient pulse group passes, the packet loss incidence rate of the communication between the upper computer and the oscilloscope is still more than 75 percent, or the oscilloscope curve is still not normal;
thirdly, operating a touch screen key on the detected teaching device under a working condition, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree grade of the electrified fast transient pulse group of the detected teaching device; the working condition one is as follows: injecting a first electrical fast transient burst into the switching power supply through the coupling and decoupling network, wherein the application time of the first electrical fast transient burst is 600 s; the duration of the first electric fast transient pulse group is 15ms, the interval time of a single pulse in the first electric fast transient pulse group is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the first electric fast transient pulse group is +/-0.5 kV;
if the interference degree grade of the electrified fast transient pulse group of the demonstrator to be tested is judged to be not I grade in the third step, resetting the demonstrator to be tested through the upper computer, otherwise not processing the demonstrator to be tested; secondly, under a second working condition, operating a touch screen key on the detected demonstrator, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the detected demonstrator; the second working condition is as follows: injecting a second electrical fast transient burst into the switching power supply through the coupling decoupling network, the second electrical fast transient burst having an application time of 600 s; the duration of the second electric fast transient pulse group is 15ms, the interval time of a single pulse in the second electric fast transient pulse group is 300ms, the width of the single pulse is 50ns, the pulse repetition rate is 5kHz, and the peak voltage of the second electric fast transient pulse group is +/-1 kV;
step five, if the interference degree grade of the electrified fast transient pulse group of the demonstrator is judged to be not I grade in the step four, resetting the demonstrator to be tested through the upper computer, otherwise not processing the demonstrator to be tested; secondly, under a third working condition, operating a touch screen key on the detected demonstrator, rotating a pulse knob, controlling a robot executing mechanism to perform track planning movement, and judging the interference degree level of the electrified fast transient pulse group of the detected demonstrator; the third working condition is as follows: injecting a third electrical fast transient burst into the switching power supply through the coupling and decoupling network, wherein the application time of the third electrical fast transient burst is 600 s; the third electrical fast transient burst has a duration of 15ms, a single pulse interval of 300ms in the third electrical fast transient burst, a single pulse width of 50ns, a pulse repetition rate of 5kHz, and a peak voltage of ± 2 kV.
2. The industrial robot demonstrator test method based on electric fast transient pulse burst according to claim 1, wherein: the switching power supply reduces the voltage of a 220V power supply to a 24V power supply to supply power to the detected demonstrator.
3. The industrial robot demonstrator test method based on electric fast transient pulse burst according to claim 1, wherein: the upper computer adopts a computer.
4. The industrial robot demonstrator test method based on electric fast transient pulse burst according to claim 1, wherein: the oscillograph normally shows that the oscillograph has peak value and changes periodically.
5. The industrial robot demonstrator test method based on electric fast transient pulse burst according to claim 1, wherein: the normal working performance of the tested demonstrator is as follows: and controlling the error between the actual position of the robot actuating mechanism and the track not to exceed the execution precision of the robot actuating mechanism in the process of carrying out track planning movement by the robot actuating mechanism.
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| EP2202528B1 (en) * | 2008-12-23 | 2017-08-16 | IMEC vzw | Method for calibrating a transmission line pulse test system |
| CN102393511B (en) * | 2011-11-04 | 2014-07-16 | 广东电网公司广州供电局 | Online error verification device and test method for electronic electric energy meter rapid transient pulse train |
| CN102411135A (en) * | 2011-12-11 | 2012-04-11 | 浙江省计量科学研究院 | Device and method for testing electrical fast transient/burst (EFT/B) immunity of electric energy meter |
| CN106199496A (en) * | 2016-08-17 | 2016-12-07 | 国网江西省电力公司电力科学研究院 | A kind of electrical fast transient (eft) influence amount experimental provision of intelligent electric energy meter |
| CN106772210A (en) * | 2017-02-22 | 2017-05-31 | 国网上海市电力公司 | A kind of electronic electric energy meter electrical fast transient (eft) immunity test system |
| CN209028194U (en) * | 2018-08-17 | 2019-06-25 | 中国铁路总公司 | A kind of electric fast-pulse group immunity test system of rail traffic vehicles |
| CN109799411A (en) * | 2019-03-27 | 2019-05-24 | 杭州泰鼎检测技术有限公司 | A kind of large-current electric Clusters jamming immunity tester and its test method |
| CN110196363B (en) * | 2019-05-27 | 2021-03-02 | 杭州电子科技大学 | Industrial robot servo driver detection method based on electric fast transient pulse group |
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