CN111308339A - Servo motor testing method, device and equipment and computer storage medium - Google Patents
Servo motor testing method, device and equipment and computer storage medium Download PDFInfo
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- CN111308339A CN111308339A CN202010097429.2A CN202010097429A CN111308339A CN 111308339 A CN111308339 A CN 111308339A CN 202010097429 A CN202010097429 A CN 202010097429A CN 111308339 A CN111308339 A CN 111308339A
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- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
Abstract
The invention discloses a test method of a servo motor, which comprises the steps of receiving a sinusoidal speed command generated by a singlechip of a servo driver, wherein the sinusoidal speed command is a command with gradually rising frequency; determining a corresponding driver current command through the sinusoidal speed command; sending the driver current command to the servo motor; and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value. The sinusoidal speed instruction is generated by the singlechip of the servo driver, so that the interference on external transmission of analog signals is reduced, the measurement precision is greatly improved, and meanwhile, equipment is not required to be provided with an analog signal input port, and the application environment is wider. The invention also provides a testing device, equipment and a computer readable storage medium of the servo motor with the beneficial effects.
Description
Technical Field
The invention relates to the field of development and test of servo motors, in particular to a method, a device and equipment for testing a servo motor and a computer storage medium.
Background
The servo motor can control the speed and position accuracy accurately, and can convert the voltage signal into torque and rotating speed to drive a control object. The servo motor rotor speed is controlled by the input signal and can quickly respond, and in an automatic control system, the servo motor rotor speed is used as an actuating element and has the characteristics of small electromechanical time constant, high linearity, starting voltage and the like, and the received electric signal can be converted into angular displacement or angular speed output on a motor shaft, so that the servo motor rotor speed occupies an increasingly important place in the development of high-precision technology.
In the link of testing the performance of the servo motor, the response bandwidth test of a speed ring is extremely important, the test method mainly used in the current market is to input the servo by externally inputting an analog quantity with sine change, the servo motor receives an analog quantity command to perform sine motion, and the frequency of the input analog quantity is gradually increased, so that the response frequency limit of the servo is tested. However, the method has two major problems, one is that the analog signal input from the outside is easily interfered by the peripheral electromagnetic signal, so that the accuracy of the measurement result is reduced, and in addition, with the progress of the technology, more and more servo motors do not have external analog signal input ports, so the universality of the traditional measurement method is also greatly reduced.
Therefore, how to improve the universality of the testing method and reduce the signal interference in the testing process is an urgent problem to be solved by those skilled in the art.
Disclosure of Invention
The invention aims to provide a method, a device and equipment for testing a servo motor and a computer readable storage medium, so as to solve the problems that the servo motor is easy to interfere in the testing process in the prior art and the universality of the prior method is not high.
In order to solve the technical problem, the invention provides a test method of a servo motor, which comprises the following steps:
receiving a sine speed instruction generated by a singlechip of a servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency;
determining a corresponding driver current command through the sinusoidal speed command;
sending the driver current command to the servo motor;
and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value.
Optionally, in the method for testing a servo motor, when a preset parameter of the rotation speed curve reaches a preset threshold, the method further includes:
and sending out a reminding signal to a preset address or a preset device.
Optionally, in the method for testing a servo motor, the preset parameter is at least one of a phase difference between the sinusoidal speed command and the rotation speed curve or an amplitude of the rotation speed curve.
Optionally, in the method for testing a servo motor, when the preset parameter is a phase difference between the sinusoidal speed command and the rotation speed curve, the condition that the preset threshold is reached is:
when the phase lag of the rotating speed curve relative to the sinusoidal speed command reaches 90 degrees, the frequency of the corresponding sinusoidal speed command is the frequency bandwidth of the 90-degree phase shift of the servo motor.
Optionally, in the test method of the servo motor, when the preset parameter is the amplitude of the rotation speed curve, the condition that the preset threshold is reached is:
when the amplitude is reduced to 1/V2 of the ideal amplitude corresponding to the sine speed command, the frequency of the corresponding sine speed command is the frequency bandwidth of-3 db of the servo motor.
A test apparatus of a servo motor, comprising:
the receiving module is used for receiving a sinusoidal speed instruction generated by a singlechip of the servo driver, wherein the sinusoidal speed instruction is an instruction of gradually increasing frequency;
the determining module is used for determining a corresponding driver current instruction through the sine speed instruction;
the sending module is used for sending the driver current instruction to the servo motor;
and the recording module is used for recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining a corresponding performance parameter of the servo motor when a preset parameter of the rotating speed curve reaches a preset threshold value.
Optionally, in the testing device for the servo motor, the single chip microcomputer is an ARM chip.
Optionally, in the testing apparatus for a servo motor, the sending module is specifically configured to:
and sending the driver current instruction to the servo motor through a PWM regulator.
An apparatus for signal processing, comprising:
a memory for storing a computer program;
and a processor for implementing the steps of the method for testing the servo motor when the computer program is executed.
A computer-readable storage medium having stored thereon a computer program which, when executed by a processor, carries out the steps of the method of testing a servo motor as claimed in any one of the preceding claims.
The testing method of the servo motor provided by the invention receives a sine speed instruction generated by a singlechip of a servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency; determining a corresponding driver current command through the sinusoidal speed command; sending the driver current command to the servo motor; and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value. The sinusoidal speed instruction is generated by the singlechip of the servo driver, so that external input of an analog signal is not needed, the interference of the analog signal in the external transmission process is greatly reduced, the measurement precision is greatly improved, meanwhile, the input of the external analog signal is not needed, so that equipment with an analog signal input port is not needed, the universality of the technical scheme provided by the invention is greatly improved, and the application environment is wider. The invention also provides a testing device, equipment and a computer readable storage medium of the servo motor with the beneficial effects.
Drawings
In order to more clearly illustrate the embodiments or technical solutions of the present invention, the drawings used in the description of the embodiments or the prior art will be briefly described below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained based on these drawings without creative efforts.
FIG. 1 is a schematic flow chart of a method for testing a servo motor according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating another embodiment of a testing method for a servo motor according to the present invention;
FIG. 3 is a schematic structural diagram of an embodiment of a testing apparatus for a servo motor according to the present invention;
fig. 4 is a schematic structural diagram of a specific embodiment of a servo corresponding to the testing method of the servo motor provided by the present invention.
Detailed Description
In order that those skilled in the art will better understand the disclosure, the invention will be described in further detail with reference to the accompanying drawings and specific embodiments. It is to be understood that the described embodiments are merely exemplary of the invention, and not restrictive of the full scope of the invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The core of the present invention is to provide a method for testing a servo motor, wherein a schematic diagram of one embodiment of the method is shown in fig. 1, which is called as a first embodiment, and the method comprises the following steps:
step S101: and receiving a sine speed instruction generated by a singlechip of the servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency.
Step S102: and determining a corresponding driver current command through the sinusoidal speed command.
Step S103: and sending the driver current instruction to the servo motor.
Step S104: and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value.
Specifically, the preset parameter is at least one of a phase difference between the sinusoidal speed command and the rotation speed curve or an amplitude of the rotation speed curve;
when the preset parameter is the phase difference between the sinusoidal speed command and the rotating speed curve, the condition of reaching the preset threshold value is as follows:
when the phase lag of the rotating speed curve relative to the sinusoidal speed command reaches 90 degrees, the frequency of the corresponding sinusoidal speed command is the frequency bandwidth of the 90-degree phase shift of the servo motor;
when the preset parameter is the amplitude of the rotating speed curve, the condition of reaching the preset threshold value is as follows:
when the amplitude is reduced to 1/V2 of the ideal amplitude corresponding to the sine speed command, the frequency of the corresponding sine speed command is the frequency bandwidth of-3 db of the servo motor.
The testing method of the servo motor provided by the invention receives a sine speed instruction generated by a singlechip of a servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency; determining a corresponding driver current command through the sinusoidal speed command; sending the driver current command to the servo motor; and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value. The sinusoidal speed instruction is generated by the singlechip of the servo driver, so that external input of an analog signal is not needed, the interference of the analog signal in the external transmission process is greatly reduced, the measurement precision is greatly improved, meanwhile, the input of the external analog signal is not needed, so that equipment with an analog signal input port is not needed, the universality of the technical scheme provided by the invention is greatly improved, and the application environment is wider.
On the basis of the first specific embodiment, the operation when the preset parameter of the rotation speed curve reaches the preset threshold is further limited, so as to obtain a second specific embodiment, where a flow diagram is shown in fig. 2 and includes:
step S201: and receiving a sine speed instruction generated by a singlechip of the servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency.
Step S202: and determining a corresponding driver current command through the sinusoidal speed command.
Step S203: and sending the driver current instruction to the servo motor.
Step S204: and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value, and sending a reminding signal to a preset address or preset equipment.
The difference between this specific embodiment and the above specific embodiment is that a reminding step is added in this specific embodiment, and the rest of the cases are the same as those in the above specific embodiment, and will not be described herein again.
In the specific embodiment, a function of sending a reminder is added, so that a worker is prevented from missing data in the detection process, next measurement can be started quickly, the working efficiency is improved, the reminder signal can be an optical signal or a sound signal, and the predetermined address or the predetermined equipment can be a terminal of the worker.
The following describes a testing method and device for a servo motor according to an embodiment of the present invention, and the testing method and device for a servo motor described below and the testing method for a servo motor described above may be referred to correspondingly.
Fig. 3 is a block diagram of a testing method and apparatus for a servo motor according to an embodiment of the present invention, which is referred to as a third embodiment, where the testing apparatus for a servo motor according to fig. 3 may include:
the receiving module 100 is configured to receive a sinusoidal speed instruction generated by a single chip of the servo driver, where the sinusoidal speed instruction is an instruction that the frequency gradually increases;
a determining module 200, configured to determine a corresponding driver current command according to the sinusoidal speed command;
a sending module 300, configured to send the driver current instruction to the servo motor;
the recording module 400 is configured to record a corresponding rotation speed curve after the servo motor receives the driver current instruction, and obtain a corresponding performance parameter of the servo motor when a preset parameter of the rotation speed curve reaches a preset threshold.
As a preferred embodiment, the recording module 400 is further configured to:
and sending out a reminding signal to a preset address or a preset device.
In addition, the singlechip is an ARM chip; the ARM chip is a RISC microprocessor with low power consumption cost, and certainly, other chips are adopted according to actual conditions without the ARM chip within the protection scope of the invention.
In particular, the sending module is specifically configured to:
and sending the driver current instruction to the servo motor through a PWM regulator.
As shown in fig. 4, a single chip microcomputer (in the figure, ARM) in the servo driver generates the sinusoidal speed command, sends the sinusoidal speed command to the PWM regulator for output, and reaches the servo motor through the IGBT inverter.
The testing method of the servo motor comprises a receiving module 100, a speed control module and a speed control module, wherein the receiving module 100 is used for receiving a sine speed instruction generated by a singlechip of a servo driver, and the sine speed instruction is an instruction of gradually increasing frequency; a determining module 200, configured to determine a corresponding driver current command according to the sinusoidal speed command; a sending module 300, configured to send the driver current instruction to the servo motor; the recording module 400 is configured to record a corresponding rotation speed curve after the servo motor receives the driver current instruction, and obtain a corresponding performance parameter of the servo motor when a preset parameter of the rotation speed curve reaches a preset threshold. The sinusoidal speed instruction is generated by the singlechip of the servo driver, so that external input of an analog signal is not needed, the interference of the analog signal in the external transmission process is greatly reduced, the measurement precision is greatly improved, meanwhile, the input of the external analog signal is not needed, so that equipment with an analog signal input port is not needed, the universality of the technical scheme provided by the invention is greatly improved, and the application environment is wider.
The testing method device of the servo motor in this embodiment is used to implement the testing method of the servo motor, and therefore, specific embodiments in the testing method device of the servo motor may refer to the foregoing embodiments of the testing method of the servo motor, for example, the receiving module 100, the determining module 200, the sending module 300, and the recording module 400, which are respectively used to implement steps S101, S102, S103, and S104 in the testing method of the servo motor.
The invention also provides equipment, and all components in the equipment can cooperatively execute the testing method of the servo motor introduced in any embodiment mode in a time-division manner. The rest can be referred to the prior art and will not be described in an expanded manner.
The present invention further provides a computer-readable storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method for testing the servo motor described in any of the embodiments of the present invention. The rest can be referred to the prior art and will not be described in an expanded manner.
The embodiments are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same or similar parts among the embodiments are referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is to be noted that, in the present specification, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
Those of skill would further appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, computer software, or combinations of both, and that the various illustrative components and steps have been described above generally in terms of their functionality in order to clearly illustrate this interchangeability of hardware and software. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.
The steps of a method or algorithm described in connection with the embodiments disclosed herein may be embodied directly in hardware, in a software module executed by a processor, or in a combination of the two. A software module may reside in Random Access Memory (RAM), memory, Read Only Memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.
The present invention provides a method, an apparatus, a device, a computer readable storage medium and a computer readable storage device for testing a servo motor. The principles and embodiments of the present invention are explained herein using specific examples, which are presented only to assist in understanding the method and its core concepts. It should be noted that, for those skilled in the art, it is possible to make various improvements and modifications to the present invention without departing from the principle of the present invention, and those improvements and modifications also fall within the scope of the claims of the present invention.
Claims (10)
1. A test method of a servo motor is characterized by comprising the following steps:
receiving a sine speed instruction generated by a singlechip of a servo driver, wherein the sine speed instruction is an instruction of gradually increasing frequency;
determining a corresponding driver current command through the sinusoidal speed command;
sending the driver current command to the servo motor;
and recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining corresponding performance parameters of the servo motor when the preset parameters of the rotating speed curve reach a preset threshold value.
2. The method for testing a servo motor according to claim 1, wherein when the predetermined parameter of the rotation speed curve reaches a predetermined threshold, the method further comprises:
and sending out a reminding signal to a preset address or a preset device.
3. The method of claim 1, wherein the predetermined parameter is at least one of a phase difference between the sinusoidal velocity command and the rotational speed profile or an amplitude of the rotational speed profile.
4. The method for testing a servo motor according to claim 3, wherein when the preset parameter is a phase difference between the sinusoidal speed command and the rotation speed profile, the condition for reaching the preset threshold value is:
when the phase lag of the rotating speed curve relative to the sinusoidal speed command reaches 90 degrees, the frequency of the corresponding sinusoidal speed command is the frequency bandwidth of the 90-degree phase shift of the servo motor.
5. The method for testing a servo motor according to claim 3, wherein when the predetermined parameter is the amplitude of the rotation speed curve, the condition for reaching the predetermined threshold is:
when the amplitude is reduced to 1/V2 of the ideal amplitude corresponding to the sine speed command, the frequency of the corresponding sine speed command is the frequency bandwidth of-3 db of the servo motor.
6. A test device for a servo motor, comprising:
the receiving module is used for receiving a sinusoidal speed instruction generated by a singlechip of the servo driver, wherein the sinusoidal speed instruction is an instruction of gradually increasing frequency;
the determining module is used for determining a corresponding driver current instruction through the sine speed instruction;
the sending module is used for sending the driver current instruction to the servo motor;
and the recording module is used for recording a corresponding rotating speed curve after the servo motor receives the driver current instruction, and obtaining a corresponding performance parameter of the servo motor when a preset parameter of the rotating speed curve reaches a preset threshold value.
7. The testing device of the servo motor as claimed in claim 6, wherein the single chip is an ARM chip.
8. The testing device of the servo motor according to claim 6, wherein the sending module is specifically configured to:
and sending the driver current instruction to the servo motor through a PWM regulator.
9. An apparatus for signal processing, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the method of testing a servo motor according to any of claims 1 to 5 when executing said computer program.
10. A computer-readable storage medium, characterized in that a computer program is stored thereon, which computer program, when being executed by a processor, carries out the steps of the method of testing a servo motor according to any one of claims 1 to 5.
Priority Applications (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202010097429.2A CN111308339A (en) | 2020-02-17 | 2020-02-17 | Servo motor testing method, device and equipment and computer storage medium |
| PCT/CN2020/082713 WO2021164104A1 (en) | 2020-02-17 | 2020-04-01 | Servo electric motor testing method and apparatus, device, and computer storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202010097429.2A CN111308339A (en) | 2020-02-17 | 2020-02-17 | Servo motor testing method, device and equipment and computer storage medium |
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| WO (1) | WO2021164104A1 (en) |
Cited By (2)
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| CN112051830A (en) * | 2020-08-27 | 2020-12-08 | 深圳市显控科技股份有限公司 | Servo driver aging test method, system, device and storage medium |
| CN113325902A (en) * | 2021-05-08 | 2021-08-31 | 东风柳州汽车有限公司 | Method, device and equipment for intelligently adjusting glue yield and storage medium |
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| CN113900412A (en) * | 2021-10-12 | 2022-01-07 | 武汉逸飞激光股份有限公司 | Synchronous shaft zero calibration method and device, control unit and readable storage medium |
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| WO2021164104A1 (en) | 2021-08-26 |
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Application publication date: 20200619 |