CN114035042A - Servo system life test method and device, computer equipment and storage medium - Google Patents

Servo system life test method and device, computer equipment and storage medium Download PDF

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Publication number
CN114035042A
CN114035042A CN202111170786.8A CN202111170786A CN114035042A CN 114035042 A CN114035042 A CN 114035042A CN 202111170786 A CN202111170786 A CN 202111170786A CN 114035042 A CN114035042 A CN 114035042A
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servo
servo system
life test
parameters
load condition
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刘文威
郭广廓
董成举
潘广泽
樊依圣
林家领
王远航
陈勃琛
王春辉
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China Electronic Product Reliability and Environmental Testing Research Institute
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China Electronic Product Reliability and Environmental Testing Research Institute
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    • G—PHYSICS
    • 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
    • G01R31/343—Testing dynamo-electric machines in operation
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M13/00—Testing of machine parts

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Abstract

The application relates to a method and a device for testing service life of a servo system, computer equipment and a storage medium, wherein the method comprises the following steps: acquiring servo system parameters and preset load conditions of a servo system service life test; the load under the preset load condition is larger than the corresponding load under the rated working condition; the preset load conditions comprise the load conditions of the axial force and the radial force of the servo motor and the temperature load conditions of the servo driver; calculating an acceleration factor of the servo system according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters; determining accelerated life test time according to servo system parameters and servo system acceleration factors; outputting a life test starting instruction; and the life test starting instruction is used for indicating a user to apply a preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system. The service life test method of the servo system can reduce the time cost of the service life test of the servo system.

Description

Servo system life test method and device, computer equipment and storage medium
Technical Field
The application relates to the technical field of reliability evaluation, in particular to a method and a device for testing service life of a servo system, computer equipment and a storage medium.
Background
Servo system, also called servo system, is an automatic control system which can make the state of the system reach or approach a certain preset value by using the action of a certain component, and can compare the required state with the actual state and adjust the control component according to the difference between the required state and the actual state. The servo system has the advantages of high precision, high stability, strong adaptability and the like, and is widely applied to the fields of national defense and military industry, automatic driving, automatic machine tools, wireless tracking control and the like. In order to ensure the reliability of the servo system, a service life test of the servo system is required.
The conventional servo system life test method is used for testing under the load condition corresponding to the use environment. The reliability index of the servo system is often up to ten thousand hours, and a great deal of time and expense are needed by adopting the traditional reliability test. Therefore, the conventional servo system life test method has the defect of high time cost.
Disclosure of Invention
In view of the above, it is necessary to provide a method and an apparatus for testing a service life of a servo system, a computer device, and a storage medium, which can reduce the time cost of the service life test of the servo system.
A servo system life test method comprises the following steps:
acquiring servo system parameters and preset load conditions of a servo system service life test; the load under the preset load condition is larger than the corresponding load under the rated working condition; the preset load conditions comprise axial force load conditions and radial force load conditions of the servo motor and temperature load conditions of the servo driver;
calculating a servo system acceleration factor according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters;
determining accelerated life test time according to the servo system parameters and the servo system acceleration factors;
outputting a life test starting instruction; and the life test starting instruction is used for indicating a user to apply the preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
In one embodiment, said calculating a servo acceleration factor based on said axial force load condition, said radial force load condition, said temperature load condition and said servo parameters comprises:
calculating an acceleration factor of a servo motor according to the axial force load condition, the radial force load condition and the servo system parameters;
calculating an acceleration factor of a servo driver according to the temperature load condition and the servo system parameter;
and determining a servo system acceleration factor according to the servo motor acceleration factor and the servo driver acceleration factor.
In one embodiment, the servo system parameters comprise servo motor operating parameters and bearing parameters on a servo motor; calculating a servo motor acceleration factor according to the axial force load condition, the radial force load condition and the servo system parameters, and comprising:
obtaining the reference service life of the servo motor under a rated working condition according to the working parameters of the servo motor and the bearing parameters;
obtaining the acceleration service life of the servo motor under a preset load condition according to the working parameters and the bearing parameters of the servo motor, the axial force load condition and the radial force load condition;
and calculating the acceleration factor of the servo motor according to the reference life and the acceleration life.
In one embodiment, the obtaining the reference life of the servo motor under the rated working condition according to the working parameters of the servo motor and the bearing parameters includes:
calculating the equivalent dynamic load of the corresponding bearing under the rated working condition according to the bearing parameters;
and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor, the bearing parameters and the equivalent dynamic load.
In one embodiment, the servo system parameters comprise component composition and working parameters of a servo driver; calculating a servo driver acceleration factor based on the temperature load condition and the servo system parameter, comprising:
calculating the failure rate of each component under the rated working condition according to the component composition and the working parameters of the servo driver;
calculating acceleration factors of all components according to component composition and working parameters of the servo driver and the temperature load condition;
and calculating the acceleration factor of the servo driver according to the failure rate and the acceleration factor of each component.
In one embodiment, the calculating the acceleration factor of each component according to the component composition and the operating parameters of the servo driver and the temperature load condition includes:
determining the activation energy of each component according to the component composition of the servo driver and the corresponding relation between the component type and the activation energy;
and calculating the acceleration factor of each component according to the activation energy of each component, the temperature load condition and the working parameter of the servo driver.
In one embodiment, the servo system parameters comprise the number of servo systems put into a life test, the average non-fault working time under a rated working condition and the reliability test statistical scheme type; determining accelerated life test time according to the servo system parameters and the servo system acceleration factors, wherein the method comprises the following steps:
determining the reference life test time of the servo system according to the average fault-free working time under the rated working condition and the reliability test statistical scheme type;
and determining accelerated life test time according to the reference life test time, the number of the servo systems and the acceleration factors of the servo systems.
A servo system life test device includes:
the acquisition module is used for acquiring servo system parameters and preset load conditions of a servo system service life test; the load value under the preset load condition is larger than the corresponding load value under the rated working condition; the preset load conditions comprise axial force load conditions and radial force load conditions of the servo motor and temperature load conditions of the servo driver;
the acceleration factor calculation module is used for calculating a servo system acceleration factor according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters;
the accelerated life test time determining module is used for determining accelerated life test time according to the servo system parameters and the servo system acceleration factors;
the output module is used for outputting a life test starting instruction; and the life test starting instruction is used for indicating a user to apply the preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
In one embodiment, the acceleration factor calculation module comprises: the servo motor acceleration factor calculation unit is used for calculating the servo motor acceleration factor according to the axial force load condition, the radial force load condition and the servo system parameters; the servo driver acceleration factor calculation unit is used for calculating a servo driver acceleration factor according to the temperature load condition and the servo system parameters; and the acceleration factor determining unit is used for determining the acceleration factor of the servo system according to the acceleration factor of the servo motor and the acceleration factor of the servo driver.
In one embodiment, the servo system parameters comprise servo motor operating parameters, and bearing parameters on the servo motor; the servo motor acceleration factor calculation unit includes: the reference life calculating component is used for obtaining the reference life of the servo motor under the rated working condition according to the working parameters of the servo motor and the bearing parameters; the acceleration service life calculation component is used for obtaining the acceleration service life of the servo motor under the preset load condition according to the working parameters and the bearing parameters of the servo motor, the axial force load condition and the radial force load condition; and the servo motor acceleration factor calculating component is used for calculating the servo motor acceleration factor according to the reference life and the acceleration life.
In one embodiment, the baseline life calculation component is specifically configured to: calculating the equivalent dynamic load of the corresponding bearing under the rated working condition according to the bearing parameters; and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor, the bearing parameters and the equivalent dynamic load.
In one embodiment, the servo system parameters comprise component composition and working parameters of a servo driver; the servo driver acceleration factor calculation unit includes: the component failure rate calculation module is used for calculating the failure rate of each component under the rated working condition according to the component composition and the working parameters of the servo driver; the component acceleration factor calculation module is used for calculating the acceleration factor of each component according to the component composition and working parameters of the servo driver and the temperature load condition; and the servo driver acceleration factor calculation component is used for calculating the servo driver acceleration factor according to the failure rate and the acceleration factor of each component.
In one embodiment, the component acceleration factor calculation component is specifically configured to: determining the activation energy of each component according to the component composition of the servo driver and the corresponding relation between the component type and the activation energy; and calculating the acceleration factor of each component according to the activation energy of each component, the temperature load condition and the working parameter of the servo driver.
In one embodiment, the servo system parameters comprise the number of servo systems put into a life test, the average non-fault working time under a rated working condition and the reliability test statistical scheme type; the accelerated life test time determination module comprises: the reference life test time determining unit is used for determining the reference life test time of the servo system according to the average fault-free working time under the rated working condition and the reliability test statistical scheme type; and the accelerated life test time determining unit is used for determining the accelerated life test time according to the reference life test time, the number of the servo systems and the acceleration factors of the servo systems.
A computer device comprising a memory storing a computer program and a processor implementing the steps of the method described above when executing the computer program.
A computer-readable storage medium, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method.
According to the service life test method of the servo system, the service life test of the servo system is carried out by using the load condition which is larger than the corresponding load under the rated working condition, which is equivalent to an acceleration test carried out under the acceleration stress condition, so that the service life test time can be shortened, the time cost of the service life test of the servo system is reduced, and the test efficiency is favorably improved.
Drawings
FIG. 1 is a flowchart illustrating a method for testing a lifetime of a servo system according to an embodiment;
FIG. 2 is a flow diagram of a calculation of a servo acceleration factor based on axial force load conditions, radial force load conditions, and servo parameters according to an embodiment;
FIG. 3 is a flow chart of a calculation of an acceleration factor of a servo motor based on axial and radial force loading conditions, and servo system parameters, according to an embodiment;
FIG. 4 is a flowchart illustrating a method for calculating a reference life of a servo motor under a rated operating condition according to a working parameter of the servo motor and a bearing parameter in an embodiment;
FIG. 5 is a flow chart of a method for calculating servo driver acceleration factor based on temperature load conditions and servo system parameters according to an embodiment;
FIG. 6 is a flow chart illustrating calculation of acceleration factors for components based on component configuration and operating parameters of the servo driver, and temperature loading conditions, according to an embodiment;
FIG. 7 is a flow chart illustrating determining accelerated life test time based on servo system parameters and servo system acceleration factors, according to an embodiment;
FIG. 8 is a block diagram of a servo system life testing apparatus according to an embodiment;
FIG. 9 is a block diagram of an acceleration factor calculation module in accordance with an embodiment;
FIG. 10 is a block diagram of an embodiment of a servo motor acceleration factor calculation unit;
FIG. 11 is a block diagram of an embodiment of a servo driver acceleration factor calculation unit;
FIG. 12 is a block diagram of an accelerated life test time determination module in accordance with an embodiment;
FIG. 13 is a block diagram of a computing device in one embodiment.
Detailed Description
To facilitate an understanding of the present application, the present application will now be described more fully with reference to the accompanying drawings. Embodiments of the present application are set forth in the accompanying drawings. This application may, however, be embodied in many different forms and should not be construed as limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete.
Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein in the description of the present application is for the purpose of describing particular embodiments only and is not intended to be limiting of the application.
It will be understood that when an element is referred to as being "connected" to another element, it can be directly connected to the other element or be connected to the other element through intervening elements. Further, "connection" in the following embodiments is understood to mean "electrical connection", "communication connection", or the like, if there is a transfer of electrical signals or data between the connected objects.
As used herein, the singular forms "a", "an" and "the" may include the plural forms as well, unless the context clearly indicates otherwise. It will be further understood that the terms "comprises/comprising," "includes" or "including," etc., specify the presence of stated features, integers, steps, operations, components, parts, or combinations thereof, but do not preclude the presence or addition of one or more other features, integers, steps, operations, components, parts, or combinations thereof.
The servo system is a typical electromechanical system, including a servo motor and a servo driver. The servo motor is a mechanical part, the servo driver is an electronic part, the sensitive stress of different parts is different, and the acceleration model is different, so that the method for establishing the comprehensive service life test of the servo system is particularly important. Based on this, in the first aspect of the present application, as shown in fig. 1, a method for testing a service life of a servo system is provided, which includes steps S200 to S800.
Step S200: acquiring servo system parameters and preset load conditions of a servo system service life test; the preset load condition comprises an axial force load condition and a radial force load condition of the servo motor and a temperature load condition of the servo driver.
The servo system parameters comprise structural parameters, working parameters and testing parameters. The structural parameters comprise the concrete constitution of the servo system, the sizes of all parts, the installation mode, materials and the like. The working parameters comprise an application scene, a motor rotating speed, a moment load preset value, a reference working temperature and the like under the application scene. The test parameters comprise the number of servo systems put into a life test, the average non-fault working time under a rated working condition, the reliability test statistical scheme type and the like.
Further, the preset load condition of the service life test of the servo system refers to the type, the size and the loading position of a load planned to be applied to the servo system to be tested. Specifically, the preset load condition comprises an axial force load condition and a radial force load condition of the servo motor and a temperature load condition of the servo driver, and the load size under the preset load condition is larger than the corresponding load size under the rated working condition. That is to say, the load size under the axial force load condition and the radial force load condition of the servo motor is respectively larger than the allowable axial force load and the allowable radial force load under the rated working condition of the corresponding servo motor. The temperature load of the servo driver is larger than the temperature load value of the servo driver under the rated working condition.
In addition, the mode of acquiring the preset load condition and the servo system parameter of the servo system life test by the controller can be active acquisition or passive reception.
Step S400: and calculating the acceleration factor of the servo system according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters.
As described above, the magnitude of the load under the preset load condition is larger than the magnitude of the corresponding load under the rated working condition, which is equivalent to a life acceleration test performed under an acceleration stress. Correspondingly, the acceleration factor is the ratio of a certain life characteristic value of the product under acceleration stress to the life characteristic value under normal stress, and can also be called as an acceleration coefficient, and is a dimensionless number. The acceleration factor reflects the acceleration effect of a certain acceleration stress level in the accelerated life test and is a function of the acceleration stress.
Specifically, according to the servo system parameters, and preset load conditions such as an axial force load condition, a radial force load condition, a temperature load condition and the like, the stress condition of each component of the servo system under the preset load condition can be determined, and the weakest component of the servo system, such as a bearing or a certain circuit component, can be obtained. And then, carrying out stress analysis on the weakest part, and calculating the acceleration factor of the weakest part under the preset load condition, namely the acceleration factor of the servo system.
It should be noted that the preset load condition of the servo system life test may be constant or may be changed according to a certain rule, such as step change. For a constant load condition, the servo system acceleration factor is a fixed value, and for a changing load condition, the servo system acceleration factor also changes, but the corresponding relation between the servo system acceleration factor and the load condition is determined.
Step S600: and determining the accelerated life test time according to the servo system parameters and the servo system acceleration factors.
The accelerated life test time refers to the life test time of the servo system under the preset load condition. Specifically, the reference life test time of the servo system under the rated working condition can be determined according to the servo system parameters, and the accelerated life test time of the accelerated life test can be determined by combining the number of the servo systems and the acceleration factors of the servo systems which are put into the life test.
Step S800: outputting a life test starting instruction; the life test starting instruction is used for indicating a user to apply a preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
The life test starting command comprises a preset load condition and accelerated life test time. Specifically, the output target of the life test start instruction may be a display or a terminal. The user can obtain the specific information of the life test starting instruction through the display or the terminal, so that the preset load condition is applied to the servo system to be tested in the accelerated life test time to perform the life test of the servo system. And after the service life test is finished, the controller acquires the key performance index of the servo system, and judges whether the servo system fails according to the key performance index and a preset failure condition to obtain a service life test result whether the servo system passes the test. The key performance indicators include, but are not limited to, the rotational speed, torque, power of the servo system under test and the current voltage of its drive. The criterion for judging whether the servo system fails can be that a key acquisition value is compared with a set value, and when the acquisition value does not reach the corresponding set value, the servo system is judged to fail; and comparing the acquired value of the key performance index with the acquired value of the corresponding index before testing, and judging that the servo system fails when the variable quantity of the key performance index reaches the corresponding preset value.
According to the service life test method of the servo system, the service life test of the servo system is carried out by using the load condition which is larger than the corresponding load under the rated working condition, which is equivalent to an acceleration test carried out under the acceleration stress condition, so that the service life test time can be shortened, the time cost of the service life test of the servo system is reduced, and the test efficiency is favorably improved.
In one embodiment, as shown in fig. 2, step S400 includes steps S420 through S460.
Step S420: and calculating the acceleration factor of the servo motor according to the axial force load condition, the radial force load condition and the servo system parameters.
Here, the axial direction means the axial direction along the shaft, and the radial direction means the radial direction along the shaft. Specifically, the axial force load condition and the radial force load condition of the servo motor comprise the magnitude, the direction and the loading position of the axial force load and the magnitude, the direction and the loading position of the radial force load. Further, the load loading position and the load loading direction are the same as those under the rated working condition, that is, the preset load condition of the servo motor is an increase in the value of the load size compared with the corresponding load condition under the rated working condition.
Specifically, on one hand, according to the system parameters of the servo motor, the load condition of the servo motor under the rated working condition can be obtained, and then the relation between the preset load condition of the servo motor and the load condition under the rated working condition is obtained. On the other hand, according to the stress condition of each part of the servo motor under the preset load condition, the weakest part of the servo motor can be obtained. And finally, performing stress analysis on the weakest part, and calculating to obtain the acceleration factor of the servo motor by combining the relation between the preset load condition and the rated working condition load condition and the service life model of the servo motor under the axial force load and the radial force load.
Step S440: a servo driver acceleration factor is calculated based on the temperature load condition and the servo system parameters.
As mentioned above, the servo driver is an electronic component, and the sensitive stress is a temperature stress, so the preset load condition of the servo driver is set as a temperature load condition, specifically, a preset test temperature. The preset test temperature is higher than the reference working temperature of the servo driver under the rated working condition.
Specifically, the acceleration factor of the servo driver may be calculated according to a series model or a parallel model, or may be calculated according to a barrel effect. Taking the barrel effect as an example, on one hand, according to the system parameters of the servo driver, the reference working temperature of the servo driver under the rated working condition can be obtained, and then the relation between the preset load condition and the rated working condition load condition of the servo driver is determined. On the other hand, according to the material characteristics of each part of the servo driver, the service life condition of each part under the preset load condition can be calculated, and then the weakest part of the servo driver is determined. And finally, aiming at the weakest part, combining the relation between the preset load condition and the rated working condition load condition and a service life model of the servo driver under the temperature load condition, and calculating to obtain the acceleration factor of the servo driver.
Step S460: and determining a servo system acceleration factor according to the servo motor acceleration factor and the servo driver acceleration factor.
Specifically, the servo system acceleration factor is not determined in a unique manner. For example, the larger of the servo motor acceleration factor and the servo driver acceleration factor may be taken as the servo system acceleration factor; corresponding weights can be set according to the sensitivity degrees of the servo motor and the servo driver in the service life test, and the servo system acceleration factor can be obtained by multiplying the servo motor acceleration factor and the servo driver acceleration factor by the respective weights respectively and then adding the weights.
In one embodiment, the life distribution functions of the servo motor and the servo driver are both subject to exponential distribution, and step S460 includes: and determining the servo motor acceleration factor or the servo driver acceleration factor as the servo system acceleration factor.
Specifically, when the service life distribution functions of the servo motor and the servo driver both follow an exponential distribution, the calculation formula of the mean time between failure MTBF of the servo motor and the servo driver is as follows:
Figure BDA0003293095800000101
the servo acceleration factor AF is:
Figure BDA0003293095800000102
in the formula, t0The service life of the servo system under rated working condition, t is the service life of the servo system under preset load condition, lambdaTotal 0The failure rate of the servo system under a rated working condition is shown; lambda [ alpha ]1The failure rate of the servo motor under a rated working condition is shown; lambda [ alpha ]2The failure rate of the servo driver under the rated working condition is shown; lambda'General assemblyFailure rate of the servo system under a preset load condition is determined; lambda'1Failure rate of the servo motor under a preset load condition is shown; lambda'2The failure rate of the servo driver under the preset load condition is shown.
Further, to facilitate determining the acceleration factor of the servo system, the acceleration factor of the servo motor and the acceleration factor of the servo driver may be set to be equal. The servo motor and the servo driver are assumed to be in a series model and have equal acceleration factors, and because the failure rates of the servo motor and the servo driver are both subject to exponential distribution, namely:
Figure BDA0003293095800000103
combining formula (2) and formula (3), one can derive:
AF＝AFl＝AF2 (4)
the servo motor acceleration factor, the servo driver acceleration factor and the servo system acceleration factor are equal, and after the servo motor acceleration factor and the servo driver acceleration factor are obtained through calculation, the servo motor acceleration factor or the servo driver acceleration factor is determined to be the servo system acceleration factor.
It is understood that in other embodiments, it may be determined whether the service life distribution functions of the servo motor and the servo driver both obey the exponential distribution, if yes, step S420 or step S440 is executed, and the acceleration factor of the servo system is determined according to the corresponding calculation result; if not, step S420 and step S440 are executed, and the servo system acceleration factor is determined according to the corresponding calculation result.
In the embodiment, a specific calculation method of the servo system acceleration factor is provided, two factors of the servo motor and the servo driver are considered comprehensively, and the servo system acceleration factor is determined, so that the accuracy of the servo system acceleration factor is improved, and the reliability of the servo system service life test method is further improved.
In one embodiment, the servo system parameters include servo motor operating parameters, and bearing parameters on the servo motor. As shown in fig. 3, step S420 includes steps S422 to S426.
Step S422: and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters and the bearing parameters of the servo motor.
The bearing parameters on the servo motor comprise the type, specification, installation position and rigidity of the bearing. Specifically, under the action of axial force and radial force, through analysis, the weakest part of the servo motor is a deep groove ball bearing which comprises a front deep groove ball bearing and a rear deep groove ball bearing. And obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor and the parameters of the corresponding deep groove ball bearing.
In one embodiment, as shown in FIG. 4, step S422 includes step S422-1 and step S422-2.
Step S422-1: and calculating the equivalent dynamic load of the corresponding bearing under the rated working condition according to the bearing parameters.
Wherein the equivalent dynamic load is a load having a constant direction and magnitude, under which the bearing has the same life as under actual load conditions.
Specifically, under rated working condition, the servo motor is subjected to 1 time of allowable radial force load Fr0And 1 times the allowable axial force load Fa0Is applied by the external load. Considering the pre-tightening force of the servo motor bearing, in combination with the motor structure, it can be known that the front bearing bears the pre-tightening force of the spring in the axial direction, which is equal to Fa0In the same direction; the rear bearing axially bears the bearing reaction force of the rear bearing seat, and Fa0And reversing. Based on the stress and moment balance of the motor shaft under the action of the external load, the axial load and the radial load of the front bearing and the rear bearing can be obtained.
FaO+Fal＝Fa2 (5)
Figure BDA0003293095800000121
Figure BDA0003293095800000122
In the formula, Fa1Axial load to which the front bearing is subjected, and Fa0In the same direction; fa2Axial load to which the rear bearing is subjected, and Fa0Reversing; fr1Radial load experienced by the front bearing, and Fr0Reversing; fr2Radial load experienced by the rear bearing, and Fr0In the same direction;
Figure BDA0003293095800000123
the distance between the front and rear bearings;
Figure BDA0003293095800000124
the distance between the external load loading position and the front bearing;
Figure BDA0003293095800000125
the distance between the external load loading position and the rear bearing.
Under external load, the axial displacement of the two bearings is equal (equivalent two springs are connected in parallel), and the following results are obtained:
Figure BDA0003293095800000126
in the formula, k1And k2The axial stiffness of the front and rear bearings, respectively, can be determined according to equations (9) - (11), respectively.
Figure BDA0003293095800000127
Figure BDA0003293095800000128
Figure BDA0003293095800000129
Wherein D isWIs the bearing roller diameter, Z is the number of bearing rollers, α is the initial contact angle, urIs radial play, q is the center-to-center distance of curvature parameter, FaiCorresponding to the axial load to which the bearing is subjected.
By combining the formulas (5) to (11), the axial load and the longitudinal load which are applied to the front bearing and the rear bearing under the rated working condition can be obtained, namely Fa1、Fa2、Fr1And Fr2. Equivalent dynamic load PiThe calculation formula of (2) is as follows:
Pi＝XFri+YFai (12)
in the formula, PiEquivalent dynamic load; x is the radial dynamic load coefficient; and Y is the axial dynamic load coefficient. The load coefficients X and Y can be determined by looking up a table according to the size and the performance of the deep groove ball bearing by referring to a method in a mechanical design manual (sixth edition, major initiatives), and specifically comprise the following steps: obtaining a calculation coefficient f according to GB/T46620(ii) a Determining the basic rated load C according to the size of the deep groove ball bearing0rThen f is calculated0Fai/C0rDetermining a coefficient e according to the calculation result; final comparison Fai/FriSize of eThe table lookup determines the load factors X and Y.
Specifically, F isa1And Fr1Substituting the formula (12) to obtain the equivalent dynamic load P of the front bearing1Will Fa2And Fa2The equivalent dynamic load P of the rear bearing can be obtained by substituting formula (12)2And comparing and selecting the larger value as the equivalent dynamic load P of the whole servo motor0。
Step S422-2: and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor, the bearing parameters and the equivalent dynamic load.
As described above, the servo motor operating parameters include an application scenario, and a motor rotation speed, a torque load preset value, a reference operating temperature, and the like in the application scenario. Specifically, the impact load factor can be determined according to the application scene of the servo motor and the corresponding relation between the pre-stored application scene and the load property; the moment load can be obtained according to the formulas (6) and (7), and then the magnitude relation between the current moment load and the preset moment load value can be obtained by combining the preset moment load value, and the moment load factor is determined; determining a speed factor according to the motor rotating speed in a specific application scene and a pre-stored corresponding relation between the motor rotating speed and the speed factor; determining a temperature factor according to the reference working temperature in a specific application scene and a pre-stored corresponding relation between the reference working temperature and the temperature factor; the basic load rating can be determined according to the dimensions of the deep groove ball bearing. The service life t of the servo motor under the rated working condition can be obtained by combining the equivalent dynamic load of the servo motor10The concrete formula is as follows:
Figure BDA0003293095800000131
in the formula (f)nIs a speed factor, fTIs a temperature factor, fdIs the impact load factor; f. ofmAnd the moment load factor is a moment load factor, the value is 2 when the current moment load is greater than or equal to the moment load preset value, and the value is 1.5 otherwise. And epsilon is a service life index, and epsilon is taken to be 3 for the servo motor ball bearing.
Step S424: and obtaining the acceleration service life of the servo motor under the preset load condition according to the working parameters and the bearing parameters of the servo motor, the axial force load condition and the radial force load condition.
The specific calculation process of the accelerated life is the same as that of the reference life, and only the external load condition is changed from the rated working condition to the preset load condition, and the analysis and calculation process in the step S422 is repeated.
Step S426: and calculating the acceleration factor of the servo motor according to the reference life and the acceleration life.
In particular, the servomotor acceleration factor AF1As a reference life t10And accelerated lifetime t1The ratio of (a) to (b), namely:
Figure BDA0003293095800000132
further, it is considered that the speed factor f is calculated in the reference life and the accelerated lifenTemperature factor fTCoefficient of impact load fd(ii) a Life index epsilon and basic rated load C0rAll of which are the same, equation (14) can be expressed as:
Figure BDA0003293095800000141
of formula (II) to'mIs the moment load factor under a preset load condition, fmThe moment load factor under the rated working condition is shown, and P is the equivalent dynamic load of the whole servo motor under the preset load condition. That is, the moment loads under the preset load condition and the rated working condition can be obtained according to the formulas (6) and (7) respectively to obtain f'mAnd fmThe ratio of (A) to (B); respectively calculating the equivalent dynamic load of the corresponding bearing under the preset load condition and the rated working condition according to the bearing parameters to obtain P and P0The servo motor acceleration factor AF can be calculated according to the formula (15)1。
It is understood that when f'mAnd fmWhen equal, equation (15) can be further simplified as:
Figure BDA0003293095800000142
that is, f 'can be judged by obtaining the torque loads under the preset load condition and the rated working condition according to the equations (6) and (7) respectively'mAnd fmWhether or not equal. When the two are not equal, according to f'mAnd fmThe servo motor acceleration factor AF is carried out by the ratio of (A) to (B) and the equation (15)1Calculating (1); when the two are equal, only P and P need to be added0Substituting formula (16), the acceleration factor AF of the servo motor can be calculated1。
In the embodiment, a specific calculation process of the acceleration factor of the servo motor is given, and in the calculation process, the structure and the working parameters of the servo motor and the borne external load condition are fully considered, so that the accuracy of the acceleration factor is improved, and the reliability of the life test method is further improved.
In one embodiment, the servo system parameters include component composition and operating parameters of the servo driver; as shown in fig. 5, step S440 includes steps S442 to S446.
Step S442: and calculating the failure rate of each component under the rated working condition according to the component composition of the servo driver.
The working parameters of the servo driver comprise the type and the magnitude of stress borne by the servo driver under a rated working condition. Because the servo driver is an electronic component and is sensitive to temperature, the failure rate is calculated according to the temperature stress under the rated working condition. Specifically, according to the component composition of the servo driver and the temperature stress condition under the rated working condition, the failure rate of each component under the rated working condition is calculated respectively by adopting a stress analysis method provided by GJB 299C. Furthermore, according to the sensitivity of the electronic components to the temperature, certain specific components in the servo driver can be defined as sensitive components, and the failure rate of the components under the rated working condition is only calculated, so that the calculation workload is reduced, and the efficiency is improved.
Step S444: and calculating the acceleration factor of each component according to the component composition and the working parameters of the servo driver and the temperature load condition.
The working parameters of the servo driver comprise a reference working temperature under the rated working condition of the servo driver. Specifically, according to the working parameters of the servo driver, the preset test temperature of the servo driver under the preset load condition and the reference working temperature under the rated working condition load condition can be determined. And then, according to the characteristics of each component and the relation between the preset test temperature and the reference working temperature, the acceleration factor of each component can be calculated.
In one embodiment, as shown in FIG. 6, step S444 includes step S444-1 and step S444-2.
Step S444-1: and determining the activation energy of each component according to the component composition of the servo driver and the corresponding relationship between the component type and the activation energy.
Specifically, the correspondence between the types of the components and the activation energy may be pre-stored according to the standards such as IEC61709, IEC62380, IPC279, and GJB299C, the test values of the components, and the related documents. The controller obtains the type of the component needing life analysis according to the component composition of the servo driver, and then determines the activation energy of each component by combining the corresponding relation between the type of the component and the activation energy.
Step S444-2: and calculating the acceleration factor of each component according to the activation energy of each component, the temperature load condition and the working parameter of the servo driver.
Specifically, an Arrhenius temperature stress model is adopted to evaluate acceleration factors of each component in the servo system:
Figure BDA0003293095800000151
in the formula, AF2iIs served asAcceleration factor of the ith component in the driver; t isuIs a preset test temperature of the servo driver; t isaThe reference working temperature of the servo driver under the rated working condition is set; eaiThe activation energy of the ith component in the driver is expressed in eV; k is Boltzmann constant and takes the value of 8.6173 multiplied by 10 < -5 > eV/K.
Step S446: and calculating the acceleration factor of the servo driver according to the failure rate and the acceleration factor of each component.
As previously described, the calculation of the servo driver acceleration factor may be based on the barrel effect, series model, or parallel model. Taking the series model as an example, the service life model t of the servo driver under the rated working condition20And a life model t under a preset load condition2Respectively as follows:
Figure BDA0003293095800000161
Figure BDA0003293095800000162
in the formula, λ2iThe failure rate of the ith component element under the rated working condition is obtained; lambda'2iThe failure rate of the ith component element under the preset load condition is determined; λ s is the failure rate of the servo driver under the rated working condition; lambda'sFailure rate of the servo driver under a preset load condition is set; and n is the number of components which need to be considered in failure rate calculation.
And servo driver acceleration factor AF2Comprises the following steps:
Figure BDA0003293095800000163
the servo driver acceleration factor can be calculated by substituting equations (18) and (19) for equation (20).
In the embodiment, a specific calculation process of the acceleration factor of the servo driver is given, in the calculation process, the component composition and the working parameters of the servo driver and the borne external load condition are fully considered, so that the accuracy of the acceleration factor is improved, and the reliability of the life test method is further improved.
In one embodiment, the servo system parameters include the number of servo systems to be put into a life test, the mean time to failure under rated conditions, and the reliability test statistical scenario type, as shown in fig. 7, and step S600 includes step S620 and step S640.
Step S620: and determining the reference life test time of the servo system according to the average fault-free working time under the rated working condition and the reliability test statistical scheme type.
The reliability test statistical scheme types comprise a probability ratio sequential test scheme, a timing truncation test scheme and a total test scheme which are specified in GJB 899. According to different statistical scheme types and corresponding statistical parameters, the ratio theta of the reference life test time to the average failure-free working time under the rated working condition can be determined1And the reference life test time T of the servo system can be determined by combining the Mean Time Between Failures (MTBF) under the rated working conditionGeneral assembly。
TGeneral assembly＝θ1*MTMF (21)
Taking the timing truncation test scheme as an example, the specific values of the production side risk alpha and the use side risk beta, the pre-stored statistical parameters and the pre-stored theta can be used as the basis of the statistical parameters1Determining theta1Then substituting formula (21) to obtain TGeneral assembly. For example, when α is 30% and β is 30%, θ can be obtained1Is 1.204, i.e. TGeneral assembly1.204 MTBF. Wherein the statistical parameter and theta1The corresponding relation of (2) is established according to the related regulation of GJB 899.
Step S640: and determining accelerated life test time according to the reference life test time, the number of servo systems and the acceleration factor of the servo systems.
Specifically, the accelerated life test time T may be determined according to the following formula:
T＝Tgeneral assembly÷AF÷N (22)
In the formula, N is the number of servo systems put into the life test.
In the embodiment, a specific determination mode of the accelerated life test time in the accelerated life test is provided, and the accelerated life test is synchronously performed by adopting a plurality of test samples, so that the test time can be further shortened, and the test efficiency is improved.
It should be understood that, although the steps in the flowcharts shown in the above embodiments are shown in sequence as indicated by the arrows, the steps are not necessarily executed in sequence as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least a part of the steps in each flowchart involved in the above embodiments may include multiple sub-steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of performing the sub-steps or the stages is not necessarily sequential, but may be performed alternately or alternatingly with other steps or at least a part of the sub-steps or the stages of other steps.
In a second aspect of the present application, as shown in fig. 8, there is provided a servo system life testing apparatus, including: the acquisition module 200 is used for acquiring servo system parameters and preset load conditions of a servo system service life test; the load value under the preset load condition is larger than the corresponding load value under the rated working condition; the preset load conditions comprise axial force load conditions and radial force load conditions of the servo motor and temperature load conditions of the servo driver; the acceleration factor calculation module 400 is used for calculating the acceleration factor of the servo system according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters; an accelerated life test time determining module 600, configured to determine an accelerated life test time according to the servo system parameters and the servo system acceleration factors; an output module 800, configured to output a life test start instruction; and the life test starting instruction is used for indicating a user to apply a preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
In one embodiment, as shown in FIG. 9, the acceleration factor calculation module 400 includes: the servo motor acceleration factor calculation unit 420 is used for calculating a servo motor acceleration factor according to the axial force load condition, the radial force load condition and the servo system parameters; a servo driver acceleration factor calculation unit 440, configured to calculate a servo driver acceleration factor according to the temperature load condition and the servo system parameter; and an acceleration factor determining unit 460, configured to determine a servo system acceleration factor according to the servo motor acceleration factor and the servo driver acceleration factor.
In one embodiment, the servo system parameters include servo motor operating parameters, and bearing parameters on the servo motor. As shown in fig. 10, the servo motor acceleration factor calculation unit 420 includes: the reference life calculating component 422 is used for obtaining the reference life of the servo motor under the rated working condition according to the working parameters of the servo motor and the bearing parameters; the acceleration life calculation component 424 is used for obtaining the acceleration life of the servo motor under the preset load condition according to the working parameters and the bearing parameters of the servo motor, the axial force load condition and the radial force load condition; and a servo motor acceleration factor calculating component 426, configured to calculate a servo motor acceleration factor according to the reference life and the acceleration life.
In one embodiment, the baseline lifetime calculation component 422 is specifically configured to: calculating the equivalent dynamic load of the corresponding bearing under the rated working condition according to the bearing parameters; and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor, the bearing parameters and the equivalent dynamic load.
In one embodiment, the servo system parameters include component composition and operating parameters of the servo driver. As shown in fig. 11, the servo driver acceleration factor calculation unit 440 includes: the component failure rate calculation module 442 is used for calculating the failure rate of each component under the rated working condition according to the component composition and the working parameters of the servo driver; the component acceleration factor calculation component 444 is used for calculating the acceleration factor of each component according to the component composition and the working parameters of the servo driver and the temperature load condition; the servo driver acceleration factor calculation module 446 calculates the servo driver acceleration factor according to the failure rate and the acceleration factor of each component.
In one embodiment, the component acceleration factor calculation component 444 is specifically configured to: determining the activation energy of each component according to the component composition of the servo driver and the corresponding relation between the component type and the activation energy; and calculating the acceleration factor of each component according to the activation energy of each component, the temperature load condition and the working parameter of the servo driver.
In one embodiment, the servo system parameters include the number of servo systems to be put into a life test, the mean time to failure and the reliability test statistical scenario type under the rated operating conditions. As shown in fig. 12, the accelerated life test time determination module 600 includes: a reference life test time determining unit 620, configured to determine a reference life test time of the servo system according to the average failure-free working time under the rated working condition and the reliability test statistical scheme type; an accelerated life test time determining unit 660, configured to determine an accelerated life test time according to the reference life test time, the number of servo systems, and the servo system acceleration factor.
For the specific definition of the servo system life testing device, reference may be made to the above definition of the servo system life testing method, which is not described herein again. All or part of the modules in the servo system life testing device can be realized by software, hardware and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In a third aspect of the present application, a computer device is provided, where the computer device may be a terminal, and an internal structure diagram of the computer device may be as shown in fig. 13. The computer device includes a processor, a memory, a communication interface, a display screen, and an input device connected by a system bus. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The communication interface of the computer device is used for carrying out wired or wireless communication with an external terminal, and the wireless communication can be realized through WIFI, an operator network, NFC (near field communication) or other technologies. The computer program is executed by a processor to implement a servo system life testing method. The display screen of the computer equipment can be a liquid crystal display screen or an electronic ink display screen, and the input device of the computer equipment can be a touch layer covered on the display screen, a key, a track ball or a touch pad arranged on the shell of the computer equipment, an external keyboard, a touch pad or a mouse and the like.
Those skilled in the art will appreciate that the architecture shown in fig. 13 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, a computer device is provided, comprising a memory and a processor, the memory having stored therein a computer program, the processor implementing the steps of the above-described method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the above-mentioned method embodiments.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above examples only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (10)

1. A servo system life test method is characterized by comprising the following steps:
acquiring servo system parameters and preset load conditions of a servo system service life test; the load under the preset load condition is larger than the corresponding load under the rated working condition; the preset load conditions comprise axial force load conditions and radial force load conditions of the servo motor and temperature load conditions of the servo driver;
calculating a servo system acceleration factor according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters;
determining accelerated life test time according to the servo system parameters and the servo system acceleration factors;
outputting a life test starting instruction; and the life test starting instruction is used for indicating a user to apply the preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
2. The servo system life test method of claim 1, wherein said calculating a servo system acceleration factor based on said axial force load condition, said radial force load condition, said temperature load condition, and said servo system parameters comprises:
calculating an acceleration factor of a servo motor according to the axial force load condition, the radial force load condition and the servo system parameters;
calculating an acceleration factor of a servo driver according to the temperature load condition and the servo system parameter;
and determining a servo system acceleration factor according to the servo motor acceleration factor and the servo driver acceleration factor.
3. The servo system life test method of claim 2, wherein the servo system parameters comprise servo motor operating parameters, and bearing parameters on a servo motor; calculating a servo motor acceleration factor according to the axial force load condition, the radial force load condition and the servo system parameters, and comprising:
obtaining the reference service life of the servo motor under a rated working condition according to the working parameters of the servo motor and the bearing parameters;
obtaining the acceleration service life of the servo motor under a preset load condition according to the working parameters and the bearing parameters of the servo motor, the axial force load condition and the radial force load condition;
and calculating the acceleration factor of the servo motor according to the reference life and the acceleration life.
4. The servo system life test method according to claim 3, wherein the obtaining of the reference life of the servo motor under the rated working condition according to the servo motor working parameters and the bearing parameters comprises:
calculating the equivalent dynamic load of the corresponding bearing under the rated working condition according to the bearing parameters;
and obtaining the reference service life of the servo motor under the rated working condition according to the working parameters of the servo motor, the bearing parameters and the equivalent dynamic load.
5. The servo system life test method according to claim 2, wherein the servo system parameters comprise component composition and working parameters of a servo driver; calculating a servo driver acceleration factor based on the temperature load condition and the servo system parameter, comprising:
calculating the failure rate of each component under the rated working condition according to the component composition and the working parameters of the servo driver;
calculating acceleration factors of all components according to component composition and working parameters of the servo driver and the temperature load condition;
and calculating the acceleration factor of the servo driver according to the failure rate and the acceleration factor of each component.
6. The servo system life test method of claim 5, wherein the calculating acceleration factors of the components according to the component composition and the operating parameters of the servo driver and the temperature load condition comprises:
determining the activation energy of each component according to the component composition of the servo driver and the corresponding relation between the component type and the activation energy;
and calculating the acceleration factor of each component according to the activation energy of each component, the temperature load condition and the working parameter of the servo driver.
7. The servo system life test method according to any one of claims 1 to 6, wherein the servo system parameters include the number of servo systems put into life test, mean time between failure and reliability test statistical plan type under rated working condition; determining accelerated life test time according to the servo system parameters and the servo system acceleration factors, wherein the method comprises the following steps:
determining the reference life test time of the servo system according to the average fault-free working time under the rated working condition and the reliability test statistical scheme type;
and determining accelerated life test time according to the reference life test time, the number of the servo systems and the acceleration factors of the servo systems.
8. A servo life test device, characterized by includes:
the acquisition module is used for acquiring servo system parameters and preset load conditions of a servo system service life test; the load value under the preset load condition is larger than the corresponding load value under the rated working condition; the preset load conditions comprise axial force load conditions and radial force load conditions of the servo motor and temperature load conditions of the servo driver;
the acceleration factor calculation module is used for calculating a servo system acceleration factor according to the axial force load condition, the radial force load condition, the temperature load condition and the servo system parameters;
the accelerated life test time determining module is used for determining accelerated life test time according to the servo system parameters and the servo system acceleration factors;
the output module is used for outputting a life test starting instruction; and the life test starting instruction is used for indicating a user to apply the preset load condition to the servo system to be tested within the accelerated life test time so as to carry out the life test of the servo system.
9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor, when executing the computer program, implements the steps of the method of any of claims 1 to 7.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method of any one of claims 1 to 7.
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