CN114545848B

CN114545848B - Servo motor endurance test process monitoring method and device and computer equipment

Info

Publication number: CN114545848B
Application number: CN202210434206.XA
Authority: CN
Inventors: 丁小健; 王远航; 汪凯蔚; 王吉; 梁超; 唐敬; 周健; 陆树汉; 莫文安; 杨云帆
Original assignee: China Electronic Product Reliability and Environmental Testing Research Institute
Current assignee: China Electronic Product Reliability and Environmental Testing Research Institute
Priority date: 2022-04-24
Filing date: 2022-04-24
Publication date: 2022-08-16
Anticipated expiration: 2042-04-24
Also published as: CN114545848A

Abstract

The application relates to a process monitoring method, a process monitoring device, computer equipment, a storage medium and a computer program product for servo motor endurance test. The method comprises the following steps: acquiring the end time of the last acquisition process; judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if so, issuing an acquisition instruction to a controller; if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data and the data packet, acquiring acquisition time corresponding to the acquired running state data and the data packet in real time, judging whether the acquisition time is equal to preset acquisition time, and if the acquisition time is equal to the preset acquisition time, sending an acquisition ending instruction to the acquisition device, the controller and the driver; and judging whether the data is collected successfully.

Description

Servo motor endurance test process monitoring method and device and computer equipment

Technical Field

The present disclosure relates to the field of servo motor endurance testing technologies, and in particular, to a method and an apparatus for monitoring a servo motor endurance testing process, a computer device, a storage medium, and a computer program product.

Background

The servo motor is used as a driving system and a key component of high-end equipment, is a core link for realizing the electromechanical integration of the equipment, has wide application, and plays an irreplaceable role in modern industries such as numerical control machines, robots, engineering machinery, precise instruments and the like. As a power system, the endurance reliability of a servo motor is directly related to the endurance reliability of the whole system, so that the study on the endurance reliability of the servo motor is very important, the evaluation on the endurance life of the servo motor by developing an endurance life test is a common study means, and the collection of life cycle data in the motor endurance test process is a data basis for establishing a motor fault diagnosis and life prediction model. In the related technology, the motor endurance test only carries out simple motor operation until the motor is abnormal, the motor fault is generally judged through the fault alarm, abnormal sound and abnormal shutdown of the motor, the process monitoring is lacked, and the test data is single.

Disclosure of Invention

In view of the above, it is necessary to provide a method, an apparatus, a computer device, a computer readable storage medium, and a computer program product for monitoring a servo motor endurance test, which can monitor a process of the servo motor endurance test.

In a first aspect, the application provides a process monitoring method for a servo motor endurance test. The method comprises the following steps:

acquiring the end time of the last acquisition process; the data acquired in the last acquisition process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver;

judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if so, issuing an acquisition instruction to a controller;

if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet;

if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to the preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver;

judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver.

In one embodiment, the acquisition instruction is used for instructing the controller to complete the current endurance test cycle, and after the current endurance test cycle is completed, the motor is controlled to accelerate to the forward maximum speed and keep running at a constant speed.

In one embodiment, if the mode switching completion instruction replied by the controller is not received, the acquisition instruction is issued to the controller, if the mode switching completion instruction replied by the controller is not yet received, the acquisition instruction is issued to the controller again, and if the mode switching completion instruction replied by the controller is not yet received for the third time, the program is ended, and the alarm mail is sent to the specified mailbox.

In one embodiment, if the data packet uploaded by the driver is not acquired, the query instruction is issued to the driver, if the data packet uploaded by the driver is not acquired yet, the query instruction is issued to the driver again, and if the data packet uploaded by the driver is not acquired yet for the third time, the program is ended, and an alarm mail is sent to the designated mailbox.

In one embodiment, determining whether the data collection is successful includes:

analyzing the collected running state data uploaded by the controller and the data packet uploaded by the driver, wherein if the analysis is successful, the data collection is successful, and if the analysis is failed, the data collection is failed.

In one embodiment, if the reading fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction, if the reading still fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction again, and if the reading still fails for the third time, the program is ended, and an alarm mail is sent to the designated mailbox.

In a second aspect, the application further provides a process monitoring device for the durability test of the servo motor. The device comprises:

the acquisition module is used for acquiring the ending time of the last acquisition process; the data acquired in the last acquisition process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver;

the first judgment module is used for judging whether the time length between the current time and the ending time is equal to the preset interval acquisition time length or not, and if the time length is equal to the preset interval acquisition time length, issuing an acquisition instruction to the controller;

the sending module is used for sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver if a mode switching completion instruction replied by the controller is received; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet;

the acquisition module is used for acquiring the operation state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the operation state data uploaded by the controller and the data packet uploaded by the driver, judging whether the acquisition duration is equal to the preset acquisition duration, and sending an acquisition ending instruction to the acquisition device, the controller and the driver if the acquisition duration is equal to the preset acquisition duration;

the second judgment module is used for judging whether data are collected successfully or not, if the data are collected successfully, a test mode switching instruction is sent to the controller, and the state parameters of the motor acquired by the acquisition device are read based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver.

In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor implementing the following steps when executing the computer program:

judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if a test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver.

In a fourth aspect, the present application further provides a computer-readable storage medium. The computer-readable storage medium having stored thereon a computer program which, when executed by a processor, performs the steps of:

In a fifth aspect, the present application further provides a computer program product. The computer program product comprising a computer program which when executed by a processor performs the steps of:

According to the method, the device, the computer equipment, the storage medium and the computer program product for monitoring the process of the servo motor endurance test, the end time of the last acquisition process is obtained; the data acquired in the last acquisition process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver; judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if so, issuing an acquisition instruction to a controller; if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet; if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to the preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver; judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver. On one hand, in the process of the servo motor endurance test, the state parameters, the running state data and the data packets of the motor are acquired at regular time through the control instructions, so that on the one hand, the servo motor endurance test can be completed, and the full life cycle data in the servo motor endurance test process can be acquired. On the other hand, the test data do not only comprise the endurance test result of the servo motor, but also comprise the state parameters, the running state data and the data packet of the motor which are collected at regular time, so that the test data are richer. Moreover, only including running state data and data package in the endurance test process usually, this application still obtains the state parameter of motor in the endurance test process based on collection system to make experimental data abundanter. Furthermore, because the data type of gathering includes the state parameter of the motor that the collection system obtained, the controller uploads running state data and driver upload data package, need to interact with the module of three difference, therefore, there is the problem that data is difficult to the synchronization, through if receiving the mode switch completion instruction that the controller replied, then send and begin to gather the order to collection system, and send inquiry command to controller and driver, judge whether the length of time of gathering equals to predetermine the length of time of gathering, if equal to predetermine the length of time of gathering, then send and end the instruction of gathering to collection system, controller and driver, thereby realize collection system, controller and driver begin to gather at the same moment, end the collection at the same moment, and then realize the synchronous collection of collection system, controller and driver.

Drawings

FIG. 1 is a flow chart illustrating a process monitoring method for endurance testing of a servo motor according to an embodiment;

FIG. 2 is a schematic diagram illustrating an endurance testing process in the process monitoring method for the endurance test of the servo motor according to an embodiment;

FIG. 3 is a block diagram of a process monitoring system for endurance testing of a servo motor according to an embodiment;

FIG. 4 is a block diagram showing the structure of a durability test stand for a motor according to an embodiment;

FIG. 5 is a schematic diagram of a sample setup interface of the durable data monitoring subsystem in one embodiment;

FIG. 6 is a schematic diagram of a data display interface of a durable station data monitoring subsystem in one embodiment;

FIG. 7 is a schematic flow chart diagram illustrating data collection by the durable station data monitoring subsystem in one embodiment;

FIG. 8 is a diagram illustrating an internal structure of a computer device according to an embodiment.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.

It will be understood that, as used herein, the terms "first," "second," and the like may be used herein to describe various terms, but these terms are not limited by these terms unless otherwise specified. These terms are only used to distinguish one term from another.

In view of the problems in the related art, embodiments of the present invention provide a method for monitoring a servo motor endurance test process, where the method may be applied to a server, a terminal, or a system including the terminal and the server, and implemented by interaction between the terminal and the server. The server may be implemented by an independent server or a server cluster composed of a plurality of servers. The terminal can be but not limited to various personal computers, notebook computers, smart phones, tablet computers, internet of things equipment and portable wearable equipment, and the internet of things equipment can be intelligent sound boxes, intelligent televisions, intelligent air conditioners, intelligent vehicle-mounted equipment and the like. The portable wearable device can be a smart watch, a smart bracelet, a head-mounted device, and the like. It should be noted that, the numbers of "a plurality" and the like mentioned in the embodiments of the present application each refer to a number of "at least two", for example, "a plurality" refers to "at least two".

In one embodiment, as shown in fig. 1, a method for monitoring a servo motor endurance test process is provided, which is illustrated by applying the method to a server, and includes the following steps:

102. acquiring the end time of the last acquisition process; the data collected in the last collection process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver.

104. And judging whether the time length between the current time and the ending time is equal to the preset interval acquisition time length or not, and if so, issuing an acquisition instruction to the controller.

In practical applications, the time duration between the current time and the ending time may be determined based on the first timer. Specifically, the timing value of the first timer may be reset to 0 at the end time of each acquisition process, and the current timing value of the first timer is obtained, where the current timing value of the first timer is the duration between the current time and the end time.

It should be noted that, in order to improve the testing efficiency of the durability test of the servo motor, the forward and reverse rotation test of the servo motor can be usually performed; and one endurance test cycle in the endurance test process may include: starting a test from the servo motor, accelerating the servo motor to the forward maximum speed, keeping the servo motor to operate at a constant speed for a period of time, then decelerating the servo motor to 0, accelerating the servo motor to the reverse maximum speed, keeping the servo motor to operate at the constant speed for a period of time, and decelerating the servo motor to 0 to complete a durability test cycle.

It should be noted that the endurance test cycle is implemented by the controller. Specifically, the controller has the setting function of the operating parameters and the speed parameters of the servo motor so as to meet the operating requirements of the endurance test. And the controller sets the operating parameters and the speed parameters of the servo motor according to the operating requirements of the endurance test. The operation parameters comprise an operation mode and a constant speed operation time, and the operation mode comprises an endurance test mode and a data acquisition operation mode; the speed parameters include a forward maximum speed, a reverse maximum speed, an acceleration duration, a deceleration duration, and a motor rotation direction. The value of the speed parameter can be determined according to actual requirements. Specifically, the endurance test procedure may be as shown in fig. 2. As shown in fig. 2, before the controller does not receive the acquisition instruction, the operation mode is the endurance test mode, the controller continuously controls the servo motor to operate according to the parameters corresponding to the endurance test cycle until the acquisition instruction is received, the controller switches the operation mode to the data acquisition operation mode, accelerates the operation state of the servo motor during the endurance test to the maximum forward speed, and keeps operating at a constant speed. As shown in fig. 2, data acquisition is performed under the condition of uniform operation at the maximum forward speed, and after the data acquisition is completed, the controller switches the operation mode to the endurance test mode. It can be understood that data acquisition is performed under the working condition of uniform operation at the forward maximum speed, on one hand, data acquisition under the stable working condition can be performed at regular time, and the utilization rate of the acquired data is ensured to be higher when a diagnosis prediction model is established; on the other hand, data acquisition is carried out under the fixed working condition, thereby reducing the difficulty of data analysis.

106. If a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet.

The state parameters of the motor comprise vibration signals, temperature, current and voltage; the operation state data comprises a current operation mode, motor operation parameters and driver state parameters; the motor operation parameters comprise endurance test cycle times, cycle single operation time, acquisition time, constant speed operation time set by the controller, speed parameters set by the controller and driver states; the data packet comprises real-time power of the motor, a command position of the motor, a feedback position of the motor, a tracking error of the motor, a command speed of the motor, a feedback moment of the motor, an alarm code of the motor and an inertia ratio of the motor. In practical application, the state parameters of the motor can be collected based on the sensor.

It should be noted that the start collecting command may be sent to the driver based on a self-contained protocol of the driver, specifically, for example, a Modbus protocol, which is not specifically limited in this embodiment of the present application.

108. If receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the acquisition duration corresponding to the running state data uploaded by the controller and the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to the preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver.

Wherein the acquisition duration may be determined based on the second timer. Specifically, the initial timing value of the second timer is 0, and the timing is started from the time when the operation state data uploaded by the controller and the data packet uploaded by the driver are collected, and the real-time timing value of the second timer is also the collection duration. In practical application, if the acquisition duration is less than the preset acquisition duration, the acquisition device continues to acquire the state parameters of the motor in real time, and the server continues to acquire the running state data uploaded by the controller in real time and the data packets uploaded by the driver in real time.

110. Judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver.

The test mode switching instruction is used for indicating the controller to switch the operation mode to be the endurance test mode.

For example, the acquisition duration is determined based on the second timer, if the data acquisition fails, the real-time timing value of the second timer is reset to 0, the timing is started again from the time of acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, and if the real-time timing value of the second timer is equal to the preset acquisition duration, the acquisition ending instruction is sent to the acquisition device, the controller and the driver; judging whether the data acquisition is successful, resetting the real-time timing value of the second timer to be 0 again if the data acquisition is failed, restarting timing from the moment of acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, and sending an acquisition ending instruction to the acquisition device, the controller and the driver if the real-time timing value of the second timer is equal to the preset acquisition duration; and judging whether the data is successfully acquired, if the data is unsuccessfully acquired, ending the program, and sending an alarm mail to the specified mailbox.

After the data acquisition is required to be determined to be successful, the state parameters of the motor acquired by the acquisition device are read based on the query instruction, because the acquisition device is provided with an own acquisition and storage system, the data cannot be sent to the server in real time, but the data are required to be packaged into a piece of data after the data are successfully acquired, and the server reads the packaged data of the acquisition device based on the query instruction.

For example, the time duration between the current time and the end time is determined based on the first timer, and after the read state parameters of the motor, the collected operation state data uploaded by the controller, and the data packet uploaded by the driver are saved, the method further includes: and judging whether an ending instruction sent by a user is received, if so, resetting the timing value of the first timer to be 0 and timing.

In the process monitoring method for the servo motor endurance test, the end time of the last acquisition process is obtained; the data acquired in the last acquisition process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver; judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if so, issuing an acquisition instruction to a controller; if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet; if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to the preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver; judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver. On one hand, in the process of the servo motor endurance test, the state parameters, the running state data and the data packets of the motor are acquired at regular time through the control instructions, so that on the one hand, the servo motor endurance test can be completed, and the full life cycle data in the servo motor endurance test process can be acquired. On the other hand, the test data do not only comprise the endurance test result of the servo motor, but also comprise the state parameters, the running state data and the data packet of the motor which are collected at regular time, so that the test data are richer. Moreover, only including running state data and data package in the endurance test process usually, this application still obtains the state parameter of motor in the endurance test process based on collection system to make experimental data abundanter. Furthermore, because the data type of gathering includes the state parameter of the motor that the collection system obtained, the controller uploads running state data and driver upload data package, need to interact with the module of three difference, therefore, there is the problem that data is difficult to the synchronization, through if receiving the mode switch completion instruction that the controller replied, then send and begin to gather the order to collection system, and send inquiry command to controller and driver, judge whether the length of time of gathering equals to predetermine the length of time of gathering, if equal to predetermine the length of time of gathering, then send and end the instruction of gathering to collection system, controller and driver, thereby realize collection system, controller and driver begin to gather at the same moment, end the collection at the same moment, and then realize the synchronous collection of collection system, controller and driver.

It can be understood that the controller controls the motor to operate at the forward maximum speed at a constant speed until the controller does not receive the test mode switching instruction, that is, the data acquisition process is performed under the condition of operating at the forward maximum speed at a constant speed.

In the embodiment, the motor is controlled to accelerate to the forward maximum speed and to keep running at a constant speed, so that data acquisition is realized under the working condition of running at the forward maximum speed at the constant speed, on one hand, the data acquisition under the stable working condition can be realized at regular time, and the higher utilization rate of the acquired data is ensured when the diagnosis and prediction model is built; on the other hand, data acquisition is carried out under the fixed working condition, thereby reducing the difficulty of data analysis.

In this embodiment, if the mode switching completion instruction replied by the controller is not received, the acquisition instruction is issued to the controller, if the mode switching completion instruction replied by the controller is not yet received, the acquisition instruction is issued to the controller again, and if the mode switching completion instruction replied by the controller is not yet received for the third time, the program is ended, and the alarm mail is sent to the designated mailbox. Because a retry mechanism is used for issuing the instruction, the success rate of data acquisition is improved, and the abnormal transmission of the acquisition instruction caused by the instantaneous abnormality or delay of the network is avoided. When the mode switching completion instruction replied by the controller is not received, the acquisition starting instruction is not sent to the acquisition device, and the query instruction is not sent to the controller and the driver, so that the data which do not meet the requirements are prevented from being acquired.

In one embodiment, if the data packet uploaded by the driver is not collected, the query instruction is issued to the driver, if the data packet uploaded by the driver is not collected yet, the query instruction is issued to the driver again, and if the data packet uploaded by the driver is not collected yet for the third time, the program is ended, and the alarm mail is sent to the designated mailbox.

In the embodiment, the retry mechanism is used for issuing the instruction, so that the success rate of data acquisition is improved, and the abnormal sending of the query instruction caused by the instantaneous abnormality or delay of the network is avoided, so that the data packet uploaded by the driver is not acquired.

In one embodiment, if the receiving confirmation instruction sent by the acquisition device is not received, the acquisition starting instruction is issued to the acquisition device again, and if the receiving confirmation instruction sent by the acquisition device is not received yet, the program is ended, and the alarm mail is sent to the designated mailbox.

In this embodiment, a retry mechanism is used to issue the instruction, so that the success rate of data acquisition is improved, and an abnormal transmission of an acquisition start instruction caused by an instantaneous abnormality or a delay of a network is avoided, so that a reception confirmation instruction transmitted by the acquisition device is not received.

In one embodiment, determining whether the data was collected successfully comprises:

In this embodiment, the collected operation state data uploaded by the controller and the data packet uploaded by the driver are analyzed, and if the analysis is successful, the data collection is successful, and if the analysis is failed, the data collection is failed.

In one embodiment, if the reading fails, the state parameter of the motor acquired by the acquisition device is read based on the query instruction, if the reading still fails, the state parameter of the motor acquired by the acquisition device is read based on the query instruction again, and if the reading still fails for the third time, the program is ended, and an alarm mail is sent to the designated mailbox.

In the embodiment, the retry mechanism is used for issuing the instruction, so that the success rate of data acquisition is improved, and the problem that reading fails due to the abnormal sending of the query instruction caused by the instantaneous abnormality or delay of the network is avoided.

In one embodiment, if a test mode switching completion instruction sent by the controller is not received, the test mode switching instruction is sent to the controller, if the test mode switching completion instruction sent by the controller is not received, the test mode switching instruction is sent to the controller again, and if the test mode switching completion instruction sent by the controller is not received yet, the program is ended, and an alarm mail is sent to the designated mailbox.

In this embodiment, since the retry mechanism is used to issue the instruction, the endurance test can be performed normally, and the failure of the test mode switching due to the abnormal sending of the test mode switching instruction caused by the transient abnormality or delay of the network is avoided.

In one embodiment, the acquisition instruction, the mode switching completion instruction, the query instruction, the receive instruction, the end acquisition instruction, the test mode switching instruction, and the test mode switching completion instruction are defined as a frame header + a frame type + a device number + a data block number + an actual transmission data block + a frame tail.

In combination with the above embodiments, in one embodiment, as shown in fig. 3, there is provided a process monitoring system for a servo motor endurance test, including: motor endurance test platform, controller, driver, external sensor, collection system, durable platform data monitoring subsystem and database, wherein:

the motor durability test bed can be shown in fig. 4 and comprises a base, motors to be tested and load modules, wherein 6 test motors can be simultaneously installed on one base, each load module can be an inertia block, specifically, the inertia block can be an inertia block with a load inertia grade of 5 times, and can also be an inertia block with a load inertia grade of 10 times, and the load inertia grade of the inertia block can be determined according to actual requirements. As shown in fig. 4, the external sensor is installed on the side of the motor to be measured.

And the external sensor is used for acquiring the state parameters of the motor to be measured. Specifically, the external sensor can include a vibration sensor, a temperature sensor, a voltage sensor and a current sensor, wherein the vibration sensor is used for collecting vibration signals of the motor to be detected, the temperature sensor is used for collecting the temperature of the motor to be detected, the voltage sensor is used for collecting the voltage of the motor to be detected, and the current sensor is used for collecting the current of the motor to be detected.

And the controller is used for providing a function of setting the running parameters and the speed parameters of the motor to be tested so as to meet the running requirement of the endurance test. And the controller sets the operating parameters and the speed parameters of the servo motor according to the operating requirements of the endurance test. The operation parameters comprise an operation mode and a constant speed operation time, and the operation mode comprises an endurance test mode and a data acquisition operation mode; the speed parameters include a forward maximum speed, a reverse maximum speed, an acceleration duration, a deceleration duration, and a motor rotation direction. The value of the speed parameter can be determined according to actual requirements. And when receiving the query instruction, uploading the running state data to the durable data monitoring subsystem.

And the driver is used for driving the motor to be tested to operate according to the operating parameters and the speed parameters set by the controller, and uploading a data packet to the durable data monitoring subsystem when receiving the query instruction.

And the acquisition device is connected with the external sensor and used for acquiring data of the external sensor when receiving the acquisition starting instruction.

The durable platform data monitoring subsystem is used for acquiring the end time of the last acquisition process; the data acquired in the last acquisition process comprises the state parameters of the motor, the running state data of the controller and the data packet of the driver; judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if so, issuing an acquisition instruction to a controller; if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver; the starting acquisition instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload the running state data and indicating the driver to upload the data packet; if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to the preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver; judging whether the data are collected successfully or not, if so, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; and if the test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver.

The sampling setting interface of the durable data monitoring subsystem may be as shown in fig. 5, where in fig. 5, the sampling interval is a preset interval acquisition duration, and the sampling duration is a preset acquisition duration. It should be noted that the user can manually input and set the sampling interval and the sampling duration. The data display interface of the durable data monitoring subsystem may be as shown in fig. 6. The state of the controller can be selected to be monitored on the data display interface, and the state of the monitoring driver or the state of the acquisition device can be selected to be determined according to requirements. The setting bar in fig. 6 sets the displayed data, displays the latest acquired data by default, and may also display the historical data by loading the historical data packet; supporting the setting of the category and the channel of the display parameter. The status bar is the fault status representation of the current display object, white light represents normal status, and black light represents fault. When a fault state occurs, the durable data monitoring subsystem automatically sends an alarm mail to the designated mailbox, and a user can also manually add the designated mailbox and send the alarm mail to the designated mailbox.

And the database is used for storing the state parameters of the motor read by the durable data monitoring subsystem, the acquired running state data uploaded by the controller and the data packet uploaded by the driver. The storage modes include automatic storage and manual storage, wherein the automatic storage comprises the state parameters of the motor read by the durable platform data monitoring subsystem, the collected running state data uploaded by the controller and the data packet uploaded by the driver and automatically stores the running state data and the data packet into a database, and the manual storage comprises the data which can be manually selected and needs to be stored.

It should be noted that, for the explanation of the terms and steps related to the system, reference may be made to the explanation of the terms and steps in the embodiments, and details are not repeated here.

In one embodiment, the data collection flow of the durable station data monitoring subsystem may be as shown in fig. 7. The sampling interval Tb in fig. 7 is also the preset interval acquisition duration in the above embodiment, and the sampling duration t is also the preset acquisition duration in the above embodiment. For the explanation of the terms and steps related to fig. 7, reference may be made to the explanation of the terms and steps in the above embodiments, and further description is omitted here.

It should be understood that, although the steps in the flowcharts related to the embodiments as described above are sequentially displayed as indicated by arrows, the steps are not necessarily performed sequentially 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 the flowcharts related to the embodiments described above may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, and the execution order of the steps or stages is not necessarily sequential, but may be rotated or alternated with other steps or at least a part of the steps or stages in other steps.

Based on the same inventive concept, the embodiment of the application also provides a process monitoring device for the servo motor durability test, which is used for realizing the process monitoring method for the servo motor durability test. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the method, so that specific limitations in the following embodiments of the process monitoring device for one or more servo motor endurance tests may refer to the limitations on the process monitoring method for the servo motor endurance test, and details are not repeated herein.

In one embodiment, a process monitoring device for a servo motor endurance test is provided, comprising: the device comprises an acquisition module, a first judgment module, a sending module, a collection module and a second judgment module, wherein:

In one embodiment, the sending module includes:

and the first sending unit is used for sending the acquisition instruction to the controller if the mode switching completion instruction replied by the controller is not received, sending the acquisition instruction to the controller again if the mode switching completion instruction replied by the controller is not received yet, ending the program if the mode switching completion instruction replied by the controller is not received yet for the third time, and sending the alarm mail to the specified mailbox.

In one embodiment, an acquisition module comprises:

and the second sending unit is used for sending the query instruction to the driver if the data packet uploaded by the driver is not acquired, sending the query instruction to the driver again if the data packet uploaded by the driver is not acquired yet, ending the program if the data packet uploaded by the driver is not acquired yet for the third time, and sending an alarm mail to the designated mailbox.

In one embodiment, the second determining module includes:

and the third sending unit is used for reading the state parameters of the motor acquired by the acquisition device based on the query instruction if the reading fails, reading the state parameters of the motor acquired by the acquisition device based on the query instruction again if the reading still fails, ending the program if the reading still fails for the third time, and sending an alarm mail to the specified mailbox.

All or part of each module in the process monitoring device for the servo motor endurance test 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 one embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 8. The computer device includes a processor, a memory, and a network interface 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, a computer program, and a database. The internal memory provides an environment for the operating system and the computer program to run on the non-volatile storage medium. The database of the computer device is used for storing the state parameters, the operation state data and the data packet of the motor. The network interface of the computer device is used for communicating with an external terminal through a network connection. The computer program is executed by a processor to implement a process monitoring method for a servo motor endurance test.

Those skilled in the art will appreciate that the architecture shown in fig. 8 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 a computer program stored therein, the processor implementing the following steps when executing the computer program:

if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition time corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition time is equal to the preset acquisition time, and if the acquisition time is equal to the preset acquisition time, sending an acquisition finishing instruction to the acquisition device, the controller and the driver;

In one embodiment, when the processor executes the computer program, the processor collects an instruction for instructing the controller to complete the current endurance test cycle, and after the current endurance test cycle is completed, the processor controls the motor to accelerate to the forward maximum speed and keep running at a constant speed.

In one embodiment, the processor, when executing the computer program, further performs the steps of:

and if the mode switching completion instruction replied by the controller is not received, issuing the acquisition instruction to the controller, if the mode switching completion instruction replied by the controller is not received yet, issuing the acquisition instruction to the controller again, and if the mode switching completion instruction replied by the controller is not received yet for the third time, ending the program and sending an alarm mail to the specified mailbox.

if the data packet uploaded by the driver is not acquired, issuing a query instruction to the driver, if the data packet uploaded by the driver is not acquired yet, issuing the query instruction to the driver again, and if the data packet uploaded by the driver is not acquired yet for the third time, ending the program and sending an alarm mail to a designated mailbox.

if the reading fails, reading the state parameters of the motor acquired by the acquisition device based on the query instruction, if the reading still fails, reading the state parameters of the motor acquired by the acquisition device based on the query instruction again, and if the reading still fails for the third time, ending the program and sending an alarm mail to a designated mailbox.

In one embodiment, a computer-readable storage medium is provided, having a computer program stored thereon, which when executed by a processor, performs the steps of:

In one embodiment, the computer program, when executed by the processor, collects instructions for instructing the controller to complete a current endurance test cycle, and after completing the current endurance test cycle, controls the motor to accelerate to a forward maximum speed and maintain constant speed operation.

In one embodiment, the computer program when executed by the processor further performs the steps of: and if the mode switching completion instruction replied by the controller is not received, issuing the acquisition instruction to the controller, if the mode switching completion instruction replied by the controller is not received yet, issuing the acquisition instruction to the controller again, and if the mode switching completion instruction replied by the controller is not received yet for the third time, ending the program and sending an alarm mail to the specified mailbox.

In one embodiment, the computer program when executed by the processor further performs the steps of: if the data packet uploaded by the driver is not acquired, issuing a query instruction to the driver, if the data packet uploaded by the driver is not acquired yet, issuing the query instruction to the driver again, and if the data packet uploaded by the driver is not acquired yet for the third time, ending the program and sending an alarm mail to a designated mailbox.

In one embodiment, the computer program when executed by the processor further performs the steps of: analyzing the collected running state data uploaded by the controller and the data packet uploaded by the driver, wherein if the analysis is successful, the data collection is successful, and if the analysis is failed, the data collection is failed.

In one embodiment, the computer program when executed by the processor further performs the steps of: if the reading fails, reading the state parameters of the motor acquired by the acquisition device based on the query instruction, if the reading still fails, reading the state parameters of the motor acquired by the acquisition device based on the query instruction again, and if the reading still fails for the third time, ending the program and sending an alarm mail to a designated mailbox.

In one embodiment, a computer program product is provided, comprising a computer program which, when executed by a processor, performs the steps of:

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.

All possible combinations of the technical features in the above embodiments may not be described for the sake of brevity, but should be considered as being within the scope of the present disclosure as long as there is no contradiction between the combinations of the technical features.

The above-mentioned embodiments 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

1. A process monitoring method for servo motor endurance test is characterized by comprising the following steps:

acquiring the end time of the last acquisition process; the data acquired in the last acquisition process comprises state parameters of the motor, running state data of the controller and a data packet of the driver;

judging whether the time length between the current time and the ending time is equal to a preset interval acquisition time length or not, and if the time length is equal to the preset interval acquisition time length, issuing an acquisition instruction to a controller; the acquisition instruction is used for instructing the controller to switch from an endurance test mode to a data acquisition operation mode;

if a mode switching completion instruction replied by the controller is received, sending an acquisition starting instruction to an acquisition device and sending a query instruction to the controller and the driver; the acquisition starting instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload operation state data and indicating the driver to upload a data packet;

if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the running state data uploaded by the controller and the data packet uploaded by the driver, acquiring the running state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time, judging whether the acquisition duration is equal to a preset acquisition duration, and if the acquisition duration is equal to the preset acquisition duration, sending an acquisition ending instruction to the acquisition device, the controller and the driver;

judging whether data are collected successfully or not, if the data are collected successfully, sending a test mode switching instruction to the controller, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; if a test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver; the test mode switching instruction is used for instructing the controller to switch from the data acquisition operation mode to the endurance test mode.

2. The method of claim 1, wherein the collection command is used to instruct the controller to complete a current endurance test cycle, and after the current endurance test cycle is completed, the motor is controlled to accelerate to a forward maximum speed and keep running at a constant speed.

3. The method according to claim 1, wherein the collecting instruction is issued to the controller if a mode switching completion instruction replied by the controller is not received, the collecting instruction is issued to the controller again if the mode switching completion instruction replied by the controller is not yet received, and the program is ended and an alarm mail is sent to a designated mailbox if the mode switching completion instruction replied by the controller is not yet received for the third time.

4. The method according to claim 1, wherein the query command is issued to the driver if the data packet uploaded by the driver is not collected, the query command is issued to the driver again if the data packet uploaded by the driver is not collected yet, and the program is ended and an alarm mail is sent to a designated mailbox if the data packet uploaded by the driver is not collected yet for the third time.

5. The method of claim 1, wherein determining whether the data was collected successfully comprises:

6. The method according to claim 1, wherein if the reading fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction, if the reading still fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction again, and if the reading still fails for the third time, the program is ended, and an alarm mail is sent to a designated mailbox.

7. A process monitoring device for a servo motor endurance test, the device comprising:

the acquisition module is used for acquiring the ending time of the last acquisition process; the data acquired in the last acquisition process comprises state parameters of the motor, running state data of the controller and a data packet of the driver;

the first judgment module is used for judging whether the time length between the current time and the ending time is equal to the preset interval acquisition time length or not, and if the time length is equal to the preset interval acquisition time length, issuing an acquisition instruction to the controller; the acquisition instruction is used for instructing the controller to switch from an endurance test mode to a data acquisition operation mode;

the sending module is used for sending an acquisition starting instruction to the acquisition device and sending a query instruction to the controller and the driver if receiving a mode switching completion instruction replied by the controller; the acquisition starting instruction is used for indicating the acquisition device to acquire the state parameters of the motor, and the query instruction is used for indicating the controller to upload operation state data and indicating the driver to upload a data packet;

the acquisition module is used for acquiring the operation state data uploaded by the controller and the acquisition duration corresponding to the data packet uploaded by the driver in real time if receiving a receiving confirmation instruction sent by the acquisition device and acquiring the operation state data uploaded by the controller and the data packet uploaded by the driver, judging whether the acquisition duration is equal to a preset acquisition duration, and sending an acquisition ending instruction to the acquisition device, the controller and the driver if the acquisition duration is equal to the preset acquisition duration;

the second judgment module is used for judging whether data are collected successfully or not, sending a test mode switching instruction to the controller if the data are collected successfully, and reading the state parameters of the motor acquired by the acquisition device based on the query instruction; if a test mode switching completion instruction sent by the controller is received and the reading is successful, storing the read state parameters of the motor, the collected running state data uploaded by the controller and the collected data packet uploaded by the driver; the test mode switching instruction is used for instructing the controller to switch from the data acquisition operation mode to the endurance test mode.

8. The apparatus of claim 7, wherein the collection instruction is configured to instruct the controller to complete a current endurance test cycle, and after the current endurance test cycle is completed, the motor is controlled to accelerate to a forward maximum speed and keep running at a constant speed.

9. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor realizes the steps of the method of any one of claims 1 to 6 when executing the computer program.

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 6.