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

Abstract

The present application relates to a process monitoring method, device, computer equipment, storage medium and computer program product for durability testing of servo motors. The method includes: acquiring the end time of the last collection process; judging whether the time length between the current time and the end time is equal to the preset interval collection time length, and if it is equal to the preset interval collection time length, sending a collection instruction to the controller; After receiving the mode switching completion command replied by the controller, send the start collection command to the collection device, and send the query command to the controller and the driver; if the confirmation reception command sent by the collection device is received and the running status data and data packets are collected, Then, obtain the collected operation status data and the collection time corresponding to the data packet in real time, and judge whether the collection time is equal to the preset collection time. If it is equal to the preset collection time, send an end collection instruction to the collection device, controller and driver; Whether the collection is successful.

Description

Process monitoring method, device and computer equipment for endurance test of servo motor

technical field

The present application relates to the technical field of durability testing of servo motors, in particular to a process monitoring method, device, computer equipment, storage medium and computer program product for durability testing of servo motors.

Background technique

As the drive system and key components of high-end equipment, servo motors are the core link to realize the mechanical and electrical integration of equipment. They are widely used and play an irreplaceable role in modern industries such as CNC machine tools, robots, construction machinery and precision instruments. As a power system, the durability and reliability of the servo motor is directly related to the durability and reliability of the entire system. Therefore, it is very important to study the durability and reliability of the servo motor. The evaluation of the durability life of the servo motor by carrying out the durability life test is a commonly used research. By means of this method, the data collection of the whole life cycle data in the process of motor durability test is the data basis for establishing the motor fault diagnosis and life prediction model. In the related art, the motor durability test only carries out simple motor operation until an abnormality occurs. Generally, the motor fault is judged by the fault alarm, abnormal noise and abnormal shutdown of the motor itself. There is a lack of process monitoring and the test data is single.

SUMMARY OF THE INVENTION

Based on this, it is necessary to provide a process monitoring method, device, computer equipment, computer readable storage medium and computer program product for servo motor endurance test capable of monitoring the process of servo motor endurance test.

In a first aspect, the present application provides a process monitoring method for durability testing of a servo motor. The method includes:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

In one embodiment, the acquisition instruction is used to instruct 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 maximum forward 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 collection instruction is sent to the controller; if the mode switching completion instruction replied by the controller is still not received, the collection instruction is sent again to the controller If the controller does not receive the mode switching completion command replied by the controller for the third time, it will end the program and send an alarm email to the designated mailbox.

In one of the embodiments, if the data packet uploaded by the driver is not collected, the query instruction is sent to the driver. If the data packet uploaded by the driver has not been collected, the query instruction is sent to the driver again. If the data package uploaded by the driver is not collected, the program will end and an alarm email will be sent to the designated mailbox.

In one of the embodiments, judging whether the data is collected successfully includes:

Analyze the collected operating status data uploaded by the controller and data packets uploaded by the driver. If the analysis is successful, the data collection is successful; if the analysis fails, the data collection fails.

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, and if the reading still fails, the state parameters of the motor acquired by the acquisition device are read again based on the query instruction , if the reading fails for the third time, the program will end and an alarm email will be sent to the designated mailbox.

In a second aspect, the present application also provides a process monitoring device for durability testing of a servo motor. The device includes:

The acquisition module is used to acquire the end time of the last acquisition process; the acquisition data of the previous acquisition process includes the state parameters of the motor, the running state data of the controller and the data packet of the driver;

a first judging module, configured to judge whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

The sending module is used to send a start acquisition instruction to the acquisition device and send a query instruction to the controller and the driver if the mode switching completion instruction replied by the controller is received; the start acquisition instruction is used to instruct the acquisition device to obtain the state parameters of the motor, The query instruction is used to instruct the controller to upload the running status data and instruct the driver to upload the data package;

The acquisition module is used to acquire the running status data uploaded by the controller and the data packets uploaded by the driver in real time if it receives the confirmation reception instruction sent by the acquisition device and collects the running status data uploaded by the controller and the data packet uploaded by the driver Corresponding collection time length, and determine whether the collection time length is equal to the preset collection time length, if it is equal to the preset collection time length, send an end collection instruction to the collection device, the controller and the driver;

The second judgment module is used for judging whether the data collection is successful. If the data collection is successful, it sends a test mode switching instruction to the controller, and reads the state parameters of the motor acquired by the collection device based on the query instruction; When the test mode switching is completed and the reading is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and data packets uploaded by the drive are saved.

In a third aspect, the present application also provides a computer device. The computer device includes a memory and a processor, the memory stores a computer program, and the processor implements the following steps when executing the computer program:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

In a fourth aspect, the present application also provides a computer-readable storage medium. The computer-readable storage medium has a computer program stored thereon, and when the computer program is executed by the processor, the following steps are implemented:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

In a fifth aspect, the present application also provides a computer program product. The computer program product includes a computer program that, when executed by a processor, implements the following steps:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

The process monitoring method, device, computer equipment, storage medium and computer program product of the above-mentioned servo motor endurance test are obtained by obtaining the end time of the last collection process; the collected data of the last collection process includes the state parameters of the motor and the running state of the controller. Data and data packets of the driver; determine whether the time between the current time and the end time is equal to the preset interval collection time, if it is equal to the preset interval collection time, then send the collection command to the controller; if the mode returned by the controller is received If the switch completes the command, send the start acquisition command to the acquisition device, and send the query command to the controller and the driver; the start acquisition command is used to instruct the acquisition device to obtain the state parameters of the motor, and the query command is used to instruct the controller to upload the running status data and instructions. The driver uploads the data package; if it receives the acknowledgment reception command sent by the acquisition device and collects the operating status data uploaded by the controller and the data package uploaded by the driver, the operating status data uploaded by the controller and the data package uploaded by the driver will be acquired in real time. Corresponding collection time, and judge whether the collection time is equal to the preset collection time, if it is equal to the preset collection time, send the end collection command to the collection device, controller and driver; judge whether the data collection is successful, if the data collection is successful, send it The test mode switching command is sent to the controller, and the state parameters of the motor obtained by the acquisition device are read based on the query command; if the test mode switching completion command sent by the controller is received and the reading is successful, the read state parameters of the motor , and save the collected running status data uploaded by the controller and data packets uploaded by the driver. On the one hand, in the process of the endurance test of the servo motor, the state parameters, running state data and data packets of the motor are collected regularly through control commands. To the full life cycle data of the servo motor endurance test process. On the other hand, because the test data no longer only includes the endurance test results of the servo motor, but also includes the state parameters, running state data and data packets of the motor collected regularly, which makes the test data more abundant. Furthermore, only running state data and data packets are usually included in the endurance test process, but the present application also acquires the state parameters of the motor during the endurance test process based on the acquisition device, thereby enriching the test data. Furthermore, since the types of data collected include the state parameters of the motor obtained by the collection device, the operating state data uploaded by the controller, and the data packets uploaded by the driver, it is necessary to interact with three different modules. Therefore, there is a problem that the data is difficult to synchronize. By receiving a mode switching completion command replied by the controller, sending a start collection command to the collection device and sending a query command to the controller and the driver to determine whether the collection duration is equal to the preset collection duration, if it is equal to the preset collection duration, then Send the end acquisition command to the acquisition device, controller and driver, so that the acquisition device, controller and driver start acquisition at the same time, and end the acquisition at the same time, thereby realizing the synchronous acquisition of the acquisition device, controller and driver.

Description of drawings

1 is a schematic flowchart of a process monitoring method for a servo motor endurance test in one embodiment;

2 is a schematic diagram of an endurance test process in a process monitoring method for a servo motor endurance test in one embodiment;

3 is a structural block diagram of a process monitoring system for a servo motor endurance test in one embodiment;

4 is a structural block diagram of a motor durability test bench in one embodiment;

FIG. 5 is a schematic diagram of a sampling setting interface of the durable station data monitoring subsystem in one embodiment;

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

FIG. 7 is a schematic flowchart of data collection of the durable station data monitoring subsystem in one embodiment;

FIG. 8 is a diagram of the internal structure of a computer device in one embodiment.

Detailed ways

In order to make the purpose, technical solutions and advantages of the present application more clearly understood, the present application will be described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application, but not to limit the present application.

As the drive system and key components of high-end equipment, servo motors are the core link to realize the mechanical and electrical integration of equipment. They are widely used and play an irreplaceable role in modern industries such as CNC machine tools, robots, construction machinery and precision instruments. As a power system, the durability and reliability of the servo motor is directly related to the durability and reliability of the entire system. Therefore, it is very important to study the durability and reliability of the servo motor. The evaluation of the durability life of the servo motor by carrying out the durability life test is a commonly used research. By means of this method, the data collection of the whole life cycle data in the process of motor durability test is the data basis for establishing the motor fault diagnosis and life prediction model. In the related art, the motor durability test only carries out simple motor operation until an abnormality occurs. Generally, the motor fault is judged by the fault alarm, abnormal noise and abnormal shutdown of the motor itself. There is a lack of process monitoring and the test data is single.

It can be understood that the terms "first", "second" and the like used in this application can be used to describe various technical terms in this document, but these technical terms are not limited by these terms unless otherwise specified. These terms are only used to distinguish one professional term from another.

In view of the problems existing in the above-mentioned related technologies, the embodiment of the present invention provides a process monitoring method for the durability test of a servo motor. The method can be applied to a server, a terminal, and a system including a terminal and a server. , and through the interaction between the terminal and the server. The server may be implemented by an independent server or a server cluster composed of multiple servers. The terminal can be, but is not limited to, various personal computers, notebook computers, smart phones, tablet computers, IoT devices, and portable wearable devices. IoT devices can be smart speakers, smart TVs, smart air conditioners, and smart vehicle-mounted devices. The portable wearable device may be a smart watch, a smart bracelet, a head-mounted device, or the like. It should be noted that the quantities such as "multiple" mentioned in the various embodiments of the present application all refer to the quantity of "at least two", for example, "multiple" refers to "at least two".

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

102. Acquire the end time of the last collection process; the collection data of the last collection process include the state parameters of the motor, the running state data of the controller, and the data packets of the driver.

104. Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller.

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

It should be noted that, in order to improve the test efficiency of the servo motor endurance test, the servo motor can usually be tested in the forward and reverse directions; and a endurance test cycle in the endurance test process may include: starting the test from the servo motor, and accelerating the servo motor to positive To the maximum speed, keep running at a constant speed for a period of time, then decelerate to 0, then accelerate to the reverse maximum speed, keep running at a constant speed for a period of time, decelerate to 0, and complete a durability test cycle.

It should be noted that the endurance test cycle is controlled by the controller. Specifically, the controller has the function of setting the operating parameters and speed parameters of the servo motor to meet the running requirements of the endurance test. The controller sets the operating parameters and speed parameters of the servo motor according to the running requirements of the endurance test. The operation parameters include operation mode and constant speed operation time, while the operation mode includes endurance test mode and data acquisition operation mode; speed parameters include forward maximum speed, reverse maximum speed, acceleration time, deceleration time and motor rotation direction. The value of the speed parameter can be determined according to actual requirements. Specifically, the endurance test process can be shown in FIG. 2 . As shown in Figure 2, before the controller receives the acquisition command, the operation mode is the endurance test mode, and the controller continues to control the servo motor to run according to the corresponding parameters of the endurance test cycle until the acquisition command is received, and the controller switches the operation mode to data Collect the running mode, accelerate the servo motor from the running state during the endurance test to the maximum forward speed, and keep running at a constant speed. As shown in Figure 2, data collection is carried out under the condition of running at a constant speed at the maximum forward speed. After the collection is completed, the controller switches the operation mode to the endurance test mode. It is understandable that the reason why the data collection is carried out under the condition of running at a constant speed at the maximum forward speed. On the one hand, it can realize the data collection under stable working conditions at regular intervals, so as to ensure that the collected data is accurate when the diagnosis and prediction model is established. The utilization rate is higher; on the other hand, data collection is carried out under fixed working conditions, thereby reducing the difficulty of data analysis.

106. If the mode switching completion command replied by the controller is received, send a start collection command to the collection device, and send a query command to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command uses It is used to instruct the controller to upload operating status data and to instruct the driver to upload data packets.

Among them, the state parameters of the motor include vibration signal, temperature, current and voltage; the operation state data includes the current operation mode, motor operation parameters and drive state parameters; the motor operation parameters include the number of endurance test cycles, the duration of a single cycle operation, the collection duration, The constant speed running time set by the controller, the speed parameters set by the controller and the drive status; the data package includes the real-time power of the motor, the command position of the motor, the feedback position of the motor, the tracking error of the motor, the command speed of the motor, the Feedback speed, motor feedback torque, motor alarm code and motor inertia ratio. In practical applications, the state parameters of the motor can be collected based on sensors.

It should be noted that, the acquisition start instruction may be sent to the driver based on the driver's own protocol, specifically, such as the Modbus protocol, which is not specifically limited in this embodiment of the present application.

108. If the confirmation reception instruction sent by the acquisition device is received, and the operation status data uploaded by the controller and the data packets uploaded by the driver are collected, then the collection corresponding to the operation status data uploaded by the controller and the data packets uploaded by the driver is acquired in real time. and determine whether the collection time is equal to the preset collection time, and if it is equal to the preset collection time, send an end collection instruction to the collection device, the controller and the driver.

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

110. Determine whether the data collection is successful. If the data collection is successful, send a test mode switching instruction to the controller, and read the state parameters of the motor acquired by the collection device based on the query instruction; if the test mode switching completion instruction sent by the controller is received. And if the reading is successful, the read state parameters of the motor, and the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

The test mode switching instruction is used to instruct the controller to switch the operation mode to the endurance test mode.

For example, the collection duration is determined based on the second timer. If the data collection fails, the real-time timing value of the second timer is reset to 0, and the data is collected from the running status data uploaded by the controller and the data packet uploaded by the driver. Restart timing from time to time, if the real-time timing value of the second timer is equal to the preset collection duration, send an end collection instruction to the collection device, controller and driver; judge whether the data collection is successful, if the data collection fails, the first time will be collected again. The real-time timing value of the second timer is reset to 0, and restarts the timing from the moment when the running status data uploaded by the controller and the data packets uploaded by the driver are collected. If the real-time timing value of the second timer is equal to the preset collection duration , then send the end collection instruction to the collection device, controller and driver; judge whether the data collection is successful, if the data collection fails, end the program, and send an alarm email to the designated mailbox.

The reason why it is necessary to confirm that the data collection is successful, and then read the state parameters of the motor obtained by the collection device based on the query command, is because the collection device has its own collection and storage system, which cannot send data to the server in real time, but needs to wait for the collection to succeed. Then, it is packaged into a piece of data, and the server reads the packaged data of the acquisition device based on the query instruction.

For example, the duration between the current moment and the end moment is determined based on the first timer. It should be noted that the read state parameters of the motor, and the collected running status data uploaded to the controller and the driver upload After saving the data packet of the first timer, the method further includes: judging whether an end command sent by the user is received, and if the end command is received, the timing value of the first timer is reset to 0, and the timing is performed.

In the process monitoring method of the above-mentioned servo motor endurance test, the end time of the last collection process is obtained; the collection data of the last collection process includes the state parameters of the motor, the running state data of the controller and the data packet of the driver; Whether the duration between the end times is equal to the preset interval collection duration, if it is equal to the preset interval collection duration, the collection command is sent to the controller; if the mode switching completion command replied by the controller is received, the start collection command is sent to the collection device, and send the query command to the controller and the driver; the start acquisition command is used to instruct the acquisition device to obtain the state parameters of the motor, and the query command is used to instruct the controller to upload the running status data and instruct the driver to upload data packets; If the confirmation reception command is received and the operating status data uploaded by the controller and the data packets uploaded by the driver are collected, the collection duration corresponding to the running status data uploaded by the controller and the data packets uploaded by the driver is acquired in real time, and it is judged whether the collection duration is equal to The preset collection time, if it is equal to the preset collection time, send the end collection instruction to the collection device, controller and driver; judge whether the data collection is successful, if the data collection is successful, send the test mode switching instruction to the controller, based on the query instruction Read the state parameters of the motor obtained by the acquisition device; if the test mode switching completion command sent by the controller is received and the reading is successful, the read state parameters of the motor and the collected operation of the controller are uploaded. Status data and data packets uploaded by the drive are saved. On the one hand, in the process of the endurance test of the servo motor, the state parameters, running state data and data packets of the motor are collected regularly through control commands. To the full life cycle data of the servo motor endurance test process. On the other hand, because the test data no longer only includes the endurance test results of the servo motor, but also includes the state parameters, running state data and data packets of the motor collected regularly, which makes the test data more abundant. Furthermore, only running state data and data packets are usually included in the endurance test process, but the present application also acquires the state parameters of the motor during the endurance test process based on the acquisition device, thereby enriching the test data. Furthermore, since the types of data collected include the state parameters of the motor obtained by the collection device, the operating state data uploaded by the controller, and the data packets uploaded by the driver, it is necessary to interact with three different modules. Therefore, there is a problem that the data is difficult to synchronize. By receiving a mode switching completion command replied by the controller, sending a start collection command to the collection device and sending a query command to the controller and the driver to determine whether the collection duration is equal to the preset collection duration, if it is equal to the preset collection duration, then Send the end acquisition command to the acquisition device, controller and driver, so that the acquisition device, controller and driver start acquisition at the same time, and end the acquisition at the same time, thereby realizing the synchronous acquisition of the acquisition device, controller and driver.

In one embodiment, the acquisition instruction is used to instruct 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 maximum forward speed and keep running at a constant speed.

It can be understood that the controller has been controlling the motor to run at a constant speed at the maximum forward speed before receiving the test mode switching command, that is, the data acquisition process is carried out under the condition of running at a constant speed at the maximum forward speed.

In this embodiment, by controlling the motor to accelerate to the maximum forward speed and keep running at a constant speed, data collection is realized under the working condition of running at a constant speed at the forward maximum speed. Data collection ensures that the collected data has a higher utilization rate when the diagnostic prediction model is established; on the other hand, data collection is carried out under fixed working conditions, thereby reducing the difficulty of data analysis.

In one embodiment, if the mode switching completion instruction replied by the controller is not received, the collection instruction is sent to the controller, and if the mode switching completion instruction replied by the controller is still not received, the collection instruction is sent to the control again. If the controller does not receive the mode switching completion command replied by the controller for the third time, it will end the program and send an alarm email to the designated mailbox.

In this embodiment, if the mode switching completion instruction replied by the controller is not received, the collection instruction is sent to the controller, and if the mode switching completion instruction replied by the controller is still not received, the collection instruction is sent to the control again. If the controller does not receive the mode switching completion command replied by the controller for the third time, it will end the program and send an alarm email to the designated mailbox. Because the retry mechanism is used to issue instructions, the success rate of data collection is improved, and the abnormal transmission of collection instructions caused by instantaneous abnormality or delay of the network is avoided. When the mode switching completion command replied by the controller is not received, the start collecting command is not sent to the collecting device, and the query command is not sent to the controller and the driver, so as to avoid collecting data that does not meet the requirements.

In one embodiment, if the data packet uploaded by the driver is not collected, a query instruction is issued to the driver. If the data packet uploaded by the driver has not been collected, the query instruction is sent to the driver again. When the data package uploaded by the driver is collected, the program ends and an alarm email is sent to the designated mailbox.

In this embodiment, because the retry mechanism is used to issue commands, the success rate of data collection is improved, and the abnormal transmission of query commands caused by instantaneous network abnormalities or delays is avoided, which in turn leads to failure to collect data packets uploaded by the driver.

In one embodiment, if the acknowledgment reception instruction sent by the collection device is not received, the collection start instruction is sent to the collection device, and if the acknowledgement reception instruction sent by the collection device is not received, the collection start instruction is sent to the collection device again. , if the confirmation reception command sent by the acquisition device has not been received, the program will end, and an alarm email will be sent to the designated mailbox.

In this embodiment, since the retry mechanism is used to issue the command, the success rate of data collection is improved, and the abnormality of sending the command to start the collection caused by the instantaneous abnormality or delay of the network is avoided, and thus the confirmation sent by the collection device is not received. receive instructions.

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

Analyze the collected operating status data uploaded by the controller and data packets uploaded by the driver. If the analysis is successful, the data collection is successful; if the analysis fails, the data collection fails.

In this embodiment, by analyzing the collected operating status data uploaded by the controller and data packets uploaded by the driver, if the analysis is successful, the data collection is successful, and if the analysis fails, the data collection fails.

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, and if the reading still fails, the state parameters of the motor acquired by the acquisition device are read again based on the query instruction, If the reading fails for the third time, the program will end and an alarm email will be sent to the designated mailbox.

In this embodiment, since the retry mechanism is used to issue the command, the success rate of data collection is improved, and the abnormality of sending the query command caused by the instantaneous abnormality or delay of the network is avoided, thereby causing the reading failure.

In one embodiment, if the test mode switching completion instruction sent by the controller is not received, the test mode switching instruction is sent to the controller, and if the test mode switching completion instruction sent by the controller is not received, the test mode switching completion instruction is sent again. Send the command to the controller. If the test mode switching completion command sent by the controller is still not received, the program will end and an alarm email will be sent to the designated mailbox.

In this embodiment, since the retry mechanism is used to issue the command, the endurance test can be carried out normally, and the abnormal transmission of the test mode switching command caused by the instantaneous abnormality or delay of the network is avoided, thereby causing the failure of the test mode switching.

In one embodiment, the acquisition instruction, the mode switching completion instruction, the query instruction, the receiving instruction, the end acquisition instruction, the test mode switching instruction, and the test mode switching completion instruction are all defined as frame header+frame type+device number+number of data blocks+ Actual transmission data block + end of frame.

In combination with the above embodiments, in one embodiment, as shown in FIG. 3 , a process monitoring system for durability testing of a servo motor is provided, including: a motor durability test bench, a controller, a driver, an external sensor, a collection device, a durability A data monitoring subsystem and database, including:

The motor durability test bench can be shown in Figure 4, including the base, the motor to be tested and the load module. One base can install 6 test motors at the same time, and the load module can be an inertia block, specifically, it can be an inertia of 5 times the load inertia. It can also be an inertia block with a load inertia of 10 times the level, and the load inertia level of the inertia block can be determined according to the actual demand. As shown in Figure 4, the external sensor is installed on the side of the motor to be tested.

The external sensor is used to collect the state parameters of the motor to be tested. Specifically, the external sensors may include vibration sensors, temperature sensors, voltage sensors, and current sensors. The vibration sensor is used to collect vibration signals of the motor to be measured, the temperature sensor is used to collect the temperature of the motor to be measured, and the voltage sensor is used to collect the temperature of the motor to be measured. The voltage of the motor and the current sensor are used to collect the current of the motor to be tested.

The controller is used to provide the function of setting the running parameters and speed parameters of the motor to be tested to meet the running requirements of the endurance test. The controller sets the operating parameters and speed parameters of the servo motor according to the running requirements of the endurance test. The operation parameters include operation mode and constant speed operation time, while the operation mode includes endurance test mode and data acquisition operation mode; speed parameters include forward maximum speed, reverse maximum speed, acceleration time, deceleration time and motor rotation direction. The value of the speed parameter can be determined according to actual requirements. When receiving the query command, upload the running status data to the data monitoring subsystem of the durable platform.

The driver is used to drive the motor to be tested to run according to the operating parameters and speed parameters set by the controller, and upload data packets to the data monitoring subsystem of the durable platform when receiving the query command.

The acquisition device is connected with the external sensor, and is used for collecting the data of the external sensor when receiving the start acquisition instruction.

The data monitoring subsystem of the durable platform is used to obtain the end time of the last collection process; the collected data of the last collection process includes the state parameters of the motor, the running state data of the controller and the data packets of the driver; judge the difference between the current time and the end time. Whether the length of time is equal to the preset interval collection time, if it is equal to the preset interval collection time, then send the collection command to the controller; if receiving the mode switching completion command replied by the controller, send the start collection command to the collection device, and Send the query command to the controller and the driver; the start acquisition command is used to instruct the acquisition device to obtain the state parameters of the motor, and the query command is used to instruct the controller to upload the running status data and instruct the driver to upload data packets; if the confirmation received from the acquisition device is received command and collect the running status data uploaded by the controller and the data package uploaded by the driver, then the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time, and it will be judged whether the acquisition duration is equal to the preset acquisition duration If the duration is equal to the preset acquisition duration, send an end acquisition instruction to the acquisition device, controller and driver; determine whether the data acquisition is successful, if the data acquisition is successful, send a test mode switching instruction to the controller, and read the acquisition based on the query instruction The state parameters of the motor obtained by the device; if the test mode switching completion command sent by the controller is received and the reading is successful, the read state parameters of the motor, as well as the collected running state data uploaded to the controller and The data package uploaded by the drive is saved.

The sampling setting interface of the data monitoring subsystem of the durable station may be shown in FIG. 5 . In FIG. 5 , the sampling interval is the preset interval collection duration, and the sampling duration is the preset collection duration. It should be noted that it is used to set the sampling interval and sampling duration by manual input. The data display interface of the durable station data monitoring subsystem can be shown in Figure 6. You can choose to monitor the status of the controller on the data display interface, or you can choose to monitor the status of the driver or the status of the acquisition device, which can be determined according to requirements. The setting bar in Figure 6 is to set the displayed data, the latest collected data is displayed by default, and historical data can also be displayed by loading the historical data package; it supports setting the category and channel of display parameters. The status bar indicates the fault status of the currently displayed object. The white light indicates the status is normal, and the black light indicates the fault. When a fault occurs, the data monitoring subsystem of the Durable Station will automatically send an alarm email to the designated mailbox. Users can also manually add a designated mailbox and send an alarm email to the designated mailbox.

The database is used to store the state parameters of the motor read by the data monitoring subsystem of the durable platform, as well as the collected running state data uploaded by the controller and data packets uploaded by the drive. There are two storage methods, one is automatic storage and the other is manual storage. Automatic storage includes the state parameters of the motor read by the data monitoring subsystem of the durable platform, as well as the collected operating status data uploaded by the controller and uploaded by the drive. The data package is automatically saved to the database, and manual storage includes manual selection of the data to be stored.

It should be noted that, for the relevant explanations of the terms and steps involved in the above system, reference may be made to the explanations of the terms and steps in the above embodiments, which will not be repeated here.

In one embodiment, the data collection process of the durable station data monitoring subsystem may be as shown in FIG. 7 . The sampling interval Tb in FIG. 7 is the preset interval collection duration in the foregoing embodiment, and the sampling duration t is also the preset collection duration in the foregoing embodiment. For the related explanations of the terms and steps involved in FIG. 7 , reference may be made to the explanations of the terms and steps in the above-mentioned embodiments, which will not be repeated here.

It should be understood that, although the steps in the flowcharts involved in the above embodiments are sequentially displayed according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, the execution of these steps is not strictly limited to the order, and these steps may be performed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above embodiments may include multiple steps or multiple stages, and these steps or stages are not necessarily executed and completed at the same time, but may be performed at different times The execution order of these steps or phases is not necessarily sequential, but may be performed alternately or alternately with other steps or at least a part of the steps or phases in the other steps.

Based on the same inventive concept, an embodiment of the present application also provides a process monitoring device for a servo motor endurance test for implementing the above-mentioned process monitoring method for a servo motor endurance test. The solution to the problem provided by the device is similar to the solution described in the above method, so the specific limitations in the embodiment of the process monitoring device for the endurance test of one or more servo motors provided below can refer to the above for the servo motor The limitation of the process monitoring method of the motor endurance test will not be repeated here.

In one embodiment, a process monitoring device for durability testing of a servo motor is provided, including: an acquisition module, a first judgment module, a transmission module, a collection module and a second judgment module, wherein:

The acquisition module is used to acquire the end time of the last acquisition process; the acquisition data of the previous acquisition process includes the state parameters of the motor, the running state data of the controller and the data packet of the driver;

a first judging module, configured to judge whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

The sending module is used to send a start acquisition instruction to the acquisition device and send a query instruction to the controller and the driver if the mode switching completion instruction replied by the controller is received; the start acquisition instruction is used to instruct the acquisition device to obtain the state parameters of the motor, The query instruction is used to instruct the controller to upload the running status data and instruct the driver to upload the data package;

The acquisition module is used to acquire the running status data uploaded by the controller and the data packets uploaded by the driver in real time if it receives the confirmation reception instruction sent by the acquisition device and collects the running status data uploaded by the controller and the data packet uploaded by the driver Corresponding collection time length, and determine whether the collection time length is equal to the preset collection time length, if it is equal to the preset collection time length, send an end collection instruction to the collection device, the controller and the driver;

The second judgment module is used for judging whether the data collection is successful. If the data collection is successful, it sends a test mode switching instruction to the controller, and reads the state parameters of the motor acquired by the collection device based on the query instruction; When the test mode switching is completed and the reading is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and data packets uploaded by the drive are saved.

In one embodiment, the acquisition instruction is used to instruct 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 maximum forward speed and keep running at a constant speed.

In one embodiment, the sending module includes:

The first sending unit is used to send the collection instruction to the controller if the mode switching completion instruction replied by the controller is not received, and if the mode switching completion instruction replied by the controller has not been received, then the collection instruction is sent to the controller again. If the controller does not receive the mode switching completion command replied by the controller for the third time, it will end the program and send an alarm email to the designated mailbox.

In one embodiment, the acquisition module includes:

The second sending unit is used to issue a query instruction to the driver if the data packet uploaded by the driver has not been collected, and if the data packet uploaded by the driver has not been collected yet, issue the query instruction to the driver again. If the data package uploaded by the driver is not collected, the program will end and an alarm email will be sent to the designated mailbox.

In one embodiment, the second judgment module includes:

Analyze the collected operating status data uploaded by the controller and data packets uploaded by the driver. If the analysis is successful, the data collection is successful; if the analysis fails, the data collection fails.

In one embodiment, the second judgment module includes:

The third sending unit is configured to read the state parameters of the motor acquired by the acquisition device based on the query instruction if the reading fails, and if the reading still fails, read the state parameters of the motor acquired by the acquisition device again based on the query instruction , if the reading fails for the third time, the program will end and an alarm email will be sent to the designated mailbox.

Each module in the above-mentioned process monitoring device for the endurance test of the servo motor can be implemented in whole or in part by software, hardware and combinations thereof. The above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or stored in the memory in the computer device in the form of software, so that the processor can call and execute the operations corresponding to the above modules.

In one embodiment, a computer device is provided, and the computer device may be a server, and its internal structure diagram may be as shown in FIG. 8 . The computer device includes a processor, memory, and a network interface connected by a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium, an internal memory. The nonvolatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the execution of the operating system and computer programs in the non-volatile storage medium. The database of the computer equipment is used to store the state parameters, running state data and data packet data of the motor. The network interface of the computer device is used to communicate with an external terminal through a network connection. The computer program, when executed by the processor, implements a process monitoring method for endurance testing of a servo motor.

Those skilled in the art can understand that the structure shown in FIG. 8 is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer equipment to which the solution of the present application is applied. Include more or fewer components than shown in the figures, or combine certain components, or have a different arrangement of components.

In one embodiment, a computer device is provided, including a memory and a processor, a computer program is stored in the memory, and the processor implements the following steps when executing the computer program:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

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

In one embodiment, the processor further implements the following steps when executing the computer program:

If the mode switching completion command returned by the controller is not received, the collection command will be sent to the controller. If the mode switching completion command returned by the controller has not been received, the collection command will be sent to the controller again. If the mode switching completion command replied by the controller has not been received, the program will end and an alarm email will be sent to the designated mailbox.

In one embodiment, the processor further implements the following steps when executing the computer program:

If the data packet uploaded by the driver is not collected, the query command will be sent to the driver. If the data packet uploaded by the driver has not been collected, the query command will be sent to the driver again. If the data uploaded by the driver has not been collected for the third time package, the program ends, and an alarm email is sent to the designated mailbox.

In one embodiment, the processor further implements the following steps when executing the computer program:

Analyze the collected operating status data uploaded by the controller and data packets uploaded by the driver. If the analysis is successful, the data collection is successful; if the analysis fails, the data collection fails.

In one embodiment, the processor further implements the following steps when executing the computer program:

If the reading fails, the state parameters of the motor obtained by the acquisition device are read based on the query command. If the reading still fails, the state parameters of the motor acquired by the acquisition device are read again based on the query command. If the retrieval fails, the program ends and an alarm email is sent to the designated mailbox.

In one embodiment, a computer-readable storage medium is provided on which a computer program is stored, and when the computer program is executed by a processor, the following steps are implemented:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

In one embodiment, when the computer program is executed by the processor, the acquisition instruction is used to instruct 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 maximum forward speed and keep running at a constant speed.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the mode switching completion instruction replied by the controller is not received, the acquisition instruction is sent to the controller; If the switch completes the command, the acquisition command will be sent to the controller again. If the mode switch complete command replied by the controller is not received for the third time, the program will end and an alarm email will be sent to the designated mailbox.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if the data packet uploaded by the driver is not collected, send a query instruction to the driver; if the data packet uploaded by the driver has not been collected, download the data packet again Send a query command to the drive, if the data package uploaded by the drive is not collected for the third time, the program will end, and an alarm email will be sent to the designated mailbox.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: analyzing the collected operating status data uploaded by the controller and data packets uploaded by the driver; if the analysis is successful, the data collection is successful; If it fails, the data collection fails.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the reading fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction, and if the reading still fails, based on the query instruction again Read the state parameters of the motor acquired by the acquisition device. If the reading fails for the third time, the program will end and an alarm email will be sent to the designated mailbox.

In one embodiment, a computer program product is provided, comprising a computer program that, when executed by a processor, implements the following steps:

Obtain the end time of the last acquisition process; the acquisition data of the last acquisition process include the state parameters of the motor, the running state data of the controller and the data packets of the driver;

Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller;

If the mode switching completion command replied by the controller is received, a start collection command is sent to the collection device, and a query command is sent to the controller and the driver; the start collection command is used to instruct the collection device to obtain the state parameters of the motor, and the query command is used to indicate The controller uploads operating status data and instructs the drive to upload data packets;

If the confirmation reception command sent by the acquisition device is received, and the running status data uploaded by the controller and the data packet uploaded by the driver are collected, the acquisition duration corresponding to the running status data uploaded by the controller and the data packet uploaded by the driver will be acquired in real time. and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an end collection instruction to the collection device, the controller and the driver;

Determine whether the data collection is successful, if the data collection is successful, send the test mode switching command to the controller, and read the state parameters of the motor obtained by the collection device based on the query command; if the test mode switching completion command sent by the controller is received and read If the acquisition is successful, the read state parameters of the motor, as well as the collected running state data uploaded by the controller and the data package uploaded by the drive are saved.

In one embodiment, when the computer program is executed by the processor, the acquisition instruction is used to instruct 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 maximum forward speed and keep running at a constant speed.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the mode switching completion instruction replied by the controller is not received, the acquisition instruction is sent to the controller; If the switch completes the command, the acquisition command will be sent to the controller again. If the mode switch complete command replied by the controller is not received for the third time, the program will end and an alarm email will be sent to the designated mailbox.

In one embodiment, when the computer program is executed by the processor, the following steps are also implemented: if the data packet uploaded by the driver is not collected, send a query instruction to the driver; if the data packet uploaded by the driver has not been collected, download the data packet again Send a query command to the drive, if the data package uploaded by the drive is not collected for the third time, the program will end, and an alarm email will be sent to the designated mailbox.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: analyzing the collected operating status data uploaded by the controller and data packets uploaded by the driver; if the analysis is successful, the data collection is successful; If it fails, the data collection fails.

In one embodiment, when the computer program is executed by the processor, the following steps are further implemented: if the reading fails, the state parameters of the motor acquired by the acquisition device are read based on the query instruction, and if the reading still fails, based on the query instruction again Read the state parameters of the motor acquired by the acquisition device. If the reading fails for the third time, the program will end and an alarm email will be sent to the designated mailbox.

Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be implemented by instructing relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage In the medium, when the computer program is executed, it may include the processes of the above-mentioned method embodiments. Wherein, any reference to memory, storage, database or other media used in the various embodiments provided in this application may include at least one of non-volatile and volatile memory. Non-volatile memory may include read-only memory (Read-Only Memory, ROM), magnetic tape, floppy disk, flash memory, or optical memory, and the like. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, the RAM may be in various forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM).

The technical features of the above embodiments can be combined arbitrarily. In order to make the description simple, all possible combinations of the technical features in the above embodiments are not described. However, as long as there is no contradiction in the combination of these technical features It is considered to be the range described in this specification.

The above-mentioned embodiments only represent several embodiments of the present application, and the descriptions thereof are specific and detailed, but should not be construed as a limitation on the scope of the invention patent. It should be pointed out that for those skilled in the art, without departing from the concept of the present application, several modifications and improvements can be made, which all belong to the protection scope of the present application. Therefore, the scope of protection of the patent of the present application shall be subject to the appended claims.

Claims (10)

1. a process monitoring method of servo motor endurance test, is characterized in that, described method comprises: Acquiring the end time of the last collection process; the collection data of the last collection process includes the state parameters of the motor, the running state data of the controller and the data packets of the driver; Determine whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, issue a collection instruction to the controller; the collection instruction is used to instruct the controller Switch from endurance test mode to data acquisition operation mode; If receiving the mode switching completion instruction replied by the controller, send a start collection instruction to the collection device, and send a query instruction to the controller and the driver; the start collection instruction is used to instruct the collection device to obtain the motor's a state parameter, where the query instruction is used to instruct the controller to upload running state data and instruct the driver to upload a data packet; If the confirmation reception instruction sent by the collection device is received and the operation status data uploaded by the controller and the data packet uploaded by the driver are collected, the operation status data uploaded by the controller and the data package uploaded by the controller are acquired in real time. The collection duration corresponding to the data packets uploaded by the driver, and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an instruction to end the collection to the collection device, the controller and the driver; Determine whether the data collection is successful, if the data collection is successful, send a test mode switching instruction to the controller, and read the state parameters of the motor acquired by the collection device based on the query instruction; The test mode switching completion command and the reading is successful, the read state parameters of the motor, as well as the collected operating state data uploaded by the controller and the data packets uploaded by the driver are saved; the test The mode switching instruction is used to instruct the controller to switch from the data acquisition operation mode to the endurance test mode. 2. The method according to claim 1, wherein the acquisition instruction is used to instruct the controller to complete the current endurance test cycle, and after completing the current endurance test cycle, the control motor is accelerated to a forward maximum speed , and keep running at a constant speed. 3. The method according to claim 1, wherein, if the mode switching completion command replied by the controller is not received, the collection command is issued to the controller, and if the command is not received yet If the mode switching completion command replied by the controller, the collection command will be sent to the controller again. If the mode switching completion command replied by the controller is not received for the third time, the program will end and an alarm email will be sent. to the specified mailbox. 4. The method according to claim 1, wherein if the data packet uploaded by the driver is not collected, the query instruction is issued to the driver, and if the data uploaded by the driver has not been collected If the data packet uploaded by the driver is not collected for the third time, the program ends and an alarm email is sent to the designated mailbox. 5. The method according to claim 1, wherein the judging whether the data is collected successfully comprises: Analyze the collected operating status data uploaded by the controller and data packets uploaded by the driver. If the analysis is successful, the data collection is successful, and if the analysis fails, the data collection fails. 6 . The method according to claim 1 , wherein, if the reading fails, the state parameters of the motor obtained by the acquisition device are read based on the query instruction, and if the reading still fails, the state parameters of the motor obtained by the acquisition device are read again based on the query instruction. 7 . The query instruction reads the state parameters of the motor acquired by the acquisition device, and if the reading fails for the third time, the program ends, and an alarm email is sent to the designated mailbox. 7. A process monitoring device for a servo motor endurance test, wherein the device comprises: an acquisition module, used for acquiring the end time of the last acquisition process; the acquisition data of the previous acquisition process includes the state parameters of the motor, the running state data of the controller and the data packet of the driver; a first judgment module, configured to judge whether the duration between the current moment and the end moment is equal to the preset interval collection duration, and if it is equal to the preset interval collection duration, then issue a collection instruction to the controller; the collection instruction for instructing the controller to switch from the endurance test mode to the data acquisition operation mode; a sending module, configured to send a start collection instruction to the collection device and send a query instruction to the controller and the driver if the mode switching completion instruction replied by the controller is received; the start collection instruction is used to instruct the The acquisition device acquires the state parameters of the motor, and the query instruction is used to instruct the controller to upload running state data and instruct the driver to upload data packets; The acquisition module is configured to acquire, in real time, the running state data uploaded by the controller and the data packets uploaded by the driver after receiving the confirmation reception instruction sent by the acquisition device and acquiring the data packets uploaded by the controller. Status data and the collection duration corresponding to the data packets uploaded by the driver, and determine whether the collection duration is equal to the preset collection duration, and if it is equal to the preset collection duration, send an instruction to end the collection to the collection device, the a controller and the driver; The second judgment module is used for judging whether the data collection is successful, and if the data collection is successful, sending a test mode switching instruction to the controller, and reading the state parameters of the motor obtained by the collection device based on the query instruction; After receiving the test mode switching completion instruction sent by the controller and the reading is successful, the read state parameters of the motor, as well as the collected operating status data uploaded by the controller and data uploaded by the driver The package is saved; the test mode switching instruction is used to instruct the controller to switch from the data acquisition operation mode to the endurance test mode. 8. The device according to claim 7, wherein the acquisition instruction is used to instruct the controller to complete the current endurance test cycle, and after completing the current endurance test cycle, control the motor to accelerate to a forward maximum speed , and keep running at a constant speed. 9. A computer device, comprising a memory and a processor, wherein the memory stores a computer program, wherein the processor implements the method according to any one of claims 1 to 6 when the processor executes the computer program. step. 10. A computer-readable storage medium on which a computer program is stored, characterized in that, when the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 6 are implemented.

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