JPS62165214A - Measurement testing device - Google Patents

Abstract

PURPOSE:To attain a solution at a simulation time with the same accuracy as a digital computer by comparing data recorded on a recording means with data obtained by measuring input/output at the operation time after substitution due to a calculating means. CONSTITUTION:Since the output of an input/output device of a calculator 18, namely, a servo amplifier 3 inputted to an analog input signal processing part 9 and the output of an analog output signal processing part 11 are given to a data comparator 8 through a signal line 20a and a signal line 20b respectively, they are compared with the reproduced output of an input/output data recorder 7. In case of this comparison, setting of a digital variable setter 15 and a wiring 19 are controlled properly until input/output signals of the calculator 18 and the output of the input/output data recorder 7 coincide with each other. When the reproduced output of the input/output data recorder 7 and input and output signals of the calculator 18 coincide approximately with each other in the data comparator 8 as the result of this control, simulation is approximately complete, and its mathematical model and parameters are performance parameters of a servo motor 4 and a position detector 5.

Description

[Detailed Description of the Invention] [Field of Industrial Application] The present invention is applicable to measurement tests applied to performance measurement and performance analysis or simulation of systems having feedback control systems such as rodet servo systems or plant control systems. Regarding equipment.

[Conventional technology]

Measuring the performance of a female servo system is done by measuring the input/output characteristics of the individual elements that make up the servo system, and based on the measurement results and a mathematical model derived from the performance of the components. Performing performance analysis.

Generally, when simulating a servo system, an analog meter Jx is used to obtain a continuous solution, and a Deinotal computer is used when 8 degrees are required.

[Problem that the invention seeks to solve]

Calculating the performance and parameters from the input/output characteristics of the components of the servo system and their mathematical models cannot be done by solving differential equations or calculating nonlinear elements.

Furthermore, it is impossible to obtain a solution at the same time as the measurement, and it takes time.

10,000, even in the sea mileage of the system,
Analog computers have a practical accuracy of about 0.1%, and it is difficult to implement nonlinear elements.

Therefore, when simulating nonlinear elements with accuracy higher than o,is, a digital total of 3J VA is used, but in that case, the screen becomes discrete with respect to the time axis, making it difficult to obtain a continuous solution.

This invention was made in order to eliminate the above-mentioned drawbacks of the conventional system, and it is possible to obtain highly accurate performance/base meters of components of servo systems and feedback control systems without calculations. The purpose of this invention is to provide a measurement test device that can time-series VCi% and obtain solutions with the same degree of precision as those obtained with a digital computer even during simulation.

[Means for Solving the Problems] The measurement test device of the present invention has a recording means for recording data obtained by measuring input and output during operation of components of an actual machine of a servo system or feedback tt; IJ system. , detach the component from the system and place it in its part 7
-”A device equipped with a calculation means for replacing calculation elements with calculation elements based on the Innotal differential analysis method, and a comparison means for comparing the data recorded in the recording means with the data measured by input and output during operation after replacement by the calculation means. It is.

[Effect]

This invention measures input/output data during the operation of the component and records it with a recording means, and also programs a mathematical model of the component separated from the servo system or foot control control system to improve performance. A mathematical model is created by a program using a calculation means using the differential differential analysis method, and the comparison means compares the data recorded by the recording means with the data before replacement. When the program and set value are adjusted by means and they match, it is taken as the actual machine's performance/base meter.

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples of the measurement and testing apparatus of the present invention will be described below with reference to the drawings. The figure is a block diagram showing the configuration of one embodiment. For convenience of explanation, the illustrated embodiment is an example of a case in which Roget's servo is applied to system performance measurement, performance analysis, or seamulation. However, the present invention is not limited to servo systems, and is applicable to feedback control. It can also be applied to performance measurement and performance analysis simulation of systems (for example, plant control).

In the figure, numeral 1 indicates a servo system to be tested, and numeral 2 indicates a target setting device. The set value set by the target setter 2 and the output of the position detector 5 are input to the serve amplifier 3.

Is the output of this serve amplifier 3 a sir? It is adapted to drive a motor 4. The drive position of the serge motor 4 is detected by a metal position detector 5.

Is the circuit connected to the output terminal of amplifier 3? The wiring 21.22 between the input terminal of the motor 4, the output terminal of the position detector 5, and the input terminal of the serve amplifier 3 can be separated, and the wiring 21.22 is connected through the signal lines 20m and 20b, respectively. B? Is it sir? It is connected to the input end of the input/output data recording device 7 in the system measurement test device 6, and also to the input end of the data comparison device 8.

Furthermore, the signal line 20a is connected to the input end of the analog input signal processing section 9, and the signal line 20b is connected to the output end of the analog output signal processing section 1no.

Is that the mouth above? The system measurement test device 6 includes an input/output data recording device 7, a data comparison device 8, and a calculation device 18.

Among these, the input/output data recording device 7 is used to accumulate and record the input/output characteristics of the components of the system.

The output end of this input/output data recording device 7 is connected to the input end of a data comparison device 80.

This data comparison device 8 reproduces and outputs the data recorded by the input/output data recording device 7 and the replaced calculation device 18.
This is to compare the output of .

On the other hand, the output terminals of the analog input signal processing section 9 and the digital input signal processing section 10 are connected to the program wiring gate 13, and the input terminals of the analog output signal processing section 11 and the digital output signal processing section 12 are connected to the program wiring gate J.
Connected to 3. These input signal processing section 9, digital input signal processing section 10, and analog output signal processing section 1
1. The digital output signal processing section 12 performs analog and digital signal processing, respectively, in order to facilitate connection to a servo system.

The program wiring gate 13, through which the server programs the mathematical model of the component to the system, has wiring 19 placed thereon. This wiring 9 interconnects the input and output of the calculation element bodies 14 of the differential analysis method, and a plurality of the calculation element bodies 14 are provided as shown by reference numeral 16.

Each calculation element main body J4 is composed of a digital variable setting device 15 and a register 17.

The register 17 specifies the main body of this calculation element body 14 as 1xf.
The operating conditions are determined by a digital variable setting device 15.

Next, the operation of the measurement test apparatus of the present invention configured as described above will be explained. Now, hypothetically, servo motor 4
, the characteristics of the portion including the position detector 5 are measured.

First, the signal lines 20h and 20b, which are the input and output signal lines of the Rogotsage system measurement test device 6, are connected to the wiring a21 and 22VC of the servo system 1, which is the specimen.

As a result, the output data of amplifier 3 is transferred to wiring 2,
Through the signal g20 &, it is input to the input/output data recording device 7 and recorded, and the output data of the position rendering device 5 is input to the input/output data recording device 7 through the wiring 22 and the signal line 20b and recorded. .

Next, in the servo system 1, connect the wiring 21°22 to N
Cut gl L at the part marked and activate the calculation device 18. At this point, the servo motor 4 and the position detector 5 of the system 1 have been replaced by the computing device 18, and the operation of the computing device 18 is controlled by wiring 19 on the program wiring board 13, which connects multiple computing elements to each other. A numerical model is constructed by interconnecting the 14 inputs and outputs, and operates with the parameters set by the digital variable setting device 15.

That is, the delay, backlash, saturation (limiter), etc. of the servo motor 4 and position detector 5, which are the actual devices of the servo system 1, are simulated.

At this time, the data comparison device 8 includes the input/output device of the calculation device 18, that is, the output of the servo amplifier 3, which is input to the analog input signal processing section 9 through the entire signal line 2OA.
Since the output of the analog output signal processing section 1 is supplied through the signal line 20b, a comparison with the reproduced output of the input/output data recording device 7 is performed.

During this comparison, the settings of the digital variable setting device 15 and the wiring 19 are appropriately adjusted until the input/output signal of the calculation device 18 and the output of the input/output data recording device 7 match.

As a result of this adjustment, when the reproduction output of the input/output data recording device 7 and the input/output signal of the calculation device 18 almost match in the data comparison device 8, the simulation becomes almost perfect, and the mathematical model and tJ? The parameter can be used as a performance parameter of the servo motor 4 and the position detector 5.

Signal line 2 serving as an input line among signal lines 20h and 20b
By connecting θa to the output end of the target value setter 2 and appropriately setting the wiring 19 and the set value of the digital variable setter 15, the servo amplifier including the servo amplifier 3, servo motor 4, and position detector 5 can be set. The main parts of system 1 are
4. It can be simulated and operates as a so-called simulator.

〔Effect of the invention〕

As described above, according to the measurement test device of the present invention, after the input/output characteristics of the components of the actual machine of a system having a servo system or feedback control system are recorded by the recording means, the component parts of the actual machine are separated. Then, a calculation device based on the f4 notal differential analysis method is operated to form a mathematical model, and the input/output signal of this JT device is compared with the output of the recording means, and the two match. When the set value t of the calculation device is adjusted and the two match, the mathematical model and parameters are used as the performance parameters of the actual machine of the system, so the servo system and Higher accuracy can be obtained compared to the accuracy of the performance parameters of a system with a feed/punch control system.

Furthermore, at the time of 7 degrees, it is possible to obtain accuracy (about 1%) that exceeds that of conventional analog computers (0, 1 ratio).

[Brief explanation of drawings]

The figure is a block diagram showing the configuration of an embodiment of the measurement test device of the present invention. 1...Surf system, 2...Target value setter, 3...
Saichi? Amplifier, 4... Servo motor, 5... Position detector, 6... Measurement test device, 7... Input/output data recording: j device, 8... Data comparison device, 13... Program wiring is - code, 14... Calculation element body, 15...
・Digital variable setting device, 17...Register, No. 8・
...Calculating device.

Claims (1)

[Claims] An input/output data recording device that records the input/output characteristics of the components of the actual machine of a system having a servo system or a feedback control system, and after recording the input/output characteristics, the component parts of the actual machine are separated and calculated using a digital differential calculation method. A calculation device that forms a mathematical model and operates with the parameters set by the digital setting means compares the output of the input/output data recording device with the output of the calculation device, and compares the set values by the digital setting means with the program. A measurement test device comprising: a data comparison device that outputs the mathematical model and parameters as performance parameters of the actual device when the two outputs coincide with each other due to a change.