Semi-physical simulation test method, device and system

Abstract

The invention provides a semi-physical simulation test method, device and system, and relates to the technical field of data simulation. The semi-physical simulation test method comprises the steps ofreceiving a test item selected by a user, wherein the test item is associated with a test item identifier; calling a test program in a test tool kit corresponding to the test item identifier, and generating and sending a test instruction to the corresponding controller, so that the controller sends an execution instruction to the data acquisition equipment; calling motion parameters sent by the data acquisition equipment from a server according to the test item identifier, wherein the data acquisition equipment comprises a lower computer loaded with a real-time simulation model; calling an evaluation program in a test tool kit corresponding to the test project identifier, analyzing and calculating the motion parameters, and acquiring a test result. According to the technical scheme provided by the embodiment of the invention, various functions can be tested on the same semi-physical simulation test platform. The expandability is high, the test operation is simple, and the use is convenient.

Description

technical field [0001] The invention relates to the technical field of data simulation, in particular to a semi-physical simulation test method, device and system. Background technique [0002] The test of the robot controller mainly includes the test of the controller core software (common black box and white box tests such as function, performance, code quality, etc.) and the test of the external interface (EtherCAT, RS232, GPIO, etc.). The robot controller is tested under real working conditions, and it is necessary to test its various functions and performance indicators in actual operation. [0003] The semi-physical simulation platform is a test platform that connects the controller (real object) and the controlled object (simulation model) together for testing. In the experiment based on hardware-in-the-loop simulation, the dynamic characteristics, static characteristics and nonlinear factors of the controller can be truly reflected, so it is a simulation experiment ...

AI Technical Summary

Problems solved by technology

[0004] At present, the hardware-in-the-loop simulation test platform that appears in the scientific research field or on the market can only test one function of the controller when testing. When other functions of the controller need to be tested, hardware replacement or software modification is required. Re-development, complicated test operation process

[0005] Therefore, the existing hardware-in-the-loop simulation test platform has a single test function, poor scalability, and complicated test operations, which has caused a lot of inconvenience to users.

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