A Modeling and Scheduling Method for Single-station Test of Industrial Robot Servo System Performance
A technology of industrial robots and servo systems, applied in the field of servo systems, can solve problems such as inapplicability of solving algorithms, achieve the effects of improving test efficiency, shortening test time, and reducing test energy consumption
Active Publication Date: 2021-03-26
SOUTH CHINA UNIV OF TECH
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Problems solved by technology
The scheduling model proposed in this article is suitable for multi-machine and multi-process job scheduling, but the industrial robot servo system test process belongs to single-station multi-task scheduling, and the establishment of the scheduling model is obviously different from the method described in this paper. A Scheduling Model Applicable to Solving Test Tasks of Industrial Robot Servo System
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[0021] This embodiment provides a single-station test modeling scheduling method for the performance of an industrial robot servo system, wherein the industrial robot servo system includes two parts: a servo driver and a servo motor. Single-station test refers to the test of an industrial robot servo system on an industrial robot servo system test platform. The modeling scheduling method refers to designing certain modeling rules according to the test steps and test requirements stipulated in the relevant standards of the industrial robot servo system performance test items, establishing a test process scheduling model based on the items to be tested, and applying the optimization algorithm , solve the scheduling model, obtain the test process description of the project to be tested in the shortest time, and guide the test execution.
[0022] In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further d...
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The invention discloses an industrial robot servo system performance single-station test modeling scheduling method, which comprises the following steps of according to the test steps and test requirements stipulated by the test items, sorting the test sequences of the test items, wherein the test sequences comprising the state factors and the directed line segments; selecting an industrial robotservo system performance test item needing to be tested; establishing a corresponding test sequence set according to the test sequences of the selected test items, and constructing a test matrix whichis based on the state factors and takes the state factor change time as the elements according to the designed merging and splitting rules; using a random key cuckoo algorithm to perform shortest time test sequence solution on the test matrix; and executing a corresponding test operation on the to-be-tested project of the industrial robot servo system according to the solved shortest time test sequence. According to the present invention, by carrying out the modeling scheduling on the multiple performance testing items of an industrial robot servo system under a single station, the schedulingoptimization of multiple testing tasks is achieved, and the automation, high efficiency and intelligentization of the industrial robot servo system performance testing are achieved.
Description
technical field [0001] The invention belongs to the technical field of performance testing of servo systems including servo drives and servo motors, and in particular relates to a single-station test modeling scheduling method for the performance of industrial robot servo systems. Background technique [0002] The industrial robot servo system is the core component that determines the motion speed, positioning accuracy, carrying capacity, and operating performance of the industrial robot. The quality of its control performance and driving performance directly determines the performance of the industrial robot. Therefore, effective, objective and professional testing of the performance of the servo system is an important link in the development process of the high-performance industrial robot servo system. There are many technical indicators of the industrial robot servo system, and there are correspondingly many performance indicators to be tested. According to the servo dr...
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IPC IPC(8): G06F11/36G06N3/00
CPCG06F11/3684G06F11/3688G06N3/006
Inventor 刘桂雄汤少敏林志宇
Owner SOUTH CHINA UNIV OF TECH