Method, device, apparatus and medium for determining dynamic balance quality of servo motor

Abstract

The embodiment of the invention discloses a method, equipment and device for determining the dynamic balance quality of a servo motor and a medium. The method comprises the following steps: obtaining a rotor speed signal of the servo motor at a set speed; determining an amplitude of a first-order component of the rotor speed signal; comparing the amplitude with a standard amplitude corresponding to the set speed, the standard amplitude being determined based on a calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor comprising a standard rotor; and determining the dynamic balance quality of the servo motor based on the comparison result. And a special dynamic balance measuring instrument is not needed to determine the dynamic balance quality, so that the cost and the test time are reduced.

Description

Technical Field

[0001] This invention relates to the technical field of servo control technology, and more specifically, to a method, apparatus, device, and medium for determining the dynamic balance quality of a servo motor. Background Technology

[0002] A servo motor is an engine that controls the operation of mechanical components in a servo system. The rotor speed of a servo motor is controlled by an input signal and can respond quickly. Servo motors are used as actuators in automatic control systems and possess characteristics such as low electromechanical time constant and high linearity. They convert received electrical signals into angular displacement or angular velocity output on the motor shaft. Servo motors include DC servo motors and AC servo motors, and their main characteristics include: no self-rotation when the signal voltage is zero, and a speed that decreases uniformly with increasing torque.

[0003] Dynamic balance quality is an important characteristic of servo motor performance. It affects the vibration and noise of the motor body and has a significant impact on machining accuracy.

[0004] Currently, it is necessary to use specialized rotor dynamic balancing measuring instruments (e.g., rotor dynamic balancing machines) to detect the quality of dynamic balance of servo motors. Summary of the Invention

[0005] Embodiments of the present invention provide a method, apparatus, electronic device, and medium for determining the dynamic balance quality of a servo motor.

[0006] In a first aspect, a method for determining the dynamic balance quality of a servo motor is provided. The method includes:

[0007] Obtain the rotor speed signal of the servo motor at the set speed;

[0008] Determine the amplitude of the first-order component of the rotor speed signal;

[0009] The amplitude is compared with a standard amplitude corresponding to the set speed, wherein the standard amplitude is determined based on the calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor; and

[0010] The dynamic balance quality of the servo motor is determined based on the comparison results.

[0011] Therefore, embodiments of the present invention utilize signal processing technology to obtain the amplitude of the rotor speed of the motor when it operates at a set speed, and compare it with the standard amplitude of the set speed to determine the dynamic balance quality. This overcomes or reduces the dependence on rotor dynamic balance measuring instruments, thereby reducing costs and testing time.

[0012] Preferably, the rotor speed signal is acquired after the servo motor enters the steady state; determining the amplitude of the first-order component of the rotor speed signal includes:

[0013] Converting the rotor speed signal into a frequency-domain signal based on Fourier transform;

[0014] Determining the first-order component of the frequency-domain signal;

[0015] Determining the amplitude of the first-order component.

[0016] Therefore, the rotor speed signal acquired after the servo motor enters the steady state is converted into a frequency-domain signal using Fourier transform, and then the amplitude of the first-order component of the frequency-domain signal is determined, so as to quickly determine the amplitude.

[0017] Preferably, determining the amplitude of the first-order component of the rotor speed signal includes:

[0018] Performing order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal;

[0019] Determining the amplitude of the first-order component.

[0020] Therefore, there is no need to wait for the servo motor to enter the steady state. Through order analysis, the amplitude of the first-order component can be quickly obtained, and the defect of spectral line ambiguity can be avoided.

[0021] Preferably, determining the dynamic balance quality of the servo motor based on the comparison result includes at least one of the following:

[0022] When the amplitude is less than or equal to the standard amplitude, it is determined that the dynamic balance quality is qualified,

[0023] When the amplitude is greater than the standard amplitude, it is determined that the dynamic balance quality is unqualified.

[0024] Therefore, by comparing each amplitude, the dynamic balance quality can be quickly determined.

[0025] Preferably, the number of set speeds is N, the number of amplitudes is N, and N is a positive integer of at least 2;

[0026] Where determining the dynamic balance quality of the servo motor based on the comparison result includes at least one of the following:

[0027] When the N amplitudes are less than or equal to the corresponding N standard amplitudes, it is determined that the dynamic balance quality is qualified;

[0028] When at least one amplitude is greater than the corresponding at least one standard amplitude, it is determined that the dynamic balance quality is unqualified.

[0029] Therefore, by comparing multiple amplitudes, the accuracy of the dynamic balance quality is improved.

[0030] Preferably, it includes:

[0031] Determining the standard rotor based on dynamic balancing equipment;

[0032] Install the standard rotor in a standard servo motor of the same type as the servo motor;

[0033] Obtain the corresponding rotor speed signal of the standard servo motor at the corresponding set speed;

[0034] Determine the amplitude of the corresponding first-order component of the corresponding rotor speed signal;

[0035] The relationship curve between the set speed and the standard amplitude is calibrated based on the set speed and the corresponding amplitude.

[0036] Therefore, the relationship curve between the set speed and the standard amplitude is pre-calibrated to facilitate the subsequent provision of the standard amplitude.

[0037] In a second aspect, an apparatus for determining the dynamic balance quality of a servo motor is provided. The apparatus includes:

[0038] The module is configured to acquire the rotor speed signal of the servo motor at a set speed;

[0039] The first determining module is configured to determine the amplitude of the first-order component of the rotor speed signal;

[0040] A comparison module is configured to compare an amplitude with a standard amplitude corresponding to a set speed, wherein the standard amplitude is determined based on a calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor; and

[0041] The second determining module is configured to determine the dynamic balance quality of the servo motor based on the comparison results.

[0042] Therefore, embodiments of the present invention utilize signal processing technology to obtain the amplitude of the rotor speed of the motor when it operates at a set speed, and compare it with the standard amplitude of the set speed to determine the dynamic balance quality. This overcomes or reduces the dependence on rotor dynamic balance measuring instruments, thereby reducing costs and testing time.

[0043] Preferably, the rotor speed signal is acquired after the servo motor enters a steady state;

[0044] The first determining module is configured to convert the rotor speed signal into a frequency domain signal based on Fourier transform; determine the first-order component of the frequency domain signal; and determine the amplitude of the first-order component.

[0045] Therefore, the rotor speed signal obtained after the servo motor enters the steady state is converted into a frequency-domain signal using the Fourier transform, and then the amplitude of the first-order component of the frequency-domain signal is determined, thereby quickly determining the amplitude.

[0046] Preferably, the first determination module is configured to perform an order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal; and determine the amplitude of the first-order component.

[0047] Therefore, there is no need to wait for the servo motor to enter the steady state. Through order analysis, the amplitude of the first-order component can be quickly obtained, and the defect of spectral line ambiguity can be avoided.

[0048] Preferably, the second determination module is configured to perform at least one of the following:

[0049] When the amplitude is less than or equal to the standard amplitude, it is determined that the dynamic balance quality is qualified.

[0050] When the amplitude is greater than the standard amplitude, it is determined that the dynamic balance quality is unqualified.

[0051] Therefore, by comparing each amplitude, the dynamic balance quality can be quickly determined.

[0052] Preferably, the number of set speeds is N, the number of amplitudes is N, and N is a positive integer of at least 2;

[0053] The second determination module is configured to perform at least one of the following:

[0054] When the N amplitudes are less than or equal to the corresponding N standard amplitudes, it is determined that the dynamic balance quality is qualified;

[0055] When at least one amplitude is greater than the corresponding at least one standard amplitude, it is determined that the dynamic balance quality is unqualified.

[0056] Therefore, by comparing multiple amplitudes, the accuracy of the dynamic balance quality is improved.

[0057] Preferably, it includes:

[0058] A calibration module, which is configured to determine a standard rotor based on the dynamic balancing instrument; install the standard rotor in a standard servo motor of the same type as the servo motor; obtain the corresponding rotor speed signal of the standard servo motor at the corresponding set speed; determine the corresponding amplitude of the corresponding first-order component of the corresponding rotor speed signal; and calibrate the relationship curve between the set speed and the standard amplitude based on the set speed and the corresponding amplitude.

[0059] Therefore, the relationship curve between the set speed and the standard amplitude is pre-calibrated to facilitate the subsequent provision of the standard amplitude.

[0060] In a third aspect, an electronic device is provided. The electronic device includes a processor and a memory, wherein an application program executable by the processor is stored in the memory for causing the processor to execute any of the methods described above for determining the dynamic balance quality of a servo motor.

[0061] In a fourth aspect, a computer-readable medium is provided that includes computer-readable instructions stored thereon, wherein the computer-readable instructions, when executed by a processor, implement any of the methods described above for constructing a knowledge graph or for determining the dynamic balance quality of a servo motor.

[0062] In a fifth aspect, a computer program product is provided, which, when executed by a processor, performs the method described above for determining the dynamic balance quality of a servo motor. Attached Figure Description

[0063] To make the technical solutions of the embodiments of this disclosure clearer, only the accompanying drawings used to describe the embodiments will be included below. Obviously, the drawings described below are only some examples of this disclosure. Those skilled in the art can obtain other drawings based on these drawings without any inventive effort.

[0064] Figure 1 This is a flowchart of a method for determining the dynamic balance quality of a servo motor according to an embodiment of the present invention.

[0065] Figure 2 This is a schematic diagram of the calibration relationship curve between the set speed and the standard amplitude according to an embodiment of the present invention.

[0066] Figure 3 This is a first schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on a single point according to an embodiment of the present invention.

[0067] Figure 4 This is a second schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on a single point according to an embodiment of the present invention.

[0068] Figure 5 This is a schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on multiple points according to an embodiment of the present invention.

[0069] Figure 6 This is a structural diagram of a device for determining the dynamic balance quality of a servo motor according to an embodiment of the present invention.

[0070] Figure 7 This is a structural diagram of an electronic device according to an embodiment of the present invention.

[0071] List of reference numerals in the attached diagram:

[0072] Figure Labels meaning 101～104 step 10 Calibrated Relationship Curve A / B / C / D / E / F / G point 600 Equipment used to determine the dynamic balance quality of servo motors 601 Get Module 602 First Determination Module 603 Comparison module 604 Second determination module 605 Calibration module 700 Electronic devices 701 processor 702 memory Detailed Implementation

[0073] To make the objectives, technical solutions, and advantages of this invention clearer, the following examples are given to further explain this invention in detail.

[0074] For the sake of brevity and intuitiveness, the following description uses several representative embodiments to illustrate the solution of the present invention. Numerous details in the embodiments are only used to aid in understanding the solution of the present invention. However, it is obvious that the technical solution of the present invention may not be limited to these details. To avoid unnecessarily obscuring the solution of the present invention, some embodiments are not described in detail, but only a framework is given. In the following text, "comprising" means "comprising but not limited to," and "according to..." means "at least according to..., but not limited to only according to...". Due to Chinese language habits, unless the quantity of an element is specifically indicated below, it means that the element can be one or more, or can be understood as at least one.

[0075] Considering the cost limitations of using dedicated rotor dynamic balancing measuring instruments to detect the dynamic balance quality of servo motors, embodiments of the present invention utilize signal processing technology to obtain the amplitude of the rotor speed when the motor operates at a set speed, and compare it with the standard amplitude at the set speed to determine the dynamic balance quality, thereby overcoming or reducing the dependence on rotor dynamic balancing measuring instruments.

[0076] The applicant discovered that dynamic balancing generates additional torque with fluctuating cycles when a servo motor is running. This additional torque can be mapped to the rotor speed signal of the servo motor. For a specific type of motor, a standard dynamic balancing level can be defined to differentiate rotor speeds through amplitude curve fitting. If sufficient sample data exists, a mapping region reflecting the dynamic balancing level between rotor speed and standard amplitude can be established as a basis for determining the dynamic balancing of the same type of motor, without the need for testing in a rotor dynamic balancing machine, and changes in the dynamic balancing state can be directly detected during customer applications. Specifically:

[0077] When a rotor imbalance fault occurs, as the rotor rotates, the original load torque T of the motor during rotor rotation... L0 An additional periodic torque f(t) is introduced. The frequency of the additional torque f(t) is related to the rotor rotation frequency f. c The amplitude A is the same, and it is related to the rotor's unbalance quality m and eccentricity distance e. That is:

[0078]

[0079] Based on the known dynamic formulas of the motor drive system: Wherein: T e Indicates electromagnetic torque; T LJ represents the load torque; W represents the rotational inertia of the motor; m t represents the motor speed; g represents the acceleration due to gravity; t represents time.

[0080] Therefore, when the motor reaches steady state, if the load torque T L If it is a constant value, then the motor speed w m It is a constant value. However, if the load torque T L It is not a constant value, but a periodic fluctuation component. Therefore, the final steady state belongs to dynamic equilibrium, and there will be fluctuations of the relevant components.

[0081] therefore, Where: w m0 This indicates the set speed of the motor.

[0082] Based on the above derivation and analysis, embodiments of the present invention propose a method for determining the dynamic balance quality of a servo motor. Figure 1 This is a flowchart of a method for determining the dynamic balance quality of a servo motor according to an embodiment of the present invention.

[0083] like Figure 1 As shown, the method includes:

[0084] Step 101: Obtain the rotor speed signal of the servo motor at the set speed.

[0085] For example, the rotor speed signal at a set speed can be obtained from the encoder of the servo motor.

[0086] Step 102: Determine the amplitude of the first-order component of the rotor speed signal.

[0087] In one embodiment, the rotor speed signal is acquired after the servo motor enters a steady state. Step 102 includes: converting the rotor speed signal into a frequency domain signal based on Fourier transform; determining the first-order component of the frequency domain signal; and determining the amplitude of the first-order component. Here, Fourier transform is used to represent the rotor speed signal as a linear combination of trigonometric functions (sine and / or cosine functions) or their integrals.

[0088] Fourier transform can be used to convert the rotor speed signal obtained after the servo motor enters steady state into a frequency domain signal, and then determine the amplitude of the first-order component of the frequency domain signal, thereby enabling rapid determination of the amplitude.

[0089] Step 103: Compare the amplitude with a standard amplitude corresponding to the set speed, wherein the standard amplitude is determined based on the calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor.

[0090] Under steady-state conditions, spectral analysis of vibration signals can effectively reveal the frequency components of the signal throughout the entire process, but it cannot reflect the frequency variation over time. For the variable-speed operation of servo motors, especially at low speeds, long-term signal acquisition is required. If frequency domain analysis is still used for vibration signals acquired over long periods, it will lead to peak energy dispersion and spectral line blurring. Order analysis is an effective method for analyzing signals under variable-speed conditions. Under variable-speed conditions, order analysis can effectively compensate for the inadequacy of the spectrum under steady-state conditions. Order analysis involves resampling the original time-domain signal, thereby converting equal-time interval sampling into equal-angle interval sampling. Therefore, the key to order analysis is to achieve equal-angle sampling of the vibration signal, that is, adjusting the sampling rate accordingly based on the velocity change along the reference axis.

[0091] In one embodiment, step 102 includes: performing order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal; and determining the amplitude of the first-order component. Order analysis allows for the rapid acquisition of the amplitude of the first-order component without waiting for the servo motor to reach a steady state.

[0092] Step 104: Determine the dynamic balance quality of the servo motor based on the comparison results.

[0093] For example, calibration can be performed on a standard servo motor of the same type as the servo motor in step 101, the standard servo motor comprising a standard rotor. Based on the calibration results, a relationship curve between each set speed and its corresponding amplitude (i.e., standard amplitude) is determined. Then, by querying the relationship curve using the set speed as a search term, the standard amplitude corresponding to the queried set speed can be obtained.

[0094] In one embodiment, the calibration process includes: determining a standard rotor based on a dynamic balancing apparatus; installing the standard rotor in a standard servo motor of the same type as the servo motor; obtaining the corresponding rotor speed signal of the standard servo motor at a corresponding set speed; determining the corresponding amplitude of the corresponding first-order component of the corresponding rotor speed signal; and calibrating the relationship curve between the set speed and the standard amplitude based on the set speed and the corresponding amplitude.

[0095] For example, a dynamic balancing apparatus is used to determine whether the rotor meets the dynamic balance grade G2.5 standard. If it does, the rotor is determined to be a G2.5 standard rotor. The standard rotor is installed in a servo motor of the same type as the motor in step 101 to form a standard servo motor that meets the dynamic balance grade G2.5. Next, the rotor speed signals of the standard servo motor at multiple set speeds are obtained (e.g., rotor speed signals obtained from the encoder of the servo motor); the corresponding amplitude (i.e., standard amplitude) of the corresponding first-order component of the corresponding rotor speed signal is determined. Based on the multiple set speeds and the corresponding amplitudes, the relationship curve between the set speed and the amplitude is calibrated. For example, the corresponding rotor speed signal during the calibration process can be converted into a corresponding frequency domain signal based on Fourier transform. Then, the corresponding first-order component of the corresponding frequency domain signal is determined; the corresponding amplitude (i.e., standard amplitude) of the corresponding first-order component is determined. Alternatively, an order analysis is performed on the corresponding rotor speed signal during the calibration process to determine the corresponding first-order component of the corresponding rotor speed signal. The corresponding amplitude (i.e., standard amplitude) of the corresponding first-order component is then determined.

[0096] Step 104: Determine the dynamic balance quality of the servo motor based on the comparison results.

[0097] In one embodiment, step 104 includes:

[0098] (1): When the amplitude is less than or equal to the standard amplitude, the dynamic balance quality is deemed to be qualified.

[0099] For example, suppose the speed is set to 2400 RPM. When the amplitude of the first-order component of the rotor speed of the test servo motor containing the test rotor at 2400 RPM is less than the standard amplitude of the standard servo motor (of the same type as the test servo motor) conforming to G2.5 at 2400 RPM, the test rotor is considered to conform to the G2.5 standard.

[0100] (2): When the amplitude is greater than the standard amplitude, the dynamic balance quality is determined to be unqualified.

[0101] For example, suppose the speed is set to 3600 RPM. If the amplitude of the first-order component of the rotor speed of the servo motor under test containing the rotor under test at 3600 RPM is greater than the standard amplitude of a standard servo motor (of the same type as the servo motor under test) conforming to the G4.0 standard at 3600 RPM, the rotor under test is considered not to conform to the G4.0 standard.

[0102] In one embodiment, the number of speeds is N, the number of amplitudes is N, N is a positive integer of at least 2, and step 104 includes:

[0103] (1): When N amplitude values ​​are less than or equal to the corresponding N standard amplitude values, the dynamic balance quality is determined to be qualified.

[0104] For example, suppose the set speeds include 1800 RPM, 2400 RPM, and 3000 RPM, i.e., N equals 3. The rotor under test is considered to conform to the G2.5 standard when the following three conditions are met simultaneously.

[0105] Condition (1): The amplitude of the first-order component of the rotor speed of the servo motor under test containing the rotor under test at 1800 RPM is less than the standard amplitude of the standard servo motor (of the same type as the servo motor under test) conforming to G2.5 at 1800 RPM.

[0106] Condition (2): The amplitude of the first-order component of the rotor speed of the servo motor under test containing the rotor under test at 2400 RPM is less than the standard amplitude of the standard servo motor (of the same type as the servo motor under test) conforming to G2.5 at 2400 RPM;

[0107] Condition (3): The amplitude of the first-order component of the rotor speed of the servo motor under test containing the rotor under test at 3000 RPM is less than the standard amplitude of the standard servo motor (of the same type as the servo motor under test) conforming to G2.5 at 3000 RPM.

[0108] (2): When at least one amplitude is greater than the corresponding at least one standard amplitude, the dynamic balance quality is determined to be unqualified.

[0109] For example, if at least one of the above three conditions is not met, the rotor under test is determined not to meet the G2.5 standard.

[0110] Figure 2 This is a schematic diagram of the calibration relationship curve between the set speed and the standard amplitude according to an embodiment of the present invention.

[0111] exist Figure 2 In this diagram, the horizontal axis represents the set speed (e.g., in RPM), and the vertical axis represents the standard amplitude of the first-order component of the rotor speed signal of a servo motor of the same type (i.e., a standard servo motor) with a standard rotor at the set speed. The rotor speed signals at each set speed can be obtained from the encoder of the standard servo motor. Then, a Fourier transform or order analysis is performed on the corresponding rotor speed signal to obtain the corresponding amplitude of the corresponding first-order component of the corresponding rotor speed signal.

[0112] For example, a standard rotor can be a standard rotor at various dynamic balance grades. A dynamic balance grade indicates the required dynamic balance accuracy of the rotor, and the common ratio between accuracy grades is typically 2.5. Dynamic balance grades can include the following: G4000, G1600, G630, G250, G100, G40, G16, G6.3, G4.0, G2.5, G1, and G0.4. The smaller the number in the balance accuracy grade, the higher the balance accuracy and the smaller the residual imbalance. For each dynamic balance grade, a corresponding relationship curve can be calibrated individually.

[0113] Figure 2 Curve 10 in the diagram is the calibration curve for a standard servo motor with G2.5, containing the correspondence between multiple standard amplitudes and multiple set speeds. For example, when the motor speed is set to 1800 RPM, the corresponding standard amplitude is 0.0603; when the motor speed is set to 2400 RPM, the corresponding standard amplitude is 0.1062. The more rotational speeds set, the higher the accuracy of the relationship curve between the set speed and the standard amplitude. When the number of speed settings is small, various types of interpolation algorithms can be used to calculate the relationship curve.

[0114] Based on relation curve 10, it is possible to verify the rotor dynamic balance quality of motors of the same type.

[0115] Figure 3 This is a first schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on a single point according to an embodiment of the present invention.

[0116] exist Figure 3 In this process, the speed signal of the rotor under test at a set speed (e.g., 2400 RPM) is obtained from the encoder of the servo motor under test containing the rotor. Based on Fourier transform or order analysis, the amplitude of the first-order component of the speed signal of the rotor under test is determined to be 0.07, which corresponds to... Figure 3 Point A in the middle. According to Figure 2 In curve 10, when the speed is set to 2400 RPM, the standard amplitude of the motor containing the G2.5 rotor is 0.1062. Since the amplitude of the first-order component of the rotor speed signal of the servo motor under test (0.07) is less than the standard amplitude (0.1062), it is determined that the dynamic balance quality of the rotor under test meets the requirements of G2.5.

[0117] Figure 4 This is a second schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on a single point according to an embodiment of the present invention.

[0118] exist Figure 4In this process, the speed signal of the rotor under test at a set speed (e.g., 2400 RPM) is obtained from the encoder of the servo motor under test, which contains the rotor. Based on Fourier transform or order analysis, the amplitude of the first-order component of the speed signal is determined to be 0.17, which corresponds to... Figure 4 Point B in the middle. According to Figure 2 In curve 10, when the set speed is 2400 RPM, the standard amplitude of the motor containing the G2.5 rotor is 0.1062. Since the amplitude of the first-order component of the speed signal of the rotor under test (0.17) is greater than the standard amplitude (0.1062), it is determined that the dynamic balance quality of the rotor under test does not meet the requirements of G2.5.

[0119] Figure 5 This is a schematic diagram illustrating the determination of the dynamic balance quality of a servo motor based on multiple points according to an embodiment of the present invention.

[0120] exist Figure 5 In this process, rotor speed signals at five set speeds (1800 RPM, 2400 RPM, 3000 RPM, 3600 RPM, and 4200 RPM) are obtained from the encoder of the servo motor containing the rotor under test. Based on Fourier transform or order analysis, the amplitudes of the first-order components of these five rotor speed signals are determined, i.e., the amplitudes of the first-order components are determined. Figure 5 Points C to G are shown in the diagram. Points D to G are all below relation curve 10, while point C is above relation curve 10. Therefore, it is determined that the dynamic balance quality of the rotor under test does not meet the requirements of G2.5.

[0121] Based on the above description, embodiments of the present invention also propose a device for determining the dynamic balance quality of a servo motor. Figure 6 This is a structural diagram of a device for determining the dynamic balance quality of a servo motor according to an embodiment of the present invention.

[0122] like Figure 6 As shown, a device 600 for determining the dynamic balance quality of a servo motor includes:

[0123] The system comprises: a receiving module 601 configured to receive a rotor speed signal of a servo motor at a set speed; a first determining module 602 configured to determine the amplitude of the first-order component of the rotor speed signal; a comparison module 603 configured to compare the amplitude with a standard amplitude corresponding to the set speed, wherein the standard amplitude is determined based on a calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor; and a second determining module 604 configured to determine the dynamic balance quality of the servo motor based on the comparison result.

[0124] In one embodiment, the rotor speed signal is acquired after the servo motor enters a steady state; wherein the first determining module 602 is configured to convert the rotor speed signal into a frequency domain signal based on Fourier transform; determine the first-order component of the frequency domain signal; and determine the amplitude of the first-order component.

[0125] In one embodiment, the first determining module 602 is configured to perform order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal; and to determine the amplitude of the first-order component.

[0126] In one embodiment, the second determining module 604 is configured to perform at least one of the following: determining that the dynamic balance quality is qualified when the amplitude is less than or equal to the standard amplitude, and determining that the dynamic balance quality is unqualified when the amplitude is greater than the standard amplitude.

[0127] In one embodiment, the number of speeds is N, the number of amplitudes is N, and N is a positive integer of at least 2; wherein the second determining module 604 is configured to perform at least one of the following: determining that the dynamic balance quality is qualified when N amplitudes are less than or equal to the corresponding N standard amplitudes; and determining that the dynamic balance quality is unqualified when at least one amplitude is greater than the corresponding at least one standard amplitude.

[0128] In one embodiment, a calibration module 605 is included, which is configured to determine a standard rotor based on a dynamic balancing apparatus; install the standard rotor in a standard servo motor of the same type as the servo motor; obtain a corresponding rotor speed signal of the standard servo motor at a corresponding set speed; determine the corresponding amplitude of the corresponding first-order component of the corresponding rotor speed signal; and calibrate the relationship curve between the set speed and the standard amplitude based on the set speed and the corresponding amplitude.

[0129] In summary, embodiments of the present invention can determine dynamic balance quality without the need for dynamic balancing measuring instruments, and are particularly suitable for small-shaft high-speed servo motors, which can significantly save costs and time. Furthermore, for customer applications: if a first-order speed value exists in the initial state, the dynamic balance state of the entire system can be monitored when a load is present; when no load is present, the dynamic balance state of the motor can be determined.

[0130] This invention also provides an electronic device having a processor-memory architecture. Figure 7 This is a structural diagram of an electronic device according to an embodiment of the present invention.

[0131] like Figure 7As shown, the electronic device 700 includes a processor 701, a memory 702, and a computer program stored in the memory 702 and executable on the processor 701. When the computer program is executed by the processor 701, any of the aforementioned methods for determining the dynamic balance quality of the servo motor are implemented. The memory 702 can be specifically implemented as various storage media, such as electrically erasable programmable read-only memory (EEPROM), flash memory, and programmable programmable read-only memory (PROM). The processor 701 can be implemented as including one or more central processing units (CPUs) or one or more field-programmable gate arrays (FPGAs), wherein the FPGAs integrate one or more CPU cores. Specifically, the CPU or CPU core can be implemented as a CPU, MCU, or DSP, etc.

[0132] It should be noted that not all steps and modules in the above process and structure diagrams are mandatory, and some steps or modules can be omitted as needed. The execution logic of each step is not fixed but can be adjusted as required. The division of each module is merely for the purpose of illustrating the functional division method adopted. In actual implementation schemes, a module can be implemented by multiple modules, and the functions of multiple modules can also be implemented by the same module. These modules can be located in the same device or in different devices.

[0133] The hardware modules in various embodiments can be implemented mechanically or electronically. For example, a hardware module may include specially designed permanent circuitry or logic devices (e.g., dedicated processors such as FPGAs or ASICs) for performing specific operations. A hardware module may also include programmable logic devices or circuitry temporarily configured by software (e.g., including general-purpose processors or other programmable processors) for performing operations. Whether to use specific mechanical methods, dedicated permanent circuitry, or temporarily configured circuitry (e.g., configured by software) to implement the hardware module can be determined based on cost and time considerations.

[0134] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for determining the dynamic balance quality of a servo motor, the method comprising: Obtain the rotor speed signal of the (101) servo motor at the set speed; Determine the amplitude of the first-order component of the rotor speed signal (102); The amplitude is compared with a standard amplitude corresponding to the set speed (103), wherein the standard amplitude is determined based on a calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor; as well as The dynamic balance quality of the servo motor (104) is determined based on the comparison results.

2. The method according to claim 1, wherein the rotor speed signal is acquired after the servo motor enters a steady state; The amplitude of the first-order component of the rotor speed signal (102) is determined by: The rotor speed signal is converted into a frequency domain signal based on Fourier transform; Determine the first-order component of the frequency domain signal; Determine the amplitude of the first-order component.

3. The method according to claim 1, wherein determining the amplitude of the first-order component of the rotor speed signal (102) comprises: Perform order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal; Determine the amplitude of the first-order component.

4. The method according to any one of claims 1 to 3, wherein determining the dynamic balance quality of the servo motor (104) based on the comparison results includes at least one of the following: When the amplitude is less than or equal to the standard amplitude, the dynamic balance quality is determined to be qualified. When the amplitude is greater than the standard amplitude, the dynamic balance quality is determined to be unqualified.

5. The method according to any one of claims 1 to 3, wherein the number of set speeds is N, the number of amplitudes is N, and N is a positive integer of at least 2; The dynamic balance quality of the servo motor (104) determined based on the comparison results includes at least one of the following: When N amplitude values ​​are less than or equal to the corresponding N standard amplitude values, the dynamic balance quality is determined to be qualified. When at least one amplitude is greater than at least one corresponding standard amplitude, the dynamic balance quality is determined to be unqualified.

6. The method according to any one of claims 1 to 3, comprising: The standard rotor is determined based on dynamic balancing equipment; The standard rotor is installed in a standard servo motor of the same type as the servo motor; Obtain the corresponding rotor speed signal of the standard servo motor at the corresponding set speed; Determine the amplitude of the corresponding first-order component of the corresponding rotor speed signal; The relationship curve between the set speed and the standard amplitude is calibrated based on the set speed and the corresponding amplitude.

7. An apparatus for determining the dynamic balance quality of a servo motor, the apparatus comprising: The module (601) is configured to acquire the rotor speed signal of the servo motor at a set speed; A first determining module (602) is configured to determine the amplitude of the first-order component of the rotor speed signal; A comparison module (603) is configured to compare the amplitude with a standard amplitude corresponding to the set speed, wherein the standard amplitude is determined based on a calibration process of a standard servo motor of the same type as the servo motor, and the standard servo motor includes a standard rotor; and The second determining module (604) is configured to determine the dynamic balance quality of the servo motor based on the comparison results.

8. The device according to claim 7, wherein the rotor speed signal is acquired after the servo motor enters a steady state; The first determining module (602) is configured to convert the rotor speed signal into a frequency domain signal based on Fourier transform; determine the first-order component of the frequency domain signal; and determine the amplitude of the first-order component.

9. The device according to claim 7, wherein the first determining module (602) is configured to perform order analysis on the rotor speed signal to determine the first-order component of the rotor speed signal; and to determine the amplitude of the first-order component.

10. The device according to any one of claims 7 to 9, wherein the second determining module (604) is configured to perform at least one of the following: When the amplitude is less than or equal to the standard amplitude, the dynamic balance quality is determined to be qualified. When the amplitude is greater than the standard amplitude, the dynamic balance quality is determined to be unqualified.

11. The device according to any one of claims 7 to 9, wherein the number of set speeds is N, the number of amplitudes is N, and N is a positive integer of at least 2; The second determining module (604) is configured to perform at least one of the following: When N amplitude values ​​are less than or equal to the corresponding N standard amplitude values, the dynamic balance quality is determined to be qualified. When at least one amplitude is greater than at least one corresponding standard amplitude, the dynamic balance quality is determined to be unqualified.

12. The device according to any one of claims 7 to 9, comprising: A calibration module (605) is configured to determine the standard rotor based on a dynamic balancing apparatus; The standard rotor is installed in a standard servo motor of the same type as the servo motor; the corresponding rotor speed signal of the standard servo motor at a corresponding set speed is obtained; the corresponding amplitude of the corresponding first-order component of the corresponding rotor speed signal is determined; and the relationship curve between the set speed and the standard amplitude is calibrated based on the set speed and the corresponding amplitude.

13. An electronic device comprising a processor (701) and a memory (702), wherein an application program executable by the processor (701) is stored in the memory (702) for causing the processor (701) to perform a method for determining the dynamic balance quality of a servo motor according to any one of claims 1 to 6.

14. A computer-readable medium including computer-readable instructions stored thereon, wherein the computer-readable instructions are used to perform a method for determining the dynamic balance quality of a servo motor according to any one of claims 1 to 6.

15. A computer program product comprising a computer program, said computer program, when executed by a processor, for performing a method for determining the dynamic balance quality of a servo motor according to any one of claims 1 to 6.

Images