A load-bearing integrated testing system for integrated joint modules

Abstract

This application relates to the field of joint module testing technology, and more particularly to a load-bearing integrated testing system for integrated joint modules. The main body consists of a temperature chamber and a main control system. The temperature chamber integrates a test circuit and a sensor array. The test circuit is connected to the electrical interface of the joint module under test. The sensor array includes a temperature sensor and a torque sensor. The main control system is configured to execute an automatic scheduling program and a sensor compensation program, matching the test task according to a temperature cycle stage matching rule base, and controlling the test circuit according to the test task. During the temperature environment simulation task and the test task, when the temperature cycle stage is in the cooling phase, the temperature sensor readings are dynamically compensated first; when the test task includes applying a load to the joint module, the torque sensor readings are dynamically compensated secondly. This achieves parallelization and dynamic scheduling of the testing process, while solving the problem of weak dynamic interference suppression capability in existing technologies.

Description

Technical Field

[0001] This application relates to the field of joint module testing technology, and in particular to a load-bearing integrated testing system for integrated joint modules. Background Technology

[0002] Integrated joint modules are widely used in robotics, aerospace, and other fields due to their high precision and high torque density. As the core execution unit of a robot system, the performance reliability of integrated joint modules needs to be verified through rigorous environmental adaptability testing. Environmental adaptability testing requires examining whether the torque of the integrated joint module deviates from control parameters throughout its entire working life. The working life of integrated joint modules can typically reach tens of thousands of hours, so environmental adaptability testing often involves altering environmental parameters such as temperature and humidity to accelerate the experimental process and shorten the overall testing cycle.

[0003] Currently, the industry commonly employs a separate testing method, which involves first simulating high and low temperature environments using a temperature chamber, and then moving the module to a dedicated platform for functional and load testing. This separate operation process is not only inefficient but also fails to reproduce the complex scenarios in which the module withstands the combined effects of temperature stress and mechanical loads under real-world operating conditions. Specifically, the temperature of the tested object changes rapidly after being removed from the temperature chamber environment, causing the test results to fail to accurately reflect its actual performance in a constant or dynamic temperature field. Furthermore, the separate operation requires frequent opening and closing of the temperature chamber, resulting in energy waste and making it difficult to achieve simultaneous monitoring of multiple parameters (such as temperature, vibration, and electrical performance), significantly extending the testing cycle.

[0004] If the load testing system is placed directly inside the temperature chamber, although the environment and load can be applied synchronously, the mechanical vibration generated by the start and stop of the temperature chamber compressor and the electromagnetic interference introduced by sudden load changes during the test will seriously affect the accuracy of sensor readings, resulting in temperature monitoring distortion and torque feedback fluctuations. Ultimately, this reduces the reliability of the test data and makes it impossible to effectively support the accurate evaluation of the joint module performance. Summary of the Invention

[0005] To address the technical problems existing in the prior art, this application provides a load-bearing comprehensive testing system for an integrated joint module. The main body of the system consists of a temperature chamber and a main control system. Inside the temperature chamber, a test circuit and a sensor array are integrated, and the test circuit and the sensor array are connected to the main control system.

[0006] The test circuit is connected to the electrical interface of the joint module under test and is used to perform temperature environment simulation tasks and test the joint module according to the instructions of the main control system.

[0007] The sensor array includes a temperature sensor and a torque sensor. The temperature sensor feeds back the internal temperature data of the temperature chamber to the main control system, and the torque sensor feeds back the working status data of the joint module to the main control system.

[0008] The main control system is configured to execute an automatic scheduling program and a sensor compensation program. The automatic scheduling program includes: determining the temperature cycle stage of the temperature environment simulation task based on the internal temperature data, matching the test task with a preset rule base based on the temperature cycle stage, and controlling the test circuit according to the test task.

[0009] The sensor compensation procedure includes: during the temperature environment simulation task and the test task, when the temperature cycle stage is in the cooling stage, performing a first dynamic compensation on the reading of the temperature sensor to suppress errors introduced by compressor vibration and electromagnetic interference; when the test task includes applying a load to the joint module, performing a second dynamic compensation on the reading of the torque sensor to suppress vibration and electromagnetic interference errors introduced by load changes.

[0010] Specifically, when the main control system matches the test task according to the preset rule base based on the temperature cycling stage, it includes:

[0011] When the heating phase is detected, a low-power communication protocol test task for the joint module is scheduled and executed.

[0012] When the cooling phase is detected, a high-precision electrical parameter scanning test task for the joint module is scheduled and initiated.

[0013] Specifically, the sensor compensation program, when performing the first dynamic compensation on the temperature sensor reading, includes:

[0014] At N known temperature points, measure the original output values ​​of the temperature sensor corresponding to N known physical quantities, where N is a set constant;

[0015] The collected data curves are fitted using the least squares method to calculate the coefficients required for the compensation algorithm, including the sensitivity temperature coefficient α and the zero-point temperature coefficient β.

[0016] Read the temperature value T and the raw reading T_raw of the temperature sensor when the system is working, and use the coefficients obtained by fitting to calculate the accurate value T_compensated after compensation in real time through the compensation algorithm;

[0017] The compensation algorithm includes a linear compensation algorithm and a nonlinear compensation algorithm. These two algorithms are used to obtain the first accurate value T_1 and the second accurate value T_2 after compensation, respectively. The linear compensation algorithm is used when the temperature sensor is a linear temperature sensor, and the formula for the linear compensation algorithm is:

[0018] T_1 = T_raw / (1 + α · (T - T_ref)) + β · (T - T_ref),

[0019] Where T_ref is the reference temperature;

[0020] The nonlinear compensation algorithm is used when the temperature sensor is a nonlinear temperature sensor. The formula for the nonlinear compensation algorithm is:

[0021] 1 / T_2 = A + B · ln(R) + C · (ln(R))^3 ,

[0022] Where T_2 is the absolute temperature value, R is the resistance value of the thermistor at temperature T, and A, B, and C are the characteristic parameters of the thermistor. The second accurate value T_2, after compensation and in degrees Celsius, is obtained through the conversion relationship between absolute temperature and degrees Celsius.

[0023] Specifically, the sensor compensation program, when performing a second dynamic compensation on the readings of the torque sensor, includes:

[0024] External vibrations transmitted to the torque sensor are suppressed by a mechanical isolation structure, and external electromagnetic interference is isolated by electromagnetic shielding.

[0025] At N known temperature points, N known torque values ​​are applied to the joint module, and the original torque values ​​of the torque sensor are collected, where N is a set constant.

[0026] Based on the known torque value and the original torque value, a polynomial compensation coefficient Ci is obtained by fitting the data. The number of coefficients Ci is determined by the fitting effect.

[0027] Read the compensated temperature value T_j (j is 1 or 2) when the system is working, and the original reading M_raw of the torque sensor. Use polynomial compensation coefficients and polynomial compensation algorithm to obtain the compensated accurate value M_compensated.

[0028] The formula for the polynomial compensation algorithm is as follows:

[0029] M_compensated = C0 + C1 · M_raw + C2 · T_j + C3 · M_raw · T_j +C4 · M_raw² + C5 · T_j² + C6 · M_raw² · T_j²+….

[0030] Specifically, the main control system is also configured to execute a closed-loop feedback control program, which includes adjusting the heating and cooling rates of the chamber based on internal temperature data and operating status data obtained from the test circuit and sensor array.

[0031] Specifically, the main control system is also configured to execute a multimodal temperature control program, which includes switching the temperature control mode of the main control system for the temperature chamber according to the thermal capacity characteristics of the joint module.

[0032] Specifically, the multimodal temperature control program also includes:

[0033] Based on the internal temperature data fed back by the sensor array, the power of the heating unit and the cooling unit is adjusted. The internal temperature data is fed back to the main control system by at least two temperature sensors evenly distributed inside the temperature chamber.

[0034] Specifically, the inner wall of the temperature chamber is a detachable layered heat insulation board structure, and the volume of the temperature chamber formed by the layered heat insulation board is determined by the size of the joint module to be tested.

[0035] Specifically, the test circuit is a multi-channel programmable circuit, which includes at least a multi-signal generator, a data acquisition card, and a power management unit.

[0036] Specifically, the sensor array also includes a vibration sensor and a humidity sensor. The sensor array communicates with the main control system via a high-speed bus, which is either a PCIe bus or a gigabit Ethernet bus.

[0037] This application has the following technical effects:

[0038] By integrating the temperature chamber environment simulation and multi-dimensional testing functions, the shortcomings of traditional separate testing architecture, such as low efficiency and insufficient collaboration, are effectively overcome. This enables the parallelization and dynamic scheduling of the testing process, significantly shortens the testing cycle, and improves resource utilization.

[0039] Meanwhile, through its built-in automatic scheduling and sensor dynamic compensation mechanism, the system can actively suppress interference introduced by compressor vibration and load changes during temperature cycling and load testing, solving the problem of decreased test accuracy caused by the weak dynamic interference suppression capability of existing technologies, and ensuring the accuracy and consistency of data acquisition under high and low temperature environments. Attached Figure Description

[0040] The above and other objects, features, and advantages of exemplary embodiments of this application will become readily understood by reading the following detailed description with reference to the accompanying drawings. Several embodiments of this application are illustrated in the drawings by way of example and not limitation, and the same or corresponding reference numerals denote the same or corresponding parts.

[0041] Figure 1 This is a schematic diagram of a load-bearing integrated testing system for an integrated joint module according to an embodiment of this application;

[0042] Figure 2 This is a flowchart of the steps in the sensor compensation procedure of this application embodiment to perform the first dynamic compensation on the reading of the temperature sensor.

[0043] Figure 3 This is a flowchart of the steps in the sensor compensation procedure of this application embodiment to perform second dynamic compensation on the readings of the torque sensor;

[0044] The attached diagram shows the following labels: 1. Incubator; 2. Main control system. Detailed Implementation

[0045] The technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings.

[0046] In the field of R&D and quality verification of core robot components, the testing of integrated joint modules is a crucial step. Currently, the industry generally faces the following contradiction when testing such modules: On the one hand, traditional separate testing methods, which involve placing the joint module in a temperature chamber to simulate the desired temperature before transferring it to an independent performance testing platform for load-bearing functional verification, while simple in equipment configuration, are fragmented and time-consuming. On the other hand, simply placing the load-bearing testing platform inside the temperature chamber results in strong mechanical vibrations from the compressor and fan during rapid temperature increases and decreases. This vibration is transmitted through the chamber structure to the internal torque sensor, introducing significant noise. Simultaneously, the motors of the compressor and the internal circulating fan are strong sources of electromagnetic interference. Meanwhile, the joint module itself, when operating under load, generates high-frequency current surges and electromagnetic radiation in its motor drive circuit, and the sudden application or release of mechanical load triggers new vibrations. These mechanical vibrations and electromagnetic interferences superimposed within the sealed temperature chamber caused drastic fluctuations or even distortions in the readings of the highly sensitive temperature and torque sensors. Consequently, the testing system was unable to accurately capture the module's true performance parameters under specific temperatures and loads, resulting in lower accuracy and reliability of the test results compared to traditional discrete testing.

[0047] To address the aforementioned problems, this invention provides a load-bearing integrated testing system for integrated joint modules, such as... Figure 1 As shown, the main body of the system consists of a temperature chamber and a main control system. Inside the temperature chamber, there are integrated test circuits and sensor arrays, which are connected to the main control system.

[0048] The test circuit is connected to the electrical interface of the joint module under test and is used to perform temperature environment simulation tasks and test the joint module according to the instructions of the main control system.

[0049] The sensor array includes a temperature sensor and a torque sensor. The temperature sensor feeds back the internal temperature data of the chamber to the main control system, while the torque sensor feeds back the operating status data of the joint module to the main control system. In a preferred embodiment of this invention, the "operating status data" refers to the torque readings collected by the torque sensor. Alternatively, it may include data obtained through other sensors or algorithms that characterize the operating state of the joint module, such as torque, rotational speed, and power.

[0050] The main control system is configured to execute an automatic scheduling program and a sensor compensation program. The automatic scheduling program includes: determining the temperature cycle stage of the temperature environment simulation task based on internal temperature data, matching the test task with a preset rule base according to the temperature cycle stage, and controlling the test circuit according to the test task.

[0051] The sensor compensation procedure includes: during temperature environment simulation and testing tasks, when the temperature cycling phase is in the cooling phase, performing a first dynamic compensation on the temperature sensor readings to suppress errors introduced by compressor vibration and electromagnetic interference; when the testing task includes applying a load to the joint module, performing a second dynamic compensation on the torque sensor readings to suppress vibration and electromagnetic interference errors introduced by load changes.

[0052] In this embodiment, when the main control system matches a preset rule base to match a test task according to the temperature cycling stage, it includes:

[0053] When the heating phase is detected, a low-power communication protocol test task for the joint module is scheduled and executed.

[0054] When the cooling phase is detected, a high-precision electrical parameter scanning test task for the joint module is scheduled and initiated.

[0055] The sensor compensation program is the core technical means for this system to combat interference and ensure data accuracy. When performing the first dynamic compensation on the temperature sensor readings, the sensor compensation program follows the following... Figure 2 The steps shown are to be performed, including:

[0056] At N known temperature points, measure the original output values ​​of the temperature sensor corresponding to N known physical quantities, where N is a set constant;

[0057] The collected data curves are fitted using the least squares method to calculate the coefficients required for the compensation algorithm, including the sensitivity temperature coefficient α and the zero-point temperature coefficient β.

[0058] The system reads the operating temperature value T and the raw reading T_raw of the temperature sensor. Using the fitted coefficients, a compensation algorithm is used to calculate the accurate compensated value in real time. During the calculation, different compensation algorithms are first selected based on the temperature characteristics of the temperature sensor. Temperature sensors can be classified into linear temperature sensors (such as the LM35 integrated temperature sensor) and nonlinear temperature sensors (such as the NCT thermistor sensor) according to the mapping relationship between output voltage and temperature. The compensation algorithms specified by the manufacturers of these temperature sensors are based on physical principles and are only applicable to general situations. This application, however, re-compensates the measurement results of these temperature sensors based on numerical patterns obtained from historical data and experiments. Linear compensation algorithms are used for linear sensors, and nonlinear compensation algorithms are used for nonlinear compensation sensors.

[0059] The compensation algorithm includes linear compensation and nonlinear compensation. These two algorithms can be used to obtain the first accurate value T_1 and the second accurate value T_2 after compensation, respectively. The formula for the linear compensation algorithm is:

[0060] T_1 = T_raw / (1 + α · (T - T_ref)) + β · (T - T_ref),

[0061] Where T_ref is the reference temperature;

[0062] When the temperature sensor is a nonlinear temperature sensor (such as an NCT thermistor sensor), the formula for the nonlinear compensation algorithm is as follows:

[0063] 1 / T_2 = A + B · ln(R) + C · (ln(R))^3 ,

[0064] Where T_2 is the absolute temperature value (in Kelvin), R is the resistance value of the thermistor at temperature T, and A, B, and C are the characteristic parameters of the thermistor. The second accurate value T_2, in degrees Celsius after compensation, is obtained through the conversion relationship between absolute temperature and degrees Celsius. Specifically, the conversion relationship between absolute temperature and degrees Celsius is: absolute temperature = degrees Celsius + 273.15.

[0065] When the sensor compensation program performs a second dynamic compensation on the torque sensor readings, such as... Figure 3 As shown, the steps include:

[0066] External vibrations transmitted to the torque sensor are suppressed by mechanical isolation structures, and external electromagnetic interference is isolated by electromagnetic shielding.

[0067] At N known temperature points, N known torque values ​​are applied to the joint module, and the raw torque values ​​of the torque sensor are collected, where N is a set constant.

[0068] The polynomial compensation coefficient Ci is obtained by fitting the known torque value and the original torque value. The number of coefficients Ci is determined by the fitting effect.

[0069] Read the compensated temperature value T_j (j is 1 or 2) when the system is working, and the original reading M_raw of the torque sensor. Use polynomial compensation coefficients and polynomial compensation algorithm to obtain the compensated accurate value M_compensated.

[0070] The formula for the polynomial compensation algorithm is as follows:

[0071] M_compensated = C0 + C1 · M_raw + C2 · T_j + C3 · M_raw · T_j + C4 · M_raw² + C5 · T_j² + C6 · M_raw² · T_j² + ... . This formula is a dimensionless numerical calculation, and its compensation mechanism lies in the synergistic effect of various coefficients to inversely correct the inherent error of the system. Specifically, the constant term in the formula is mainly used to compensate for the zero-point drift of the sensor, while the first-order term corresponds to its basic linear response; the key cross term aims to handle the sensitivity drift caused by the mutual coupling between temperature and reading, and the higher-order terms are used to correct the nonlinear response of the sensor itself. Finally, when the introduced higher-order coupling error term can fully capture and offset the complex deviations in the system, so that the compensation accuracy reaches the expected target, there is no need to introduce higher-order terms.

[0072] In addition, in this embodiment, the main control system is also configured to execute a closed-loop feedback control program, which includes adjusting the heating and cooling rates of the temperature chamber based on internal temperature data and operating data obtained from the test circuit and sensor array. For example, when the high-precision data obtained by the temperature sensor after compensation indicates that the heating rate is too fast and may lead to thermal stress concentration inside the module, the main control system will instruct the heating unit of the temperature chamber to appropriately reduce its power, achieving a smooth and precise temperature control. Furthermore, in this embodiment, adjusting the heating and cooling rates of the temperature chamber based on operating data means that during the parameter compensation stage of the torque sensor, the heating and cooling rates of the temperature chamber need to be reduced to perform parameter compensation in a more stable temperature environment. After compensation is completed, the heating and cooling rates of the temperature chamber can be increased. This not only protects the module under test but also creates a more stable and reliable environmental condition for testing.

[0073] To enable the system to adapt to different testing tasks and module types, the main control system is also configured to execute a multimodal temperature control program. This program includes switching the main control system's temperature control mode for the chamber based on the thermal capacity characteristics of the joint modules. This program automatically switches the main control system's temperature control mode based on pre-inputted thermal capacity characteristics of the joint modules; for example, the thermal melting characteristics of small modules with aluminum shells differ significantly from those of large, heavy-duty modules with cast iron shells. The underlying logic is that test objects with different thermal capacities respond differently to the same heating or cooling power. Using fixed PID control parameters will inevitably lead to temperature overshoot or slow response. The thermal inertia matching control algorithm can automatically identify the thermal inertia of the test object and switch to a preset optimized PID parameter set, thereby effectively avoiding temperature overshoot and ensuring that the chamber temperature reaches the set point quickly and smoothly.

[0074] Furthermore, the gradient temperature field compensation algorithm utilizes feedback data from at least two, typically four or more, temperature sensors evenly distributed within the chamber to calculate the temperature distribution uniformity within the chamber in real time. Once a localized temperature difference is detected due to airflow organization or the heating of the module under test itself, the algorithm fine-tunes the power output of the heating or cooling units at different locations, ensuring that the temperature uniformity error on the surface of the tested joint module and its surrounding environment is controlled within a minimal range. This is crucial for evaluating the performance of temperature-sensitive devices such as encoders and precision reducers, as even small temperature gradients can lead to deviations in measurement results.

[0075] In terms of hardware architecture, considering system flexibility and compatibility, the inner wall of the chamber in this embodiment is a removable layered insulation panel structure. The volume of the chamber, formed by the layered insulation panels, is determined by the size of the joint module under test. The volume of the chamber can be flexibly adjusted according to the actual size of the joint module under test. For smaller chip-level modules, a compact chamber configuration can be used to save energy and preheating time; for large modules at the whole-machine level, the volume can be expanded by adding insulation panel modules, thus enabling a single device to cover multiple testing needs.

[0076] The test circuit is a multi-channel programmable circuit, comprising at least a multi-signal generator, a data acquisition card, and a power management unit. The signal generator can simulate various control commands, the data acquisition card synchronously acquires feedback signals from the modules, and the power management unit ensures a clean and stable power supply. In addition to the core temperature and torque sensors, the sensor array can also include vibration and humidity sensors for comprehensive monitoring of the test environment. All these sensors communicate with the main control system via a high-speed bus, such as a PCIe bus or Gigabit Ethernet. This high-speed communication architecture not only ensures that massive amounts of data can be uploaded in real time, but more importantly, it provides hardware-level timestamp synchronization capabilities for all sensor data. This allows the main control system to accurately align temperature, torque, and vibration data at a given moment, providing a time-accuracy foundation for subsequent joint data analysis and fault diagnosis.

[0077] Obviously, the embodiments described above are only some, not all, of the embodiments of this application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0078] It should be understood that when the terms "first," "second," etc., are used in the claims, description, and drawings of this application, they are only used to distinguish different objects and not to describe a specific order. The terms "comprising" and "including" used in the description and claims of this application indicate the presence of the described features, integrals, steps, operations, elements, and / or components, but do not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or collections thereof.

Claims

1. A load-bearing integrated testing system for an integrated joint module, characterized in that, The main body of the system is composed of a temperature box and a main control system, and the temperature box cavity is internally integrated with a test circuit and a sensor array, which are connected with the main control system; The test circuit is connected with the electrical interface of the joint module to be tested, and is used to execute a temperature environment simulation task and a test task of the joint module according to the instruction of the main control system; The sensor array includes a temperature sensor and a torque sensor, the temperature sensor feeds back the internal temperature data of the temperature box cavity to the main control system, and the torque sensor feeds back the working condition data of the joint module to the main control system; The main control system is configured to execute an automatic scheduling program and a sensor compensation program, wherein the automatic scheduling program includes judging the temperature cycle stage of the temperature environment simulation task according to the internal temperature data, matching a preset rule base according to the temperature cycle stage to match a test task, and controlling the test circuit according to the test task; The sensor compensation program includes: when the temperature cycle stage is in the cooling stage, performing first dynamic compensation on the reading of the temperature sensor to suppress the error introduced by the compressor vibration and electromagnetic interference; when the test task includes applying a load to the joint module, performing second dynamic compensation on the reading of the torque sensor based on temperature compensation for torque to suppress the vibration and electromagnetic interference error introduced by the load change; The sensor compensation program includes: suppressing the external vibration transmitted to the torque sensor through a mechanical isolation structure, and suppressing the external electromagnetic interference through electromagnetic shielding; applying N known torque values to the joint module at N known temperature points, and collecting the original torque value of the torque sensor, N being a constant; fitting the known torque value and the original torque value to obtain polynomial compensation coefficients Ci, the number of coefficients Ci being determined by the fitting effect; reading the compensated temperature value T_j of the system during operation, j being 1 or 2, and the original reading M_raw of the torque sensor, and obtaining the compensated accurate value M_compensated through a polynomial compensation algorithm using the polynomial compensation coefficients; wherein the formula of the polynomial compensation algorithm is: M_compensated = C0 + C1 · M_raw + C2 · T_j + C3 · M_raw · T_j + C4 ·M_raw² + C5 · T_j² + C6 · M_raw² · T_j²+....

2. The system of claim 1, wherein, When the main control system matches the preset rule base according to the temperature cycle stage to match the test task, it includes: when it is identified that it is in the warming-up stage, scheduling and executing the low-power communication protocol test task of the joint module; When it is identified that the joint module is in the cooling stage, a high-precision electrical parameter scanning test task of the joint module is scheduled and started.

3. The system of claim 1, wherein, The sensor compensation program comprises the following steps when performing first dynamic compensation on the reading of the temperature sensor: At N known temperature points, the original output values of the temperature sensor corresponding to N known physical quantities are measured, N being a constant. The collected data curves are fitted by the least square method to calculate the required coefficients of the compensation algorithm, including the sensitivity temperature coefficient a and the zero point temperature coefficient b. The temperature value T and the original reading T_raw of the temperature sensor during the operation of the system are read, and the accurate compensated value is calculated in real time by the compensation algorithm using the fitted coefficients. The compensation algorithm includes a linear compensation algorithm and a nonlinear compensation algorithm, and the first accurate value T_1 and the second accurate value T_2 are obtained by the two algorithms respectively, the linear compensation algorithm is used when the temperature sensor is a linear temperature sensor, and the formula of the linear compensation algorithm is: T_1 = T_raw / (1 + a · (T - T_ref)) + b · (T - T_ref), where T_ref is the reference temperature; The nonlinear compensation algorithm is used when the temperature sensor is a nonlinear temperature sensor, and the formula of the nonlinear compensation algorithm is: 1 / T_2 = A + B · ln(R) + C · (ln(R))^3, where the value of T_2 is the absolute temperature value, R is the resistance value of the thermistor at temperature T, A, B, and C are characteristic parameters of the thermistor, and the second accurate value T_2 in Celsius is obtained by the conversion relationship between absolute temperature and Celsius.

4. The system of claim 1, wherein, The main control system is also configured to execute a closed-loop feedback control program, which includes adjusting the heating and cooling rates of the temperature chamber according to the internal temperature data and operating condition data obtained from the test circuit and sensor array.

5. The system of claim 1, wherein, The main control system is also configured to execute a multi-modal temperature control program, which includes switching the temperature control mode of the main control system for the temperature chamber according to the heat capacity characteristics of the joint module.

6. The system of claim 5, wherein, The multi-modal temperature control program further comprises: According to the internal temperature data fed back by the sensor array, the power of the heating unit and the refrigeration unit is adjusted, and the internal temperature data is fed back to the main control system by at least two temperature sensors uniformly distributed inside the temperature chamber cavity.

7. The system of claim 1, wherein, The inner wall of the temperature chamber cavity is a detachable layered insulation plate structure, and the volume of the temperature chamber cavity formed by the layered insulation plate is determined by the size of the joint module to be tested.

8. The system of claim 1, wherein, The test circuit is a multi-channel programmable circuit, and the test circuit at least includes a multi-channel signal generator, a data acquisition card, and a power management unit.

9. The system of claim 1, wherein, The sensor array further includes a vibration sensor and a humidity sensor, and the sensor array communicates with the main control system through a high-speed bus, which is a PCIe bus or a gigabit Ethernet.

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