Multifunctional testing device and testing method for servo electric cylinder

Abstract

The application relates to a multifunctional testing device and testing method for a servo electric cylinder, and belongs to the technical field of device testing. The device comprises a device body, a control module and a sensing module. The device body is used for collecting the actual output thrust of an electric cylinder to be tested, and the device body corrects the PID coefficient of the electric cylinder to be tested under the instruction of the control module. The sensing module comprises a temperature sensor, the temperature sensor is used for monitoring the current ambient temperature w and uploading the ambient temperature w to the control module. The control module is pre-inputted with a plurality of groups of temperature coefficients containing kn and bn. After receiving the temperature data w, the control module selects kn and bn according to the temperature w. The control module corrects the Kp in the PID coefficient of the electric cylinder to be tested to the original A1 times, wherein A1 = kn x w + bn, kn and bn are the temperature coefficients selected by the control module, and n is a natural number. The device has the characteristics of considering the influence of environmental factors and accurate testing results.

Description

Technical Field

[0001] This invention belongs to the field of equipment testing technology, specifically relating to a multifunctional testing device and testing method for servo electric cylinders. Background Technology

[0002] Servo electric cylinders are high-precision, closed-loop controlled mechatronic actuators. Their operating principle is to convert the rotational motion of a servo motor into high-precision linear motion through transmission components such as ball screws or planetary roller screws. Their operating characteristics make them widely used in high-precision industrial applications. Therefore, conversely, they must be tested during operation at the factory to ensure their operating accuracy.

[0003] During its operation, the closed-loop control mechanism is as follows: the control module instructs the electric cylinder to operate according to the pre-input command value. Sensors installed at various locations transmit feedback values ​​reflecting the operating results to the control module. The control module compares the command value with the feedback value and calculates a new correction command through control algorithms such as PID. This process is repeated until the target accuracy is achieved. Therefore, a typical operation and testing scheme, such as the pressure debugging method of the servo electric cylinder press in Chinese patent CN112123851B, discloses: "Obtaining the relationship between the torque limit of the servo motor of the servo electric cylinder press and the output pressure value; calculating an initial torque limit value based on the target pressure value and the relationship; setting the torque limit of the servo motor as the initial torque limit value; calculating the pressure adjustment value using a PID algorithm based on the difference between the target pressure value and the output pressure value of the servo electric cylinder press; and so on." "And adjust the torque limit of the servo motor according to the pressure adjustment value"—specifically, "set a target pressure value of 10T, and then calculate an initial torque limit value of 20Nm according to the formula; set the torque limit of the servo motor to this initial torque limit value of 20Nm, and detect the output pressure value of the servo electric cylinder press at this time, which is 9.4T; at this time, the difference between the target pressure value and the output pressure value is 0.6T, and this difference of 0.6T is input to the PID, which will calculate a pressure adjustment value, and divide the pressure adjustment value by the proportion 'a' in the formula to calculate a torque limit adjustment value of 0.4Nm; set the torque limit of the servo motor to the value of 20.4Nm obtained by adding the torque limit adjustment value to the torque limit limit of the servo motor before adjustment (at this time, it is the initial torque limit value of 20Nm). It has the advantages of achieving high control accuracy and being less prone to overshoot."

[0004] The PID control scheme requires a set of PID parameters, namely Kp, Ki, and Kd, to execute. In the above scheme, a fixed set of PID parameters is used to complete the test during the testing process. However, environmental factors must be considered during the testing of electric cylinders. When environmental factors such as ambient temperature or movement speed change, the friction characteristics or winding resistance of the servo electric cylinder will also change. If the test equipment uses fixed PID parameters under different environmental factors, it will lead to slower motion response or overshoot, which will result in distorted dynamic performance data. In other words, when the thrust value of the same electric cylinder measured at different temperatures has significant differences, it is impossible to determine whether the difference is caused by environmental changes or by fluctuations in the performance of the product itself. Therefore, a multi-functional test equipment and test method for servo electric cylinders that takes into account the influence of environmental factors and provides accurate test results is needed. Summary of the Invention

[0005] To address the aforementioned problems in the existing technology, this invention provides a multifunctional testing device and method for servo electric cylinders, which features accurate test results that take into account the influence of environmental factors.

[0006] The objective of this invention can be achieved through the following technical solutions: A multifunctional testing device for a servo electric cylinder includes a device body, a control module, and a sensing module. The device body is used to collect the actual output thrust of the electric cylinder under test. The device body is electrically connected to the control module. The device body is used to upload the actual output thrust to the control module and correct the PID coefficient of the electric cylinder under test under the command of the control module. The sensing module is electrically connected to the control module. The sensing module includes a temperature sensor, which is used to monitor the current ambient temperature w and upload it to the control module. The control module has several sets of temperature coefficients pre-input. Each set of temperature coefficients includes kn and bn. After receiving temperature data w, the control module selects kn and bn according to temperature w. The control module corrects Kp in the PID coefficient of the electric cylinder under test to A1 times the original value, where A1 = kn × w + bn, kn and bn are the temperature coefficients selected by the control module, and n is a natural number.

[0007] As a preferred embodiment of the present invention, after the temperature sensor uploads the data to the control module, the control module determines whether the cumulative temperature value exceeds the cumulative value threshold. If the determination result is yes, the value of A1 is further adjusted upwards.

[0008] As a preferred embodiment of the present invention, after receiving the temperature data, the control module generates a function F(t) showing the temperature data changing over time and calculates the cumulative value J. The control module corrects the Kp in the PID coefficients of the electric cylinder under test to a multiple of A1×A2, where A2=J / J0×c, J= t0 is the pre-input integration window length, J0 is the pre-input cumulative value threshold, w0 is the pre-input reference temperature, c is the pre-input correction coefficient, A2≥1, and when the calculation result shows A2<1, the control module sets A2=1.

[0009] As a preferred embodiment of the present invention, the sensing module further includes an acceleration sensor, which is used to collect the acceleration of the electric cylinder under test and upload it to the control module. After receiving the acceleration data, the control module determines whether the absolute value of the acceleration data is lower than the acceleration threshold. If the determination result is yes, the control module receives the actual output thrust. If the determination result is no, the control module stops receiving the actual output thrust.

[0010] As a preferred embodiment of the present invention, the control module is input with the test load weight of the electric cylinder to be tested. The control module determines whether the load weight exceeds the weight threshold. When the load weight exceeds the weight threshold, the control module corrects the acceleration threshold downward. When the load weight is lower than the weight threshold, the control module corrects the acceleration threshold upward.

[0011] As a preferred embodiment of the present invention, the control module is input with the test load weight m of the electric cylinder to be tested, and the control module corrects the acceleration threshold to A2 times the original value, where A2 = m / m0 × d, m0 is the pre-input weight threshold, and d is the pre-input correction coefficient.

[0012] As a preferred embodiment of the present invention, it further includes a control panel, which is electrically connected to the control module, and is used to input the values ​​of c, m0, kn, w0 and bn.

[0013] The present invention also provides a testing method for a multifunctional testing device for servo electric cylinders, applicable to the aforementioned multifunctional testing device for servo electric cylinders, comprising the following steps: Step 1: The control module has several sets of temperature coefficients kn and bn pre-input, where n is a number and the value of n is a natural number; Step 2: The control module acquires the current ambient temperature w; Step 3: The control module selects kn and bn based on the temperature data w. The control module corrects Kp in the PID coefficient of the electric cylinder under test to A1 times the original value, where A1 = kn × w + bn. Step 4: The control module writes the corrected Kp value into the servo driver of the electric cylinder under test.

[0014] The beneficial effects of this invention are as follows: (1) The temperature is obtained by setting the control module, and the temperature coefficient is retrieved according to the temperature result. The correction value of Kp is calculated according to the temperature coefficient and the corrected Kp is input to the servo driver of the electric cylinder under test. This makes the equipment have both testing function and parameter adjustment function of the electric cylinder under test. Environmental factors are included in the testing process, reducing the influence of environmental factors and improving the accuracy of test results. (2) By setting the control module to further correct based on the temperature accumulation value, the working conditions of some electric cylinders affected by temperature are reflected in the long-term effect of temperature rather than the short-term effect. For example, when the friction feedforward compensation required for the change of lubricating viscosity changes, the value of A1 is further corrected upward when the temperature accumulation value exceeds the threshold, which further reduces the influence of environmental factors and improves the accuracy of test results. (3) By setting an acceleration sensor to monitor acceleration, and only receiving the actual output thrust when the absolute value of acceleration is less than the acceleration threshold, the thrust is sampled only when the working conditions are relatively stable and the motion is relatively uniform. This reduces the impact of inertia on thrust detection during acceleration and deceleration, further reduces the impact of environmental factors, and improves the accuracy of test results. (4) When the load weight is large and the inertia has a large interference on the thrust measurement, the acceleration threshold is lowered to make the data acquisition more conservative, sacrificing the amount of data acquisition to further reduce the impact of vibration on thrust detection; while when the load weight is small and the vibration and its impact caused by inertia are small, the acceleration threshold is increased to increase the amount of data acquisition, reduce the impact of “less data acquisition” on the test, and thus achieve a balance between anti-interference and the amount of data acquisition. Attached Figure Description

[0015] To facilitate understanding by those skilled in the art, the present invention will be further described below with reference to the accompanying drawings.

[0016] Figure 1 This is a module topology diagram of the present invention. Detailed Implementation

[0017] To further illustrate the technical means and effects of the present invention in achieving its intended purpose, the following detailed description of the specific implementation methods, structures, features, and effects of the present invention, in conjunction with the accompanying drawings and preferred embodiments, is provided.

[0018] Please see Figure 1A multi-functional testing device for servo electric cylinders includes a device body, a control module, and a sensing module. The device body is used to collect the actual output thrust of the electric cylinder under test. The device body is electrically connected to the control module. The device body is used to upload the actual output thrust to the control module and correct the PID coefficient of the electric cylinder under test under the instructions of the control module. The equipment body also includes at least a fixture as a workstation and a structure for manufacturing a load for the electric cylinder to be tested. The weight of the load is determined according to the test requirements. In use, the electric cylinder to be tested is fixed on the fixture, and then the electric cylinder outputs thrust to the load according to the target value. The control module feeds back the actual output thrust collected to the unit that executes PID control. The unit that executes PID control adjusts the output value according to the PID algorithm until the actual output thrust is aligned with the target thrust. This part is existing technology and will not be described in detail here. Optionally, the device body is also used to test routine data of the electric cylinder, such as position and current; In actual testing, changes in ambient temperature can alter the viscosity of the grease inside the servo electric cylinder and the friction characteristics of the mechanical transmission components, thus affecting the actual operating conditions of the electric cylinder. For example, the viscosity of the grease decreases as the temperature rises and increases as the temperature falls. If the testing equipment uses a fixed set of PID parameters to test the electric cylinder under all temperature conditions, when the thrust response curves of the same electric cylinder measured at different temperatures differ, the testers cannot determine whether the difference is caused by the performance fluctuations of the electric cylinder itself or by changes in ambient temperature. For this purpose, the sensing module is electrically connected to the control module. The sensing module includes a temperature sensor, which is used to monitor the current ambient temperature w and upload it to the control module. The control module has several sets of temperature coefficients pre-input. Each set of temperature coefficients includes kn and bn. After receiving the temperature data w, the control module selects kn and bn according to the temperature w. The control module corrects the Kp in the PID coefficient of the electric cylinder under test to A1 times the original value. Here, A1 = kn × w + bn, kn and bn are the temperature coefficients selected by the control module, and n is a natural number. n is used as the number representing this set of temperature coefficients. Regarding the above method of obtaining kn and bn, before the equipment leaves the factory, the Kp correction coefficient, i.e. A1, is calculated in advance at several temperature nodes. At this time, several points are formed on the w-A1 coordinate axis. Then, any two adjacent points are connected by a line. The coverage of each line segment on the w coordinate axis represents a temperature range. The line segment in this temperature range reflects the linear relationship between w and A1 in this temperature range. For example, during the calibration phase before the equipment leaves the factory, three temperature nodes are selected: low temperature (0℃), normal temperature (25℃), and high temperature (50℃). At each temperature node, a standard servo electric cylinder undergoes a response test. The test determines the Kp correction factors A1_0, A1_25, and A1_50 that enable the electric cylinder to achieve the optimal dynamic response, resulting in three points. Then, lines are drawn connecting the first and second points, as well as the second and third points. For the line segment within the temperature range of 0℃ to 25℃, the temperature coefficients k1 and b1 within that range are calculated. For the line segment within the temperature range of 25℃ to 50℃... The temperature coefficients k2 and b2 within the temperature range are calculated by the line segment of the temperature range. Similarly, the control module has a pre-input relationship: n=1 for 0~25℃, n=2 for 25~50℃, and so on. Subsequently, after the control module obtains the temperature data w, it determines which temperature range w is in. For example, when it is in 38℃, the control module calls n=2 and calculates A1 according to A1=k2×w+b2. The Kp in the PID coefficient of the electric cylinder under test is corrected to the original A1 times, and the control module writes the corrected Kp value into the servo driver of the electric cylinder under test. At this point, the control module realizes the piecewise linear relationship between temperature w and Kp correction factor A1, which reduces the computational complexity and fits the nonlinear effect of temperature on the electric cylinder more accurately. By setting the control module to obtain the temperature, and then retrieving the temperature coefficient based on the temperature result, the correction value of Kp is calculated based on the temperature coefficient and the corrected Kp is input to the servo driver of the electric cylinder under test. This enables the equipment to have both testing function and parameter adjustment function for the electric cylinder under test. By incorporating environmental factors into the testing process, the influence of environmental factors is reduced and the accuracy of test results is improved.

[0019] In actual testing, some physical environments affected by temperature are not only determined by the current instantaneous temperature, but sometimes the effects of temperature accumulate over a long period of time before they become apparent. For example, the viscosity of lubricating grease changes gradually with the duration of high temperature in high-temperature environments, which in turn leads to a slow change in the transmission friction coefficient. If the PID coefficient is corrected based solely on the current instantaneous temperature, it cannot fully compensate for this slowly changing friction characteristic. Moreover, although the above scheme has set up a piecewise linear correction mechanism for each temperature, as the temperature deviates further from the preset working environment over a long period of time, the physicochemical properties of components such as lubricating oil become increasingly unstable. Simple linear correction may not be able to eliminate the effects of temperature, and the correction range needs to be increased. Therefore, after the temperature sensor uploads the data to the control module, the control module determines whether the cumulative temperature value exceeds the cumulative value threshold. If the result is yes, the A1 value is further adjusted upwards. Specifically, after receiving the temperature data, the control module generates a function F(t) representing the temperature change over time and calculates the cumulative value J. The control module then corrects the Kp coefficient in the PID coefficients of the electric cylinder under test to a multiple of A1 × A2, where A2 = J / J0 × c, and J = t0 is the pre-input integration window length, representing the time period for which temperature data is collected during the cumulative value calculation; w0 is the pre-input reference temperature; J0 is the pre-input cumulative value threshold; c is the pre-input correction coefficient; A2≥1. When the calculation result shows A2<1, the control module sets A2=1. w0 represents the typical operating temperature or "ideal operating temperature" of the electric cylinder, for example, it can be taken as 25℃. Therefore, (|F(t)) The physical meaning of w0|) is the deviation of temperature data w from the reference temperature at time t. The larger the deviation, the greater the change in the physical environment affected by temperature. The correction factor of the PID coefficient needs to be further increased to counteract the influence of temperature. Therefore, when J= The larger the value, the greater the cumulative deviation, which means the longer the deviation from the reference temperature or the greater the deviation, the more the correction magnitude needs to be increased on the basis of piecewise linear correction. At this time, the larger A2=J / J0×c is, the larger A1 is after A1×A2 times correction. The control module further corrects the value of A1 upwards, reducing the impact of long-term temperature influence on the test results. By setting the control module to further correct based on the accumulated temperature value, the long-term rather than short-term effects of temperature are reflected in the operating conditions of some electric cylinders that are affected by temperature. For example, when the friction feedforward compensation required for changes in lubricating viscosity changes, the value of A1 is further corrected upward when the accumulated temperature value exceeds the threshold, which further reduces the influence of environmental factors and improves the accuracy of test results.

[0020] During the above tests, the timing of the actual output thrust acquisition will also significantly affect the accuracy of the test results. For example, if a non-inertial reference frame is introduced, the electric cylinder will generate a large inertial force during the acceleration and deceleration phases. This inertial force is directly superimposed on the value measured by the thrust sensor, making the measured value unable to truly reflect the output thrust of the electric cylinder. Specifically, according to Newton's second law in a non-inertial reference frame, the inertial force F = m × a, where m is the test load weight currently driven by the electric cylinder under test, and a is the acceleration of the push rod. When the absolute value of acceleration is large, the inertial force may significantly affect the measured thrust, thus contaminating the measurement data. If thrust data is collected during acceleration and deceleration and used for PID correction or performance evaluation, errors will be introduced. To this end, the sensing module also includes an acceleration sensor, which is used to collect the acceleration of the electric cylinder under test and upload it to the control module. After receiving the acceleration data, the control module determines whether the absolute value of the acceleration data is lower than the acceleration threshold. If the determination result is yes, it receives the actual output thrust; if the determination result is no, it stops receiving the actual output thrust. In this embodiment, for example, the acceleration threshold is preset to 0.05g. When the absolute value of acceleration is less than 0.05g, the control module determines that it is currently in a relatively stable working condition. At this time, data acquisition is triggered to receive thrust data for subsequent PID correction and performance analysis. When the absolute value of acceleration is greater than or equal to 0.05g, the control module determines that it is currently in an acceleration / deceleration transient working condition and stops receiving the above data. At this time, the testing equipment only collects thrust data during the relatively uniform motion stage when inertial force interference is negligible, reducing the contamination of thrust measurement by inertial vibration during acceleration and deceleration. By setting up an accelerometer to monitor acceleration and only receiving the actual output thrust when the absolute value of the acceleration is less than the acceleration threshold, thrust sampling is achieved only when the operating conditions are relatively stable and the motion is relatively uniform. This reduces the impact of inertia on thrust detection during acceleration and deceleration, further reduces the influence of environmental factors, and improves the accuracy of test results.

[0021] In the above scheme, the acceleration threshold is fixed, but in actual testing, it was found that the fixed threshold cannot achieve the best correction effect under all load conditions. For example, when the load weight driven by the tested electric cylinder is large, even at a small acceleration, the inertial force F=m×a may reach a considerable value, which will significantly interfere with the thrust measurement. In this case, a lower acceleration threshold is needed to exclude more data to ensure the conservatism and accuracy of data acquisition. On the other hand, when the load weight is small, the inertial force generated by the same acceleration is small, and the interference with the thrust measurement is also smaller. If the same low acceleration threshold is still used, the data acquisition window will be overly restricted, resulting in a large number of usable data points being discarded even during the uniform motion phase, which will reduce the testing efficiency and the reliability of data statistics. Therefore, the control module inputs the test load weight of the electric cylinder to be tested. The control module determines whether the load weight exceeds the weight threshold. When the load weight exceeds the weight threshold, the control module corrects the acceleration threshold downwards. When the load weight is below the weight threshold, the control module corrects the acceleration threshold upwards. Specifically, the control module inputs the test load weight m of the electric cylinder to be tested. The control module corrects the acceleration threshold to A2 times the original value, where A2 = m / m0 × d, m0 is the pre-input weight threshold, d is the pre-input correction coefficient, and A2 ≥ 1. When A2 < 1, A2 = 1. For example, if the weight threshold m0 = 100kg and the correction factor d = 0.5, when the load weight m = 50kg, A2 = 50 / 100 × 0.5 = 0.25. The acceleration threshold is corrected downward to 0.25 times the original threshold, that is, from 0.05g to 0.0125g. If the acceleration is higher than 0.0125g instead of 0.05g, the thrust value will not be collected, making the sampling more conservative. When the load weight m=200kg, A2=200 / 100×0.5=1.0, the acceleration threshold remains unchanged, and the thrust value is not collected only when the acceleration is higher than 0.05g; At this time, the acceleration threshold changes linearly with the load weight. Under heavy load, the threshold is automatically lowered to reduce inertial force interference, and under light load, the threshold is automatically raised to increase the effective data acquisition, thus achieving a balance between measurement accuracy and data acquisition. When the load weight is large and the inertia has a significant impact on thrust measurement, the acceleration threshold is lowered to make data acquisition more conservative, sacrificing the amount of data collected to further reduce the impact of vibration on thrust detection. Conversely, when the load weight is small and the vibration and its impact from inertia are relatively small, the acceleration threshold is increased to increase the amount of data collected, reducing the impact of "less data collection" on the test, thus achieving a balance between anti-interference and the amount of data collected. This embodiment also includes a control panel, which is electrically connected to the control module. The control panel is used to input the values ​​of c, m0, kn, w0, and bn. The operator can set the above parameters through the control panel according to the specifications and test requirements of different electric cylinders to be tested. The present invention also provides a testing method for a multifunctional testing device for servo electric cylinders, applicable to the aforementioned multifunctional testing device for servo electric cylinders, comprising the following steps: Step 1: The control module has several sets of temperature coefficients kn and bn pre-input, where n is a number and the value of n is a natural number; Step 2: The control module acquires the current ambient temperature w; Step 3: The control module selects kn and bn based on the temperature data w. The control module corrects Kp in the PID coefficient of the electric cylinder under test to A1 times the original value, where A1 = kn × w + bn. Step 4: The control module writes the corrected Kp value into the servo driver of the electric cylinder under test.

[0022] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention in any way. Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make some modifications or alterations to the above-disclosed technical content to create equivalent embodiments without departing from the scope of the present invention. Any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the scope of the present invention shall still fall within the scope of the present invention.

Claims

1. A multifunctional testing device for servo electric cylinders, characterized in that: It includes a device body, a control module, and a sensing module. The device body is used to collect the actual output thrust of the electric cylinder under test. The device body is electrically connected to the control module. The device body is used to upload the actual output thrust to the control module and correct the PID coefficient of the electric cylinder under test under the command of the control module. The sensing module is electrically connected to the control module. The sensing module includes a temperature sensor, which is used to monitor the current ambient temperature w and upload it to the control module. The control module has several sets of temperature coefficients pre-input. Each set of temperature coefficients includes kn and bn. After receiving temperature data w, the control module selects kn and bn according to temperature w. The control module corrects Kp in the PID coefficient of the electric cylinder under test to A1 times the original value, where A1 = kn × w + bn, kn and bn are the temperature coefficients selected by the control module, and n is a natural number.

2. The multifunctional testing device for a servo electric cylinder according to claim 1, characterized in that: After the temperature sensor uploads the data to the control module, the control module determines whether the cumulative temperature value exceeds the cumulative value threshold. If the determination result is yes, the value of A1 is further adjusted upwards.

3. The multifunctional testing device for a servo electric cylinder according to claim 2, characterized in that: After receiving the temperature data, the control module generates a function F(t) showing the temperature data changing over time and calculates the cumulative value J. The control module then corrects the Kp coefficient in the PID coefficients of the electric cylinder under test to a multiple of A1 × A2, where A2 = J / J0 × c, and J = t0 is the pre-input integration window length, J0 is the pre-input cumulative value threshold, w0 is the pre-input reference temperature, c is the pre-input correction coefficient, A2≥1, and when the calculation result shows A2<1, the control module sets A2=1.

4. The multifunctional testing device for a servo electric cylinder according to claim 3, characterized in that: The sensing module also includes an acceleration sensor, which is used to collect the acceleration of the electric cylinder under test and upload it to the control module. After receiving the acceleration data, the control module determines whether the absolute value of the acceleration data is lower than the acceleration threshold. If the determination result is yes, it receives the actual output thrust; if the determination result is no, it stops receiving the actual output thrust.

5. A multifunctional testing device for a servo electric cylinder according to claim 4, characterized in that: The control module is input with the test load weight of the electric cylinder to be tested. The control module determines whether the load weight exceeds the weight threshold. When the load weight exceeds the weight threshold, the control module corrects the acceleration threshold downward. When the load weight is below the weight threshold, the control module corrects the acceleration threshold upward.

6. A multifunctional testing device for a servo electric cylinder according to claim 5, characterized in that: The control module is input with the test load weight m of the electric cylinder to be tested. The control module corrects the acceleration threshold to A2 times the original value, where A2 = m / m0 × d, m0 is the pre-input weight threshold, and d is the pre-input correction coefficient.

7. A multifunctional testing device for a servo electric cylinder according to claim 6, characterized in that: It also includes a control panel, which is electrically connected to the control module, and is used to input the values ​​of c, m0, kn, w0 and bn.

8. A test method for a multifunctional testing device for servo electric cylinders, characterized in that: A multifunctional testing device for a servo electric cylinder according to any one of claims 1 to 7 comprises the following steps: Step 1: The control module has several sets of temperature coefficients kn and bn pre-input, where n is a number and the value of n is a natural number; Step 2: The control module acquires the current ambient temperature w; Step 3: The control module selects kn and bn based on the temperature data w. The control module corrects Kp in the PID coefficient of the electric cylinder under test to A1 times the original value, where A1 = kn × w + bn. Step 4: The control module writes the corrected Kp value into the servo driver of the electric cylinder under test.

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