Method for comprehensive performance test and adjustment of slewing mechanism

Abstract

This invention relates to a comprehensive performance testing and adjustment method for a rotary mechanism, belonging to the field of mechanical testing technology. It solves the problems of existing technologies lacking devices and methods for comprehensive performance testing of rotary mechanisms in portable launch devices, resulting in low speed control and measurement accuracy, inability to simultaneously perform static and dynamic damping measurements, lack of effective evaluation criteria for run-and-go testing, and low adjustment accuracy and efficiency. The method involves installing the rotary mechanism on a testing system and initializing the system. The output speed of the testing system is adjusted until the actual speed of the rotary mechanism falls within the target speed range. The actual torque of the rotary mechanism is then measured, and the damping of the rotary mechanism is adjusted until the actual torque falls within the target torque range, and the run-and-go test results also fall within the target torque range. This method provides a clear evaluation standard and high accuracy for comprehensive performance testing of rotary mechanisms; it also offers high adjustment efficiency and requires fewer iterations.

Description

Technical Field

[0001] This invention relates to the field of mechanical testing technology, and in particular to a method for comprehensive performance testing and adjustment of a rotary mechanism. Background Technology

[0002] Portable launchers are widely used in troop-mounted firing equipment systems. As an important component of portable launch control equipment, portable launchers can serve as launch platforms, combined with auxiliary equipment such as observation and aiming devices, to complete target engagement missions. The swivel mechanism (or azimuth mechanism) is a crucial component of portable launchers; combined with the elevation mechanism, it enables the movement of the missile axis in azimuth and elevation, assigning an initial firing direction. The flexibility and feel of the swivel mechanism's operation significantly impact combat effectiveness. Therefore, it is essential to conduct comprehensive performance testing of the swivel mechanism and adjust its performance to meet ergonomic requirements.

[0003] Currently, there is no comprehensive performance testing method for the rotary mechanism of portable launch devices. Existing testing equipment generally only requires the tested load to operate at a certain speed, with low requirements for the precision of speed control. Furthermore, the requirements for damping measurement and performance qualification are not high, relying primarily on the experience of assembly workers, lacking effective data support and verification methods, and lacking automatic running, testing, and evaluation functions for the rotary mechanism after damping adjustment. Moreover, based on these inaccurate measurement results, damping adjustment of the rotary mechanism can still only be tested through inaccurate measurement methods, heavily relying on the experience of assembly workers, resulting in numerous iterations and low adjustment accuracy and efficiency.

[0004] In summary, current technologies lack a comprehensive performance testing method for the rotation mechanism of portable launch devices. These technologies suffer from drawbacks such as low control and measurement accuracy of rotation speed, inability to simultaneously perform static and dynamic damping measurements, low measurement accuracy, lack of effective evaluation criteria for running and testing, and low adjustment accuracy and efficiency. Summary of the Invention

[0005] Based on the above analysis, the present invention aims to provide a comprehensive performance testing and adjustment method for a rotary mechanism, in order to solve the problems existing in the prior art, such as low speed control accuracy and measurement accuracy, inability to simultaneously perform static and dynamic damping measurements, low measurement accuracy, lack of effective evaluation criteria for running and testing, and low adjustment accuracy and efficiency.

[0006] The objective of this invention is mainly achieved through the following technical solutions:

[0007] This invention provides a method for comprehensive performance testing and adjustment of a rotary mechanism, comprising the following steps:

[0008] S1. Fix the rotating shaft of the rotary mechanism to the output shaft of the test system, fix the fixed shaft of the rotary mechanism to the fixed base of the test system, and complete the initialization of the test system;

[0009] S2. Adjust the output speed of the test system to the target speed range and test to obtain the actual speed of the rotary mechanism; if the actual speed is within the target speed range, proceed to S3; if the actual speed is not within the target speed range, continue to adjust the output speed until the actual speed is within the target speed range.

[0010] S3. Test to obtain the actual torque of the rotary mechanism; if the actual torque is within the target torque range, then use the test system to automatically run and test the rotary mechanism; if the running and test torque is within the target torque range, then the test and adjustment are completed.

[0011] If the actual torque does not belong to the target torque range, or the running and test torque does not belong to the target torque range, then adjust the damping of the slewing mechanism, and then repeat steps S1 to S3 until the actual torque belongs to the target torque range and the running and test result belongs to the target torque range.

[0012] Based on a further improvement of the above method, the testing system includes a speed control knob, a main control board, a motor, an output shaft, and a digital display tube; the speed control knob is used to acquire speed adjustment information to the main control board, the main control board is used to generate a control signal to the motor according to the speed adjustment information, the motor is used to drive the output shaft to output an output speed corresponding to the speed adjustment information, and the digital display tube is used to display the speed; the initialization of the testing system includes:

[0013] Reset the speed control knob;

[0014] Power on the test system, and each component completes initialization and self-test; after the self-test is normal, the digital display tube displays the initial value, and the motor is enabled.

[0015] Based on a further improvement of the above method, the output shaft includes a speed reducer, a torque and speed measuring device, and an adapter; the rotary mechanism is mounted on the test system via the adapter; the test system also includes an incremental encoder;

[0016] Adjusting the output speed of the test system to the target speed range and testing to obtain the actual speed of the rotary mechanism includes:

[0017] Adjust the speed control knob to make the main control board output a control signal, drive the motor to drive the reducer to generate output torque, so as to drive the torque and speed measuring device and the adapter to rotate, so that the output speed of the test system is within the target speed range;

[0018] The rotating shaft of the rotary mechanism is driven by an adapter to operate at a constant speed at the output speed.

[0019] Using an incremental encoder and a torque-speed measurement device, the rotational speed of the rotary mechanism is tested to obtain speeds V1 and V2, which are then fused to obtain the actual rotational speed of the rotary mechanism, and the actual rotational speed is transmitted to a digital display tube.

[0020] The actual rotational speed of the rotary mechanism is observed using a digital display tube.

[0021] Based on a further improvement of the above method, the speed control knob is adjusted to cause the main control board to output control signals, including:

[0022] Adjusting the speed control knob transmits the speed adjustment information to the microcontroller in the main control board connected to the speed control knob. The microcontroller outputs a given speed command Un*, which is then subtracted from the actual speed Un obtained by the torque and speed measurement device and the incremental encoder (TG). The result is then fed into the speed adjustment algorithm (ASR) preset in the microcontroller.

[0023] The current control command Ui* is output by the speed regulator ASR via the digital-to-analog converter module DAC8564. The difference between this command and the actual current sampling feedback value Ui obtained by the current sensor connected to the motor is then fed into the current regulator ACR in the main control board.

[0024] The current regulator ACR outputs a control voltage Uc, which is then processed by the power electronic converter UPE in the main control board to output a control signal Ud.

[0025] Based on a further improvement of the above method, the actual torque of the rotary mechanism is obtained through testing, including:

[0026] The actual torque of the rotary mechanism is tested using a torque and speed measuring device, and the actual torque obtained from the test is transmitted to a digital display tube.

[0027] The actual torque of the rotary mechanism is observed using a digital display tube.

[0028] Based on further improvements to the above method, the target torque range is 4 Nm to 9 Nm, and the target speed range is 20 mrad / s to 28 mrad / s.

[0029] Based on further improvements to the above method, the automatic running and testing includes forward running and testing and reverse running and testing.

[0030] Based on a further improvement of the above method, the forward run and test include:

[0031] Based on each expected forward run and speed in the expected forward run and speed group, the rotation speed of the slewing mechanism is tested, so that the forward run and test speed of the slewing mechanism obtained by the test are consistent with the corresponding expected forward run and speed.

[0032] The forward running and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the running and test torques are stable, and the corresponding forward running and test torques are obtained.

[0033] Based on a further improvement to the above method, the reverse run and test include:

[0034] Based on each expected reverse run and speed in the expected reverse run and speed group, the rotational mechanism is tested for speed, so that the reverse run and test speed of the rotational mechanism obtained by the test are consistent with the corresponding expected reverse run and speed.

[0035] The reverse run and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the run and test torques are stable, and the corresponding reverse run and test torques are obtained.

[0036] A further improvement to the above method involves adjusting the damping of the rotary mechanism, including:

[0037] If the actual torque is less than the minimum value of the target torque range, the test is paused, the system is powered off, and the damping of the slewing mechanism is increased by adding damping oil to the slewing mechanism.

[0038] If the actual torque is greater than the maximum value of the target torque range, the test is paused, the system is powered off, and the damping of the slewing mechanism is reduced by decreasing the damping oil in the slewing mechanism.

[0039] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0040] 1. This invention achieves high-precision control of the rotational speed of the rotary mechanism by controlling the output of dual closed-loop speed regulation signals from the main board, thus making the testing of the rotational speed of the rotary mechanism highly efficient.

[0041] 2. This invention uses modular torque and speed measuring equipment to achieve static and dynamic damping measurement of rotary mechanisms, with high measurement accuracy and strong real-time performance.

[0042] 3. This invention utilizes an incremental encoder and a torque-speed sensor to achieve fusion testing of the rotational speed of a rotary mechanism, resulting in high accuracy and real-time performance in speed measurement.

[0043] 4. This invention intelligently evaluates whether the running and functional tests of the rotary mechanism meet the design requirements, thereby minimizing interference from human factors and ensuring that the evaluation results are objective and accurate.

[0044] 5. Based on accurate damping measurement results, this invention adjusts the damping of the rotary mechanism by increasing or decreasing the amount of damping oil, requiring fewer iterations and achieving high adjustment accuracy and efficiency.

[0045] In this invention, the above-described technical solutions can be combined with each other to achieve more preferred combinations. Other features and advantages of this invention will be set forth in the following description, and some advantages may become apparent from the description or be learned by practicing the invention. The objects and other advantages of this invention can be realized and obtained from what is particularly pointed out in the description and drawings. Attached Figure Description

[0046] The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Throughout the drawings, the same reference numerals denote the same parts.

[0047] Figure 1 This is a general flowchart of an embodiment of the present invention;

[0048] Figure 2 This is a system architecture diagram of a comprehensive performance testing system for the rotary mechanism according to an embodiment of the present invention;

[0049] Figure 3(a) is a front view of the non-test state structure of the comprehensive performance test system for the rotary mechanism according to an embodiment of the present invention;

[0050] Figure 3(b) is a schematic diagram of the non-test state structure of the comprehensive performance test system for the rotary mechanism according to an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the test state structure of the comprehensive performance testing system for the rotary mechanism according to an embodiment of the present invention;

[0052] Figure 5 This is a block diagram of the dual closed-loop speed regulation system for the comprehensive performance testing system of the rotary mechanism according to an embodiment of the present invention.

[0053] Figure 6 This is a schematic diagram of the current loop circuit in the comprehensive performance testing system of the rotary mechanism according to an embodiment of the present invention.

[0054] Figure 7 This is a circuit diagram of the current loop PI regulator in the comprehensive performance testing system of the rotary mechanism according to an embodiment of the present invention.

[0055] Figure 8 This is a flowchart of the comprehensive performance testing and adjustment method for the rotary mechanism according to an embodiment of the present invention.

[0056] Figure Labels

[0057] 1-Speed ​​control knob; 2-Digital display tube; 3-Motor; 4-Incremental encoder; 5-Reducer; 6-Torque and speed measuring device; 7-Adapter; 8-Tripod; 9-Fixed base; 10-Testing system; 11-Rotation mechanism. Detailed Implementation

[0058] Preferred embodiments of the present invention will now be described in detail with reference to the accompanying drawings, which form part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not intended to limit the scope of the present invention.

[0059] Example 1

[0060] A specific embodiment of the present invention discloses a method for comprehensive performance testing and adjustment of a rotary mechanism, such as... Figure 1 As shown, it includes the following steps:

[0061] S1. Fix the rotating shaft of the rotary mechanism to the output shaft of the test system, fix the fixed shaft of the rotary mechanism to the fixed base of the test system, and complete the initialization of the test system.

[0062] S2. Adjust the output speed of the test system to the target speed range, and test to obtain the actual speed of the rotary mechanism; if the actual speed is within the target speed range, proceed to S3;

[0063] If the actual speed does not fall within the target speed range, continue to adjust the output speed until the actual speed falls within the target speed range.

[0064] S3. Test to obtain the actual torque of the rotary mechanism; if the actual torque is within the target torque range, then use the test system to automatically run and test the rotary mechanism. If the running and test torque is within the target torque range, then the test and adjustment are completed.

[0065] If the actual torque does not belong to the target torque range, or the running and test torque does not belong to the target torque range, then adjust the damping of the slewing mechanism, and then repeat steps S1 to S3 until the actual torque belongs to the target torque range and the running and test result belongs to the target torque range.

[0066] Example 2

[0067] Based on Example 1, step S1 can be further refined into the following steps:

[0068] S11. Adjust the damping of the slewing mechanism, then install the slewing mechanism on the test system, reset the speed control knob, and wait for power-on testing.

[0069] Specifically, based on engineering experience, the damping of the slewing mechanism is adjusted as follows:

[0070] If the damping of the rotary mechanism is determined to be too small when it is manually rotated, the damping of the rotary mechanism can be increased by appropriately increasing the amount of damping oil in the rotary mechanism.

[0071] If the slewing mechanism is manually rotated and its damping is found to be too high, the damping of the slewing mechanism can be reduced by appropriately decreasing the amount of damping oil in the slewing mechanism.

[0072] Before the rotary mechanism is installed on the test system, the non-test state structure of the comprehensive performance test system for the rotary mechanism of this embodiment is shown in Figure 3(a); the non-test state structure of the comprehensive performance test system for the rotary mechanism of this embodiment is shown in Figure 3(b).

[0073] It is worth noting that damping adjustment of the slewing mechanism before installation on the test platform is not a necessary step. That is, whether or not the operator adjusts the damping of the slewing mechanism before installation on the test platform does not affect the subsequent speed and damping tests of the slewing mechanism, the corresponding adjustment methods, or the final test and adjustment results. The damping adjustment before the test is only to make the initial damping of the slewing mechanism closer to the target torque range during testing, in order to save test time; the target torque range is 4Nm to 9Nm.

[0074] After adjustment, the rotary mechanism is installed on the test system, that is, the rotating shaft of the rotary mechanism is fixedly connected to the output shaft of the test system, and the fixed shaft of the rotary mechanism is fixedly connected to the fixed base of the test system.

[0075] Reset the speed control knob and wait for power-on testing.

[0076] S12. The test system is powered on, and each component initializes and performs a self-test. After the self-test result is normal, the digital display tube shows the initial value. After ten seconds, the motor is enabled. The architecture diagram of the comprehensive performance test system for the rotary mechanism of this embodiment of the invention is as follows: Figure 2 As shown.

[0077] Specifically, the testing system includes a speed control knob, main control board, motor, output shaft, digital display tube, incremental encoder, current sensor, fixed base, and tripod; the output shaft includes a reducer, torque and speed measuring device, and adapter, with the connecting shafts of the three corresponding to each other. Figure 2 The main spindle in the circuit; the main control board includes a microcontroller, a current regulator ACR, a power electronic converter UPE, and a digital-to-analog converter module DAC8564; among them, the microcontroller has a preset speed regulation algorithm to form the speed regulator ASR.

[0078] The speed control knob is electrically connected to the main control board and is used to obtain speed adjustment information from the main control board.

[0079] The main control board is electrically connected to the motor and is used to generate control signals to the motor based on speed regulation information. Among them, the microcontroller is used to generate a given speed command based on the speed regulation information; the speed regulator ASR is used to process the difference between the given speed command and the actual speed, and outputs a current control command through the digital-to-analog converter module DAC8564; the current regulator ACR is used to process the difference between the current control command and the actual current sampling feedback value, and outputs a control voltage; the power electronic converter UPE is used to process the control voltage and output a control signal.

[0080] The motor is used to drive the output shaft to output the speed corresponding to the speed adjustment information.

[0081] The speed reducer is used to supplement the output torque of the motor, providing supplementary output torque to drive the torque and speed measuring equipment and the adapter, and further drive the rotating shaft of the rotary mechanism to rotate.

[0082] The torque and speed measuring device is installed between the reducer and the adapter. The upper shaft of the torque and speed measuring device is connected to the lower shaft of the reducer via a coupling, and the lower shaft of the torque and speed measuring device is connected to the adapter. It is used to connect the reducer and the adapter, and to transmit the motor output torque and the supplementary output torque provided by the reducer to the adapter. It is also used to test and obtain the actual torque of the rotary mechanism, and to test and fuse with an incremental encoder to obtain the actual speed of the rotary mechanism.

[0083] Fusion processing refers to the weighted calculation of the rotational speed V1 obtained by torque and speed measurement equipment and the rotational speed V2 obtained by incremental encoder to obtain the actual rotational speed of the rotary mechanism. Among them, the weight of rotational speed V2 is usually greater than the weight of rotational speed V1. However, in special cases, such as when rotational speed V2 jumps, rotational speed V2 in that time period is discarded and rotational speed V1 in the corresponding time period is directly used.

[0084] The incremental encoder is mounted on the motor, and the lower shaft of the incremental encoder is connected to the upper shaft of the motor.

[0085] The adapter is used to fix the rotating shaft of the rotary mechanism and connect the rotating shaft to the torque and speed measuring equipment, so as to transmit the output torque of the motor and the supplementary output torque provided by the reducer to the rotating shaft.

[0086] The digital display tube is used to display the actual rotational speed of the rotary mechanism obtained by testing and fusing the torque and speed measuring device with the incremental encoder, and also to display the actual torque of the rotary mechanism obtained by testing the torque and speed measuring device.

[0087] The current sensor is connected in series with the motor to measure the current passing through the motor, i.e., the actual current sampling feedback value.

[0088] The fixed base is used to fix the fixed shaft of the rotary mechanism.

[0089] Tripods are used to provide structural support for the testing system.

[0090] If the self-test results are abnormal, troubleshooting is required until the self-test results are normal.

[0091] After the rotary mechanism is installed in the test system, that is, after the rotating shaft of the rotary mechanism is fixedly connected to the output shaft of the test system and the fixed shaft of the rotary mechanism is fixedly connected to the fixed base of the test system, the schematic diagram of the test state structure of the comprehensive performance test system of the rotary mechanism in this embodiment of the invention is as follows: Figure 4 As shown.

[0092] Preferably, step S2 can be further refined into the following steps:

[0093] S21. Adjust the output speed of the test system to the target speed range, and test to obtain the actual speed of the rotary mechanism; wherein, the target speed range is 20mrad / s to 28mrad / s.

[0094] Adjust the speed control knob to make the main control board output a control signal, drive the motor to drive the reducer to generate output torque, so as to drive the torque and speed measuring equipment and the adapter to rotate, so that the output speed of the test system is within the target speed range.

[0095] The adapter drives the rotary mechanism to operate at a constant speed at the output speed.

[0096] Using an incremental encoder and a torque-speed measurement device, the rotational speed of the rotary mechanism is tested to obtain speeds V1 and V2, which are then fused to obtain the actual rotational speed of the rotary mechanism, and the actual rotational speed is transmitted to a digital display tube.

[0097] The actual rotational speed of the rotary mechanism can be observed using a digital display tube.

[0098] Specifically, adjusting the speed control knob causes the main control board to output a control signal; its dual closed-loop speed control block diagram is as follows: Figure 5 As shown, it includes:

[0099] Adjusting the speed control knob transmits the speed adjustment information to the microcontroller in the main control board connected to the speed control knob. The microcontroller outputs a given speed command Un*, which is then subtracted from the actual speed Un obtained by the torque and speed measurement device and the incremental encoder (TG). The result is then fed into the speed adjustment algorithm (ASR) preset in the microcontroller.

[0100] The current control command Ui* is output by the speed regulator ASR via the digital-to-analog converter module DAC8564. The difference between this command and the actual current sampling feedback value Ui obtained by the current sensor connected to the motor is then fed into the current regulator ACR in the main control board.

[0101] The current regulator ACR outputs a control voltage Uc, which is then processed by the power electronic converter UPE on the main control board to output a control signal Ud.

[0102] It is worth noting that the analog current loop uses PI control, and the basic circuit diagram of the PI controller ACR is shown below. Figure 6 As shown, after comparing the system's technical specifications, the final current loop PI regulation circuit design was obtained through analysis and calculation. Figure 7 As shown, the speed loop ASR uses an adaptive PID control algorithm, which effectively improves the speed control accuracy.

[0103] For example, the motor is a permanent magnet DC torque motor, specifically model J60LYX04, with a peak locked-rotor voltage of 28V, a peak locked-rotor current of 4.2A, a continuous locked-rotor voltage of 10V, a continuous locked-rotor current of 1.5A, and a continuous locked-rotor torque M. 电机 The torque is 0.54 Nm, and the maximum no-load speed V is... 电机 It is 600 RPM.

[0104] The reducer is a two-stage planetary reducer, specifically model PFS 090L2-100, with a rated output torque of 141 Nm and a reduction ratio λ. 减速比 With a value of 100, the maximum efficiency η is 80%.

[0105] The output torque can then be calculated as follows:

[0106] M 输出力矩 =M 电机 ×λ 减速比 ×η=43.2Nm

[0107] The output speed can be calculated as follows:

[0108] V OUT =V 电机 / λ 减速比 =6RPM

[0109] It can be seen that the output torque is greater than the maximum value of the target torque range and the output speed is greater than the maximum value of the target speed range. Therefore, the use of the J 60LYX 04 motor and the PFS 090L2-100 reducer can meet the test requirements of the rotary mechanism.

[0110] Specifically, such as Figure 7The current loop PI regulator circuit diagram shown is constructed as follows:

[0111] The main technical parameters of the motor are shown in Table 1.

[0112] Table 1 Main Technical Parameters of the Motor

[0113]

[0114] The filtering time constant Toi = 17us = 0.000017s.

[0115] The current sensor used is ACS712, with a current feedback amplification factor B = 15.

[0116] A dual PWM switching controller UC1637 is used, designed to regulate the voltage from -10V to +10V, generating two symmetrical complementary PWM signals with a frequency of 14.55kHz. These signals are then fed into a power module MSK4226 to generate a maximum voltage of -24V to +24V to drive the motor. The DC voltage to PWM drive amplification factor Ks = 24V / 10V = 2.4.

[0117] The PWM delay time Ts is set to 0.5 PWM cycles, i.e., 0.5 / 14.55kHz = 34us = 0.000034s.

[0118] Given the motor inductance L = 20mH = 0.02H and motor resistance R = 6.1Ω, the motor electromagnetic time constant T can be calculated. l It takes 3.28ms.

[0119] The current loop is corrected to a type I system, and the lead time constant τi is taken as T. l 3.28ms. Based on the system dynamic performance indicators, the optimal engineering parameter ζ is selected as 0.707. Based on the above parameters, the proportional coefficient Ki of the current regulator ACR can be calculated to be 5.5.

[0120] According to the operational amplifier circuit principle, Ri*Ci equals L / R = 0.02 / 6.1, so Ci is taken as... Figure 7 If C94 is 100nF, then Ri is... Figure 7 RW4 in the value is 32.8k, and R0 is... Figure 7 R63 and R64 = Ri / Ki are 6kΩ. For ease of circuit debugging, the final current loop circuit diagram is designed as follows: Figure 7 As shown, C94 is 100nF, R63 is 6.04K, and RW4 is a 100k variable resistor; DA1 is connected to DAC8564, which is the output of the digital-to-analog converter module. When current feedback is connected, JP4 jumper cap is connected, and TP10 and TP11 are the circuit test points.

[0121] S22. Determine whether the actual speed of the rotary mechanism falls within the target speed range:

[0122] If the actual speed of the rotary mechanism falls within the target speed range, then proceed to S31;

[0123] If the actual rotational speed of the rotary mechanism does not fall within the target rotational speed range, the output speed will continue to be adjusted until the actual rotational speed falls within the target rotational speed range.

[0124] It is worth noting that operators can observe whether the speed and torque are within the target speed and torque ranges through the digital display tube. At the same time, they can also use an external display control terminal to graphically display the torque and speed curves, so as to better observe whether the test data are within the target range. The external display control terminal can also receive and save the data generated during the commissioning process for operators to analyze and summarize afterward.

[0125] Preferably, step S3 can be further refined into the following steps:

[0126] S31. Test to obtain the actual torque of the rotary mechanism.

[0127] Specifically, a torque and speed measuring device is used to test the actual torque of the rotary mechanism, and the actual torque obtained from the test is transmitted to a digital display tube;

[0128] The actual torque of the rotary mechanism is observed using a digital display tube.

[0129] S32. Determine whether the actual torque of the rotary mechanism falls within the target torque range.

[0130] If the actual torque of the slewing mechanism falls within the target torque range, proceed to step S33; otherwise,

[0131] Adjust the damping of the slewing mechanism, and then repeat steps S12 to S32 until the actual torque of the slewing mechanism falls within the target torque range.

[0132] Specifically, adjusting the damping of the slewing mechanism includes:

[0133] If the actual torque is less than the minimum value of the target torque range, the test is suspended, the system is powered off, and the damping of the slewing mechanism is increased by adding damping oil to the slewing mechanism.

[0134] If the actual torque exceeds the maximum value of the target torque range, the test is paused, the system is powered off, and the damping of the slewing mechanism is reduced by decreasing the damping oil in the slewing mechanism.

[0135] S33. The rotary mechanism is automatically run and tested using a testing system; the automatic running and testing includes forward running and testing and reverse running and testing.

[0136] Specifically, forward running and testing include:

[0137] Based on each expected forward run and speed in the expected forward run and speed group, the rotation speed of the slewing mechanism is tested, so that the forward run and test speed of the slewing mechanism obtained by the test are consistent with the corresponding expected forward run and speed.

[0138] The forward running and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the running and test torques are stable, and the corresponding forward running and test torques are obtained.

[0139] Reverse running and testing, including:

[0140] Based on each expected reverse run and speed in the expected reverse run and speed group, the rotational mechanism is tested for speed, so that the reverse run and test speed of the rotational mechanism obtained by the test are consistent with the corresponding expected reverse run and speed.

[0141] The reverse run and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the run and test torques are stable, and the corresponding reverse run and test torques are obtained.

[0142] S34. Determine whether each running and test torque falls within the target torque range.

[0143] If the running and test torques fall within the target torque range after testing, then the testing and adjustment are complete.

[0144] If the running and test torque does not fall within the target torque range, adjust the damping of the slewing mechanism, and then repeat steps S12 to S33 until the running and test results fall within the target torque range; wherein, the method for adjusting the damping of the slewing mechanism is the same as the adjustment method in step S32.

[0145] It is worth noting that, such as Figure 8 As shown, the automatic running, testing, and adjustment method in this embodiment can automatically manage the rotational speed of the slewing mechanism, drive the forward and reverse rotation of the return mechanism, and intelligently evaluate whether the running and testing indicators meet the technical requirements, thus largely avoiding interference from human factors. At the same time, the testing software also records and saves the test data of the entire process for subsequent operators to retrieve and analyze. In addition, this embodiment adjusts the damping of the slewing mechanism by increasing or decreasing the damping oil based on accurate damping measurement results, requiring fewer iterations and achieving high adjustment accuracy and efficiency.

[0146] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program controlling related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0147] The above description is only a preferred embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in the present invention should be included within the scope of protection of the present invention.

Claims

1. A method for comprehensive performance testing and adjustment of a rotary mechanism, characterized in that, Includes the following steps: S1. Fix the rotating shaft of the rotary mechanism to the output shaft of the test system, fix the fixed shaft of the rotary mechanism to the fixed base of the test system, and complete the initialization of the test system; S2. Adjust the output speed of the test system to the target speed range, and test to obtain the actual speed of the rotary mechanism; If the actual speed is within the target speed range, proceed to S3; if the actual speed is not within the target speed range, continue to adjust the output speed until the actual speed is within the target speed range. S3. Test to obtain the actual torque of the rotary mechanism; if the actual torque is within the target torque range, then use the test system to automatically run and test the rotary mechanism; if the running and test torque is within the target torque range, then the test and adjustment are completed. If the actual torque does not belong to the target torque range, or the running and test torque does not belong to the target torque range, then adjust the damping of the slewing mechanism, and then repeat steps S1 to S3 until the actual torque belongs to the target torque range and the running and test result belongs to the target torque range.

2. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 1, characterized in that, The testing system includes a speed control knob, a main control board, a motor, an output shaft, and a digital display tube. The speed control knob is used to acquire speed adjustment information to the main control board. The main control board is used to generate a control signal to the motor based on the speed adjustment information. The motor is used to drive the output shaft to output an output speed corresponding to the speed adjustment information. The digital display tube is used to display the speed. The initialization of the test system includes: Reset the speed control knob; Power on the test system, and each component completes initialization and self-test; after the self-test is normal, the digital display tube displays the initial value, and the motor is enabled.

3. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 2, characterized in that, The output shaft includes a speed reducer, a torque and speed measuring device, and an adapter; the rotary mechanism is mounted on the test system via the adapter; the test system also includes an incremental encoder; Adjusting the output speed of the test system to the target speed range and testing to obtain the actual speed of the rotary mechanism includes: Adjust the speed control knob to make the main control board output a control signal, drive the motor to drive the reducer to generate output torque, so as to drive the torque and speed measuring device and the adapter to rotate, so that the output speed of the test system is within the target speed range; The rotating shaft of the rotary mechanism is driven by an adapter to operate at a constant speed at the output speed. Using an incremental encoder and a torque-speed measurement device, the rotational speed of the rotary mechanism is tested to obtain speeds V1 and V2, which are then fused to obtain the actual rotational speed of the rotary mechanism, and the actual rotational speed is transmitted to a digital display tube. The actual rotational speed of the rotary mechanism is observed using a digital display tube.

4. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 3, characterized in that, Adjust the speed control knob to enable the main control board to output control signals, including: Adjusting the speed control knob transmits the speed adjustment information to the microcontroller in the main control board connected to the speed control knob. The microcontroller outputs a given speed command Un*, which is then subtracted from the actual speed Un obtained by the torque and speed measurement device and the incremental encoder (TG). The result is then fed into the speed adjustment algorithm (ASR) preset in the microcontroller. The current control command Ui* is output by the speed regulator ASR via the digital-to-analog converter module DAC8564. The difference between this command and the actual current sampling feedback value Ui obtained by the current sensor connected to the motor is then fed into the current regulator ACR in the main control board. The current regulator ACR outputs a control voltage Uc, which is then processed by the power electronic converter UPE in the main control board to output a control signal Ud.

5. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 4, characterized in that, The actual torque of the rotary mechanism is obtained through testing, including: The actual torque of the rotary mechanism is tested using a torque and speed measuring device, and the actual torque obtained from the test is transmitted to a digital display tube. The actual torque of the rotary mechanism is observed using a digital display tube.

6. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 5, characterized in that, The target torque range is 4 Nm to 9 Nm, and the target speed range is 20 mrad / s to 28 mrad / s.

7. The method for comprehensive performance testing and adjustment of the rotary mechanism according to any one of claims 1-6, characterized in that, The automatic running and testing includes forward running and testing as well as reverse running and testing.

8. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 7, characterized in that, The forward run and test include: Based on each expected forward run and speed in the expected forward run and speed group, the rotation speed of the slewing mechanism is tested, so that the forward run and test speed of the slewing mechanism obtained by the test are consistent with the corresponding expected forward run and speed. The forward running and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the running and test torques are stable, and the corresponding forward running and test torques are obtained.

9. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 8, characterized in that, The reverse run and test include: Based on each expected reverse run and speed in the expected reverse run and speed group, the rotational mechanism is tested for speed, so that the reverse run and test speed of the rotational mechanism obtained by the test are consistent with the corresponding expected reverse run and speed. The reverse run and torque of the rotary mechanism at this speed are tested. The signal fluctuations of the run and test torques are stable, and the corresponding reverse run and test torques are obtained.

10. The method for comprehensive performance testing and adjustment of the rotary mechanism according to claim 9, characterized in that, Adjusting the damping of the rotary mechanism includes: If the actual torque is less than the minimum value of the target torque range, the test is paused, the system is powered off, and the damping of the slewing mechanism is increased by adding damping oil to the slewing mechanism. If the actual torque is greater than the maximum value of the target torque range, the test is paused, the system is powered off, and the damping of the slewing mechanism is reduced by decreasing the damping oil in the slewing mechanism.

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