Servo mechanism performance testing method, device, equipment and readable storage medium

Abstract

The present invention provides a servo mechanism performance test method, device, equipment and readable storage medium. The servo mechanism performance test method includes: calling a database file corresponding to the servo mechanism, linking the input signal on the performance test interface control through the database file as the control physical quantity input to the servo mechanism according to a preset period; collecting feedback physical quantities based on CAN message trigger events or state trigger events, and the feedback physical quantity is the feedback quantity corresponding to the actuator in the servo mechanism and the control physical quantity; performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results; linking the performance test interface window environment variables to the data processing results, and displaying the physical quantity corresponding to the servo mechanism performance index based on the data processing results. The servo mechanism performance test method of the present invention can be flexibly configured according to the test, and the test equipment involved is universal and portable.

Description

Technical Field

[0001] The present invention relates to the technical field of servo mechanism testing, and in particular to a servo mechanism performance testing method, device, equipment and readable storage medium. Background Art

[0002] Servo performance testing plays a very important role in the entire aerospace product development process. Through servo performance testing, it can be verified whether the servo meets the performance index requirements, which is the guarantee to ensure the success of the flight test of aerospace products.

[0003] At present, the performance test method of the servo mechanism of aerospace products is generally to design a special test tool, develop the upper and lower computer software based on the test tool, and test the servo mechanism with a single power supply. Since the test tools of different aerospace products are not universal, the test equipment is repeatedly invested, the development cycle is long, and the labor cost is high. Summary of the invention

[0004] The main purpose of the present invention is to provide a servo mechanism performance testing method, device, equipment and readable storage medium, aiming to solve the technical problem that the test tooling corresponding to the servo mechanisms of different aerospace models is not universal, and the existing method of servo mechanism performance testing based on special test tooling leads to high testing costs and long development cycles.

[0005] In a first aspect, the present invention provides a servo mechanism performance testing method, the servo mechanism performance testing method comprising the following steps:

[0006] Retrieve the database file corresponding to the servo mechanism, and link the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to the preset cycle;

[0007] Collecting feedback physical quantities based on CAN message trigger events or status trigger events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities;

[0008] Performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results;

[0009] The performance test interface window environment variables are linked to the data processing results, and the physical quantities corresponding to the servo mechanism performance indicators are displayed based on the data processing results.

[0010] Optionally, before the step of calling the database file corresponding to the servo mechanism and linking the input signal on the performance test interface control as the control physical quantity input to the servo mechanism through the database file according to a preset period, the step includes:

[0011] Establish a message protocol family corresponding to the servo mechanism;

[0012] Based on the message protocol family, configure the basic database corresponding to the servo mechanism;

[0013] Set controls on the performance test interface and display the physical quantities corresponding to the performance indicators;

[0014] Precompile CAN message trigger events and state trigger event functions in a corresponding compilation environment, wherein the state trigger events include control trigger events and timer trigger events.

[0015] Optionally, the input signal includes a voltage signal, a current signal and an angle signal; the input signals corresponding to different curve types include a step signal, a sine and cosine signal, a square wave signal and a straight line signal.

[0016] Optionally, the step of performing corresponding data processing on the control physical quantity and the feedback physical quantity based on the input signals of different curve types to obtain the data processing result includes:

[0017] If the input signal is a step signal, the slope and the number of half-wave oscillations are extracted based on the feedback physical quantity;

[0018] The control physical quantity is compared with the feedback physical quantity to determine the delay of the input signal response, wherein the data processing result includes the slope, the number of half-wave oscillations and the delay of the input signal response.

[0019] Optionally, the step of performing corresponding data processing on the control physical quantity and the feedback physical quantity based on the input signals of different curve types to obtain the data processing result includes:

[0020] If the input signal is a sine-cosine signal, the control physical quantity and the feedback physical quantity corresponding to the input signal at multiple different frequencies in the no-load state and the full-load state of the servo mechanism are compared to determine the frequency response capability of the servo mechanism in the no-load state and the full-load state, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

[0021] In a second aspect, the present invention further provides a servo mechanism performance testing device, the servo mechanism performance testing device comprising:

[0022] An input module is used to retrieve the database file corresponding to the servo mechanism, and link the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to a preset period;

[0023] A collection module, used for collecting feedback physical quantities based on CAN message trigger events or status trigger events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities;

[0024] A data processing module, used for performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results;

[0025] The display module is used to link the performance test interface window environment variables to the data processing results, and display the physical quantity corresponding to the servo mechanism performance index based on the data processing results.

[0026] Optionally, the servo mechanism performance testing device further includes a building module, which is used to:

[0027] Establish a message protocol family corresponding to the servo mechanism;

[0028] Based on the message protocol family, configure the basic database corresponding to the servo mechanism;

[0029] Set controls on the performance test interface and display the physical quantities corresponding to the performance indicators;

[0030] Precompile CAN message trigger events and state trigger event functions in a corresponding compilation environment, wherein the state trigger events include control trigger events and timer trigger events.

[0031] Optionally, the input signal includes a voltage signal, a current signal and an angle signal; the input signals corresponding to different curve types include a step signal, a sine and cosine signal, a square wave signal and a straight line signal.

[0032] Optionally, the data processing module is specifically used to:

[0033] If the input signal is a step signal, the slope and the number of half-wave oscillations are extracted based on the feedback physical quantity;

[0034] The control physical quantity is compared with the feedback physical quantity to determine the delay of the input signal response, wherein the data processing result includes the slope, the number of half-wave oscillations and the delay of the input signal response.

[0035] Optionally, the data processing module is further specifically used for:

[0036] If the input signal is a sine-cosine signal, the control physical quantity and the feedback physical quantity corresponding to the input signal at multiple different frequencies in the no-load state and the full-load state of the servo mechanism are compared to determine the frequency response capability of the servo mechanism in the no-load state and the full-load state, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

[0037] In a third aspect, the present invention also provides a servo mechanism performance testing device, comprising a processor, a memory, and a servo mechanism performance testing program stored in the memory and executable by the processor, wherein when the servo mechanism performance testing program is executed by the processor, the steps of the servo mechanism performance testing method described above are implemented.

[0038] In a fourth aspect, the present invention further provides a readable storage medium, on which a servo mechanism performance test program is stored, wherein when the servo mechanism performance test program is executed by a processor, the steps of the servo mechanism performance test method as described above are implemented.

[0039] The present invention provides a servo mechanism performance test method, device, equipment and readable storage medium. The servo mechanism performance test method includes: calling a database file corresponding to the servo mechanism, linking the input signal on the performance test interface control through the database file as the control physical quantity input to the servo mechanism according to a preset period; collecting feedback physical quantities based on CAN message trigger events or state trigger events, and the feedback physical quantity is the feedback quantity corresponding to the actuator in the servo mechanism and the control physical quantity; performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results; linking the performance test interface window environment variables to the data processing results, and displaying the physical quantity corresponding to the servo mechanism performance index based on the data processing results. The servo mechanism performance test method of the present invention can be flexibly configured according to the test, and the test equipment involved is universal and portable. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 A schematic diagram of the hardware structure of a servo mechanism performance test device involved in an embodiment of the present invention;

[0041] Figure 2 A schematic diagram of a flow chart of an embodiment of a servo mechanism performance testing method of the present invention;

[0042] Figure 3 A schematic flow chart of another embodiment of the servo mechanism performance testing method of the present invention;

[0043] Figure 4 It is a schematic diagram of functional modules of an embodiment of a servo mechanism performance testing device of the present invention.

[0044] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0045] It should be understood that the specific embodiments described herein are only used to explain the present invention, and are not used to limit the present invention.

[0046] In a first aspect, an embodiment of the present invention provides a servo mechanism performance testing device.

[0047] Reference Figure 1 , Figure 1 The hardware structure diagram of the servo mechanism performance test device involved in the embodiment of the present invention. In the embodiment of the present invention, the servo mechanism performance test device may include a processor 1001 (e.g., a central processing unit, CPU), a communication bus 1002, a user interface 1003, a network interface 1004, and a memory 1005. Among them, the communication bus 1002 is used to realize the connection and communication between these components; the user interface 1003 may include a display screen (Display), an input unit such as a keyboard (Keyboard); the network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a wireless fidelity WIreless-FIdelity, WI-FI interface); the memory 1005 may be a high-speed random access memory (random access memory, RAM), or a stable memory (non-volatile memory), such as a disk storage, and the memory 1005 may optionally be a storage device independent of the aforementioned processor 1001. Those skilled in the art will understand that Figure 1 The hardware structure shown in the figure does not constitute a limitation of the present invention, and may include more or less components than those shown in the figure, or combine certain components, or arrange the components differently.

[0048] Continue to refer to Figure 1 , Figure 1 The memory 1005 as a computer storage medium may include an operating system, a network communication module, a user interface module, and a servo mechanism performance test program. The processor 1001 may call the servo mechanism performance test program stored in the memory 1005 and execute the servo mechanism performance test method provided by the embodiment of the present invention.

[0049] On the second aspect, since the test fixtures corresponding to the servo mechanisms of different aerospace models are not universal, the existing method of performing servo mechanism performance testing based on special test fixtures will lead to technical problems such as high test cost and long development cycle. Therefore, the present invention uses a portable computer or a PC as a host computer, and adopts the configured CANoe software on the host computer. The CANoe hardware is connected through the computer USB port, and then the CANoe hardware is connected to the CAN interface of the servo mechanism through the DB9 plug to perform the servo mechanism performance test. The specific input signal, collection, processing and display of the servo mechanism performance test interface corresponding to the CANoe software in the overall performance test process can be flexibly configured according to the different performance indicators to be tested by the servo mechanism. The above method can adapt to the needs of building a variety of test environments, and is also conducive to using existing general test equipment to complete performance testing at each servo mechanism test site.

[0050] Based on the above, an embodiment of the present invention provides a servo mechanism performance method.

[0051] Reference Figure 2 , Figure 2 FIG. 4 is a flow chart of an embodiment of a servo mechanism performance testing method of the present invention.

[0052] In one embodiment of the servo mechanism performance testing method of the present invention, the servo mechanism performance testing method includes:

[0053] Step S10, calling the database file corresponding to the servo mechanism, and linking the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to the preset period;

[0054] In this embodiment, when performing performance tests on different CAN interface servo mechanisms, it is necessary to call the database file corresponding to the specific servo mechanism in the CANoe software. The above database file contains data such as system nodes, CAN bus messages, CAN signals, and environmental variables involved in the servo mechanism performance test.

[0055] After the database file corresponding to the servo mechanism is retrieved, the input signal on the performance test interface control will be linked to the system nodes, CAN bus messages, CAN signals and environment variables in the retrieved database file according to a preset cycle, so that the input signal manually entered by the tester on the performance test interface control of the CANoe software can be used as the control physical quantity input to the servo mechanism (for example, the voltage control quantity at a certain moment corresponds to the 1st to 4th bytes of a CAN message).

[0056] Further, in one embodiment, referring to Figure 3 , before step S10, comprising:

[0057] Step S01, establishing a message protocol family corresponding to the servo mechanism;

[0058] Step S02, configuring a basic database corresponding to the servo mechanism based on the message protocol family;

[0059] Step S03, setting controls on the performance test interface and displaying physical quantities corresponding to performance indicators;

[0060] Step S04, precompiling CAN message trigger events and state trigger event functions in a corresponding compilation environment, wherein the state trigger events include control trigger events and timer trigger events.

[0061] In this embodiment, before the performance test is performed on a specific servo mechanism, the corresponding CAN message protocol family will be established for different servo mechanisms, and the basic database corresponding to the servo mechanism will be configured through the CANdb++ of the CANoe software based on the CAN message protocol family corresponding to the different servo mechanisms. Among them, the established basic database is stored in the CANoe software in the form of a file, and the corresponding database file will be retrieved when the performance test is performed on the specific servo mechanism. In addition, the present embodiment scheme uses the paneleditor on the CANoe software to construct the panel interface as the performance test interface of the servo mechanism, and the control settings and the display settings of the physical quantities corresponding to the performance indicators are performed on the performance test interface. Finally, the CAN message trigger event and the state trigger event function are pre-compiled in the corresponding capl programming compilation environment, wherein the state trigger event includes the control trigger event and the timer trigger event. After these events are compiled, when performing the performance test later, the tester can enter the corresponding control parameters on the performance test interface and click the corresponding control, and input the corresponding control physical quantity to the servo mechanism based on the control trigger event. Furthermore, during the performance test, the corresponding control operation can be executed based on the CAN message trigger event after receiving the control message, or the servo mechanism can continuously and periodically output a preset specific message to the CAN bus based on the status trigger event.

[0062] Step S20, collecting feedback physical quantities based on CAN message triggering events or status triggering events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities;

[0063] In this embodiment, based on the pre-compiled CAN message trigger event or status trigger event, the physical quantity actually fed back by the actuator in the servo mechanism to the CAN bus after receiving the control physical quantity can be collected (for example, extracting the 5th to 8th bytes after a CAN message occurs on the CAN bus).

[0064] Step S30, performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain a data processing result;

[0065] In this embodiment, since different servo mechanisms need to test different performance indicators, there will be different setting options in the panel interface of the performance test. By setting the curve type option on the panel interface, and setting the output amplitude, frequency and slope options of the input signal on the panel interface, input signals of different curve types with different amplitudes, frequencies or slopes can be output. Input signals of different curve types have different characteristics, and the corresponding test focuses are different. Therefore, it is necessary to determine the curve type corresponding to the input signal, and then determine the corresponding data processing based on the curve type corresponding to the input signal, and then perform corresponding data processing on the control physical quantity and feedback physical quantity collected from the CAN bus to obtain corresponding data processing results. The above processing results correspond to the performance indicators obtained by the corresponding tests of signals of different curve types, such as frequency response capability, time domain characteristics, linearity, speed and acceleration, etc.

[0066] Furthermore, in one embodiment, the input signal includes a voltage signal, a current signal and an angle signal; the input signals corresponding to different curve types include a step signal, a sine and cosine signal, a square wave signal and a straight line signal.

[0067] In this embodiment, based on the different execution functions of the servo mechanism, the input signals input to the servo mechanism include voltage signals, current signals and angle signals. Based on the test focus of different performance indicators of the servo mechanism, the input signals corresponding to different curve types include step signals, sine and cosine signals, square wave signals and straight line signals, and different curve type signals correspond to different test performance indicators. Among them, the sine and cosine signals correspond to the performance indicators such as the frequency response capability of the test servo mechanism, the step signals correspond to the performance indicators such as the time domain characteristics and linearity of the test servo mechanism, and the straight line signals correspond to the performance indicators such as the speed and acceleration of the servo mechanism.

[0068] Further, in one embodiment, the step S30 includes:

[0069] If the input signal is a step signal, the slope and the number of half-wave oscillations are extracted based on the feedback physical quantity;

[0070] The control physical quantity is compared with the feedback physical quantity to determine the delay of the input signal response, wherein the data processing result includes the slope, the number of half-wave oscillations and the delay of the input signal response.

[0071] In this embodiment, when the input signal is a step signal, the corresponding performance indicators of the test are the time domain characteristics, linearity, etc. of the servo mechanism. Among them, since the input signal is a step signal, the output signal corresponding to the feedback physical quantity fed back is also a step signal. Therefore, firstly, based on the collected feedback physical quantity, the slope and the number of half-wave oscillations of the corresponding output step signal are extracted to determine the performance indicators such as the linearity of the servo mechanism. And through the corresponding control physical quantity and feedback physical quantity, the response delay of the servo mechanism to the input signal can be determined, thereby determining the performance indicators such as the time domain characteristics of the servo mechanism. Among them, the data processing results include the slope, the number of half-wave oscillations and the delay of the input signal response.

[0072] Further, in one embodiment, the step S30 includes:

[0073] If the input signal is a sine-cosine signal, the control physical quantity and the feedback physical quantity corresponding to the input signal at multiple different frequencies in the no-load state and the full-load state of the servo mechanism are compared to determine the frequency response capability of the servo mechanism in the no-load state and the full-load state, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

[0074] In this embodiment, when the input signal is a sine-cosine signal (for example, a sine wave signal input = F*Asinwt, F is the resolution, A is the amplitude, w is the frequency, and t is the corresponding control time), the corresponding test performance index is the frequency response capability of the servo mechanism, etc. Among them, since the input signal is a sine-cosine signal, the output signal corresponding to the feedback physical quantity fed back is also a sine-cosine signal. In the no-load state (the actuator of the servo mechanism does not apply a resistance force) and the full-load state (the actuator of the servo mechanism applies a full resistance force), a plurality of frequency sine-cosine signals are input, and the attenuation of the output signal can be observed to determine the quality of the frequency response. Therefore, by comparing the control physical quantity and the feedback physical quantity corresponding to the input signals at multiple different frequencies in the no-load state and the full-load state of the servo mechanism, the frequency response capability of the servo mechanism in the no-load state and the full-load state can be determined, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

[0075] Step S40, linking the performance test interface window environment variables to the data processing results, and displaying the physical quantities corresponding to the servo mechanism performance indicators based on the data processing results.

[0076] In this embodiment, the data processing results are obtained, and the panel interface window environment variables of the performance test can be linked to the data processing results through the database file in the capl compiler environment, that is, the performance indicators of the servo mechanism control, such as frequency domain characteristics, time domain characteristics, linearity, speed, acceleration, etc., can be intuitively displayed in the servo mechanism performance test interface, thereby realizing the visual management of the control curve and the feedback curve.

[0077] In this embodiment, a servo mechanism performance test method is provided, including: calling a database file corresponding to the servo mechanism, linking the input signal on the performance test interface control through the database file as the control physical quantity input to the servo mechanism according to a preset period; collecting feedback physical quantities based on CAN message trigger events or state trigger events, the feedback physical quantity is the feedback quantity corresponding to the actuator in the servo mechanism and the control physical quantity; performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results; linking the performance test interface window environment variables to the data processing results, and displaying the physical quantity corresponding to the servo mechanism performance index based on the data processing results. The servo mechanism performance test method of the present invention can be flexibly configured according to the test, and the test equipment involved is universal and portable.

[0078] In a third aspect, an embodiment of the present invention further provides a servo mechanism performance testing device.

[0079] Reference Figure 4 , a schematic diagram of the functional modules of an embodiment of a servo mechanism performance testing device.

[0080] In this embodiment, the servo mechanism performance testing device includes:

[0081] The input module 10 is used to retrieve the database file corresponding to the servo mechanism, and link the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to the preset period;

[0082] The acquisition module 20 is used to acquire feedback physical quantities based on CAN message trigger events or status trigger events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities;

[0083] A data processing module 30, configured to perform corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain a data processing result;

[0084] The display module 40 is used to link the performance test interface window environment variables to the data processing results, and to display the physical quantities corresponding to the servo mechanism performance indicators based on the data processing results.

[0085] Furthermore, in one embodiment, the servo mechanism performance testing device further includes a building module for:

[0086] Establish a message protocol family corresponding to the servo mechanism;

[0087] Based on the message protocol family, configure the basic database corresponding to the servo mechanism;

[0088] Set controls on the performance test interface and display the physical quantities corresponding to the performance indicators;

[0089] Precompile CAN message trigger events and state trigger event functions in a corresponding compilation environment, wherein the state trigger events include control trigger events and timer trigger events.

[0090] Furthermore, in one embodiment, the input signal includes a voltage signal, a current signal and an angle signal; the input signals corresponding to different curve types include a step signal, a sine and cosine signal, a square wave signal and a straight line signal.

[0091] Furthermore, in one embodiment, the data processing module 30 is specifically used for:

[0092] If the input signal is a step signal, the slope and the number of half-wave oscillations are extracted based on the feedback physical quantity;

[0093] The control physical quantity is compared with the feedback physical quantity to determine the delay of the input signal response, wherein the data processing result includes the slope, the number of half-wave oscillations and the delay of the input signal response.

[0094] Furthermore, in one embodiment, the data processing module 30 is further specifically used for:

[0095] If the input signal is a sine-cosine signal, the control physical quantity and the feedback physical quantity corresponding to the input signal at multiple different frequencies in the no-load state and the full-load state of the servo mechanism are compared to determine the frequency response capability of the servo mechanism in the no-load state and the full-load state, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

[0096] Among them, the functional implementation of each module in the above-mentioned servo mechanism performance testing device corresponds to each step in the above-mentioned servo mechanism performance testing method embodiment, and its functions and implementation processes are no longer repeated here.

[0097] In a fourth aspect, an embodiment of the present invention further provides a readable storage medium.

[0098] The readable storage medium of the present invention stores a servo mechanism performance test program, wherein when the servo mechanism performance test program is executed by a processor, the steps of the servo mechanism performance test method described above are implemented.

[0099] The method implemented when the servo mechanism performance test program is executed can refer to the various embodiments of the servo mechanism performance test method of the present invention, and will not be described in detail here.

[0100] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article or system including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or system. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or system including the element.

[0101] The serial numbers of the above embodiments of the present invention are only for description and do not represent the advantages or disadvantages of the embodiments.

[0102] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present invention is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present invention.

[0103] The above are only preferred embodiments of the present invention, and are not intended to limit the patent scope of the present invention. Any equivalent structure or equivalent process transformation made using the contents of the present invention specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A servo mechanism performance testing method, characterized in that: The servo mechanism performance testing method comprises: Retrieve the database file corresponding to the servo mechanism, and link the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to the preset cycle; Collecting feedback physical quantities based on CAN message trigger events or status trigger events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities; Performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results; Linking the performance test interface window environment variable to the data processing result, and displaying the physical quantity corresponding to the servo mechanism performance index based on the data processing result; Before the step of calling the database file corresponding to the servo mechanism and linking the input signal on the performance test interface control as the control physical quantity input to the servo mechanism through the database file according to the preset period, the step includes: Establish a message protocol family corresponding to the servo mechanism; Based on the message protocol family, configure the basic database corresponding to the servo mechanism; Set controls on the performance test interface and display the physical quantities corresponding to the performance indicators; Precompile CAN message trigger event and state trigger event functions in the corresponding compilation environment, where the state trigger event includes control trigger event and timer trigger event; The step of performing corresponding data processing on the control physical quantity and the feedback physical quantity based on the input signals of different curve types to obtain the data processing result comprises: If the input signal is a step signal, the slope and the number of half-wave oscillations are extracted based on the feedback physical quantity; Comparing the control physical quantity with the feedback physical quantity to determine the delay of the input signal response, wherein the data processing result includes the slope, the number of half-wave oscillations and the delay of the input signal response; The step of performing corresponding data processing on the control physical quantity and the feedback physical quantity based on the input signals of different curve types to obtain the data processing result comprises: If the input signal is a sine-cosine signal, the control physical quantity and the feedback physical quantity corresponding to the input signal at multiple different frequencies in the no-load state and the full-load state of the servo mechanism are compared to determine the frequency response capability of the servo mechanism in the no-load state and the full-load state, wherein the data processing result includes the frequency response capability of the servo mechanism in the no-load state and the full-load state.

2. The servo mechanism performance testing method according to claim 1, characterized in that: The input signals include voltage signals, current signals and angle signals; the input signals corresponding to different curve types include step signals, sine and cosine signals, square wave signals and straight line signals.

3. A servo mechanism performance testing device, used to implement the servo mechanism performance testing method according to claim 1 or 2, characterized in that: The servo mechanism performance testing device comprises: An input module is used to retrieve the database file corresponding to the servo mechanism, and link the input signal on the performance test interface control to the database file as the control physical quantity input to the servo mechanism according to a preset period; A collection module, used for collecting feedback physical quantities based on CAN message trigger events or status trigger events, wherein the feedback physical quantities are feedback quantities corresponding to the actuators in the servo mechanism and the control physical quantities; A data processing module, used for performing corresponding data processing on the control physical quantity and the feedback physical quantity based on input signals of different curve types to obtain data processing results; The display module is used to link the performance test interface window environment variables to the data processing results, and display the physical quantity corresponding to the servo mechanism performance index based on the data processing results.

4. The servo mechanism performance testing device according to claim 3, characterized in that: The servo mechanism performance testing device also includes a building module for: Establish a message protocol family corresponding to the servo mechanism; Based on the message protocol family, configure the basic database corresponding to the servo mechanism; Set controls on the performance test interface and display the physical quantities corresponding to the performance indicators; Precompile CAN message trigger events and state trigger event functions in a corresponding compilation environment, wherein the state trigger events include control trigger events and timer trigger events.

5. The servo mechanism performance testing device according to claim 3, characterized in that: The input signals include voltage signals, current signals and angle signals; the input signals corresponding to different curve types include step signals, sine and cosine signals, square wave signals and straight line signals.

6. A servo mechanism performance testing device, characterized in that: The servo mechanism performance testing device includes a processor, a memory, and a servo mechanism performance testing program stored in the memory and executable by the processor, wherein when the servo mechanism performance testing program is executed by the processor, the steps of the servo mechanism performance testing method as described in claim 1 or 2 are implemented.

7. A readable storage medium, characterized in that: The readable storage medium stores a servo mechanism performance test program, wherein when the servo mechanism performance test program is executed by a processor, the steps of the servo mechanism performance test method as claimed in claim 1 or 2 are implemented.

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