Servo performance parameter testing method, device, host computer and medium

Abstract

The embodiment of the present application provides a performance parameter testing method, device, host computer and medium for a servo servo, belonging to the technical field of servo servo, the method comprising: the host computer sends a frequency sweep parameter to the servo servo; receiving the operation feedback data sent by the servo servo, and performing segmented fitting processing on the operation feedback data and the frequency sweep instruction respectively; obtaining an amplitude-frequency characteristic curve according to a plurality of first fitting data, a plurality of second fitting data, a plurality of third fitting data and a plurality of fourth fitting data; determining the bandwidth of the servo servo according to the amplitude-frequency characteristic curve. In this way, the host computer obtains the operation feedback data from the servo servo, and performs data fitting processing based on the frequency sweep instruction and the operation feedback data to obtain the amplitude-frequency characteristic curve, thereby determining the bandwidth of the servo servo according to the amplitude-frequency characteristic curve, the implementation process is simple and reliable, the test result of the bandwidth of the servo servo is relatively accurate, no additional hardware cost is required, and the test cost is reduced.

Description

Technical Field

[0001] The present application relates to the technical field of servo motors, and in particular to a performance parameter testing method, device, host computer and medium for a servo motor. Background Art

[0002] The servo motor is the core component of the robot joint motion control, and the bandwidth of the servo motor is a key operation control indicator. An existing servo bandwidth test scheme is to generate a sweep signal command through a spectrum analyzer to control the servo operation, and then perform data analysis through the measured operation feedback data to obtain the frequency characteristic curve of the system. This scheme requires the servo motor to support the analyzer command and feedback control interface, and the spectrum analyzer is also relatively expensive. Therefore, the existing servo motor bandwidth test process has the problems of complex test steps and high test cost. Summary of the invention

[0003] In order to solve the above technical problems, the embodiments of the present application provide a performance parameter testing method, device, host computer and medium for a servo actuator.

[0004] In a first aspect, an embodiment of the present application provides a performance parameter testing method for a servo actuator, which is applied to a host computer, the host computer being connected to the servo actuator, and the method comprising:

[0005] Sending a frequency sweep parameter to the servo actuator, so that the servo actuator generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction;

[0006] receiving the operation feedback data sent by the servo steering engine, and performing segmented fitting processing on the frequency sweep command and the operation feedback data respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep command, and a plurality of third fitting data, and a plurality of fourth fitting data of the operation feedback data;

[0007] Acquire an amplitude-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data, and a plurality of the fourth fitting data;

[0008] The bandwidth of the servo actuator is determined according to the amplitude-frequency characteristic curve.

[0009] In one implementation, the frequency sweep parameter includes an instruction frequency, and performing a piecewise fitting process on the frequency sweep instruction includes:

[0010] Segmenting the frequency sweep instruction according to the instruction frequency to obtain multiple frequency sweep sub-instructions;

[0011] Nonlinear fitting processing is performed on each segment of the frequency sweep sub-instruction to obtain a plurality of the first fitting data and a plurality of the second fitting data of each segment of the frequency sweep sub-instruction.

[0012] In one embodiment, the performing piecewise fitting processing on the operation feedback data further includes:

[0013] Arranging the operation feedback data according to the timestamp to obtain time domain data;

[0014] Segmenting the time domain data according to the instruction frequency to obtain multiple segments of time domain sub-data;

[0015] Nonlinear fitting processing is performed on each segment of the time domain sub-data to obtain a plurality of the third fitting data and a plurality of the fourth fitting data of each segment of the time domain sub-data.

[0016] In one embodiment, the acquiring the amplitude-frequency characteristic curve according to the plurality of the first fitting data, the plurality of the second fitting data, the plurality of the third fitting data and the plurality of the fourth fitting data comprises:

[0017] Calculate the first amplitude of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0018] Calculate the second amplitude of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0019] The amplitude-frequency characteristic curve is generated according to the plurality of first amplitudes and the plurality of second amplitudes.

[0020] In one embodiment, determining the bandwidth of the servo actuator according to the amplitude-frequency characteristic curve includes:

[0021] Determine a target frequency point where the amplitude-frequency response is equal to a preset decibel value from the amplitude-frequency characteristic curve;

[0022] The target frequency point is determined as the bandwidth of the servo actuator.

[0023] In one embodiment, the method further comprises:

[0024] Acquire a phase-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data, and a plurality of the fourth fitting data;

[0025] Determining a target phase-frequency response corresponding to the target frequency point from the phase-frequency characteristic curve;

[0026] Determining whether the target phase-frequency response is greater than or equal to a preset phase threshold;

[0027] If the target phase-frequency response is greater than or equal to a preset phase threshold, it is determined that the bandwidth of the servo actuator is qualified;

[0028] If the target phase-frequency response is less than a preset phase threshold, it is determined that the bandwidth of the servo actuator is unqualified.

[0029] In one embodiment, the acquiring the phase-frequency characteristic curve according to the plurality of the first fitting data, the plurality of the second fitting data, the plurality of the third fitting data and the plurality of the fourth fitting data comprises:

[0030] Calculate the first phase of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0031] Calculate the second phase of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0032] The phase-frequency characteristic curve is generated according to the plurality of first phases and the plurality of second phases.

[0033] In a second aspect, an embodiment of the present application provides a performance parameter testing device for a servo actuator, which is applied to a host computer, the host computer is connected to the servo actuator, and the device includes:

[0034] A sending module, used for sending a frequency sweep parameter to the servo steering engine, so that the servo steering engine generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction;

[0035] a fitting processing module, used for receiving the operation feedback data sent by the servo steering engine, and performing segmented fitting processing on the frequency sweep instruction and the operation feedback data respectively, so as to obtain a plurality of first fitting data and a plurality of second fitting data of the frequency sweep instruction and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data;

[0036] An acquisition module, used for acquiring an amplitude-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data and a plurality of the fourth fitting data;

[0037] A determination module is used to determine the bandwidth of the servo actuator according to the amplitude-frequency characteristic curve.

[0038] In a third aspect, an embodiment of the present application provides a host computer, including a memory and a processor, wherein the memory is used to store a computer program, and when the computer program is run by the processor, the performance parameter testing method of the servo actuator provided in the first aspect is executed.

[0039] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium storing a computer program, which, when running on a processor, executes the performance parameter testing method for the servo actuator provided in the first aspect.

[0040] The performance parameter testing method, device, host computer and medium of the servo servo provided by the present application are as follows: the host computer sends a frequency sweep parameter to the servo servo servo, so that the servo servo generates a frequency sweep instruction according to the frequency sweep parameter, and detects the operation feedback data during the execution of the frequency sweep instruction; receives the operation feedback data sent by the servo servo, performs segmented fitting processing on the frequency sweep instruction and the operation feedback data, respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep instruction, and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data; obtains an amplitude-frequency characteristic curve according to the plurality of first fitting data, a plurality of second fitting data, a plurality of third fitting data and a plurality of fourth fitting data; determines the bandwidth of the servo servo according to the amplitude-frequency characteristic curve. In this way, the host computer obtains the operation feedback data from the servo servo, and performs data fitting processing based on the frequency sweep instruction and the operation feedback data to obtain the amplitude-frequency characteristic curve, thereby determining the bandwidth of the servo servo according to the amplitude-frequency characteristic curve, the implementation process is simple and reliable, the test result of the bandwidth of the servo servo is relatively accurate, no additional hardware cost is required, and the test cost is reduced. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solution of the present application, the following is a brief introduction to the drawings required for use in the embodiments. It should be understood that the following drawings only illustrate certain embodiments of the present application and should not be regarded as limiting the scope of protection of the present application. In each of the drawings, similar components are numbered similarly.

[0042] Figure 1 One of the flow charts of the performance parameter testing method of the servo actuator provided in the embodiment of the present application is shown;

[0043] Figure 2 The second flowchart of the method for testing the performance parameters of a servo actuator provided in an embodiment of the present application is shown;

[0044] Figure 3 The third flowchart of the method for testing the performance parameters of a servo actuator provided in an embodiment of the present application is shown;

[0045] Figure 4 One of the schematic diagrams of the amplitude-frequency characteristic curve provided in the embodiment of the present application is shown;

[0046] Figure 5 A fourth flow chart of a method for testing performance parameters of a servo actuator provided in an embodiment of the present application is shown;

[0047] Figure 6 One of the schematic diagrams of the phase-frequency characteristic curve provided in the embodiment of the present application is shown;

[0048] Figure 7 One of the structural schematic diagrams of the performance parameter testing device of the servo actuator provided in the embodiment of the present application is shown.

[0049] Icon: 700 - performance parameter testing device of servo motor, 701 - sending module, 702 - fitting processing module, 703 - acquisition module, 704 - determination module. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, rather than all of the embodiments.

[0051] The components of the embodiments of the present application generally described and shown in the drawings herein may be arranged and designed in various configurations. Therefore, the following detailed description of the embodiments of the present application provided in the drawings is not intended to limit the scope of the application claimed for protection, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without making creative work belong to the scope of protection of the present application.

[0052] Hereinafter, the terms "including", "having" and their cognates, which may be used in various embodiments of the present application, are intended only to indicate specific features, numbers, steps, operations, elements, components, or combinations of the foregoing items, and should not be understood as first excluding the existence of one or more other features, numbers, steps, operations, elements, components, or combinations of the foregoing items or adding the possibility of one or more features, numbers, steps, operations, elements, components, or combinations of the foregoing items.

[0053] Furthermore, the terms “first”, “second”, “third”, etc. are merely used for distinguishing descriptions and are not to be understood as indicating or implying relative importance.

[0054] Unless otherwise defined, all terms (including technical terms and scientific terms) used herein have the same meanings as those generally understood by those skilled in the art to which the various embodiments of the present application belong. The terms (such as those defined in generally used dictionaries) will be interpreted as having the same meanings as the contextual meanings in the relevant technical field and will not be interpreted as having idealized meanings or overly formal meanings unless clearly defined in the various embodiments of the present application.

[0055] Example 1

[0056] An embodiment of the present application provides a method for testing performance parameters of a servo actuator. The method is applied to a host computer connected to the servo actuator.

[0057] In this embodiment, the host computer can be a desktop computer or a laptop computer, which is not limited here. The servo actuator is a core component of the robot joint motion control, and the servo actuator can establish a communication connection with the host computer through the controller area network (CAN) communication.

[0058] See also Figure 1 The performance parameter testing method of the servo actuator includes steps S101 to S104, and each step is described below.

[0059] Step S101 : sending a frequency sweep parameter to the servo actuator, so that the servo actuator generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction.

[0060] In this embodiment, the host computer can perform the following operations: start the host computer, connect the host computer and the servo actuator through the CAN card (PCAN). The baud rate and CAN identification (ID) of the CAN communication can be set through the host computer. Click the connection button on the host computer, the host computer searches the CAN card, and determines whether the search is successful. If the search is successful, initialize the analysis list. If the search fails, reconnect the host computer and the servo actuator through the CAN card (PCAN). After initializing the analysis list, input the sweep frequency parameters through the interface of the host computer, and click parameter configuration, the host computer sends the sweep frequency parameters to the servo actuator. The host computer generates a timer function, and monitors the message received from the servo actuator through the timer function, which includes the operation feedback data of the servo actuator. Click the start button of the host computer to determine whether the host computer runs successfully. If the host computer runs successfully, it will receive messages from the servo. If the host computer fails to run, it will determine whether the servo is disconnected from the host computer. If not, reconnect the host computer and the servo through the CAN card (PCAN); if disconnected, re-enter the sweep parameters and click parameter configuration.

[0061] Establish a communication connection with the servo motor through CAN communication. Set the sweep frequency parameters through the interface of the host computer, which include the starting frequency, ending frequency, command frequency, operation mode, operation amplitude and other parameters, and send the sweep frequency parameters to the servo motor through CAN communication. The servo motor plans the sweep frequency instruction of frequency change according to the sweep frequency parameters, and controls the operation of the servo motor according to the sweep frequency instruction. The sweep frequency instruction can be a sinusoidal sweep frequency instruction, and the operation time of each frequency segment is equal. For example, each frequency segment runs for 1s. At the same time, the servo motor sends the detected operation feedback to the host computer in real time through CAN.

[0062] In this embodiment, after receiving the sweep frequency parameter, the servo actuator automatically generates a sweep frequency instruction for frequency change, wherein the sweep frequency instruction may be a sinusoidal sweep frequency instruction. For example, the sinusoidal sweep frequency instruction is as follows:

[0063]

[0064] Where A represents the sweep amplitude, f 0 represents the starting frequency, f d Interval frequency, k*f d represents the end frequency, and t represents the frequency sweep time. In this embodiment, t can be 1s or other time lengths, which are not limited here.

[0065] In this embodiment, the servo steering engine is driven to operate according to the sinusoidal frequency sweep instruction, and the collected operation feedback data is sent to the host computer in real time through CAN communication.

[0066] Exemplarily, the frequency sweeping operation process of the servo steering gear includes: initializing the servo steering gear CAN communication interface, initializing the frequency sweeping interface, and receiving the cached monitored CAN bus instructions. Among them, initializing the servo steering gear CAN communication interface is: deleting the CAN setting parameters in the last CAN communication process. Initializing the frequency sweeping interface is: deleting the frequency sweeping parameters in the last frequency sweeping operation process. Determine whether the CAN bus instruction is received successfully. If the reception is successful, send a response instruction to the upper computer. If the reception fails, re-receive the cached monitored CAN bus instruction.

[0067] After sending a response command to the host computer, it indicates that the CAN communication connection between the host computer and the servo actuator is successful. A sweep command is generated according to the sweep parameter, and the servo actuator starts to run according to the sweep command. Determine whether the servo actuator runs successfully. If the servo actuator runs successfully, collect the running feedback data and send the running feedback data to the host computer. If the servo actuator fails to run, re-initialize the sweep interface. During the operation of the servo actuator, determine whether the termination frequency is reached. If the termination frequency is reached, stop running the servo actuator. If the termination frequency is not reached, continue to collect the running feedback data of the servo actuator.

[0068] Step S102, receiving the operation feedback data sent by the servo actuator, performing segmented fitting processing on the frequency sweep command and the operation feedback data respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep command and a plurality of third fitting data, a plurality of fourth fitting data of the operation feedback data.

[0069] See also Figure 2 The step S102 of performing segmented fitting processing on the frequency sweep instruction includes:

[0070] Step S1021, segmenting the frequency sweep instruction according to the instruction frequency to obtain multiple frequency sweep sub-instructions;

[0071] Step S1022, performing nonlinear fitting processing on each segment of the frequency sweep sub-instruction to obtain a plurality of the first fitting data and a plurality of the second fitting data of each segment of the frequency sweep sub-instruction.

[0072] It should be noted that the command frequency of the sweep frequency command is segmented, for example, the frequency of the data in the first second is f1, and the frequency of the data in the second second is f2. The nonlinear fitting process can be a least squares nonlinear fitting process or a Fourier series fitting process, wherein the least squares nonlinear fitting function for fitting the sweep frequency sub-commands in each segment is as follows:

[0073] f=A0+A1*cos(2π*f c *t)+A2*sin(2π*f c *t);

[0074] Among them, f c is the frequency point of each frequency sweep sub-instruction. Each frequency point of each frequency sweep sub-instruction corresponds to one first fitting data A1 and one second fitting data A2, and each frequency point of multiple frequency sweep sub-instructions corresponds to multiple first fitting data A1 and multiple second fitting data A2.

[0075] In this embodiment, each frequency sweep sub-instruction can be fitted according to the least squares nonlinear fitting function to obtain a plurality of first fitting data A1 and a plurality of second fitting data A2, which will not be described here to avoid repetition.

[0076] It is further explained that, in the process of receiving the operation feedback data, the upper computer determines whether the frequency sweep operation process of the servo actuator is completed. If the frequency sweep operation process of the servo actuator is not completed, the operation feedback data is continuously received. If the frequency sweep operation process of the servo actuator is completed, the operation feedback data is rearranged according to the timestamp to make up for the lost items, wherein the step of making up for the lost items can be to copy the operation feedback data of the previous timestamp to the operation feedback data corresponding to the lost time.

[0077] In one embodiment, the step S102 of performing segmented fitting processing on the operation feedback data includes:

[0078] Arranging the operation feedback data according to the timestamp to obtain time domain data;

[0079] Segmenting the time domain data according to the instruction frequency to obtain multiple segments of time domain sub-data;

[0080] Nonlinear fitting processing is performed on each segment of the time domain sub-data to obtain a plurality of the third fitting data and a plurality of the fourth fitting data of each segment of the time domain sub-data.

[0081] In this embodiment, the host computer receives the operation feedback data sent by the servo actuator in real time through the timer function period, stores it in the cache space, and records the data length. After the servo actuator ends its operation, the cached operation feedback data is rearranged according to the timestamp to obtain the corresponding time domain curve. Among them, the operation feedback data includes data such as position, speed, current, etc., which are segmented according to the command frequency of sending the sweep frequency command. For example, the first second of the time domain is divided into a time domain curve, and the second second is divided into another time domain curve.

[0082] Exemplarily, the cached operation feedback data is rearranged according to the timestamp to obtain time domain data; the rearranged time domain data is segmented according to the instruction frequency to obtain multiple time domain sub-data segments, and then each segment of the time domain sub-data is subjected to least squares nonlinear fitting or Fourier series fitting processing. After fitting, the fitting constant A01, the third fitting data A3 and the fourth fitting data A4 corresponding to each frequency point of each segment of the time domain sub-data can be obtained.

[0083] Among them, the least squares nonlinear fitting function for fitting each segment of time domain sub-data is as follows:

[0084] f=A01+A3*cos(2π*f r *t)+A4*sin(2π*f r *t);

[0085] Among them, f r is the frequency point of each time domain sub-data segment. Each frequency point of each time domain sub-data segment corresponds to one third fitting data A3 and one fourth fitting data A4, and each frequency point of multiple time domain sub-data segments corresponds to multiple third fitting data A3 and multiple fourth fitting data A4.

[0086] In this embodiment, each segment of time domain sub-data may be fitted according to the least squares nonlinear fitting function to obtain a plurality of third fitting data A3 and a plurality of fourth fitting data A4, which will not be described in detail to avoid repetition.

[0087] Step S103 , acquiring an amplitude-frequency characteristic curve according to the plurality of first fitting data, the plurality of second fitting data, the plurality of third fitting data, and the plurality of fourth fitting data.

[0088] See also Figure 3 , step S103 includes:

[0089] Step S1031, calculating the first amplitude of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0090] Step S1032, calculating the second amplitude of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0091] Step S1033: generating the amplitude-frequency characteristic curve according to the plurality of first amplitudes and the plurality of second amplitudes.

[0092] In this embodiment, the first amplitude of each frequency point of the frequency sweep instruction can be calculated according to the following formula:

[0093]

[0094] Among them, A c represents the first amplitude of each frequency point of the frequency sweep instruction, A1 represents the first fitting data, and A2 represents the second fitting data.

[0095] In this embodiment, the second amplitude of each frequency point of the operation feedback data may be calculated according to the following formula.

[0096]

[0097] Among them, A r A represents the second amplitude of each frequency point of the operation feedback data, A3 represents the third fitting data, and A4 represents the fourth fitting data.

[0098] In this embodiment, the amplitude-frequency characteristic curve can be determined according to the following formula.

[0099]

[0100] Among them, F A A represents the amplitude-frequency response, c Indicates the first amplitude of each frequency point of the frequency sweep instruction, A r The second amplitude at each frequency point of the operation feedback data is represented.

[0101] See also Figure 4 , Figure 4 The amplitude-frequency characteristic curve is shown in Figure 2. Figure 4 In the figure, the horizontal axis is the frequency and the vertical axis is the decibel value. Figure 4 The vibration frequency point of the servo motor can be easily obtained.

[0102] Step S104: determining the bandwidth of the servo actuator according to the amplitude-frequency characteristic curve.

[0103] It should be noted that according to the national standard, the bandwidth of the servo actuator is defined as: in speed mode, a sinusoidal command amplitude of 0.01 times the rated speed of the servo actuator is given, and the frequency of the sweep frequency command gradually increases from 1Hz until the actual speed waveform amplitude is reduced to 0.707 times the sinusoidal command amplitude. When the actual speed waveform amplitude is reduced to 0.707 times the sinusoidal command amplitude, the corresponding frequency of the sweep frequency command is the bandwidth of the servo actuator. The decibel value corresponding to the actual speed waveform amplitude being reduced to 0.707 times the sinusoidal command amplitude in the poverty alleviation characteristic curve is -3db.

[0104] See also Figure 4 , Figure 4 The amplitude-frequency characteristic curve is shown in Figure 2. Figure 4 Directly find the value of the horizontal axis when the vertical coordinate is -3db in the amplitude-frequency characteristic curve, and use the found horizontal coordinate value as the bandwidth of the servo motor.

[0105] In one embodiment, step S105 includes:

[0106] Determine a target frequency point where the amplitude-frequency response is equal to a preset decibel value from the amplitude-frequency characteristic curve;

[0107] The target frequency point is determined as the bandwidth of the servo actuator.

[0108] In this embodiment, the preset decibel value may be -3db as defined by the national standard, or may be determined according to the definition of the bandwidth of the servo actuator in other protocol requirements, and is not limited here.

[0109] See also Figure 5 The performance parameter testing method of the servo actuator provided in this embodiment also includes:

[0110] Step S106 , obtaining a phase-frequency characteristic curve according to the plurality of first fitting data, the plurality of second fitting data, the plurality of third fitting data, and the plurality of fourth fitting data.

[0111] In one embodiment, step S106 includes:

[0112] Calculate the first phase of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0113] Calculate the second phase of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0114] The phase-frequency characteristic curve is generated according to the plurality of first phases and the plurality of second phases.

[0115] In this embodiment, the first phase of each frequency point of the frequency sweep instruction can be calculated according to the following formula.

[0116]

[0117] Among them, θ c represents the first phase of each frequency point of the frequency sweep instruction, A1 represents the first fitting data, and A2 represents the second fitting data.

[0118] In this embodiment, the second phase of each frequency point of the operation feedback data may be calculated according to the following formula.

[0119]

[0120] Among them, θ r A represents the second phase of each frequency point of the operation feedback data, A3 represents the third fitting data, and A4 represents the fourth fitting data.

[0121] In this embodiment, the amplitude-frequency characteristic curve can be determined according to the following formula.

[0122] F θ =θ r -θ c ;

[0123] Among them, F θ represents the phase-frequency response, θ c represents the first phase of each frequency point of the frequency sweep instruction, θ r The second phase of each frequency point of the operation feedback data is represented.

[0124] See also Figure 6 , Figure 6 Shown is the phase-frequency characteristic curve. Figure 6 In the equation, the horizontal axis is the frequency and the vertical axis is the phase degree. Figure 6 The vibration frequency point of the servo motor can be easily obtained.

[0125] Step S107: determining a target phase-frequency response corresponding to the target frequency point from the phase-frequency characteristic curve.

[0126] Since the ordinate phase-frequency response of the phase-frequency characteristic curve actually represents the phase difference value, when the phase-frequency response of the bandwidth is too large, it means that the operation state of the servo actuator is poor, and the determined bandwidth is not very reasonable at this time. You can re-optimize the control parameters of the servo actuator and then re-test the bandwidth to obtain a more accurate bandwidth of the servo actuator. When the phase-frequency response of the bandwidth is relatively small, it means that the operation state of the servo actuator is good, the measured bandwidth is relatively accurate, and the bandwidth can be retained.

[0127] Step S108, determining whether the target phase-frequency response is greater than or equal to a preset phase threshold.

[0128] It should be noted that the preset phase threshold can be determined based on experience or through multiple tests, and is not limited here. If the target phase-frequency response is greater than or equal to the preset phase threshold, step S109 is executed, and if the target phase-frequency response is less than the preset phase threshold, step S1010 is executed.

[0129] Step S109: If the target phase-frequency response is greater than or equal to a preset phase threshold, it is determined that the bandwidth of the servo actuator is qualified.

[0130] Step S1010: If the target phase-frequency response is less than a preset phase threshold, it is determined that the bandwidth of the servo actuator is unqualified.

[0131] It should be noted that the Bode diagram includes an amplitude-frequency characteristic curve and a phase-frequency characteristic curve. The Bode diagram can be drawn by calling Matlab's Plot function or by other methods, which are not limited here. The accuracy of the bandwidth of the servo motor can be further improved by combining the amplitude-frequency characteristic curve and the phase-frequency characteristic curve.

[0132] In this embodiment, the bandwidth and vibration frequency points of the servo actuator can be quickly and accurately determined from the Bode diagram through the aforementioned performance parameter testing method of the servo actuator. The engineering implementation is simple and does not require additional hardware costs. Various sweep frequency parameters are configured through a visual interface, and the sweep frequency instructions and operation feedback data are processed through piecewise fitting to reduce the impact of data interference on the test results. At the same time, it also avoids the spectrum leakage problem of using FFT to analyze frequency domain characteristics.

[0133] The performance parameter testing method of the servo servo provided in this embodiment is as follows: the host computer sends a frequency sweep parameter to the servo servo, so that the servo servo generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction; receives the operation feedback data sent by the servo servo, performs segmented fitting processing on the frequency sweep instruction and the operation feedback data, respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep instruction, and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data; obtains an amplitude-frequency characteristic curve according to the plurality of first fitting data, a plurality of second fitting data, a plurality of third fitting data, and a plurality of fourth fitting data; determines the bandwidth of the servo servo according to the amplitude-frequency characteristic curve. In this way, the host computer obtains the operation feedback data from the servo servo, and performs data fitting processing based on the frequency sweep instruction and the operation feedback data to obtain the amplitude-frequency characteristic curve, thereby determining the bandwidth of the servo servo according to the amplitude-frequency characteristic curve, the implementation process is simple and reliable, the test result of the bandwidth of the servo servo is relatively accurate, no additional hardware cost is required, and the test cost is reduced.

[0134] Example 2

[0135] In addition, an embodiment of the present application provides a performance parameter testing device for a servo actuator, which is applied to a host computer, and the host computer is connected to the servo actuator.

[0136] like Figure 7 As shown, the performance parameter testing device 700 of the servo steering engine includes:

[0137] The sending module 701 is used to send a frequency sweep parameter to the servo actuator, so that the servo actuator generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction;

[0138] The fitting processing module 702 is used to receive the operation feedback data sent by the servo steering engine, and perform segmented fitting processing on the frequency sweep instruction and the operation feedback data respectively to obtain a plurality of first fitting data and a plurality of second fitting data of the frequency sweep instruction and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data;

[0139] An acquisition module 703 is used to acquire an amplitude-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data and a plurality of the fourth fitting data;

[0140] The determination module 704 is used to determine the bandwidth of the servo actuator according to the amplitude-frequency characteristic curve.

[0141] In one embodiment, the frequency sweep parameter includes an instruction frequency, and the fitting processing module 702 is further used to segment the frequency sweep instruction according to the instruction frequency to obtain multiple frequency sweep sub-instructions;

[0142] Nonlinear fitting processing is performed on each segment of the frequency sweep sub-instruction to obtain a plurality of the first fitting data and a plurality of the second fitting data of each segment of the frequency sweep sub-instruction.

[0143] In one embodiment, the fitting processing module 702 is further used to arrange the operation feedback data according to the timestamp to obtain time domain data;

[0144] Segmenting the time domain data according to the instruction frequency to obtain multiple segments of time domain sub-data;

[0145] Nonlinear fitting processing is performed on each segment of the time domain sub-data to obtain a plurality of the third fitting data and a plurality of the fourth fitting data of each segment of the time domain sub-data.

[0146] In one embodiment, the acquisition module 703 is further used to calculate the first amplitude of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0147] Calculate the second amplitude of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0148] The amplitude-frequency characteristic curve is generated according to the plurality of first amplitudes and the plurality of second amplitudes.

[0149] In one embodiment, the determination module 704 is further configured to determine a target frequency point where the amplitude-frequency response is equal to a preset decibel value from the amplitude-frequency characteristic curve;

[0150] The target frequency point is determined as the bandwidth of the servo actuator.

[0151] In one embodiment, the servo actuator performance parameter testing device 700 further includes:

[0152] A judgment module, used for obtaining a phase-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data and a plurality of the fourth fitting data;

[0153] Determining a target phase-frequency response corresponding to the target frequency point from the phase-frequency characteristic curve;

[0154] Determining whether the target phase-frequency response is greater than or equal to a preset phase threshold;

[0155] If the target phase-frequency response is greater than or equal to a preset phase threshold, it is determined that the bandwidth of the servo actuator is qualified;

[0156] If the target phase-frequency response is less than a preset phase threshold, it is determined that the bandwidth of the servo actuator is unqualified.

[0157] In one embodiment, the judgment module is further used to calculate the first phase of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data;

[0158] Calculate the second phase of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data;

[0159] The phase-frequency characteristic curve is generated according to the plurality of first phases and the plurality of second phases.

[0160] The servo actuator performance parameter testing device 700 provided in this embodiment can implement the servo actuator performance parameter testing method provided in Embodiment 1, and will not be described again here to avoid repetition.

[0161] The performance parameter testing device of the servo servo provided in this embodiment includes: a host computer sends a frequency sweep parameter to the servo servo, so that the servo servo generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction; receives the operation feedback data sent by the servo servo, performs segmented fitting processing on the frequency sweep instruction and the operation feedback data, respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep instruction, and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data; obtains an amplitude-frequency characteristic curve according to the plurality of first fitting data, a plurality of second fitting data, a plurality of third fitting data, and a plurality of fourth fitting data; and determines the bandwidth of the servo servo according to the amplitude-frequency characteristic curve. In this way, the host computer obtains the operation feedback data from the servo servo, performs data fitting processing based on the frequency sweep instruction and the operation feedback data, obtains the amplitude-frequency characteristic curve, and thus determines the bandwidth of the servo servo according to the amplitude-frequency characteristic curve. The implementation process is simple and reliable, the test result of the bandwidth of the servo servo is relatively accurate, no additional hardware cost is required, and the test cost is reduced.

[0162] Example 3

[0163] In addition, an embodiment of the present application provides a host computer, including a memory and a processor, wherein the memory stores a computer program, and when the computer program runs on the processor, the performance parameter testing method of the servo actuator provided in Example 1 is executed.

[0164] The electronic device provided in this embodiment can implement the performance parameter testing method of the servo actuator provided in Embodiment 1, and will not be described again here to avoid repetition.

[0165] Example 4

[0166] The present application also provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the performance parameter testing method of the servo actuator provided in Example 1 is implemented.

[0167] In this embodiment, the computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a magnetic disk, or an optical disk.

[0168] The computer-readable storage medium provided in this embodiment can implement the performance parameter testing method of the servo actuator provided in Example 1, and will not be described again here to avoid repetition.

[0169] 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 terminal 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 terminal. In the absence of further restrictions, an element defined by the sentence "comprises a ..." does not exclude the presence of other identical elements in the process, method, article or terminal including the element.

[0170] 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 application, 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, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.

[0171] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for testing the performance parameters of a servo actuator, characterized in that: Applied to a host computer, the host computer is connected to a servo steering engine, and the method includes: Sending a frequency sweep parameter to the servo actuator, so that the servo actuator generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction; receiving the operation feedback data sent by the servo steering engine, and performing segmented fitting processing on the frequency sweep command and the operation feedback data respectively, to obtain a plurality of first fitting data, a plurality of second fitting data of the frequency sweep command, and a plurality of third fitting data, and a plurality of fourth fitting data of the operation feedback data; Acquire an amplitude-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data, and a plurality of the fourth fitting data; Determine a target frequency point where the amplitude-frequency response is equal to a preset decibel value from the amplitude-frequency characteristic curve; Determine the target frequency point as the bandwidth of the servo actuator; Acquire a phase-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data, and a plurality of the fourth fitting data; Determining a target phase-frequency response corresponding to the target frequency point from the phase-frequency characteristic curve; Determining whether the target phase-frequency response is greater than or equal to a preset phase threshold; If the target phase-frequency response is greater than or equal to a preset phase threshold, it is determined that the bandwidth of the servo actuator is qualified; If the target phase-frequency response is less than a preset phase threshold, it is determined that the bandwidth of the servo actuator is unqualified.

2. The method according to claim 1, characterized in that The frequency sweep parameter includes an instruction frequency, and performing a segmented fitting process on the frequency sweep instruction includes: Segmenting the frequency sweep instruction according to the instruction frequency to obtain multiple frequency sweep sub-instructions; Nonlinear fitting processing is performed on each segment of the frequency sweep sub-instruction to obtain a plurality of the first fitting data and a plurality of the second fitting data of each segment of the frequency sweep sub-instruction.

3. The method according to claim 2, characterized in that The performing segmented fitting processing on the operation feedback data further includes: Arranging the operation feedback data according to the timestamp to obtain time domain data; Segmenting the time domain data according to the instruction frequency to obtain multiple segments of time domain sub-data; Nonlinear fitting processing is performed on each segment of the time domain sub-data to obtain a plurality of the third fitting data and a plurality of the fourth fitting data of each segment of the time domain sub-data.

4. The method according to claim 1, characterized in that: The obtaining of the amplitude-frequency characteristic curve according to the plurality of the first fitting data, the plurality of the second fitting data, the plurality of the third fitting data and the plurality of the fourth fitting data comprises: Calculate the first amplitude of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data; Calculate the second amplitude of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data; The amplitude-frequency characteristic curve is generated according to the plurality of first amplitudes and the plurality of second amplitudes.

5. The method according to claim 1, characterized in that The acquiring of the phase-frequency characteristic curve according to the plurality of the first fitting data, the plurality of the second fitting data, the plurality of the third fitting data and the plurality of the fourth fitting data comprises: Calculate the first phase of each frequency point of the frequency sweep instruction according to the plurality of the first fitting data and the plurality of the second fitting data; Calculate the second phase of each frequency point of the operation feedback data according to the plurality of the third fitting data and the plurality of the fourth fitting data; The phase-frequency characteristic curve is generated according to the plurality of first phases and the plurality of second phases.

6. A performance parameter testing device for a servo steering engine, characterized in that: Applied to a host computer, the host computer is connected to a servo steering engine, and the device comprises: A sending module, used for sending a frequency sweep parameter to the servo steering engine, so that the servo steering engine generates a frequency sweep instruction according to the frequency sweep parameter, and detects operation feedback data during the execution of the frequency sweep instruction; a fitting processing module, used for receiving the operation feedback data sent by the servo steering engine, and performing segmented fitting processing on the frequency sweep instruction and the operation feedback data respectively, so as to obtain a plurality of first fitting data and a plurality of second fitting data of the frequency sweep instruction and a plurality of third fitting data and a plurality of fourth fitting data of the operation feedback data; An acquisition module, used for acquiring an amplitude-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data and a plurality of the fourth fitting data; A determination module, used to determine a target frequency point at which the amplitude-frequency response is equal to a preset decibel value from the amplitude-frequency characteristic curve; and determine the target frequency point as the bandwidth of the servo actuator; A judgment module, used for obtaining a phase-frequency characteristic curve according to a plurality of the first fitting data, a plurality of the second fitting data, a plurality of the third fitting data and a plurality of the fourth fitting data; Determining a target phase-frequency response corresponding to the target frequency point from the phase-frequency characteristic curve; Determining whether the target phase-frequency response is greater than or equal to a preset phase threshold; If the target phase-frequency response is greater than or equal to a preset phase threshold, it is determined that the bandwidth of the servo actuator is qualified; If the target phase-frequency response is less than a preset phase threshold, it is determined that the bandwidth of the servo actuator is unqualified.

7. A host computer, characterized in that: The method comprises a memory and a processor, wherein the memory stores a computer program, and the computer program executes the performance parameter testing method of the servo actuator according to any one of claims 1 to 5 when the processor is running.

8. A computer-readable storage medium, characterized in that: The computer program stores a computer program, which executes the performance parameter testing method of the servo actuator according to any one of claims 1 to 5 when running on a processor.

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