A servo motor testing method, device and system

Abstract

The application relates to the technical field of robots, and mainly provides a servo motor testing method, device and system, the servo motor testing system comprises an upper computer, a motor driver, a main control system and a testing table, wherein the testing table comprises a servo motor, a magnetic powder brake and a loading controller. The method receives the rotating speed and the torque curve sent by the upper computer, converts the rotating speed curve into a control signal and sends the control signal to the motor driver, so that the motor driver controls the servo motor to operate according to the control signal, converts the torque curve into analog data and inputs the analog data into the loading controller, outputs corresponding current data to the magnetic powder brake through the loading controller, and realizes real-time control of the load of the servo motor, wherein the magnetic powder brake is the load of the servo motor. Through the above mode, the performance of the servo motor can be measured only by using the rotating speed curve and the torque curve, so that the testing efficiency is improved, the testing cost is saved, and the testing period is shortened.

Description

Technical Field

[0001] This invention relates to the field of robotics, and in particular to a method, apparatus, and system for testing servo motors. Background Technology

[0002] With the rapid development of the national economy and science and technology, special-purpose robots adapted to various harsh and complex working environments have emerged, such as power inspection robots, power operation robots, firefighting robots, detection robots, and medical robots. Servo motors are core components of these special-purpose robots, significantly impacting their performance. During robot design, to verify whether the selected servo motor design meets the requirements and to ensure its quality, the comprehensive performance of the servo motor needs to be tested.

[0003] Traditional testing methods mainly fall into two categories: one is to directly test some performance aspects of the motor using eddy current dynamometers, current dynamometers, or motor-to-motor connections, but this method lacks specificity, the test load on the motor cannot be consistent with its operation on the robot, and the test results are prone to distortion. The other method is to directly install the motor on the robot for conventional robot performance testing, but this method has limited test items, low efficiency, high cost, and long testing cycles. Summary of the Invention

[0004] The present invention provides a servo motor testing method, device and system, which aims to solve the technical problems of low efficiency, high cost and long testing cycle in the prior art when testing servo motors.

[0005] To solve the above-mentioned technical problems, one technical solution adopted in this invention is: providing a servo motor testing method applied to a servo motor testing system. The servo motor testing system includes a host computer, a motor driver, a main control system, and a test bench. The test bench includes a servo motor, a magnetic powder brake connected to the servo motor, and a load controller connected to the magnetic powder brake. The host computer is connected to the main control system, and the main control system is communicatively connected to the load controller and the motor driver. The method includes: receiving a speed curve and a torque curve sent by the host computer; converting the speed curve into a control signal and sending the control signal to the motor driver so that the motor driver controls the servo motor to start running according to the control signal; performing data conversion on the torque curve and inputting the converted analog data into the load controller; after receiving the analog data, the load controller outputs corresponding current data to the magnetic powder brake to control the load of the servo motor in real time, wherein the magnetic powder brake is the load of the servo motor.

[0006] Optionally, the step of converting the torque curve into data and inputting the converted analog data into the loading controller includes: converting the torque curve into data to obtain digital data with more than a preset number of bits; performing digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve; and inputting the analog data into the loading controller.

[0007] Optionally, the step of converting the torque curve to obtain digital data greater than a preset number of bits includes: converting the torque curve according to a first formula, wherein the first formula is:

[0008]

[0009] Where KP is the torque ratio, M T M is the target load torque of the servo motor. R KP is the rated torque of the magnetic powder brake. 100 This is a magnification of the torque ratio by 100 times.

[0010] Optionally, the step of performing digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve, and inputting the analog data to the loading controller, includes: performing digital-to-analog conversion on the digital data according to a second formula, wherein the second formula is:

[0011]

[0012] Among them, K DAC For the simulation data, K MAX This is the conversion value corresponding to the maximum output voltage of the main control system.

[0013] Optionally, the step of outputting corresponding current data to the magnetic powder brake through the load controller after receiving the analog data to perform real-time control of the load of the servo motor includes: after receiving the analog data, controlling the load controller to convert the analog data into corresponding current data and outputting the current data to the magnetic powder brake; after receiving the current data, controlling the torque of the magnetic powder brake based on the current data to achieve real-time control of the load of the servo motor.

[0014] Optionally, the test bench further includes a torque sensor and a torque power meter. The torque sensor is connected to the servo motor and the magnetic powder brake, respectively, and is also connected to the torque power meter. The servo motor is connected to the magnetic powder brake via the coupling. The method further includes: after determining the torque of the magnetic powder brake, controlling the torque of the servo motor to be the same as that of the magnetic powder brake based on the coupling; collecting the rotation data of the servo motor in real time based on the torque sensor, and sending the rotation data to the torque power meter so that the torque power meter displays the torque, power, and speed of the servo motor in real time.

[0015] To solve the above-mentioned technical problems, another technical solution adopted in this embodiment of the invention is: providing a servo motor testing device, applied to a servo motor testing system. The servo motor testing system includes a host computer, a motor driver, a main control system, and a test bench. The test bench includes a servo motor, a magnetic powder brake connected to the servo motor, and a load controller connected to the magnetic powder brake. The host computer is communicatively connected to the main control system, which is connected to both the load controller and the motor driver. The device includes: a receiving module for receiving speed curves and torque curves sent by the host computer; a first conversion module for converting the speed curves into control signals and sending the control signals to the motor driver, so that the motor driver controls the servo motor to start running according to the control signals; a second conversion module for performing data conversion on the torque curves and inputting the converted analog data into the load controller; and an output module for outputting corresponding current data to the magnetic powder brake after the load controller receives the analog data, so as to perform real-time control of the load of the servo motor, wherein the magnetic powder brake is the load of the servo motor.

[0016] Optionally, the second conversion module includes: a first conversion unit for performing data conversion on the torque curve to obtain digital data with a value greater than a preset number of bits; and a second conversion unit for performing digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve, and inputting the analog data to the loading controller.

[0017] Optionally, the first conversion unit is specifically used to: perform data conversion on the torque curve according to a first formula, wherein the first formula is:

[0018]

[0019] Where KP is the torque ratio, M T M is the target load torque of the servo motor. RKP is the rated torque of the magnetic powder brake. 100 This is a 100-fold amplification of the torque ratio.

[0020] To solve the above-mentioned technical problems, another technical solution adopted in this embodiment of the invention is: providing a servo motor testing system, the servo motor testing system comprising: a host computer; a motor driver; a test bench, wherein the test bench includes a servo motor, a magnetic powder brake connected to the servo motor via a coupling, a load controller, a torque sensor, and a torque power meter; a main control system communicatively connected to the host computer, wherein the main control system includes at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, the instructions being executed by the at least one processor to enable the at least one processor to perform the method described above.

[0021] Unlike related technologies, this invention provides a servo motor testing method, apparatus, and system. The servo motor testing system includes a host computer, a motor driver, a main control system, and a test bench. The test bench includes a servo motor, a magnetic powder brake connected to the servo motor, and a load controller connected to the magnetic powder brake. The host computer is connected to the main control system, which is communicatively connected to both the load controller and the motor driver. The method mainly involves receiving speed curves and torque curves sent by the host computer, converting the speed curves into control signals, and sending the control signals to the motor driver. This allows the motor driver to control the servo motor to start running according to the control signals. The method also involves converting the torque curves into data and inputting the converted analog data into the load controller. After receiving the analog data, the load controller outputs corresponding current data to the magnetic powder brake to control the load of the servo motor in real time. The magnetic powder brake serves as the load of the servo motor. Using the above method, the performance of the servo motor can be measured using only the speed curve and torque curve, thereby improving testing efficiency while saving testing costs and reducing the testing cycle. Attached Figure Description

[0022] One or more embodiments are illustrated by way of example with reference to the accompanying drawings. These illustrations do not constitute a limitation on the embodiments. Elements having the same reference numerals in the drawings are denoted as similar elements. Unless otherwise stated, the figures in the drawings are not to be limited by scale.

[0023] Figure 1 This is a schematic diagram of a servo motor testing system provided in an embodiment of the present invention;

[0024] Figure 2 This is a schematic diagram of the structure of a test bench provided in an embodiment of the present invention;

[0025] Figure 3 This is a structural block diagram of a main control system provided in an embodiment of the present invention;

[0026] Figure 4 This is a flowchart of a servo motor testing method provided in an embodiment of the present invention;

[0027] Figure 5a This is a schematic diagram of the rotational speed curve simulated by the host computer according to an embodiment of the present invention;

[0028] Figure 5b This is a schematic diagram of the torque curve simulated by the host computer according to an embodiment of the present invention;

[0029] Figure 6 This is a diagram showing the relationship between current and torque in the magnetic powder brake provided in this embodiment of the invention;

[0030] Figure 7 This is a structural block diagram of a servo motor testing device provided in an embodiment of the present invention. Detailed Implementation

[0031] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0032] It should be noted that, unless otherwise specified, the various features in the embodiments of the present invention can be combined with each other, and all are within the protection scope of the present invention. Furthermore, although functional modules are divided in the device schematic diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different module division or in a different order than that shown in the device schematic diagram or the flowchart.

[0033] Unless otherwise defined, all technical and scientific terms used in this specification have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used in this specification is for the purpose of describing particular embodiments only and is not intended to limit the invention. The term "and / or" as used in this specification includes any and all combinations of one or more of the associated listed items.

[0034] Please see Figure 1 , Figure 1 This is a schematic diagram of a servo motor testing system provided in an embodiment of the present invention, as shown below. Figure 1As shown, the servo motor testing system 100 includes a host computer 10, a motor driver 11, a main control system 12, and a test bench 13; the host computer 10 is communicatively connected to the main control system 12, and the main control system 12 is connected to the test bench 13 and the motor driver 11 respectively.

[0035] Please see Figure 2 , Figure 2 This is a schematic diagram of the structure of a test bench provided in an embodiment of the present invention, as shown below. Figure 2 As shown, the test bench 13 includes a magnetic particle brake 1, a coupling 2, a torque sensor 3, a motor mounting bracket 4, a servo motor 5, a torque sensor mounting bracket 6, a torque power meter 8, a loading controller 9, and a fixed platform 7. The servo motor 5 is fixed to the fixed platform 7 via the motor mounting bracket 4. The servo motor 5 is connected to the torque sensor 3 via the coupling 2. The torque sensor 3 is fixed to the fixed platform 7 via the torque sensor mounting bracket 6. The torque sensor 3 is connected to the magnetic particle brake 1 via the coupling 2. The magnetic particle brake 1 is directly fixed to the fixed platform 7 with screws. The torque sensor 3 is also connected to the torque power meter 8, and the magnetic particle brake 1 is also connected to the loading controller 9. Fixing the magnetic particle brake 1 to the fixed platform 7 with screws ensures the moving parts are securely fastened, preventing vibration during testing and thus avoiding errors. It should be noted that by setting the torque sensor fixing bracket 6 and the motor fixing bracket 4, the torque sensor 3, the servo motor 5 and the magnetic powder brake 1 are kept at the same height, thereby ensuring that the torque sensor 3, the servo motor 5 and the magnetic powder brake 1 are coaxial, thus avoiding the introduction of eccentric torque due to the problem of installing different axes, which would cause test errors.

[0036] During the operation of the servo motor testing system 100, the host computer 10 simulates the speed and torque curves of the servo motor 5 through software programs and sends these curves to the main control system 12. Upon receiving the speed and torque curves, the main control system 12 converts them into a first target signal and a second target signal, respectively. The first target signal is then sent to the load controller 9, and the second target signal is sent to the motor driver 11. Upon receiving the second target signal, the motor driver 11 drives the servo motor 5 to start operation. Upon receiving the first target signal, the load controller 9 sends a current signal to the magnetic powder controller 1 to start operation. The first target signal can be a voltage signal, and the second target signal can be a rectangular wave signal. It should be noted that the magnetic powder brake 1 simulates the load on the servo motor 5 by receiving the current signal sent by the load controller 9.

[0037] In some embodiments, the servo motor testing system 100 further includes an infrared thermometer 14, which is used to measure the real-time temperature of the servo motor 5 so that the main control system 12 can evaluate the temperature rise performance of the servo motor 5 based on the infrared thermometer 14.

[0038] Please see Figure 3 , Figure 3 This is a structural block diagram of a main control system provided in an embodiment of the present invention, such as... Figure 3 As shown, the main control system 12 includes: at least one processor 121, Figure 3 Taking a processor 121 as an example; the at least one processor 121 is communicatively connected to a memory 122. Figure 3 Taking the example of a connection between China and Israel via a bus.

[0039] The memory 122 stores instructions that can be executed by the at least one processor 121, which are executed by the at least one processor 121 to enable the at least one processor 121 to perform the following servo motor testing method.

[0040] The memory 122, as a non-volatile computer-readable storage medium, can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules, such as the program instructions / modules corresponding to the servo motor testing method in the embodiments of the present invention. The processor 121 executes various functional applications and data processing of the main control system 12 by running the non-volatile software programs, instructions, and modules stored in the memory 122, thereby implementing the servo motor testing method in the following method embodiments.

[0041] The memory 122 may include a program storage area and a data storage area, wherein the program storage area may store the operating system and application programs required for at least one function. Furthermore, the memory 122 may include high-speed random access memory and may also include non-volatile memory. For example, it may include at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some embodiments, the memory 122 may optionally include memory remotely located relative to the processor 121.

[0042] The one or more modules are stored in the memory 122. When executed by the one or more processors 21, they perform the servo motor testing method in any of the following method embodiments, for example, performing the following described... Figure 4 The methods and steps in the text.

[0043] The aforementioned main control system can execute the methods provided in the embodiments of the present invention and has corresponding functional modules for executing the methods. Technical details not described in detail in this embodiment can be found in the methods provided in the embodiments of the present invention.

[0044] Please see Figure 4 , Figure 4 This is a flowchart of a servo motor testing method provided by an embodiment of the present invention. The method is applied to a servo motor testing system, such as... Figure 4 As shown, the method includes:

[0045] S01. Receive the speed curve and torque curve sent by the host computer.

[0046] Specifically, during the testing of the servo motor, the host computer acquires the target speed and target torque of the servo motor. Based on the target torque and target torque, it uses Adams (Automatic Dynamic Analysis of Mechanical Systems) combined with Matlab (matrix laboratory) software to simulate and obtain the torque curve and speed curve of the servo motor. The simulated torque curve and speed curve are then sent to the main control system, enabling the main control system to control the test bench to start operating based on the speed curve and torque curve. Adams primarily performs static, kinematic, and dynamic analyses of the virtual mechanical system, while Matlab is used for data analysis and simulation. It should be noted that the speed curve and torque curve are used to guide the servo motor to move according to preset values. When the main control system controls the test bench to run based on the speed curve and torque curve, it acquires the speed and torque of the servo motor in real time and compares them with the target speed and target torque to check whether the speed and torque of the servo motor are qualified.

[0047] Please see Figures 5a-5b , Figure 5a This is a schematic diagram of the rotational speed curve simulated by the host computer according to an embodiment of the present invention. Figure 5b This is a schematic diagram of the torque curve simulated by the host computer according to an embodiment of the present invention, as shown below. Figures 5a-5b As mentioned above, in Figure 5a In the diagram, the horizontal axis represents time, and the vertical axis represents rotational speed. Figure 5b In the diagram, the horizontal axis represents time, and the vertical axis represents torque.

[0048] S02. Convert the speed curve into a control signal and send the control signal to the motor driver so that the motor driver controls the servo motor to start running according to the control signal.

[0049] When the main control system receives the speed curve, it converts it into a control signal, which is a rectangular wave signal. This rectangular wave signal is then sent to the motor driver. The motor driver then controls the servo motor to start running based on the rectangular wave signal. It should be noted that after the servo motor receives the rectangular wave signal, it begins running on the rising edge of the signal. At this point, the servo motor's speed slowly increases. Once it reaches a certain speed, it maintains that speed based on the duty cycle of the rectangular wave signal until the falling edge of the signal, at which point the servo motor gradually decelerates until it stops.

[0050] In some embodiments, when the servo motor is running based on the rectangular wave signal, the torque sensor acquires the rotation data of the servo motor in real time, wherein the rotation data includes the rotational speed and torque of the servo motor, and after acquiring the rotation data, sends the rotation data to the torque power meter so that the torque power meter displays the rotation data of the servo motor in real time.

[0051] In another embodiment, when the servo motor is running based on the rectangular wave signal, the motor driver will acquire the current, voltage and other data of the servo motor in real time, and send the current data and voltage data to the host computer through the main control system, so that the host computer can observe the current data and voltage data of the servo motor in real time.

[0052] S03. Perform data conversion on the torque curve and input the converted analog data into the loading controller.

[0053] After receiving the torque curve, the main control system first performs data conversion on the torque curve to obtain digital data greater than a preset number of bits. It should be noted that since the torque curve corresponds to force, and force cannot control the operation of the magnetic powder controller, it is necessary to convert the torque curve into digital data to control the magnetic powder controller. The digital data is in bytes; in this embodiment, it only needs to be greater than 12 bits.

[0054] Specifically, when converting the torque curve data, the digital data is mainly obtained through a first formula, wherein the first formula is:

[0055]

[0056] Where KP is the torque ratio, M T M is the target load torque of the servo motor. R KP is the rated torque of the magnetic powder brake. 100 This represents a 100-fold magnification of the torque ratio. It should be noted that magnifying the torque ratio by a factor of 100 can reduce calculation errors when calculating the torque ratio.

[0057] After obtaining the digital data, it is necessary to perform digital-to-analog conversion to obtain analog data corresponding to the torque curve, and then input the analog data into the loading controller. It should be noted that the magnetic powder brake operates based on electromagnetic principles; by converting the digital data into analog data, the control of the magnetic powder brake is achieved.

[0058] The simulated data is obtained according to a second formula, which is:

[0059]

[0060] Among them, K DAC For the simulation data, K MAX This is the conversion value corresponding to the maximum output voltage of the main control system.

[0061] S04. After the load controller receives the analog data, it outputs the corresponding current data to the magnetic powder brake to control the load of the servo motor in real time, wherein the magnetic powder brake is the load of the servo motor.

[0062] After receiving the analog data, the load controller converts the analog data into corresponding current data and outputs the current data to the magnetic powder brake. Upon receiving the current data, the magnetic powder brake's torque is controlled based on the current data to achieve real-time control of the servo motor's load. (See also...) Figure 6 , Figure 6 This is a graph showing the relationship between current and torque in the magnetic powder brake provided in this embodiment of the invention, as shown in Figure 6. The torque of the magnetic powder brake increases with the increase of current. That is, when current flows through the magnetic powder brake, the magnetic powder brake will generate a corresponding torque. Based on this, the torque of the magnetic powder brake can be controlled in real time through the torque curve, thereby realizing real-time control of the load of the servo motor. Optionally, the analog data can be voltage data of 0-5V. After the analog data is converted into corresponding current data and input into the magnetic powder brake, the magnetic powder brake generates a corresponding torque of 0-20N.

[0063] In some embodiments, after determining the torque of the magnetic powder brake, the servo motor is controlled to have the same torque as the magnetic powder brake based on the coupling. Then, the rotation data of the servo motor is collected in real time by the torque sensor, wherein the rotation data includes the torque of the servo motor, and the rotation data is sent to the torque power meter so that the torque power meter can display the torque, power and speed of the servo motor in real time.

[0064] This invention provides a servo motor testing method applied to a servo motor testing system. The method primarily involves receiving speed and torque curves from a host computer, converting the speed curve into a control signal, and sending the control signal to a motor driver. The motor driver then controls the servo motor to start operating according to the control signal. The torque curve is converted into data, and the converted analog data is input to a load controller. Upon receiving the analog data, the load controller outputs corresponding current data to a magnetic powder brake to control the load of the servo motor in real time. The magnetic powder brake serves as the load for the servo motor. This method allows for the measurement of the servo motor's performance using only the speed and torque curves, thereby improving testing efficiency, saving testing costs, and reducing the testing cycle.

[0065] Please see Figure 7 , Figure 7 This is a structural block diagram of a servo motor testing device provided in an embodiment of the present invention, applied to a servo motor testing system, such as... Figure 7 As shown, the servo motor testing device 40 includes a receiving module 41, a first conversion module 42, a second conversion module 43, and an output module 44.

[0066] The receiving module 41 is used to receive the speed curve and torque curve sent by the host computer.

[0067] The first conversion module 42 is used to convert the speed curve into a control signal and send the control signal to the motor driver so that the motor driver controls the servo motor to start running according to the control signal.

[0068] The second conversion module 43 is used to convert the torque curve into data and input the converted analog data into the loading controller.

[0069] The second conversion module 43 includes a first conversion unit 431 and a second conversion unit 432;

[0070] The first conversion unit 431 is used to perform data conversion on the torque curve to obtain digital data with a preset bit value;

[0071] The second conversion unit 432 is used to perform digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve, and input the analog data to the loading controller.

[0072] Specifically, the first conversion unit 431 is used for:

[0073] The torque curve is converted according to the first formula, wherein the first formula is:

[0074]

[0075] Where KP is the torque ratio, M T M is the target load torque of the servo motor. R KP is the rated torque of the magnetic powder brake. 100 This is a 100-fold amplification of the torque ratio.

[0076] The output module 44 is used to output corresponding current data to the magnetic powder brake through the load controller after the load controller receives the analog data, so as to control the load of the servo motor in real time, wherein the magnetic powder brake is the load of the servo motor.

[0077] It should be noted that the above-described servo motor testing device can execute the servo motor testing method provided in the embodiments of the present invention, and has the corresponding functional modules and beneficial effects of the method. Technical details not described in detail in the embodiments of the servo motor testing device can be found in the servo motor testing method provided in the embodiments of the present invention.

[0078] Through the above description of the embodiments, those skilled in the art can clearly understand that each embodiment can be implemented using software and a general-purpose hardware platform, or of course, using hardware. Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The program can be stored in a computer-readable storage medium, and when executed, it can include the processes of the embodiments of the above methods. The storage medium can be a magnetic disk, optical disk, read-only memory (ROM), or random access memory (RAM), etc.

[0079] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; under the concept of the present invention, the technical features of the above embodiments or different embodiments can also be combined, the steps can be implemented in any order, and there are many other variations of different aspects of the present invention as described above, which are not provided in detail for the sake of brevity; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A servo motor testing method, characterized in that, An application is made in a servo motor testing system, the servo motor testing system including a host computer, a motor driver, a main control system, and a test bench, wherein the test bench includes a servo motor, a magnetic powder brake connected to the servo motor, and a loading controller connected to the magnetic powder brake; the host computer is connected to the main control system, and the main control system is communicatively connected to the loading controller and the motor driver respectively; the method includes: Receive the speed curve and torque curve sent by the host computer; The speed curve is converted into a control signal, and the control signal is sent to the motor driver so that the motor driver controls the servo motor to start running according to the control signal; The torque curve is converted into data, and the converted analog data is input into the loading controller; After receiving the analog data, the load controller outputs the corresponding current data to the magnetic powder brake to control the load of the servo motor in real time, wherein the magnetic powder brake is the load of the servo motor. The test bench further includes a torque sensor and a torque power meter. The torque sensor is connected to both the servo motor and the magnetic powder brake, and is also connected to the torque power meter. The servo motor is connected to the magnetic powder brake via a coupling. The method further includes: After determining the torque of the magnetic powder brake, the servo motor is controlled to have the same torque as the magnetic powder brake based on the coupling; The torque sensor collects the rotation data of the servo motor in real time and sends the rotation data to the torque power meter so that the torque power meter can display the torque, power and speed of the servo motor in real time.

2. The method according to claim 1, characterized in that, The step of converting the torque curve into data and inputting the converted analog data into the loading controller includes: The torque curve is converted to obtain digital data with a value greater than a preset number of bits. The digital data is converted from digital to analog to obtain analog data corresponding to the torque curve, and the analog data is input to the loading controller.

3. The method according to claim 2, characterized in that, The step of converting the torque curve to obtain digital data greater than a preset number of bits includes: The torque curve is converted according to the first formula, wherein the first formula is: ； Where KP is the torque ratio, M T M is the target load torque of the servo motor. R KP is the rated torque of the magnetic powder brake. 100 This is a 100-fold amplification of the torque ratio.

4. The method according to claim 3, characterized in that, The step of performing digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve, and inputting the analog data to the loading controller, includes: The digital data is converted from digital to analog according to the second formula, whereby the second formula is: ； Among them, K DAC For the simulation data, K MAX This is the conversion value corresponding to the maximum output voltage of the main control system.

5. The method according to claim 4, characterized in that, The step of the loading controller, after receiving the analog data, outputting corresponding current data to the magnetic powder brake to perform real-time control of the load on the servo motor includes: After receiving the analog data, the loading controller is controlled to convert the analog data into corresponding current data and output the current data to the magnetic powder brake. After receiving the current data, the magnetic powder brake controls the torque of the magnetic powder brake based on the current data, so as to realize real-time control of the load of the servo motor.

6. A servo motor testing device, characterized in that, An application is provided in a servo motor testing system. The servo motor testing system includes a host computer, a motor driver, a main control system, and a test bench. The test bench includes a servo motor, a magnetic powder brake connected to the servo motor, a load controller connected to the magnetic powder brake, a torque sensor connected to both the servo motor and the magnetic powder brake, and a torque power meter connected to the torque sensor. The host computer is communicatively connected to the main control system, which is connected to both the load controller and the motor driver. The device includes: The receiving module is used to receive the speed curve and torque curve sent by the host computer; The first conversion module is used to convert the speed curve into a control signal and send the control signal to the motor driver so that the motor driver controls the servo motor to start running according to the control signal; The second conversion module is used to convert the torque curve into data and input the converted analog data into the loading controller; An output module is used to output corresponding current data to the magnetic powder brake through the load controller after the load controller receives the analog data, so as to control the load of the servo motor in real time, wherein the magnetic powder brake is the load of the servo motor; Specifically, after determining the torque of the magnetic powder brake, the servo motor is controlled to have the same torque as the magnetic powder brake based on the coupling; The torque sensor collects the rotation data of the servo motor in real time and sends the rotation data to the torque power meter so that the torque power meter can display the torque, power and speed of the servo motor in real time.

7. The apparatus according to claim 6, characterized in that, The second conversion module includes: The first conversion unit is used to perform data conversion on the torque curve to obtain digital data with a preset bit value. The second conversion unit is used to perform digital-to-analog conversion on the digital data to obtain analog data corresponding to the torque curve, and input the analog data to the loading controller.

8. The apparatus according to claim 7, characterized in that, The first conversion unit is specifically used for: The torque curve is converted according to the first formula, wherein the first formula is: ； Where KP is the torque ratio, M T M is the target load torque of the servo motor. R KP is the rated torque of the magnetic powder brake. 100 This is a 100-fold amplification of the torque ratio.

9. A servo motor testing system, characterized in that, The servo motor testing system includes: Host computer; Motor driver; A test bench, wherein the test bench includes a servo motor, a magnetic powder brake connected to the servo motor via a coupling, a load controller, a torque sensor, and a torque power meter; A main control system communicatively connected to the host computer, wherein the main control system includes at least one processor; and, A memory communicatively connected to the at least one processor; wherein, The memory stores instructions that can be executed by the at least one processor to enable the at least one processor to perform the method according to any one of claims 1-5.

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