A turret servo training experimental platform for servo error data acquisition and diagnosis

Abstract

This invention proposes a turret servo training experimental platform for servo error data acquisition and diagnosis, comprising a base, a set of long slide rails, three lead screw slides (numbered one to three), a load motor, and a torque motor mounted on the base. The load motor, which is the motor under test, has its output shaft connected to a reducer and is mounted on the second slide. The second slide is mounted on the first slide, cooperating to achieve lateral and longitudinal movement of the load motor. The torque motor provides torque to the load motor and is mounted on the slide. The third slide enables lateral movement of the torque motor. The platform also includes an inertia wheel and a torque sensor. One end of the inertia wheel is connected to the reducer output via a first coupling, and the other end is connected to the torque sensor via a second coupling. The torque sensor is connected to the torque motor via a third coupling. This invention adopts a modular design, allowing all major functional components to be replaced as needed, resulting in high expandability and significant potential for future upgrades.

Description

Technical Field

[0001] This invention relates to the field of load simulator technology, and in particular to a large inertia, large torque, and high precision turret servo training experimental platform for the collection of typical error source datasets, algorithm training, and error source diagnosis. Background Technology

[0002] Replacing traditional vehicle-mounted and manual aiming methods with a digital gun control system, the gun control system is responsible for the turning and operation of the anti-aircraft gun and is the core of its control. A high-precision and stable gun control system can greatly improve the combat efficiency of anti-aircraft guns. Anti-aircraft guns have different frictional resistance torques and moments of inertia under different firing directions and angles, resulting in large disturbance torques during firing. In addition, the transmission system also has elastic deformation and complex natural environments. Therefore, the gun control system is a complex nonlinear time-varying system.

[0003] Due to increasingly demanding operational requirements, modern anti-aircraft guns are constantly increasing in range and ammunition capacity. During gun repositioning and firing, the load torque changes drastically, subjecting the gun control system to severe shocks. Previously, during development, the power and torque of the drive motor were typically estimated based on the gun carriage's rotational inertia and the recoil impact during design. A suitable control system was then designed and tested on-site during prototype testing. This entire development process was lengthy and did not allow for timely adjustments to the controller parameters in response to dynamic load changes.

[0004] Load simulators can dynamically simulate torque loads, greatly facilitating research and development. The advent of load simulators has shortened development cycles, significantly reduced development costs, and mitigated the dangers of experiments. When studying gun control systems, electric load simulators can be used to dynamically simulate the torque loads of anti-aircraft guns during firing and turning, allowing for the testing and evaluation of the entire gun control system's performance. Compared to previous tests using full physical components, using load simulator systems to simulate the actual operating environment of the gun control system for semi-physical simulation testing yields test data with higher accuracy than computer simulation and greater reproducibility than full physical testing. Furthermore, it avoids destructive testing to obtain experimental data. Provided that the performance and technical requirements of the gun control system are met, it can greatly accelerate the testing process, thereby shortening the testing cycle and avoiding the waste of research funds.

[0005] Previous electric load simulators typically used torque motors directly connected to the load motor, which had the disadvantages of insufficient loading force and small simulation inertia. Summary of the Invention

[0006] The purpose of this invention is to provide a turret servo training experimental platform for servo error data acquisition and diagnosis.

[0007] The technical solution for achieving the purpose of this invention is as follows: a turret servo training experimental platform for servo error data acquisition and diagnosis, comprising a base (1), a set of long slide rails (241), three lead screw slides (211, 212, 213) of number one to three, a load motor (31), and a torque motor (32) disposed on the base, wherein:

[0008] The first lead screw slide (211) consists of three parts: the slide surface, the first handwheel (221), and the first locking device (231). The first slide is installed on the long slide rail (241). The position of the first slide (211) on the long slide rail (241) is adjusted by rotating the first handwheel (221), and fixed by the first torsion locking device (231).

[0009] A slide rail (242) is provided on the first slide surface (211), and a second slide (212) is installed on the slide rail (242). The second slide (212) includes a slide surface, a second handwheel (222) and a second locking device (232). The position of the second slide (212) on the slide rail (242) is adjusted by rotating the second handwheel (222), and it is fixed by twisting the second locking device (232).

[0010] The No. 3 slide (213) consists of three parts: the slide surface, the No. 3 handwheel (223), and the No. 3 locking device (233). The No. 3 slide is installed on the long slide rail (241). The position of the No. 3 slide (213) on the long slide rail (241) is adjusted by rotating the No. 3 handwheel (223), and the position is fixed by twisting the No. 3 locking device (233).

[0011] The load motor (31) is the motor under test. Its output shaft is connected to the reducer (4) to increase the output torque of the load motor and simulate the backlash in the gearbox in the actual servo system. The load motor (31) is mounted on the second slide (212). The second slide (212) is mounted on the first slide (211). The first slide (211) and the second slide (212) cooperate with each other to realize the lateral and longitudinal movement of the load motor (31).

[0012] The torque motor (32) provides torque to the load motor to simulate the frictional torque and load torque of the load motor. The torque motor (32) is mounted on the slide table (213). The third slide table (213) and the first slide table (211) are both on the long slide rail (241). The third slide table (213) realizes the lateral movement of the position of the torque motor (32). The three slide tables cooperate to make the shafts of the load motor (31) and the torque motor (32) be on the same straight line.

[0013] It also includes an inertia wheel (5) and a torque sensor (8), wherein one end of the inertia wheel (5) is connected to the output end of the reducer (4) through a first coupling (61), and the other end of the inertia wheel (5) is connected to the torque sensor (8) through a second coupling (62). The torque sensor (8) is connected to the torque motor (32) through a third coupling (63).

[0014] Furthermore, the long slide rail (241) is provided with positioning screw holes, which are used in conjunction with the first lead screw slide (211) and the third lead screw slide (213) to move and fix the position of the load motor (31) and the torque motor (32).

[0015] Furthermore, the inertia wheel (5) and the torque sensor (8) are connected into a combination via a second coupling (62). This combination is fixed to the base (1) via a first bracket (71) and a second bracket (72), which supports the combination and suspends it to prevent the inertia wheel from rubbing against the base when it rotates. At the same time, the support of the bracket can prevent the shaft from deforming due to the heavy weight of the inertia wheel (5), thus avoiding affecting the system performance.

[0016] Furthermore, the two supports are located in the middle of the long slide rail (241), and the middle of the supports is hollowed out to reduce weight.

[0017] Furthermore, the inertia wheel (5) consists of an inertia wheel rotor (51) and two standard inertia disks (52, 53) of different sizes. The assembly is in the shape of a ring. Each inertia disk has a rounded arc shape and three screw holes. The inertia disks are fixed to the inertia wheel rotor (51) by screws.

[0018] Furthermore, different combinations of inertia disks can be selected based on the required simulated inertia magnitude.

[0019] Furthermore, it also includes a set of short slide rails (92), which are parallel to the long slide rails (241). The long slide rails (241) are located in the middle of the short slide rails (92). The short slide rails (92) have a pentagonal arched protective cover (91). The protective cover (91) is equipped with transparent bulletproof glass on both sides and the upper side. The bottom edge of the protective cover is installed on the short slide rails (92) and is equipped with a position locking device (93). When the training platform is running, the protective cover (92) is moved to the position of the rotating part and fixed by the locking device (93) to protect personnel safety.

[0020] Furthermore, the base (1) is equipped with 6 casters (11) to facilitate the movement of the test bench.

[0021] A method for acquiring and diagnosing servo error data is provided, which realizes servo error data acquisition and diagnosis based on the aforementioned turret servo training experimental platform.

[0022] Compared with existing technologies, this invention has the following significant advantages: 1) It adopts a modular design, allowing each major functional component to be replaced as needed, resulting in high expandability and significant potential for future upgrades. 2) It can be used to simulate the operating environment of a gun control system in actual operation, conducting semi-physical simulation tests. The accuracy of the test data obtained is superior to computer simulation, and its reproducibility is higher than that of full-scale physical testing. Furthermore, it avoids destructive testing to obtain experimental data. Under the premise of meeting the various performance and technical requirements of the gun control system, it can greatly accelerate the testing process, thereby shortening the testing cycle and avoiding the waste of research funds. Attached Figure Description

[0023] Figure 1 This is a schematic diagram of the overall frame structure of the experimental platform.

[0024] Figure 2 This is a schematic diagram of the test bench structure.

[0025] Figure 3 This is a top view of the test bench structure.

[0026] Figure 4 This is a diagram of the overall structure of the test bench.

[0027] In the diagram: (1): base, (11): base caster, (211): slide table 1, (212): slide table 2, (213): slide table 3, (221, 222, 223): handwheel, (231, 232, 233): slide table locking device, (241): long slide rail, (242): slide table track, (31): load motor, (32): torque motor, (4): gearbox (51): Inertia wheel base; (52): Large inertia disk; (53): Small inertia disk; (61): No. 1 coupling; (62): No. 2 coupling; (63): No. 3 coupling; (71): No. 1 bracket; (72): No. 2 bracket; (73): Support bearing; (8): Torque sensor; (91): Protective cover; (92): Short slide rail; (93): Protective cover position locking device.

[0028] Figure 5 This is the main view showing the structural dimensions of the test bench.

[0029] Figure 6 This is a side view showing the structural dimensions of the test bench.

[0030] Figure 7 This is a side view showing the structural dimensions of the test bench.

[0031] Figure 8 This is a schematic diagram of the inertia wheel structure.

[0032] Figure 9 This is an engineering drawing of the command platform. Detailed Implementation

[0033] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0034] This invention provides a high-inertia, high-torque, and high-precision servo training experimental platform. This platform is primarily used to simulate turret servo systems for servo error data acquisition and diagnosis. Compared to previous load simulator platforms, this device not only achieves precise loading of the position motor load torque but also simulates friction, backlash, and rotational inertia during actual turret operation, enabling simulation of turret working conditions and collection of relevant information during turret operation. This has positive implications for the research and development of weaponry.

[0035] The overall framework structure diagram is as follows: Figure 1 As shown. The main structure includes a base (1), a load motor (31), a reducer (4), an inertia wheel (5), a torque sensor (8), a torque motor (32), and a protective cover (91).

[0036] The working principle is as follows:

[0037] 1. The load motor (31) is used as the motor under test and is connected to the reducer (4) by screws. The reducer (4) is connected to the inertia wheel (5) through the coupling (61). The inertia wheel (5) is connected to the torque sensor (8) through the coupling (62). The torque sensor (8) is connected to the torque motor (32) through the coupling (63).

[0038] 2. The reducer (4) is mainly used to amplify the output torque of the load motor (31) and simulate the backlash in the actual turret transmission system, so as to simulate the turret inertia with a smaller inertia wheel. The output torque of the load motor can be increased by changing the gearbox reduction ratio, and the specific relationship is shown in the following formula.

[0039] Input torque × gearbox reduction ratio = output torque

[0040] This invention allows for the replacement of a suitable transmission as needed. If the input torque is low, a transmission with a larger reduction ratio can be selected to achieve high torque output.

[0041] 3. The inertia wheel (5) mainly simulates the rotational inertia of the turret. By adding a reducer (4) between the inertia wheel (5) and the load motor (31), a smaller inertia wheel can be used to simulate the large rotational inertia of the actual turret. When the output torque and speed of the load motor on the experimental platform are the same as those of the actual turret motor, the following formula applies.

[0042]

[0043] α 伺 =α 炮 ×i 炮 =α 模 ×i 模

[0044] J 模 Inertia of the experimental platform inertia wheel

[0045] α 模 : Experimental platform inertia wheel angular acceleration

[0046] α 伺 Turret servo

[0047] Motor angular acceleration

[0048] i 模 : Gearbox reduction ratio on the test bench

[0049] Combining the two equations, we can obtain

[0050]

[0051] The selection of the inertia wheel can be determined by the above formula. When the actual turret rotational inertia is very large, a smaller inertia wheel can be used to simulate the turret by reducing the reduction ratio of the experimental bench gearbox.

[0052] 4. The torque sensor (8) measures the output torque of the torque motor (32) and feeds it back to the industrial control computer. Closed-loop feedback control of the applied torque enables precise torque loading.

[0053] 5. The torque motor (32) is mainly used to simulate the friction encountered when the turret is running, as well as the disturbance torque caused by the change in the amount of ammunition and uneven road surface during the operation of the tank.

[0054] Assembly and instructions for the device:

[0055] 1. For example Figure 4 The test bench structure shown includes a base (1), which is equipped with six casters (11) for easy repositioning. Figure 3 As shown, the base (1) is 1500mm long, 600mm wide, and 456.54mm high. Two spaces, 630mm long, 400mm wide, and 187.5mm high, are left at its bottom to accommodate devices such as the isolation power supply. The base (1) is mainly used to support components such as the lead screw slide (211, 212, 213), load motor (31), torque motor (32), reducer (4), inertia wheel (5), bracket (71, 72), and torque sensor (8). The casters should be locked during use.

[0056] 2. The tabletop has two long rails (241) spaced 300mm apart, and two short rails (92) are provided on the outer side of each long rail (241). The rails have positioning screw holes, which can be used with the No. 1 lead screw slide (211) and the No. 3 lead screw slide (213) to move and fix the position of the load motor (31) and the torque motor (32). The long rails (241) and the short rails (92) are both fixed to the surface of the base (1) with screws.

[0057] 3. A first-stage lead screw slide (211) and a third-stage lead screw slide (213), each 400mm long and 360mm wide, are installed above the long slide rail (241). During use, the positions of the slides (211, 212, 213) can be adjusted by rotating the horizontal and vertical handwheels (221, 222, 223), and their positions can be fixed by locking devices (231, 232, 233). A second-stage slide (212) is installed on the first-stage slide (211). The first-stage slide (211) and the second-stage slide (212) work together to enable the horizontal and vertical movement of the load motor (31). The third-stage slide (213) is located on the same long slide rail (241) as the first-stage slide (211), and the third-stage slide (213) enables the horizontal movement of the torque motor (32). In use, the three slides work together to keep the shafts of the load motor (31) and the torque motor (32) on the same straight line.

[0058] 4. One end of the inertia wheel (5) is mounted on the support bearing (73) of the bracket (71) and connected to the output end of the reducer (4) via coupling No. 1 (61). The other end of the inertia wheel (5) is connected to the torque sensor (8) via coupling No. 2 (62). The first bracket (71) is mounted on the end of the inertia wheel (5) near the reducer and fixed on the base (1). The support bearing (73) is mounted on the bracket (71). The torque sensor (8) is mounted on the second bracket (72). The two brackets are mounted in the middle of the long slide rail (241). The torque motor (32) is mounted on the slide table (213) and connected to the torque sensor (8) via coupling No. 3 (63). The output torque of the motor is controlled as needed during use.

[0059] like Figure 8 The inertia wheel (5) shown adopts a modular design and is divided into 0.1 kg·m sections. 2 and 0.05 kg·m 2Two sizes of inertia disks (52, 53) are provided. The inertia disks are arc-shaped, with an outer diameter of 100mm, inner diameters of 25mm and 50mm respectively, and thicknesses of 88.6mm and 47mm respectively. Each inertia disk is divided into four pieces, each with three screw holes, and is fixed to a circular turntable (51) with a radius of 100mm and a thickness of 12mm using nuts. The inertia disks can be fixed to the inertia wheel (51) using screws. In use, different combinations of inertia disks are selected according to the required simulated inertia.

[0060] 5. An arched protective cover (91) is installed on a short slide rail (92). The overall height of the protective cover (91) is 302mm, the side height is 196.34mm, the top width is 296.89mm, the bottom width is 498mm, and the length is 400mm. It has four bulletproof glass observation windows. When in use, the protective cover (91) is moved to the position of the rotating part and fixed by the locking device (93) to protect personnel safety.

[0061] In summary, this invention adds a gearbox between the torque motor and the load motor to simulate high torque, high inertia loads, and backlash. Furthermore, to ensure loading accuracy, the torque sensor is directly connected to the torque motor, preventing interference with the gearbox's loading accuracy. Simultaneously, to ensure personnel safety during operation, this invention also includes protective covers with observation windows around rotating components such as the inertia wheel and torque sensor.

[0062] Example

[0063] To verify the effectiveness of the present invention, the following experiment was conducted.

[0064] Combination Figure 2 , Figure 3 , Figure 4 This embodiment describes a turret servo training experimental platform. Its main structure includes a base (1), with an adjustable lead screw slide (211, 213) mounted on top of the base (1). A load motor (31) is mounted above the lead screw slide (212). The output shaft of the load motor (31) is connected to a gearbox (4). The gearbox (4) is connected to an inertia wheel (5) via a coupling (61). The other end of the inertia wheel (5) is connected to a torque sensor (8) via a coupling (62). The torque sensor (8) is connected to the torque motor (32) via a coupling (63).

[0065] Specific Implementation Method Two: Combining Figure 2 , Figure 3 , Figure 4This embodiment further illustrates the installation and use of the turret servo training experimental platform described in Embodiment 1. During use, the load motor (31) is fixed to the lead screw slide (212) with screws. In this embodiment, the load motor is an INFRANORFP-0105, and the motor driver is a PacHPa-ak-230 / 17, both technologically mature and reliable with high servo control precision. A suitable motor can be replaced as needed. Then, adjust the handwheels of the longitudinal and transverse lead screw slides (221, 222) to align the shaft of the load motor (31) with the subsequent experimental platform components. After determining the position, lock the lead screw slides (211, 212) in place.

[0066] Specific implementation method three: Combining Figure 2 , Figure 3 , Figure 4 After completing the steps described in Embodiment 2, the reducer (4) is connected to the output end of the load motor (31) by screws. The gearbox (4) is mainly used to simulate backlash and amplify torque, so as to simulate the turret inertia with a smaller inertia wheel.

[0067] Specific implementation method four: Combination Figure 2 , Figure 3 , Figure 4 Based on the implementation of embodiment three, one end of the coupling (61) is fixed to the output end of the gearbox (4) with screws, and the other end is fixed to the shaft of the inertia wheel (5). The gearbox (4) and the inertia wheel (5) are connected by the coupling (62). This embodiment uses a rigid coupling, which has the characteristics of light weight, ultra-low inertia and high sensitivity. In practical applications, the rigid coupling has excellent new properties such as maintenance-free operation, strong oil resistance and corrosion resistance.

[0068] Specific Implementation Method Five: Combining Figure 8 This embodiment mainly describes the inertia wheel (5) of the experimental platform, including its installation method and structural composition. The inertia wheel (5) contains a total of 0.1 kg·m 2 and 0.05 kg·m 2 Two sizes of inertia disks (52, 53). There are 4 disks of each size. Each inertia disk has 3 screw holes, and the inertia disk is fixed to the rotating wheel (51) by screws. One end of the rotating wheel (51) is connected to the torque sensor (8) through a coupling (62), and the other end is supported by a bracket (71) and connected to the reducer (4) through a coupling (61).

[0069] Specific Implementation Method Six: Combination Figure 2 , Figure 3 , Figure 4This embodiment mainly describes the installation and use of the torque sensor (8) on the experimental platform. The installed inertia wheel (5) is connected to the torque sensor (8) via a coupling (62), and the torque sensor (8) is mounted on the bracket (72) with screws. In this embodiment, the torque sensor (8) is selected as the Weixin Hangda SD-205D dynamic sensor. This type of sensor adopts the resistance strain gauge principle and realizes excitation and signal output through a high-speed wear-resistant passive brush. It can measure torque in both directions and is easy to install and use.

[0070] The torque sensor (8) measures the output torque of the torque motor (32) and feeds it back to the industrial control computer. Closed-loop feedback control of the applied torque enables precise torque loading. During use, the torque sensor (8) outputs a voltage signal. Different voltage signals correspond to different torque values.

[0071] Specific implementation method seven: Combination Figure 2 , Figure 3 , Figure 4 This embodiment mainly describes the torque motor (32) part of the experimental platform. During use, adjust the lead screw slide (213) to align the output shaft of the torque motor (32) with the shaft of the torque sensor (8), and connect the torque sensor (8) to the torque motor (32) via a coupling (63). The torque motor (32) is mainly used to simulate the friction encountered during turret operation, as well as the disturbance torque generated by changes in ammunition load and uneven road surfaces during tank operation.

[0072] The torque motor used in this embodiment is a Kollmorgen C043A-13-3305 model, and the servo controller is AKD-P00667-NBEC-0000. This meets the system's position accuracy control requirements. This servo system has multiple advantages, including intelligent automatic adjustment, high speed and high response, and ultra-low vibration. It is reliable in use, operates stably, and achieves control and detection functions via a bus.

[0073] Specific Implementation Method Eight: By completing the aforementioned implementation method, the various components of the experimental platform can be installed and connected. After the above steps are completed, the protective cover (91) is moved to a suitable position. This ensures that the protective cover (91) can surround the inertia wheel (5) and guarantee the safety of personnel during operation.

[0074] Specific Implementation Method Nine: This invention adopts a modular design approach, where each major functional component can be replaced as needed, such as the load motor (31), gearbox (4), inertia wheel (5), torque sensor (8), and torque motor (32). When the experimental platform is working, the torque motor (32) rotates with the load motor (31) and outputs torque. The torque sensor (8) collects the output torque value and feeds it back to the industrial control computer. The industrial control computer analyzes and judges the data and issues control signals according to the set loading mode.

[0075] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0076] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these modifications and improvements all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A turret servo training bench for servo error data acquisition and diagnosis, characterized in that, It includes a base (1), and a set of long slide rail (241), a number of three screw slide, a load motor (31) and a torque motor (32) arranged on the base, wherein: The first slide (211) includes a slide surface, a first hand wheel (221) and a first locking device (231), the first slide is integrally installed on the long slide rail (241), the position of the first slide (211) on the long slide rail (241) is adjusted by the first hand wheel (221), and the first slide (211) is fixed by the first locking device (231); The first slide (211) is provided with a slide rail (242), the second slide (212) is installed on the slide rail (242), the second slide (212) includes a slide surface, a second hand wheel (222) and a second locking device (232), the position of the second slide (212) on the slide rail (242) is adjusted by rotating the second hand wheel (222), and the second slide (212) is fixed by twisting the second locking device (232); The third slide (213) includes a slide surface, a third hand wheel (223) and a third locking device (233), the third slide is integrally installed on the long slide rail (241), the position of the third slide (213) on the long slide rail (241) is adjusted by rotating the third hand wheel (223), and the position of the third slide (213) is fixed by twisting the third locking device (233); The load motor (31) is a motor to be tested, the output shaft is connected with the speed reducer (4), which is used for improving the output torque of the load motor, simulating the idling of the transmission in the actual servo system, the load motor (31) is installed on the second slide (212), the second slide (212) is installed on the first slide (211), and the first slide (211) and the second slide (212) are matched with each other to realize the horizontal and vertical movement of the load motor (31); The torque motor (32) provides torque for the load motor, which is used for simulating the friction torque and load torque of the load motor, the torque motor (32) is installed on the third slide (213), the third slide (213) and the first slide (211) are located on the long slide rail (241), the third slide (213) realizes the horizontal movement of the torque motor (32), and the three slides are matched to realize that the rotating shafts of the load motor (31) and the torque motor (32) are located on the same straight line; It also includes an inertia wheel (5) and a torque sensor (8), wherein one end of the inertia wheel (5) is connected with the output end of the speed reducer (4) through a first coupling (61), the other end of the inertia wheel (5) is connected with the torque sensor (8) through a second coupling (62), and the torque sensor (8) is connected with the torque motor (32) through a third coupling (63); The inertia wheel (5) and the torque sensor (8) are connected into a combined body through the second coupling (62), the combined body is fixed on the base (1) through a first support (71) and a second support (72), the combined body is supported to be suspended to prevent friction when the inertia wheel rotates, and the deformation of the rotating shaft caused by the large weight of the inertia wheel (5) is avoided under the support of the support, which affects the system performance; Two supports are located in the middle of the long slide rail (241), the middle of the support is hollowed out to reduce weight; The inertia wheel (5) is composed of an inertia wheel runner (51) and two standard inertia discs (52, 53), the combination is a circular ring, each inertia disc is a circular arc, and has three screw holes for fixing the inertia disc on the inertia wheel runner (51) through screws; It also includes a set of short slide rails (92), the short slide rails (92) are parallel to the long slide rails (241), the long slide rails (241) are located in the middle of the short slide rails (92), the short slide rails (92) have a 5-sided arched protective cover (91), the two sides and the upper side of the protective cover (91) are provided with transparent bulletproof glass, the bottom edge of the protective cover (91) is installed on the short slide rails (92), and the protective cover (91) is provided with a position locking device (93) and moves along the short slide rails (92), when the training platform is running, the protective cover (91) is moved to the position of the rotating part and is fixed through the locking device (93) to protect the safety of the personnel.

2. The turret servo training bench for acquisition and diagnosis of servo error data of claim 1, wherein: The long slide rail (241) is provided with a positioning screw hole, which cooperates with the first slide table (211) and the third slide table (213) to move and fix the positions of the load motor (31) and the torque motor (32).

3. The turret servo training bench for acquisition and diagnosis of servo error data of claim 1, wherein: Different inertia disc combinations are selected according to the size of the inertia to be simulated.

4. The turret servo training bench for acquisition and diagnosis of servo error data of claim 1, wherein: The base (1) is provided with six universal wheels (11) to facilitate the movement of the test platform.

5. A method of servo error data collection and diagnosis, characterized by: The turret servo training test platform according to any one of claims 1-4 realizes servo error data acquisition and diagnosis.

Images