A method and system for testing the servo performance of a three-dimensional rotating mechanism

Abstract

The application discloses a kind of three-dimensional rotating mechanism's follow-up performance inspection method and system, the inspection method includes the following steps: follow-up rotation instruction is sent to the controller;The execution result generated by the three-dimensional rotating mechanism executing the follow-up rotation instruction is acquired;The follow-up precision index value of the three-dimensional rotating mechanism is determined based on the execution result;Low-speed rotation instruction is sent to the controller;The real-time position of the other end of the pitching mechanism in the process that the three-dimensional rotating mechanism executes the low-speed rotation instruction is acquired, and follow-up position curve is generated;The vibration performance index value of the three-dimensional rotating mechanism is determined based on the follow-up position curve;The follow-up performance index value of the three-dimensional rotating mechanism is determined based on the follow-up precision index value and the vibration performance index value.The follow-up performance of the three-dimensional rotating mechanism is tested from follow-up precision and vibration generated in follow-up process.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of servo testing, in particular to a servo performance inspection method and system of a three-dimensional rotating mechanism. BACKGROUND

[0002] The three-dimensional rotating mechanism is widely applied in devices or systems requiring target aiming as a structure capable of realizing azimuth angle and elevation angle adjustment, and the servo performance of the three-dimensional rotating mechanism is an important index for determining the application selection of the three-dimensional rotating mechanism and is also an important reference index for determining whether the three-dimensional rotating mechanism is faulty, so how to realize the servo performance inspection of the three-dimensional rotating mechanism becomes a technical problem to be solved urgently. SUMMARY

[0003] The present application aims to provide a servo performance inspection method and system of a three-dimensional rotating mechanism to realize the servo performance inspection of the three-dimensional rotating mechanism.

[0004] To achieve the above-mentioned purpose, the present application provides the following solutions.

[0005] A servo performance inspection method of a three-dimensional rotating mechanism, the three-dimensional rotating mechanism comprising a rotating base, a pitching mechanism, a rotating driving device, a pitching driving device and a controller, one end of the pitching mechanism being arranged on the rotating base through the pitching driving device, the other end of the pitching mechanism being used for mounting an adjustment object, the rotating driving device being arranged at the lower part of the rotating base, the controller being connected with the control end of the rotating driving device and the control end of the pitching driving device respectively; the inspection method comprising the following steps:

[0006] sending a servo turning instruction to the controller;

[0007] obtaining an execution result generated by the three-dimensional rotating mechanism executing the servo turning instruction;

[0008] determining a servo precision index value of the three-dimensional rotating mechanism based on the execution result;

[0009] sending a low-speed turning instruction to the controller;

[0010] obtaining a real-time position of the other end of the pitching mechanism in the process of the three-dimensional rotating mechanism executing the low-speed turning instruction, and generating a servo position curve;

[0011] determining a vibration performance index value of the three-dimensional rotating mechanism based on the servo position curve;

[0012] determining a servo performance index value of the three-dimensional rotating mechanism based on the servo precision index value and the vibration performance index value.

[0013] Optionally, the follow-up rotating instruction comprises a target position and a rotating mode, the rotating mode being constant-speed rotating or rotating along a preset track, the preset track being an arc or a sine curve on a spherical surface.

[0014] Optionally, the execution result comprises an azimuth angle follow-up difference, an elevation angle follow-up difference and a time for rotating to the target position.

[0015] Optionally, a formula for determining a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result is:

[0016]

[0017] wherein F is the follow-up precision index value, Δθ is the azimuth angle follow-up difference, θ is an azimuth angle of the target position relative to an initial position, is the elevation angle follow-up difference, is an elevation angle of the target position relative to the initial position, t is the time for rotating to the target position, and a, b and c are all constants.

[0018] Optionally, the low-speed rotating instruction is a target position curve with respect to time and position.

[0019] Optionally, a formula for determining a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve is:

[0020]

[0021] wherein G is the vibration performance index value, I is a number of extreme points on the follow-up position curve; s i is a position coordinate of an i-th extreme point on the follow-up position curve; l i is a position coordinate of a point on a target position curve corresponding to the i-th extreme point on the follow-up position curve.

[0022] Optionally, a formula for determining a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value is:

[0023] M = AF + B / G;

[0024] wherein M is the follow-up performance index value, F is the follow-up precision index value, G is the vibration performance index value, and A and B are both constants.

[0025] A follow-up performance inspection system of a three-dimensional rotating mechanism, the inspection system being applied to the inspection method described above, the inspection system comprising:

[0026] a follow-up rotating instruction sending module, configured to send a follow-up rotating instruction to a controller of the three-dimensional rotating mechanism;

[0027] An execution result acquisition module is configured to acquire an execution result generated by the three-dimensional rotating mechanism when executing the follow-up turning instruction;

[0028] A follow-up precision index value determination module is configured to determine a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result;

[0029] A low-speed turning instruction sending module is configured to send a low-speed turning instruction to the controller;

[0030] A follow-up position curve acquisition module is configured to acquire a real-time position of the other end of the pitching mechanism during the execution of the low-speed turning instruction by the three-dimensional rotating mechanism, and generate a follow-up position curve;

[0031] A vibration performance index value determination module is configured to determine a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve;

[0032] A follow-up performance index value determination module is configured to determine a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value.

[0033] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the above-mentioned inspection method when executing the computer program.

[0034] A computer readable storage medium has a computer program stored thereon, and the computer program implements the above-mentioned inspection method when executed.

[0035] According to the specific embodiments of the present application, the following technical effects are provided:

[0036] The present application discloses a follow-up performance inspection method and system for a three-dimensional rotating mechanism, which includes the following steps: sending a follow-up turning instruction to the controller; acquiring an execution result generated by the three-dimensional rotating mechanism when executing the follow-up turning instruction; determining a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result; sending a low-speed turning instruction to the controller; acquiring a real-time position of the other end of the pitching mechanism during the execution of the low-speed turning instruction by the three-dimensional rotating mechanism, and generating a follow-up position curve; determining a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve; and determining a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value. The present application realizes the inspection of the follow-up performance of the three-dimensional rotating mechanism from two aspects of follow-up precision and vibration generated during the follow-up process. BRIEF DESCRIPTION OF DRAWINGS

[0037] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings needed in the embodiments. Obviously, the drawings described below only illustrate some of the embodiments of the present application, and for those skilled in the art, other drawings can be obtained based on these drawings without creative labor.

[0038] Figure 1 A flowchart of a servo performance test method of a three-dimensional rotating mechanism is provided for the embodiments of the present application. DETAILED DESCRIPTION

[0039] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of the present application.

[0040] The present application aims to provide a servo performance test method and system of a three-dimensional rotating mechanism to realize the test of the servo performance of the three-dimensional rotating mechanism.

[0041] In order to make the above-mentioned purposes, features and advantages of the present application more apparent and easy to understand, the present application will be further described in detail below with reference to the drawings and specific embodiments.

[0042] As shown in Figure 1 The present application provides a servo performance test method of a three-dimensional rotating mechanism, which comprises the following steps:

[0043] Step 101: sending a servo turning instruction to the controller.

[0044] Step 102: obtaining an execution result generated by the three-dimensional rotating mechanism executing the servo turning instruction. For example, the execution result can be obtained by a sensor component arranged on the three-dimensional rotating mechanism. Generally, the three-dimensional rotating mechanism contains a state feedback sensor, and the rotation angle of the motor of the rotating driving device and the pitching driving device can also be inferred, which will not be described here.

[0045] Step 103: determining a servo precision index value of the three-dimensional rotating mechanism based on the execution result.

[0046] Step 104: sending a low-speed turning instruction to the controller.

[0047] Step 105: Acquire the real-time position of the other end of the pitch mechanism during the execution of the low-speed turn command by the three-dimensional rotation mechanism, and generate a tracking position curve. Exemplarily, this real-time position can be acquired using a sensor assembly provided on the three-dimensional rotation mechanism. Generally, three-dimensional rotation mechanisms include sensors for state feedback. Alternatively, the real-time position can be inferred based on the rotation angles of the motors of the rotation drive device and the pitch drive device of the three-dimensional rotation mechanism. This will not be further described here.

[0048] Step 106: Determine a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve.

[0049] Step 107 : Determine the servo performance index value of the three-dimensional rotation mechanism based on the servo accuracy index value and the vibration performance index value.

[0050] The inspection method of the embodiment of the present invention can be deployed on a host computer and implemented by the host computer software. In this case, the inspection method specifically includes:

[0051] 1. For the three-dimensional rotation mechanism, select local power-on, which means powering on the rotation drive unit, pitch drive unit, and controller.

[0052] 2. Turn on the host computer, select "Follow-up accuracy" to enter the follow-up accuracy test state;

[0053] 3. Select "Turn" in the parameter input area and enter the pre-turn azimuth position and elevation position data parameters, that is, enter the target position in the follow-up turn instruction.

[0054] 4. Select "Constant Speed" in the parameter input area, that is, select the transfer method in the follow-up transfer instruction.

[0055] 5. Based on the parameter inputs from steps 3 and 4, a follow-up turn command is generated and sent to the controller of the 3D rotating mechanism. The 3D rotating mechanism turns after receiving the follow-up turn command. When the 3D rotating mechanism reaches the target position, it stops turning and reads the execution result.

[0056] 6. Select "Turn along the preset trajectory" in the parameter input area, and enter the preset trajectory in the parameter input area, that is, select the turning method in the follow-up turning instruction.

[0057] 7. Based on the parameter inputs from steps 3 and 6, a follow-up turn command is generated and sent to the controller of the 3D rotating mechanism. The 3D rotating mechanism turns after receiving the follow-up turn command. When the 3D rotating mechanism reaches the target position, it stops turning and reads the execution result.

[0058] 8. Select "Low speed adjustment" in the parameter input area to enter the vibration performance test stage.

[0059] 9. The host computer inputs a target position curve in the parameter input area to generate a low-speed turning instruction. An exemplary target position curve is an arc on a spherical surface, in which case the three-dimensional rotating mechanism is required to rotate and pitch at a constant speed. The target position curve can also be a sinusoidal curve on a spherical surface, in which case the three-dimensional rotating mechanism is required to rotate and pitch at a variable speed preset for safety. The low-speed turning instruction is sent to the controller of the three-dimensional rotating mechanism, and the current actual angular position information and precision result of the three-dimensional rotating mechanism are displayed in real time. The actual angular position and static precision data of the three-dimensional rotating mechanism are read and recorded by the operator.

[0060] 10. After the inspection, the three-dimensional rotating mechanism is powered off and disconnected from the host computer. The host computer calculates the servo performance index value based on the above data.

[0061] The formula for determining the servo precision index value of the three-dimensional rotating mechanism based on the execution result is:

[0062]

[0063] wherein F is the servo precision index value, Δθ is the azimuth angle servo difference, θ is the azimuth angle of the target position relative to the initial position, is the elevation angle servo difference, is the elevation angle of the target position relative to the initial position, t is the time for turning to the target position, and a, b, and c are constants.

[0064] The formula for determining the vibration performance index value of the three-dimensional rotating mechanism based on the servo position curve is:

[0065]

[0066] wherein G is the vibration performance index value, I is the number of extreme points on the servo position curve, s i is the position coordinate of the i-th extreme point on the servo position curve, and i is the position coordinate of the point on the target position curve corresponding to the i-th extreme point on the servo position curve.

[0067] The formula for determining the servo performance index value of the three-dimensional rotating mechanism based on the servo precision index value and the vibration performance index value is:

[0068] M = AF + B / G;

[0069] wherein M is the servo performance index value, F is the servo precision index value, G is the vibration performance index value, and A and B are constants.

[0070] Example 2

[0071] The embodiment 2 of the present application provides a follow-up performance inspection system of a three-dimensional rotating mechanism, the inspection system is applied to the inspection method in the embodiment 1, and the inspection system comprises:

[0072] The follow-up turning instruction sending module is used for sending a follow-up turning instruction to a controller of the three-dimensional rotating mechanism.

[0073] The execution result obtaining module is used for obtaining an execution result generated by the three-dimensional rotating mechanism when executing the follow-up turning instruction.

[0074] The follow-up precision index value determining module is used for determining a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result.

[0075] The low-speed turning instruction sending module is used for sending a low-speed turning instruction to the controller.

[0076] The follow-up position curve obtaining module is used for obtaining a real-time position of the other end of the pitching mechanism in the process that the three-dimensional rotating mechanism executes the low-speed turning instruction, and generating a follow-up position curve.

[0077] The vibration performance index value determining module is used for determining a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve.

[0078] The follow-up performance index value determining module is used for determining a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value.

[0079] The specific implementation steps of each module provided in the embodiment of the present application are similar to the implementation methods of each step of the verification method described in the above embodiment 1, and the working principles and beneficial effects are similar, therefore, the details are not described here, and the specific content can be referred to the introduction of the above method embodiment.

[0080] Embodiment 3

[0081] The embodiment 3 of the present application provides an electronic device, which comprises a memory, a processor and a computer program stored in the memory and capable of running on the processor, and the processor executes the computer program to realize the inspection method in the embodiment 1.

[0082] In addition, when the computer program in the above-mentioned memory is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or the part of the technical solution, can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes various media that can store program codes, such as a USB flash drive, a mobile hard disk, a read-only memory, a random access memory, a magnetic disk or an optical disk.

[0083] Example 4

[0084] Embodiment 4 of the present invention provides a computer-readable storage medium having a computer program stored thereon, which implements the inspection method of embodiment 1 when the computer program is executed.

[0085] According to the specific embodiments provided by the present invention, the present invention discloses the following technical effects:

[0086] The present invention discloses a method and system for testing the servo performance of a three-dimensional rotating mechanism. The method comprises the following steps: sending a servo turn command to the controller; obtaining an execution result generated by the three-dimensional rotating mechanism executing the servo turn command; determining a servo precision index value of the three-dimensional rotating mechanism based on the execution result; sending a low-speed turn command to the controller; obtaining the real-time position of the other end of the pitch mechanism during the execution of the low-speed turn command by the three-dimensional rotating mechanism to generate a servo position curve; determining a vibration performance index value of the three-dimensional rotating mechanism based on the servo position curve; and determining a servo performance index value of the three-dimensional rotating mechanism based on the servo precision index value and the vibration performance index value. The present invention implements servo performance testing of a three-dimensional rotating mechanism from two aspects: servo precision and vibration generated during the servo process.

[0087] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the systems disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0088] The principles and implementation manners of the present application are described by using specific examples in the present application, and the above examples are only used to help understand the method of the present application and its core idea; meanwhile, for the general technical personnel in the art, the specific implementation manners and application ranges will be changed according to the idea of the present application. In conclusion, the content of the present specification should not be understood as the limitation of the present application.

Claims

1. A method of checking the follow-up performance of a three-dimensional rotary mechanism, characterized by, The three-dimensional rotating mechanism comprises a rotating base, a pitching mechanism, a rotating driving device, a pitching driving device and a controller, one end of the pitching mechanism is arranged on the rotating base through the pitching driving device, the other end of the pitching mechanism is used for mounting an adjusting object, the rotating driving device is arranged at the lower part of the rotating base, and the controller is connected with the control end of the rotating driving device and the control end of the pitching driving device respectively; the inspection method comprises the following steps: sending a follow-up turning instruction to the controller; acquiring an execution result generated by the three-dimensional rotating mechanism executing the follow-up turning instruction; determining a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result; sending a low-speed turning instruction to the controller; acquiring a real-time position of the other end of the pitching mechanism in the process of the three-dimensional rotating mechanism executing the low-speed turning instruction, and generating a follow-up position curve; determining a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve; determining a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value; the follow-up turning instruction comprises a target position and a turning mode, the turning mode is constant-speed turning or turning along a preset track, and the preset track is an arc or a sine shape on a spherical surface; the execution result comprises an azimuth angle follow-up difference, an elevation angle follow-up difference and a time for turning to the target position; a formula for determining the follow-up precision index value of the three-dimensional rotating mechanism based on the execution result is: wherein F is a follow-up precision index value, Δθ is an azimuth follow-up error, θ is an azimuth angle of the target position relative to an initial position, is an elevation follow-up error, is an elevation angle of the target position relative to the initial position, t is a time for slewing to the target position, and a, b, and c are constants; the low-speed turning instruction is a target position curve about time and position; a formula for determining the vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve is: Wherein, G is the vibration performance index value, I is the number of extreme points on the follow-up position curve; s i is the position coordinate of the i-th extreme point on the follow-up position curve; l i is the position coordinate of the point on the target position curve corresponding to the i-th extreme point on the follow-up position curve; a formula for determining the follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value is: M=AF+B / G; wherein M is the follow-up performance index value, F is the follow-up precision index value, G is the vibration performance index value, and A and B are both constants.

2. A three-dimensional rotating mechanism follow-up performance testing system, characterized in that: The inspection system is applied to the inspection method in claim 1, and the inspection system comprises: a follow-up turning instruction sending module, which is used for sending a follow-up turning instruction to a controller of a three-dimensional rotating mechanism; an execution result acquiring module, which is used for acquiring an execution result generated by the three-dimensional rotating mechanism executing the follow-up turning instruction; a follow-up precision index value determining module, which is used for determining a follow-up precision index value of the three-dimensional rotating mechanism based on the execution result; a low-speed turning instruction sending module, which is used for sending a low-speed turning instruction to the controller; a follow-up position curve acquiring module, which is used for acquiring a real-time position of the other end of the pitching mechanism in the process of the three-dimensional rotating mechanism executing the low-speed turning instruction, and generating a follow-up position curve; a vibration performance index value determining module, which is used for determining a vibration performance index value of the three-dimensional rotating mechanism based on the follow-up position curve; a follow-up performance index value determining module, which is used for determining a follow-up performance index value of the three-dimensional rotating mechanism based on the follow-up precision index value and the vibration performance index value.

3. An electronic device, comprising: A computer program product comprising a storage medium to store the program element for a computer for performing the method according to claim 1 when the computer program is executed on the computer.

4. A computer-readable storage medium, characterized in that, A computer program product comprising a storage medium to store the program element for a computer for performing the method according to claim 1 when the computer program is executed on the computer.

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