Sampling resistor detection method, driver and computer readable storage medium

Abstract

The present application provides a detection method for a sampling resistor, a driver and a computer-readable storage medium. When the driver to be detected is respectively equipped with a sampling resistor to be detected and a plurality of reference sampling resistors, the servo motor is adjusted and identified to obtain a resistance value to be detected, an inductance value to be detected, a plurality of reference resistance values ​​and a plurality of reference inductance values ​​of the servo motor; then, according to the resistance value to be detected and all reference resistance values, a maximum detection resistance value and a minimum detection resistance value are determined; according to the inductance value to be detected and all reference inductance values, a maximum detection inductance value and a minimum detection inductance value are determined; finally, according to the size relationship between the maximum detection resistance value and the minimum detection resistance value and the normal resistance value of the servo motor, and the size relationship between the maximum detection inductance value and the minimum detection inductance value and the normal inductance value of the servo motor, it is determined whether the sampling resistor to be detected matches the driver to be detected and a matching result is output, and the detection process is simple and efficient.

Description

Technical Field

[0001] The present application belongs to the technical field of servo motors, and in particular, relates to a detection method for a sampling resistor, a driver, and a computer-readable storage medium. Background Art

[0002] The servo motor and driver are matched according to their current model specifications (that is, rated current). Each driver with each current specification model will be installed with a sampling resistor of the corresponding resistance value. After the driver leaves the factory, the current specification model of the driver is identified by the corresponding software program burned into the driver, and it is impossible to identify whether the actually installed sampling resistor matches the current specification model. How to identify the need to test the resistance value of the sampling resistor during the production test process before the driver leaves the factory to avoid the situation where the current specification model and the sampling resistor are not matched correctly is a problem that needs to be solved. Summary of the invention

[0003] The embodiments of the present application provide a method, device, driver and computer-readable storage medium for detecting a sampling resistor, which are intended to solve the problem of detecting the resistance value of the sampling resistor during the production test of the driver before it leaves the factory to avoid the problem of mismatching the current specification model with the sampling resistor.

[0004] A first aspect of an embodiment of the present application provides a detection method for a sampling resistor, which is applied to a driver to be detected, wherein the driver to be detected is used to drive a servo motor, and the detection method includes:

[0005] In the case where the driver to be tested is equipped with a sampling resistor to be tested, the servo motor is set and identified to obtain the resistance value to be tested and the inductance value to be tested of the servo motor; wherein the resistance value of the sampling resistor to be tested corresponds to the rated current of the driver to be tested;

[0006] In the case where the driver to be tested is equipped with an i-th reference sampling resistor, the servo motor is set and identified to obtain an i-th reference resistance value and an i-th reference inductance value of the servo motor; wherein the resistance value of the i-th reference sampling resistor corresponds to the rated current of the i-th reference driver, and the difference between the rated current of the i-th reference driver and the rated current of the driver to be tested is within a preset difference range, i=1, 2, ..., m, m≥2 and m is an integer;

[0007] Determine a maximum detection resistance value and a minimum detection resistance value according to the resistance value to be detected and the first to mth comparison resistance values;

[0008] Determining a maximum detection inductance value and a minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values;

[0009] According to the magnitude relationship between the maximum detection resistance value, the minimum detection resistance value and the normal resistance value of the servo motor, and the magnitude relationship between the maximum detection inductance value, the minimum detection inductance value and the normal inductance value of the servo motor, it is determined whether the sampling resistor to be detected matches the driver to be detected, and the matching result is output.

[0010] A second aspect of an embodiment of the present application provides a detection device for a sampling resistor, characterized in that the detection device is applied to a driver to be detected, the driver to be detected is used to drive a servo motor, and the detection device includes:

[0011] A parameter acquisition unit to be tested, used for setting and identifying the servo motor to obtain the resistance value and inductance value of the servo motor to be tested when the driver to be tested is equipped with a sampling resistor to be tested; wherein the resistance value of the sampling resistor to be tested corresponds to the rated current of the driver to be tested;

[0012] A reference parameter acquisition unit, configured to perform setting and identification on the servo motor when the driver to be tested is equipped with an i-th reference sampling resistor, and obtain an i-th reference resistance value and an i-th reference inductance value of the servo motor; wherein the resistance value of the i-th reference sampling resistor corresponds to the rated current of the i-th reference driver, and the difference between the rated current of the i-th reference driver and the rated current of the driver to be tested is within a preset difference range, i=1, 2, ..., m, m≥2 and m is an integer;

[0013] a resistance value calculation unit, used for determining a maximum detection resistance value and a minimum detection resistance value according to the resistance value to be detected and the first to mth comparison resistance values;

[0014] an inductance value calculation unit, used to determine a maximum detection inductance value and a minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values;

[0015] A matching unit is used to determine whether the sampling resistor to be detected matches the driver to be detected according to the size relationship between the maximum detection resistance value, the minimum detection resistance value and the normal resistance value of the servo motor, and the size relationship between the maximum detection inductance value, the minimum detection inductance value and the normal inductance value of the servo motor, and output a matching result.

[0016] A third aspect of an embodiment of the present application provides a driver, comprising a memory, a processor, and a computer program stored in the memory and executable on the processor. When the driver is a driver to be tested, the processor implements the steps of the detection method provided in the first aspect of the embodiment of the present application when executing the computer program.

[0017] The fourth aspect of the embodiments of the present application provides a computer-readable storage medium, which stores a computer program. When the computer program is executed by a processor, the steps of the detection method provided by the first aspect of the embodiments of the present application are implemented.

[0018] The detection method provided in the first aspect of the embodiment of the present application is applied to a driver to be detected. When the driver to be detected is equipped with a sampling resistor to be detected corresponding to its rated current, the servo motor is adjusted and identified to obtain the resistance value to be detected and the inductance value to be detected of the servo motor; then, a plurality of reference sampling resistors corresponding to reference drivers with similar rated currents to the driver to be detected are selected, and when the driver to be detected is equipped with different reference sampling resistors each time, the servo motor is adjusted and identified to finally obtain a plurality of reference resistance values ​​and a plurality of reference inductance values ​​of the servo motor; then, according to the resistance value to be detected and the plurality of reference resistance values, a maximum detection resistance value and a minimum detection resistance value are determined, and according to the inductance value to be detected and the plurality of reference inductance values, a maximum detection inductance value and a minimum detection inductance value are determined; finally, according to the size relationship between the maximum detection resistance value and the minimum detection resistance value and the resistance value to be detected, and the size relationship between the maximum detection inductance value and the minimum detection inductance value and the inductance value to be detected, it is determined whether the sampling resistance to be detected matches the driver to be detected, and a matching result is output, and the entire detection process is simple and efficient and does not increase the production and manufacturing cost of the driver.

[0019] It can be understood that the beneficial effects of the second to fourth aspects mentioned above can be found in the relevant description of the first aspect mentioned above, and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0021] Figure 1 It is a schematic diagram of the process of the detection method provided in the embodiment of the present application;

[0022] Figure 2 is a schematic diagram of the structure of the detection device provided in the embodiment of the present application;

[0023] Figure 3 It is a schematic diagram of the structure of the driver provided in the embodiment of the present application. DETAILED DESCRIPTION

[0024] In the following description, specific details such as specific system structures, technologies, etc. are provided for the purpose of illustration rather than limitation, so as to provide a thorough understanding of the embodiments of the present application. However, it should be clear to those skilled in the art that the present application may also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to prevent unnecessary details from obstructing the description of the present application.

[0025] It should be understood that when used in the present specification and the appended claims, the term "comprising" indicates the presence of described features, wholes, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components and / or combinations thereof.

[0026] It should also be understood that the term “and / or” used in the specification and appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes these combinations.

[0027] As used in the specification and appended claims of this application, the term "if" can be interpreted as "when" or "uponce" or "in response to determining" or "in response to detecting", depending on the context. Similarly, the phrase "if it is determined" or "if [described condition or event] is detected" can be interpreted as meaning "uponce it is determined" or "in response to determining" or "uponce [described condition or event] is detected" or "in response to detecting [described condition or event]", depending on the context.

[0028] In addition, in the description of the present application specification and the appended claims, the terms "first", "second", "third", etc. are only used to distinguish the descriptions and cannot be understood as indicating or implying relative importance.

[0029] References to "one embodiment" or "some embodiments" etc. described in the specification of this application mean that one or more embodiments of the present application include specific features, structures or characteristics described in conjunction with the embodiment. Therefore, the statements "in one embodiment", "in some embodiments", "in some other embodiments", "in some other embodiments", etc. that appear in different places in this specification do not necessarily refer to the same embodiment, but mean "one or more but not all embodiments", unless otherwise specifically emphasized in other ways. The terms "including", "comprising", "having" and their variations all mean "including but not limited to", unless otherwise specifically emphasized in other ways.

[0030] An embodiment of the present application provides a detection method for a sampling resistor, which is applied to a driver to be detected, and the driver to be detected is used to drive a servo motor. The detection method can be executed by a processor of the driver to be detected when running a corresponding computer program. It can simply and efficiently determine whether the sampling resistor to be detected matches the driver to be detected and output a matching result, and will not increase the production cost of the driver.

[0031] In application, the driver to be tested can be the driver of any servo motor. In the embodiment of the present application, the driver that needs to perform sampling resistor matching detection is defined as the driver to be tested, the sampling resistor corresponding to the current specification model of the driver to be tested is defined as the sampling resistor to be tested, the driver with a current specification model close to the current specification model of the driver to be tested is defined as a control driver, and the sampling resistor corresponding to the current specification model of the control driver is defined as a control sampling resistor.

[0032] Table 1 exemplarily shows a comparison table of current specifications (ie, rated currents) of different drivers and their corresponding sampling resistors when the rated current is represented by the peak current and the overload multiple is 3 times.

[0033] Table 1

[0034] Current Model Specifications Sampling resistor 1A 20mΩ 3A 7mΩ 6A 3.5mΩ 10A 2.5mΩ 15A 1.5mΩ 20A 1mΩ

[0035] In application, other types of drivers may correspond to different sampling resistors under the same current specification model, which is subject to the actual production and manufacturing standards of each driver. Table 1 is only an example and does not represent the only situation in the specific implementation process. In addition, the definition of current specification model (rated current) and sampling resistor is also determined according to the production and manufacturing standards of different manufacturers or manufacturers. For example, the rated current can be expressed by the peak value or effective value of the sine wave (that is, the peak value divided by the square root of 2). The size of the sampling resistor is related to the overload multiple (that is, the maximum current that the driver can output in a short time). The overload multiples of products from different manufacturers or manufacturers are also different, ranging from 2 times to 3 times.

[0036] In application, the working principle of the driver controlling the servo motor is as follows:

[0037] The driver includes a current sensor, an inverter and a processor;

[0038] The current sensor is electrically connected to the negative pole of the DC bus and is used to detect the bus current on the DC bus. The current sensor can be realized by a sampling resistor connected in series to the negative pole of the DC bus.

[0039] The first input terminal of the inverter is electrically connected to the positive pole of the DC bus, the second input terminal of the inverter is electrically connected to the negative pole of the DC bus, and the inverter may include a two-phase bridge arm or a three-phase bridge arm;

[0040] When the inverter includes a two-phase bridge arm, the four controlled ends of the inverter are electrically connected to the processor, and the two output ends of the inverter are electrically connected to the two phase current and phase voltage input ends of the two-phase servo motor respectively;

[0041] When the inverter includes a three-phase bridge arm, the six controlled terminals of the inverter are electrically connected to the processor, and the three output terminals of the inverter are electrically connected to the three phase current and phase voltage input terminals of the three-phase servo motor respectively;

[0042] Each phase bridge arm of the inverter includes two switch tubes (an upper switch tube and a lower switch tube), the input ends of all the upper switch tubes are connected together to form a first input end of the inverter, the output ends of all the lower switch tubes are connected together to form a second input end of the inverter, the controlled end of each switch tube forms a controlled end of the inverter, and the output end of the upper switch tube and the input end of the lower switch tube of each phase bridge arm are connected together to form an output end of the inverter;

[0043] The processor is used to:

[0044] According to the speed to be detected of the servo motor, a stator phase voltage to be applied to the stator is obtained to generate a corresponding stator phase current in the stator;

[0045] A space vector pulse width modulation (SVPWM) method is adopted to determine the voltage vector to be tested according to the rotor angle and the stator phase voltage to be tested, and a comparison value is obtained by a comparison value calculation method based on the SVPWM method according to the voltage vector amplitude and phase angle to be tested, and then a triangular carrier is used to compare with the calculated comparison value to generate a pulse width modulation (PWM) signal for driving the inverter, and the on and off states of the switch tube of the inverter are controlled according to the PWM signal, so that the actual voltage of the bus voltage acting on the stator is equivalent to the stator phase voltage to be tested, and correspondingly, the actual current of the bus current acting on the stator is equivalent to the stator phase current to be tested, so that the stator generates a corresponding magnetic field to drive the rotor to rotate at the speed to be tested;

[0046] In order to improve the control accuracy of the servo motor, it is necessary to collect the bus current on the DC bus through a current sensor to obtain the size of the bus current on the DC bus, so that the size of the actual stator phase current applied to the stator can be estimated according to the size of the bus current. By comparing the actual stator phase current and the stator phase current to be tested, the stator phase current to be tested can be adjusted according to the deviation between the actual stator phase current and the stator phase current to be tested. Based on the adjusted stator phase current to be tested, the adjusted stator phase voltage to be tested can be obtained. Combined with the space vector pulse width modulation method, the adjusted voltage vector to be tested can be determined, and then an adjusted pulse width modulation signal is generated according to the adjusted voltage vector to be tested, and the on and off states of the switch tube of the inverter are controlled according to the adjusted pulse width modulation signal, thereby finally realizing feedback control of the servo motor.

[0047] In applications, the switch tube has the function of being turned on or off under the triggering of a PWM signal, and is used to act as an electronic switch. Specifically, it can be an insulated gate bipolar transistor (IGBT), or a triode (BJT), a field effect transistor (FET), a thyristor, etc. The insulated gate bipolar transistor is a composite fully controlled voltage-driven power semiconductor device composed of a bipolar triode and an insulated gate field effect transistor, and has the advantages of both the high input impedance of the insulated gate field effect transistor and the low on-state voltage drop of the bipolar triode. The field effect transistor can specifically be a metal oxide semiconductor field effect transistor (Metal-Oxide Semiconductor FET, referred to as MOS-FET).

[0048] In applications, the processor may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.

[0049] like Figure 1 As shown, the detection method provided in the embodiment of the present application includes the following steps S101 to S105:

[0050] Step S101, when the driver to be tested is equipped with a sampling resistor to be tested, the servo motor is adjusted and identified to obtain the resistance value and inductance value to be tested of the servo motor, and then the process proceeds to steps S103 and S104.

[0051] In the application, the resistance of the sampling resistor to be tested should correspond to the rated current of the driver to be tested. For example, taking Table 1 as an example, assuming that the current model specification (that is, the rated current) of the driver to be tested is 3A, the resistance of the sampling resistor to be tested should be 7mΩ. However, in the manufacturing process of the driver to be tested, the sampling resistor to be tested may be mismatched. For example, when the current model specification of the driver to be tested is 3A, the sampling resistor with a resistance of 6mΩ should be matched, but the sampling resistor with a resistance of 7mΩ is mistakenly matched as the corresponding sampling resistor to be tested. In order to avoid the situation where the current specification model of the driver to be tested does not match the sampling resistor.

[0052] In application, in order to simplify the detection process and improve detection efficiency, only one detection can be performed, that is, when the driver to be detected is installed with the sampling resistor to be detected, the servo motor is adjusted and identified once to obtain the resistance value and inductance value of the servo motor, which are used as the resistance value and inductance value to be detected of the servo motor respectively.

[0053] In application, in order to improve the detection accuracy, it is also possible to perform multiple tests only, that is, replace the sampling resistor to be tested with the same nominal resistance multiple times, and perform a setting and identification on the servo motor each time a sampling resistor to be tested is installed on the driver to be tested to obtain a resistance value and an inductance value of the servo motor. When multiple tests are completed, multiple resistance values ​​and multiple inductance values ​​of the servo motor are finally obtained, and the average values ​​of the multiple resistance values ​​and multiple inductance values ​​of the servo motor are calculated respectively to obtain the average resistance value and the average inductance value of the servo motor, and then the average resistance value and the average inductance value of the servo motor are used as the resistance value to be tested and the inductance value to be tested of the servo motor, respectively.

[0054] In one embodiment, step S101 includes:

[0055] When the driver to be tested is equipped with the sampling resistor to be tested, the servo motor is set and identified to obtain the resistance and inductance values ​​of the servo motor;

[0056] After replacing the next sampling resistor to be tested with the same nominal resistance value, return to the step of setting and identifying the servo motor when the driver to be tested is installed with the sampling resistor to be tested, and obtain the resistance value and inductance value of the servo motor, until a resistance value and a inductance value of the servo motor are obtained, where a ≥ 2 and a is an integer;

[0057] Obtain the average value of a resistance values ​​of the servo motor to obtain the resistance value to be tested of the servo motor;

[0058] The average value of a inductance values ​​of the servo motor is obtained to obtain the inductance value to be tested of the servo motor.

[0059] In application, in order to improve the detection accuracy, multiple detections can be performed in another way, that is, when the driver to be detected is installed with a sampling resistor to be detected each time, the servo motor is adjusted and identified multiple times, and a resistance value and an inductance value of the servo motor are obtained each time the adjustment and identification are performed. When multiple detections are completed, multiple resistance values ​​and multiple inductance values ​​of the servo motor are finally obtained, and the average values ​​of the multiple resistance values ​​and multiple inductance values ​​of the servo motor are calculated respectively to obtain the average resistance value and the average inductance value of the servo motor, and then the average resistance value and the average inductance value of the servo motor are used as the resistance value and the inductance value to be detected of the servo motor respectively.

[0060] In one embodiment, step S101 includes:

[0061] When the driver to be tested is equipped with the sampling resistor to be tested, the servo motor is set and identified b times until b resistance values ​​and b inductance values ​​of the servo motor are obtained, where b≥2 and b is an integer;

[0062] Obtain an average value of b resistance values ​​of the servo motor to obtain the resistance value to be tested of the servo motor;

[0063] The average value of b inductance values ​​of the servo motor is obtained to obtain the inductance value to be tested of the servo motor.

[0064] Step S102: When the driver to be tested is equipped with an i-th reference sampling resistor, the servo motor is adjusted and identified to obtain an i-th reference resistance value and an i-th reference inductance value of the servo motor, and then the process proceeds to steps S103 and S104.

[0065] In the application, the reference driver is a driver of the same series as the driver to be tested but with a different rated current. For example, taking Table 1 as an example, assuming that the current model specification of the driver to be tested is 3A, the reference driver is a driver corresponding to other current model specifications in Table 1; similarly, the resistance value of the reference sampling resistor should also correspond to the rated current of the reference driver. For example, taking Table 1 as an example, assuming that the current model specification of a reference driver is 1A, the resistance value of the reference sampling resistor should be 20mΩ, and assuming that the current model specification of another reference driver is 6A, the resistance value of the reference sampling resistor should be 3.5mΩ. The difference between the rated current of the control driver and the rated current of the driver to be tested is within a preset difference range. The preset difference range can be set according to actual needs. For example, it is set according to the maximum and minimum rated currents of the m control drivers adjacent to the rated current of the driver to be tested. Taking Table 1 as an example, assuming that the current model specification of the driver to be tested is 3A, m=2, then the first control driver is a driver with a current model specification of 1A in Table 1, and accordingly, the first control sampling resistor is 20mΩ, the second control driver is a driver with a current model specification of 6A in Table 1, and accordingly, the second control sampling resistor is 3.5mΩ, if m=3, then the third control driver is a driver with a current model specification of 10A in Table 1, and accordingly, the third control sampling resistor is 2.5mΩ.

[0066] In the application, i is defined as 1, 2, ..., m, where m ≥ 2 and m is an integer, that is, step S102 actually includes the following steps:

[0067] In the case where the driver to be inspected is equipped with a first reference sampling resistor, the servo motor is adjusted and identified to obtain a first reference resistance value and a first reference inductance value of the servo motor, and then steps S103 and S104 are entered;

[0068] In the case where the driver to be inspected is equipped with a second reference sampling resistor, the servo motor is adjusted and identified to obtain a second reference resistance value and a second reference inductance value of the servo motor, and then steps S103 and S104 are entered;

[0069] ……;

[0070] When the driver to be tested is equipped with the mth reference sampling resistor, the servo motor is adjusted and identified to obtain the mth reference resistance value and the mth reference inductance value of the servo motor, and then the process goes to steps S103 and S104.

[0071] In application, in order to simplify the detection process and improve detection efficiency, only one detection can be performed, that is, when the driver to be detected is installed with the sampling resistor to be detected, the servo motor is adjusted and identified once to obtain the resistance value and inductance value of the servo motor, which are used as the resistance value and inductance value to be detected of the servo motor respectively.

[0072] In application, in order to improve the detection accuracy, it is also possible to perform multiple tests only, that is, replace the reference sampling resistor with the same nominal resistance multiple times, and perform a setting and identification on the servo motor each time a reference sampling resistor is installed on the driver to be tested to obtain a resistance value and an inductance value of the servo motor. When multiple tests are completed, multiple resistance values ​​and multiple inductance values ​​of the servo motor are finally obtained, and the average values ​​of the multiple resistance values ​​and multiple inductance values ​​of the servo motor are calculated respectively to obtain the average resistance value and the average inductance value of the servo motor, and then the average resistance value and the average inductance value of the servo motor are used as the reference resistance value and the reference inductance value of the servo motor, respectively.

[0073] In one embodiment, step S102 includes:

[0074] When the driver to be tested is equipped with the i-th reference sampling resistor, the servo motor is set and identified to obtain the resistance value and inductance value of the servo motor;

[0075] After replacing the next i-th reference sampling resistor with the same nominal resistance value, returning to the step of setting and identifying the servo motor when the driver to be tested is installed with the i-th reference sampling resistor to obtain the resistance value and inductance value of the servo motor, until c resistance values ​​and c inductance values ​​of the servo motor are obtained, where c ≥ 2 and c is an integer;

[0076] The average value of c resistance values ​​of the servo motor is obtained to obtain the i-th reference resistance value of the servo motor.

[0077] In application, in order to improve the detection accuracy, multiple detections can be performed in another way, that is, when a reference sampling resistor is installed each time on the driver to be detected, the servo motor is adjusted and identified multiple times, and a resistance value and an inductance value of the servo motor are obtained each time the adjustment and identification are performed. When multiple detections are completed, multiple resistance values ​​and multiple inductance values ​​of the servo motor are finally obtained, and the average values ​​of the multiple resistance values ​​and multiple inductance values ​​of the servo motor are calculated respectively to obtain the average resistance value and the average inductance value of the servo motor, and then the average resistance value and the average inductance value of the servo motor are used as the reference resistance value and the reference inductance value of the servo motor respectively.

[0078] In one embodiment, step S102 includes:

[0079] When the driver to be tested is equipped with the i-th reference sampling resistor, the servo motor is set and identified d times until d resistance values ​​and d inductance values ​​of the servo motor are obtained, where d ≥ 2 and d is an integer;

[0080] Obtain an average value of d resistance values ​​of the servo motor to obtain an i-th reference resistance value of the servo motor;

[0081] The average value of d inductance values ​​of the servo motor is obtained to obtain the i-th reference inductance value of the servo motor.

[0082] Step S103 , determining the maximum detection resistance value and the minimum detection resistance value according to the resistance value to be detected and the first to mth comparison resistance values, and proceeding to step S105 .

[0083] In the application, the maximum detection resistance value is calculated based on the deviation between the maximum reference resistance value among the first reference resistance value to the mth reference resistance value and the resistance value to be detected, and the resistance value to be detected; the minimum detection resistance value is calculated based on the deviation between the minimum reference resistance value among the first reference resistance value to the mth reference resistance value and the resistance value to be detected, and the resistance value to be detected.

[0084] In one embodiment, step S103 includes:

[0085] Obtaining the maximum comparison resistance value among the first comparison resistance value to the mth comparison resistance value;

[0086] According to the resistance value to be tested and the maximum reference resistance value, the maximum detection resistance value is determined;

[0087] Obtaining the minimum comparison resistance value among the first comparison resistance value to the mth comparison resistance value;

[0088] Determine the minimum detection resistance value based on the resistance value to be detected and the minimum reference resistance value.

[0089] In one embodiment, the maximum detection resistance value is calculated as:

[0090]

[0091] The minimum sense resistor value is calculated as:

[0092]

[0093] Among them, R Max represents the maximum detection resistance value, R0 represents the resistance value to be detected, R1,…,R m Indicates the first comparison resistance value to the mth comparison resistance value, Max(R1,…,R m ) represents the maximum reference resistance value, R Min Indicates the minimum detection resistance value, Min(R1,…,R m ) represents the minimum reference resistance value.

[0094] Step S104 , determining the maximum detection inductance value and the minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values, and then proceeding to step S105 .

[0095] In the application, the maximum detection inductance value is calculated based on the deviation between the maximum reference inductance value among the first reference inductance value to the mth reference inductance value and the inductance value to be detected, and the inductance value to be detected; the minimum detection inductance value is calculated based on the deviation between the minimum reference inductance value among the first reference inductance value to the mth reference inductance value and the inductance value to be detected, and the inductance value to be detected.

[0096] In one embodiment, step S103 includes:

[0097] Obtaining the maximum comparison inductance value among the first comparison inductance value to the mth comparison inductance value;

[0098] Determine the maximum detection inductance value according to the inductance value to be detected and the maximum reference inductance value;

[0099] Obtaining the minimum comparison inductance value from the first comparison inductance value to the mth comparison inductance value;

[0100] Determine the minimum detection inductance value based on the inductance value to be detected and the minimum reference inductance value.

[0101] In one embodiment, the calculation formula of the maximum detection inductance value is:

[0102]

[0103] The calculation formula for the minimum detection inductance value is:

[0104]

[0105] Among them, L Max Indicates the maximum detected inductance value, L0 indicates the inductance value to be detected, L1,…,L m Indicates the first comparison inductance value to the mth comparison inductance value, Max(L1,…,L m ) represents the maximum comparison inductance value, L Min Indicates the minimum detection inductance value, Min(L1,…,L m ) represents the minimum reference inductance value.

[0106] Step S105, according to the magnitude relationship between the maximum detection resistance value, the minimum detection resistance value and the normal resistance value of the servo motor, and the magnitude relationship between the maximum detection inductance value, the minimum detection inductance value and the normal inductance value of the servo motor, determine whether the sampling resistor to be detected matches the driver to be detected, and output the matching result.

[0107] In the application, a hardware or software-based numerical comparison method (for example, a digital comparator, a voltage comparator, a sorting method, etc.) is used to compare the size relationship between the maximum detection resistance value and the minimum detection resistance value and the normal resistance value of the servo motor, as well as the size relationship between the maximum detection inductance value and the minimum detection inductance value and the normal inductance value of the servo motor. Based on these size relationships, it is determined whether the sampling resistor to be detected matches the driver to be detected, and a matching result is output. Specifically, when the normal resistance value of the servo motor is greater than the minimum detection resistance value and less than the maximum detection resistance value, and the normal inductance value of the servo motor is greater than the minimum detection inductance value and less than the maximum detection inductance value, the matching result is a match; otherwise, the matching result is a mismatch.

[0108] In the application, the normal resistance value and the normal inductance value of the servo motor are known parameters detected in advance, which are obtained when the servo motor is driven by a normal driver matched with a sampling resistor and the servo motor is tuned and identified.

[0109] In one embodiment, step S105 includes:

[0110] If the normal resistance value of the servo motor is greater than the minimum detection resistance value and less than the maximum detection resistance value, and the normal inductance value of the servo motor is greater than the minimum detection inductance value and less than the maximum detection inductance value, it is determined that the sampling resistor to be detected matches the driver to be detected; otherwise, it is determined that the sampling resistor to be detected does not match the driver to be detected, and the matching result is output.

[0111] In the application, the output of the matching results can be implemented by any human-computer interaction device that can communicate with the driver according to actual needs, for example, a display method based on a display, a voice broadcast method based on a voice playback device, a light indication method based on an LED lamp, a sound prompt method based on an alarm / buzzer, a vibration prompt method based on a vibration motor, etc.

[0112] In applications, the display may be a thin film transistor liquid crystal display (TFT-LCD), a liquid crystal display (LCD), an organic electroluminesence display (OLED), a quantum dot light emitting diode (QLED) display, a seven-segment or eight-segment digital tube, etc.

[0113] In one embodiment, the driver to be inspected is in communication connection with a user terminal, and the matching result is outputted through the user terminal.

[0114] In the application, the user terminal can be a mobile phone, a smart bracelet, a tablet computer, a laptop computer, a netbook, a personal digital assistant (PDA), or other electronic device with communication function that can communicate with the driver to be tested. The embodiment of the present application does not impose any restrictions on the specific type of the user terminal. The user can also control the user terminal to send instructions to the driver to be tested through any human-computer interaction method supported by the user terminal to control the working state of the driver to be tested.

[0115] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0116] The present application also provides a sampling resistor detection device, which is applied to a driver to be detected and is used to perform the steps in the above detection method embodiment. The detection device can be a virtual appliance in a processor, which is run by the processor, or it can be the processor itself.

[0117] like Figure 2 As shown, the detection device 100 provided in the embodiment of the present application includes:

[0118] The parameter acquisition unit 101 is used to set and identify the servo motor when the driver to be tested is equipped with a sampling resistor to be tested, obtain the resistance value and inductance value of the servo motor to be tested, and enter the resistance value calculation unit 103 and the inductance value calculation unit 104; wherein the resistance value of the sampling resistor to be tested corresponds to the rated current of the driver to be tested;

[0119] The reference parameter acquisition unit 102 is used to set and identify the servo motor when the driver to be tested is equipped with the i-th reference sampling resistor, obtain the i-th reference resistance value and the i-th reference inductance value of the servo motor, and enter the resistance value calculation unit 103 and the inductance value calculation unit 104; wherein the resistance value of the i-th reference sampling resistor corresponds to the rated current of the i-th reference driver, and the difference between the rated current of the i-th reference driver and the rated current of the driver to be tested is within a preset difference range, i=1,2,…,m, m≥2 and m is an integer;

[0120] The resistance value calculation unit 103 is used to determine the maximum detection resistance value and the minimum detection resistance value according to the resistance value to be detected and the first comparison resistance value to the mth comparison resistance value, and enter the matching unit 105;

[0121] The inductance value calculation unit 104 is used to determine the maximum detection inductance value and the minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values, and enter the matching unit 105;

[0122] The matching unit 105 is used to determine whether the sampling resistor to be detected matches the driver to be detected according to the size relationship between the maximum detection resistance value and the minimum detection resistance value and the normal resistance value of the servo motor, and the size relationship between the maximum detection inductance value and the minimum detection inductance value and the normal inductance value of the servo motor, and output the matching result.

[0123] In application, each component in the above device may be a software program unit, or may be implemented by different logic circuits integrated in a processor or independent physical components connected to a processor, or may be implemented by multiple distributed processors.

[0124] like Figure 3 As shown, the embodiment of the present application further provides a driver 200, including: at least one processor 201 ( Figure 3 Only one processor is shown in the figure), a memory 202, and a computer program 203 stored in the memory 202 and executable on at least one processor 202. When the processor 202 executes the computer program 203, the steps in the above-mentioned various detection method embodiments are implemented.

[0125] In applications, the driver may include, but is not limited to, a processor and a memory, and may also include a current sensor, an inverter, a rectifier, etc. Those skilled in the art will appreciate that Figure 3 This is only an example of the driver and does not constitute a limitation on the driver. The driver may include more or fewer components than shown in the figure, or a combination of certain components, or different components. For example, it may also include input and output devices, network access devices, etc. The network access device may include a communication unit for the driver to communicate with the user terminal.

[0126] In application, the memory may be an internal storage unit of the drive in some embodiments, such as a hard disk or memory of the drive. The memory may also be an external storage device of the drive in other embodiments, such as a plug-in hard disk equipped on the drive, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), etc. The memory may also include both an internal storage unit of the drive and an external storage device. The memory is used to store an operating system, an application program, a boot loader (Boot Loader), data, and other programs, such as program code of a computer program, etc. The memory may also be used to temporarily store data that has been output or is to be output.

[0127] In the application, the communication unit can be set as any device that can directly or indirectly communicate with the client over a long distance by wire or wireless communication according to actual needs. For example, the communication unit can provide communication solutions including wireless local area networks (WLAN) (such as Wi-Fi networks), Bluetooth, Zigbee, mobile communication networks, global navigation satellite systems (GNSS), frequency modulation (FM), near field communication (NFC), infrared (IR), etc., which are applied to network devices. The communication unit may include an antenna, which may have only one array element or an antenna array including multiple array elements. The communication unit may receive electromagnetic waves through the antenna, frequency modulate and filter the electromagnetic wave signals, and send the processed signals to the processor. The communication unit may also receive the signal to be sent from the processor, frequency modulate and amplify it, and convert it into electromagnetic waves for radiation through the antenna.

[0128] It should be noted that the information interaction, execution process, etc. between the above-mentioned devices / units are based on the same concept as the method embodiment of the present application. Their specific functions and technical effects can be found in the method embodiment part and will not be repeated here.

[0129] Those skilled in the art can clearly understand that, for the convenience and simplicity of description, only the division of the above-mentioned functional units is used as an example for illustration. In practical applications, the above-mentioned functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. The functional units in the embodiment can be integrated into a processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of software functional units. In addition, the specific names of the functional units are only for the convenience of distinguishing each other, and are not used to limit the scope of protection of this application. The specific working process of the units in the above-mentioned system can refer to the corresponding process in the aforementioned method embodiment, which will not be repeated here.

[0130] The embodiment of the present application further provides a computer-readable storage medium, in which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned detection method embodiments can be implemented.

[0131] An embodiment of the present application provides a computer program product. When the computer program product is run on a drive, the drive can implement the steps in the above-mentioned various detection method embodiments.

[0132] If the integrated unit 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 present application implements all or part of the process in the above-mentioned embodiment method, which can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Among them, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form. The computer-readable medium may at least include: any entity or device capable of carrying the computer program code to the drive, a recording medium, a computer memory, a read-only memory (ROM, Read-Only Memory), a random access memory (RAM, Random Access Memory), an electric carrier signal, a telecommunication signal, and a software distribution medium. For example, a USB flash drive, a mobile hard disk, a disk or an optical disk.

[0133] In the above embodiments, the description of each embodiment has its own emphasis. For parts that are not described or recorded in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0134] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0135] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the units is only a logical function division. There may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of devices or units, which can be electrical, mechanical or other forms.

[0136] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0137] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for detecting a sampling resistor, characterized in that: Applied to a driver to be tested, the driver to be tested is used to drive a servo motor, and the detection method includes: In the case where the driver to be tested is equipped with a sampling resistor to be tested, the servo motor is set and identified to obtain the resistance value to be tested and the inductance value to be tested of the servo motor; wherein the resistance value of the sampling resistor to be tested corresponds to the rated current of the driver to be tested; In the case where the driver to be tested is equipped with an i-th reference sampling resistor, the servo motor is set and identified to obtain an i-th reference resistance value and an i-th reference inductance value of the servo motor; wherein the resistance value of the i-th reference sampling resistor corresponds to the rated current of the i-th reference driver, and the difference between the rated current of the i-th reference driver and the rated current of the driver to be tested is within a preset difference range, i=1, 2, ..., m, m≥2 and m is an integer; Determine a maximum detection resistance value and a minimum detection resistance value according to the resistance value to be detected and the first to mth comparison resistance values; Determining a maximum detection inductance value and a minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values; According to the magnitude relationship between the maximum detection resistance value, the minimum detection resistance value and the normal resistance value of the servo motor, and the magnitude relationship between the maximum detection inductance value, the minimum detection inductance value and the normal inductance value of the servo motor, it is determined whether the sampling resistor to be detected matches the driver to be detected, and the matching result is output.

2. The detection method according to claim 1, characterized in that In the case where the driver to be tested is equipped with a sampling resistor to be tested, the servo motor is set and identified to obtain the resistance value to be tested and the inductance value to be tested of the servo motor, including: In the case where the driver to be tested is equipped with a sampling resistor to be tested, setting and identifying the servo motor to obtain the resistance value and inductance value of the servo motor; After replacing the next sampling resistor to be tested with the same nominal resistance value, returning to the step of setting and identifying the servo motor to obtain the resistance value and inductance value of the servo motor when the driver to be tested is installed with the sampling resistor to be tested, until a resistance value and a inductance value of the servo motor are obtained, where a≥2 and a is an integer; Obtaining an average value of a resistance values ​​of the servo motor to obtain a resistance value to be tested of the servo motor; Obtaining an average value of a inductance values ​​of the servo motor to obtain the inductance value to be tested of the servo motor; Alternatively, when the driver to be tested is equipped with a sampling resistor to be tested, the servo motor is set and identified b times until b resistance values ​​and b inductance values ​​of the servo motor are obtained, where b≥2 and b is an integer; Obtaining an average value of b resistance values ​​of the servo motor to obtain a resistance value to be tested of the servo motor; The average value of b inductance values ​​of the servo motor is obtained to obtain the inductance value to be tested of the servo motor.

3. The detection method according to claim 1, characterized in that In the case where the driver to be tested is equipped with an i-th reference sampling resistor, the servo motor is set and identified to obtain an i-th reference resistance value and an i-th reference inductance value of the servo motor, including: In the case where the driver to be tested is equipped with an i-th reference sampling resistor, setting and identifying the servo motor to obtain the resistance value and inductance value of the servo motor; After replacing the next i-th reference sampling resistor with the same nominal resistance value, returning to the step of setting and identifying the servo motor to obtain the resistance value and inductance value of the servo motor when the driver to be tested is installed with the i-th reference sampling resistor, until c resistance values ​​and c inductance values ​​of the servo motor are obtained, where c ≥ 2 and c is an integer; Obtaining an average value of c resistance values ​​of the servo motor to obtain an i-th reference resistance value of the servo motor; Obtaining an average value of c inductance values ​​of the servo motor to obtain an i-th reference inductance value of the servo motor; Alternatively, when the driver to be tested is equipped with the i-th reference sampling resistor, the servo motor is set and identified d times until d resistance values ​​and d inductance values ​​of the servo motor are obtained, where d≥2 and d is an integer; Obtaining an average value of d resistance values ​​of the servo motor to obtain an i-th comparison resistance value of the servo motor; An average value of d inductance values ​​of the servo motor is obtained to obtain an i-th comparison inductance value of the servo motor.

4. The detection method according to any one of claims 1 to 3, characterized in that: Determining a maximum detection resistance value and a minimum detection resistance value according to the resistance value to be detected and the first to mth comparison resistance values ​​includes: Obtaining a maximum comparison resistance value among the first comparison resistance value to the mth comparison resistance value; Determining a maximum detection resistance value according to the resistance value to be detected and the maximum reference resistance value; Obtaining the minimum comparison resistance value among the first comparison resistance value to the mth comparison resistance value; The minimum detection resistance value is determined according to the resistance value to be detected and the minimum comparison resistance value.

5. The detection method according to claim 4, characterized in that: The maximum detection resistance value is calculated as: The minimum sense resistor value is calculated as: Among them, R Max represents the maximum detection resistance value, R0 represents the resistance value to be detected, R1,…,R m Indicates the first comparison resistance value to the mth comparison resistance value, Max(R1,…,R m ) represents the maximum reference resistance value, R Min Indicates the minimum detection resistance value, Min(R1,…,R m ) represents the minimum reference resistance value.

6. The detection method according to any one of claims 1 to 3, characterized in that: Determining a maximum detection inductance value and a minimum detection inductance value according to the inductance value to be detected and the first to mth comparison inductance values, including: Obtaining a maximum comparison inductance value among the first comparison inductance value to the mth comparison inductance value; Determining a maximum detection inductance value according to the inductance value to be detected and the maximum reference inductance value; Obtaining the minimum comparison inductance value among the first comparison inductance value to the mth comparison inductance value; The minimum detection inductance value is determined according to the inductance value to be detected and the minimum reference inductance value.

7. The detection method according to claim 6, characterized in that The calculation formula of the maximum detection inductance value is: The calculation formula of the minimum detection inductance value is: Among them, L Max represents the maximum detected inductance value, L0 represents the inductance value to be detected, L1, ..., L m Indicates the first comparison inductance value to the mth comparison inductance value, Max(L1,…,L m ) represents the maximum control inductance value, L Min Indicates the minimum detection inductance value, Min(L1,…,L m ) represents the minimum control inductance value.

8. The detection method according to any one of claims 1 to 3, characterized in that: Determining whether the sampling resistor to be detected matches the driver to be detected according to the magnitude relationship between the maximum detection resistance value, the minimum detection resistance value and the normal resistance value of the servo motor, and the magnitude relationship between the maximum detection inductance value, the minimum detection inductance value and the normal inductance value of the servo motor, including: If the normal resistance value of the servo motor is greater than the minimum detection resistance value and less than the maximum detection resistance value, and the normal inductance value of the servo motor is greater than the minimum detection inductance value and less than the maximum detection inductance value, it is determined that the sampling resistor to be detected matches the driver to be detected; otherwise, it is determined that the sampling resistor to be detected does not match the driver to be detected, and the matching result is output.

9. A driver, characterized in that: The method comprises a memory, a processor and a computer program stored in the memory and executable on the processor. When the driver is a driver to be tested, the processor implements the steps of the detection method according to any one of claims 1 to 7 when executing the computer program.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the detection method according to any one of claims 1 to 7 are implemented.

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