A multi-mode control and state monitoring method and system for simulating the motion posture of a servo

Abstract

This invention discloses a multi-mode control and state monitoring method and system for simulating the motion attitude of a servo motor, aiming to solve the problem of attitude instability caused by various forces affecting servo motors during high-speed flight. The system simulates the actual operating environment of the servo motor, including parameters such as load, oscillation angle, and oscillation speed, to conduct attitude control tests. The system mainly consists of a servo control module, an attitude sensing module, a load simulation module, a data processing module, and a host computer module (the structure differs slightly from that shown in Table 1). It simulates the operating state of the servo motor under external forces such as aerodynamic forces, gravity, and inertial forces. The entire system is centrally managed and controlled by the host computer, displaying test data in real time, providing motion parameter setting and adjustment functions, and generating test reports and analysis results. Through this testing system, the performance of the servo motor can be effectively verified and optimized, improving its stability and reliability in actual flight.

Description

Technical Field

[0001] This invention relates to a multi-mode control and status monitoring method and system for simulating the motion attitude of a servo motor, belonging to the fields of automatic control technology and aerospace. Background Technology

[0002] In missile control systems, servo motors, as key actuators, play a crucial role. By receiving control signals, servo motors precisely adjust the missile's attitude and trajectory to control its flight path.

[0003] With the development of modern missile technology, the requirements for servo control accuracy, response speed, and reliability are becoming increasingly stringent. Simulating the motion attitude of the servo before practical application can effectively verify the effectiveness of the control algorithm and the rationality of the system design. Through testing, various operating states of the servo can be simulated, potential problems can be identified, and the design can be optimized. Simulating the motion attitude of the servo not only saves significant time and costs but also allows for the identification and resolution of design issues at an early stage, thereby improving the overall performance and reliability of the servo system.

[0004] Servo motors encounter various complex dynamic environments during flight, such as high-speed flight, violent maneuvers, and external interference. Traditional single control strategies struggle to guarantee system stability and control accuracy when faced with these complex situations. Summary of the Invention

[0005] The purpose of this invention is to provide a multi-mode control and status monitoring method and system for simulating the motion attitude of a servo motor. This invention simulates the actual operating environment of the servo motor, including parameters such as load, oscillation angle, and oscillation speed, to conduct attitude control tests on the servo motor. It applies PLC servo control technology, attitude sensing technology, WinForm host computer technology, statistical analysis methods, and data visualization technology to address the attitude instability problem of servo motors during high-speed flight caused by various external forces such as aerodynamic forces, gravity, and inertial forces.

[0006] The technical solution of this invention: a multi-mode control and state monitoring method for simulating the motion attitude of a servo motor, comprising the following steps:

[0007] a) The actual operating environment of the servo motor is simulated using a load simulation module. This simulation includes setting load parameters, oscillation angle, and oscillation speed. The load parameters include a variable load F. c =F a +F g +F i F a For aerodynamic force, F g For gravity, F i It is an inertial force;

[0008] b) The attitude of the servo motor is adjusted by the servo control module according to the preset test program. The attitude adjustment includes adjusting the angle and speed of the servo motor.

[0009] c) The attitude data of the servo motor is monitored in real time by the attitude sensing module, and the attitude data includes angle, velocity, torque and acceleration data;

[0010] d) The attitude data and load data are transmitted to the data processing module for analysis and processing. The analysis and processing includes the evaluation of servo stability and the analysis of performance. The servo stability evaluation indicators include: response time, overshoot, and steady-state error, and the calculation methods are as follows:

[0011] (1) Response time (T) r ): The time it takes for the servo motor to travel from its starting position to the target position;

[0012] (2) Overshoot (M) p ): The maximum deviation of the servo motor from the target position, using the following method: Where M max M is the maximum value. tar The target value;

[0013] (3) Steady-state error (E) s ): The deviation of the servo motor in steady state, calculated as: E s =E tar -E val Where Etar is the target value and Eval is the actual value;

[0014] e) The entire system is centrally managed and controlled through the host computer module. The host computer module displays test data in real time, provides motion parameter setting and adjustment functions, and generates detailed test reports and analysis results. The host computer module adopts a human-computer interaction-based visual interface design, allowing users to adjust test parameters and view real-time data charts.

[0015] In the aforementioned multi-mode control and state monitoring method for simulating servo motor motion attitude, the motion process of simulating servo motor motion attitude is realized through a test bench device. The test bench device includes a base, a fixed bracket, servo motor A, servo motor B, a test servo motor, a sensor, a loading device, and a connector. Servo motor A serves as the power input end and is fixed on the base by the fixed bracket. The test servo motor is connected to servo motor A through the connector, the sensor is connected to the test servo motor through the connector, the loading device is connected to the sensor through the connector, and servo motor B serves as the input device for loading and is connected to the loading device through the connector. The loading device is equipped with a dial that can read the swing angle of the test servo motor in real time.

[0016] In the aforementioned multi-mode control and status monitoring method for simulating the motion attitude of a servo motor, step a) requires configuring the load simulation module. A servo motor load simulation model M is established using mathematical modeling methods to simulate the actual operating environment of the servo motor, which is achieved by controlling the servo motor B and the loading device.

[0017] In the aforementioned multi-mode control and status monitoring method for simulating servo motor motion attitude, step b) requires configuring the servo motors. Servo motor A, as the input, is connected to driver A, and servo motor B, as the output, is connected to driver B. Driver B and driver A are connected to the controller PLC via network cable communication. The controller PLC is connected to the computer PC via network cable communication. The driver is configured through the controller PLC to complete the driver communication. After the communication is completed, a test program is written to test the control and feedback of the servo motor to ensure accurate control of the servo motor.

[0018] The servo's angle adjustment range is -30° to 30°, and its speed adjustment range is 0 r / min to 5000 r / min.

[0019] In the aforementioned multi-mode control and status monitoring method for simulating the motion attitude of a servo motor, in step c), the angle is measured using a dial with an accuracy of ±0.1°; the torque is obtained through a sensor with a torque measurement accuracy of 0.1 N·m; the speed and acceleration are directly obtained from the servo motor A, with a speed measurement accuracy of ±1 r / min and an acceleration measurement accuracy of 0.01 g.

[0020] In the aforementioned multi-mode control and status monitoring method for simulating servo motor motion attitude, in step e), generating detailed test reports and analysis results is achieved through a report generation module. The report generation module and the data processing module are integrated in the host computer module. The servo control module, attitude perception module, load simulation module, and data processing module are connected to the host computer module via the controller PLC.

[0021] In the aforementioned multi-mode control and status monitoring method for simulating servo motor motion attitude, the human-machine interface in the host computer module mainly consists of seven parts: communication settings, enable options, parameter settings, running status, jog control, report printing, and status monitoring. The communication settings function includes PLC address and port input for connecting to the PLC to complete communication. The jog control module includes speed and acceleration inputs to realize the servo motor's forward, reverse, and stop movements, and also has a running status indication function; this module is mainly used for servo motor debugging. The enable option module includes servo motor up enable, down enable, and... The system includes a fault clearing function and a fault indicator light; a parameter setting module primarily for automated servo testing, including input of forward and reverse positions, speed, and acceleration, as well as setting and returning to the origin; a running status module for real-time data display, showing speed, torque, and position information during servo testing via instrument controls; a status monitoring module for displaying data curves, allowing real-time observation of data changes and fluctuations; and a report printing module for generating and printing test reports, including test time, test speed, test quantity, and test results.

[0022] A system for a multi-mode control and status monitoring method for simulating the motion attitude of a servo motor includes a servo control module, an attitude sensing module, a load simulation module, a data processing module, and a host computer module, as well as a test bench device for simulating the motion attitude of the servo motor.

[0023] The beneficial effects of this invention are as follows: Compared with existing technologies, this invention employs multi-mode control technology, integrating multiple control strategies such as proportional-integral-derivative (PID) control, fuzzy control, and adaptive control. These strategies can be switched and combined under different flight phases and operating conditions to achieve precise control of the servo motor. For example, during the initial acceleration phase of the missile, fast-response PID control can be used; during the high-speed cruise phase, fuzzy control can be employed to improve system robustness; and during the terminal guidance phase, adaptive control can be combined to adjust control parameters in real time to cope with external interference and target maneuvers. The multi-mode control, state monitoring, and servo motor attitude simulation methods and systems combine modern control theory, sensor technology, and monitoring technology, providing an effective solution for the precise control and reliable operation of missile servos in complex environments.

[0024] The present invention has the following advantages:

[0025] (1) This invention proposes a control method for simulating the motion attitude of a flight servo motor. By modeling various external forces such as aerodynamic force, gravity and inertial force, it can comprehensively simulate the actual force situation of the servo motor in actual operation.

[0026] (2) The present invention designs a new integrated test system, which consists of a servo control module, an attitude perception module, a load simulation module, a data processing module and a host computer module. The modules are closely integrated to achieve high-speed response and precise control of servo attitude control.

[0027] (3) This invention integrates data acquisition functions into the system to monitor and analyze the operating status of the servo motor during testing, and provides a complete test report for each tested servo motor. Attached Figure Description

[0028] Figure 1 This is a flowchart illustrating the overall logical structure and method of the present invention.

[0029] Figure 2 This is a schematic diagram of the servo motor test bench device of the present invention;

[0030] Figure 3 This is a schematic diagram of the servo attitude detection method, system, and device of the present invention;

[0031] Figure 4 This is a schematic diagram of the PLC program design logic for the controller of this invention;

[0032] Figure 5 This is a schematic diagram of the host computer interface and functions of the present invention. Detailed Implementation

[0033] The present invention will be further described below with reference to the accompanying drawings and embodiments, but this should not be construed as limiting the present invention.

[0034] An embodiment of the present invention: a multi-mode control and state monitoring method for simulating the motion attitude of a servo motor, comprising the following steps:

[0035] a) The actual operating environment of the servo motor is simulated using a load simulation module. This simulation includes setting parameters such as load parameters, oscillation angle, and oscillation speed. The load parameters include a variable load F. c =F a +F g +F i F a For aerodynamic force, F g For gravity, F i It is an inertial force;

[0036] b) The attitude of the servo motor is adjusted by the servo control module according to the preset test program. The attitude adjustment includes adjusting the angle and speed of the servo motor. The angle adjustment range is -30° to 30°, and the speed adjustment range is 0 r / min to 5000 r / min.

[0037] c) The attitude data of the servo motor is monitored in real time by the attitude sensing module, and the attitude data includes angle, velocity, torque and acceleration data;

[0038] d) The attitude data and load data are transmitted to the data processing module for analysis and processing. The analysis and processing includes the evaluation of servo stability and the analysis of performance. The servo stability evaluation indicators include response time, overshoot, steady-state error, etc., and the calculation methods are as follows:

[0039] (1) Response time (T) r ): The time it takes for the servo motor to travel from its starting position to the target position;

[0040] (2) Overshoot (M) p ): The maximum deviation of the servo motor from the target position, using the following method: Where M max M is the maximum value. tar The target value;

[0041] (3) Steady-state error (E) s ): The deviation of the servo motor in steady state, calculated as: E s =E tar -E val Where Etar is the target value and Eval is the actual value;

[0042] e) The entire system is centrally managed and controlled through the host computer module. The host computer module displays test data in real time, provides motion parameter setting and adjustment functions, and generates detailed test reports and analysis results. The host computer module adopts a human-computer interaction-based visual interface design, allowing users to adjust test parameters and view real-time data charts.

[0043] The motion process of simulating the servo motor's posture is realized through a test bench device, which includes a base 13, a fixed bracket 15, a servo motor A1, a servo motor B5, a test servo motor 2, a sensor 3, a loading device 4, and a connector 14. The servo motor A1 serves as the power input end and is fixed to the base 13 by the fixed bracket 15. The test servo motor 2 is connected to the servo motor A1 through the connector 14. The sensor 3 is connected to the test servo motor 2 through the connector 14. The loading device 4 is connected to the sensor 3 through the connector 14. The servo motor B5 serves as the input device for loading and is connected to the loading device 4 through the connector 14. The loading device 4 is equipped with a dial 6 that can read the swing angle of the test servo motor 2 in real time.

[0044] In step a), the load simulation module needs to be configured. A servo load simulation model M is established using mathematical modeling methods to simulate the actual operating environment of the servo motor. This is achieved by controlling the servo motor B5 and the loading device 4.

[0045] In step b), the servo motors need to be configured. Servo motor A1, as the input, is connected to driver A7, and servo motor B5, as the output, is connected to driver B6. Drivers B6 and A7 are connected to the controller PLC8 via network cable communication. The controller PLC8 is connected to the computer PC10 via network cable communication. The controller PLC8 is used to configure the drivers and complete the communication. After the communication is completed, a test program is written to test the control and feedback of the servo motors to ensure precise control of the servo motors.

[0046] In step c), the angle is measured using a dial 6 with an accuracy of ±0.1°; the torque is obtained through a sensor 3 with a torque measurement accuracy of 0.1 N·m; the speed and acceleration are directly obtained from the servo motor A(1), with a speed measurement accuracy of ±1 r / min and an acceleration measurement accuracy of 0.01 g.

[0047] In step e), the generation of detailed test reports and analysis results is achieved through the report generation module. The report generation module and the data processing module are integrated in the host computer module. The servo control module, attitude perception module, load simulation module and data processing module are connected to the host computer module through the controller PLC.

[0048] The host computer module's human-machine interface consists of seven main parts: communication settings, enable options, parameter settings, operating status, electric control, report printing, and status monitoring. The communication settings function includes PLC address and port input for connecting to the PLC and completing communication. The electric control module includes speed and acceleration inputs to enable forward, reverse, and stop the servo motor, and also provides operating status indication; this module is primarily used for servo motor debugging. The enable options module includes servo motor enable, enable, and fault clearing functions, and also includes a fault indicator light. The parameter settings module is mainly used for automated servo motor testing, including input of forward and reverse positions, speed, and acceleration, as well as setting and returning to origin. The operating status module includes real-time data display, showing speed, torque, and position information during servo motor testing via instrument controls. The status monitoring module displays data curves, allowing real-time observation of data changes and fluctuations. The report printing module generates and prints test reports, including test time, test speed, test quantity, and test result information.

[0049] The present invention also protects a system used in a multi-mode control and status monitoring method for simulating the motion attitude of a servo motor, including a servo control module, an attitude sensing module, a load simulation module, a data processing module, and a host computer module, as well as a test bench device for simulating the motion attitude of a servo motor.

[0050] The entire system structure of this invention is as follows: Figure 1 , 3 As shown, the process includes the following steps: test bench device structural design; servo control module configuration; load simulation module configuration; attitude perception module configuration; data acquisition and processing; PLC controller communication and control program design; WinForm host computer function development; human-machine interaction visualization interface design; data monitoring and report generation. The specific steps are as follows:

[0051] (1) Test bench device structural design, such as Figure 2 As shown, the test bench consists of a base 13, a fixed bracket 15, servo motor A1, servo motor B5, a test servo motor 2, a sensor 3, a loading device 4, and a connector 14. Servo motor A1 serves as the power input and is fixed to the base 13 by the fixed bracket 15. The base 13 is designed with guide rails to ensure the coaxiality of the fixed bracket 15, servo motor A1, and servo motor B5. The test servo motor 2 is connected to the servo motor A1 via the connector 14. The sensor 3 is connected to the test servo motor 2 via the connector 14 and is used to read data such as torque and temperature. The loading device 4 is connected to the sensor 3 via the connector 14. The servo motor B5, as the input device for loading, is connected to the loading device 4 via the connector 14. The loading device 4 is designed with an angle reading device, such as... Figure 3 As shown, dial 6 can read the swing angle of test servo 2 in real time.

[0052] (2) Servo motor configuration, from Figure 3 As can be seen, the device comprises two servo systems: an input servo motor A1 and an output (and loading) servo motor B5. Each servo system is equipped with two servo drivers: driver A7 and driver B6. Servo motor A1 is connected to driver A7 via cables and signal lines. The cables supply power to servo motor A1, while the signal lines send control commands and provide motor signal feedback. Similarly, servo motor B5 is connected to driver B6 via cables and signal lines. After completing the wiring of the servo motors, the servo drivers are first used to check whether the connections are correct. After checking for signal feedback, connect to the PLC8 controller. Drivers B6 and A7 are connected to the PLC8 controller via network cable communication. The PLC8 controller is connected to the PC10 computer via network cable communication. Connect the PLC8 controller to a 24V power supply and the brake cables for the two servo motors. After completing the wiring, turn on the power supply. Configure the drivers using the AutoShop programming software on the PLC8 controller to complete driver communication. After communication is complete, write a test program to test the control and feedback of the two servo motors to ensure precise control of the servo motors.

[0053] (3) Test the installation of the servo motor. By designing the tooling, complete the connection between the test servo motor 2 and the servo motor A1 to ensure the stability of their coaxiality.

[0054] (4) Sensor installation: Select a suitable force sensor according to the test requirements, install sensor 3 at the measurement point, fix it with appropriate fasteners, connect the cable and interface of sensor 3, ensure that the connection is stable and does not affect the movement of test servo 2, and perform preliminary test after powering on to check whether sensor 3 is working properly and read preliminary data.

[0055] (5) Load simulation module configuration: The main function of the load simulation module is to simulate the actual operating environment of the servo motor, including setting load parameters, swing angle, and swing speed, etc. Load F c =F a +F g +F i F a For aerodynamic force, F g For gravity, F i As for the inertial force, there are many factors related to the load during the actual operation of the servo motor, including: servo motor mass m, air density, frontal area S, drag coefficient C, swing angle n and swing speed v, etc. Therefore, a servo motor load simulation model M is established through mathematical modeling to simulate the actual operating environment of the servo motor. This is achieved by controlling the servo motor B5 and the loading device 4. The servo motor B5 is fixed on the base 13 through the fixed bracket 15 and connected to the loading device 4 through the connector 14.

[0056] (6) PLC control program design, such as Figure 3 As shown, control program 9 is mainly used to control the motion mode of test servo 2, including its swing speed, swing angle, relative position, absolute position, and load adjustment. The PLC program is written using ladder diagrams, following... Figure 4 Design of a logic implementation test program for a servo motor.

[0057] (7) WinForm host computer function development: The host computer 11 is developed based on the system architecture of the PC10 computer. It communicates with the controller PLC8 and the sensor 3 via Ethernet. The process uses the Visual Studio IDE tool for program writing, and the programming language is C#. The first step is to create a WinForm project in Visual Studio and set the project structure and basic configuration. The second step is to design the system functional modules, including: communication module, architecture design, interface design, interaction logic and data processing. The third step is to test the system and conduct comprehensive testing of the entire system, including functional testing, performance testing, stability testing, etc. The fourth step is to deploy and release the software by creating a software installation package, releasing the software version, and providing download links or installation media. The fifth step is to maintain and update the system and upgrade its functions based on test feedback.

[0058] (8) Human-computer interaction visualization interface design, the control interface of the entire servo motor simulation test system is as follows: Figure 5 As shown, it mainly consists of seven parts: communication settings, enable options, parameter settings, running status, jog control, report printing, and status monitoring. In Visual Studio, select appropriate controls on the form, such as buttons, labels, text boxes, chart controls, etc., and make the interface more organized through layout property settings. The communication settings module includes PLC address and port inputs for connecting to the PLC and completing communication. The jog control module includes speed and acceleration inputs, enabling forward, reverse, and stop rotation of the servo motor, and provides a running status indicator; this module is primarily used for servo motor debugging. The enable option module includes servo motor enable, enable, and fault clearing functions, and also features a fault indicator light. The parameter setting module is mainly used for automated servo motor testing, including inputs for forward and reverse position, speed, and acceleration, as well as setting and returning to origin. The running status module includes real-time data display, showing speed, torque, and position information during servo motor testing via instrument controls. The status monitoring module displays data curves, allowing real-time observation of data changes and fluctuations. The report printing module generates and prints test reports, including test time, test speed, test quantity, and test result information.

[0059] The above steps can be further refined into the following process:

[0060] 1. Select a servo motor with appropriate power and torque based on the actual load and speed requirements of the servo motor. Ensure that the rotational inertia of the servo motor matches the load inertia to achieve smooth control.

[0061] 2. Determine the required driver and PLC8 controller according to system requirements. Select a servo driver that supports position control, speed control, and torque control. Ensure that the driver supports the feedback type of the servo motor used. Select a PLC8 controller with sufficient processing speed to quickly respond to and process real-time data. Also, ensure that the PLC8 controller has the required communication interface (such as EtherCAT, Ethernet, MODBUS, etc.) to communicate with the servo driver and the host computer 11.

[0062] 3. Hardware connection: Connect the servo motor, driver, PLC8 controller, PC10 computer and other hardware devices, including power supply, control line, feedback line, communication line, etc.

[0063] 4. PLC servo control system configuration: After completing the hardware connection, write and download the PLC control program, and test the basic functions of the PLC servo control system to ensure that it can correctly drive the servo motor.

[0064] 5. Deployment of the attitude perception system: Deploy sensor 3 to monitor attitude data such as the angle, speed and load of the servo motor in real time, and ensure that the communication between sensor 3 and the controller PLC8 and the host computer software is normal, so as to realize the real-time transmission and monitoring of data.

[0065] 6. Environmental parameter setting: Determine the simulated environmental parameters for servo operation, including load, swing angle, and swing speed, to prepare for subsequent control program design.

[0066] 7. Design a PLC control program based on the requirements and specifications of the servo motor simulation test.

[0067] 8. Based on user input, different control modes (such as angle control and speed control) are set. To achieve precise control of the servo motor, a PID control algorithm is written in the PLC program to calculate the control error in real time and adjust the output. The PID parameters (K) are adjusted according to the system's response characteristics. p K i K d This improves control accuracy and stability.

[0068] 9. Load control program design: The servo motor loading module simulates the actual operating environment of the servo motor, including setting parameters such as load parameters, swing angle, and swing speed. The load is variable, where F... a Aerodynamic force, F g Gravity, F i The inertial forces are the set external force parameters.

[0069] 10. WinForm host computer development: When designing the host computer for the servo motor attitude stability testing system, the functions include user interface design, servo motor multi-mode motion control, data acquisition and processing, real-time display and feedback, and report generation.

[0070] 11. Control Selection and Layout: Menu Bar: Contains common operation items, such as "Open" and "Save" under the "File" menu, and the "Help" menu. Toolbar: Includes operation buttons such as Start, Stop, and Pause for convenient user control of the test. Status Bar: Displays system status, current test progress, warning messages, etc. Data Display: Uses chart controls to display real-time data changes and data grid controls to display detailed test data.

[0071] 12. Report Generation: After the test is completed, a detailed test report is generated, including test parameters, collected data, analysis results, etc. The test data is organized into tables or charts, providing clear analysis results. The report is exported in PDF format for archiving and sharing.

[0072] 13. Before the test begins, the servo motor must be installed to ensure that the input and output of the servo motor or other mechanical components are stably connected to the system.

Claims

1. A multi-mode control and state monitoring method for simulating servo motor motion attitude, characterized in that: It includes the following steps: a) The actual operating environment of the servo motor is simulated using a load simulation module. This simulation includes setting load parameters, oscillation angle, and oscillation speed. The load parameters include variable load. ,in For aerodynamic forces, For gravity, It is an inertial force; b) The attitude of the servo motor is adjusted by the servo control module according to the preset test program, and the attitude adjustment includes adjusting the angle and speed of the servo motor; c) The attitude data of the servo motor is monitored in real time by the attitude sensing module, and the attitude data includes angle, velocity, torque and acceleration data; d) The attitude data and load data are transmitted to the data processing module for analysis and processing. The analysis and processing includes the evaluation of servo stability and the analysis of performance. The servo stability evaluation indicators include: response time, overshoot, and steady-state error, and the calculation methods are as follows: (1) Response time ( ): The time it takes for the servo motor to travel from its starting position to the target position; (2) Overshoot ( The method used to determine the maximum deviation of the servo motor from the target position is as follows: ×100%, of which The maximum value, The target value; (3) Steady-state error ( The deviation of the servo motor in steady state is calculated as follows: ,in For the target value, This is the actual value; e) The entire system is centrally managed and controlled through the host computer module. The host computer module displays test data in real time, provides motion parameter setting and adjustment functions, and generates detailed test reports and analysis results. The host computer module adopts a human-computer interaction-based visual interface design, allowing users to adjust test parameters and view real-time data charts. The motion process of simulating the servo motor's movement posture is realized through a test bench device. The test bench device includes a base (13), a fixed bracket (15), a servo motor A (1), a servo motor B (5), a test servo motor (2), a sensor (3), a loading device (4), and a connector (14). The servo motor A (1) serves as the power input end and is fixed on the base (13) by the fixed bracket (15). The test servo motor (2) is connected to the servo motor A (1) through the connector (14). The sensor (3) is connected to the test servo motor (2) through the connector (14). The loading device (4) is connected to the sensor (3) through the connector (14). The servo motor B (5) serves as the input device for loading and is connected to the loading device (4) through the connector (14). The loading device (4) is equipped with a dial (6) that can read the swing angle of the test servo motor (2) in real time.

2. The multi-mode control and state monitoring method for simulating servo motor motion attitude according to claim 1, characterized in that: In step a), the load simulation module needs to be configured. A servo load simulation model M is established by mathematical modeling to simulate the actual operating environment of the servo motor. This is achieved by controlling the servo motor B (5) and the loading device (4).

3. The multi-mode control and state monitoring method for simulating servo motor motion attitude according to claim 1, characterized in that: In step b), the servo motor needs to be configured. Servo motor A (1) as the input is connected to driver A (7), and servo motor B (5) as the output is connected to driver B (6). Driver B (6) and driver A (7) are connected to the controller PLC (8) via network cable communication. The controller PLC (8) is connected to the computer PC (10) via network cable communication. The controller PLC (8) is configured to complete the communication of the driver. After the communication is completed, a test program is written to test the control and feedback of the servo motor to ensure accurate control of the servo motor. The servo's angle adjustment range is −30° to 30°, and its speed adjustment range is 0 r / min to 5000 r / min.

4. The multi-mode control and state monitoring method for simulating servo motor motion attitude according to claim 1, characterized in that: In step c), the angle is measured using a dial (6) with an accuracy of ±0.1°; the torque is obtained through a sensor (3) with a torque measurement accuracy of 0.1 N·m; the speed and acceleration are obtained directly from the servo motor A (1) with a speed measurement accuracy of ±1 r / min and an acceleration measurement accuracy of 0.01 g.

5. The multi-mode control and state monitoring method for simulating servo motor motion attitude according to claim 1, characterized in that: In step e), the generation of detailed test reports and analysis results is achieved through the report generation module. The report generation module and the data processing module are integrated in the host computer module. The servo control module, attitude perception module, load simulation module and data processing module are connected to the host computer module through the controller PLC.

6. The multi-mode control and state monitoring method for simulating servo motor motion attitude according to claim 1, characterized in that: The host computer module's human-machine interface consists of seven main parts: communication settings, enable options, parameter settings, operating status, jog control, report printing, and status monitoring. The communication settings function includes PLC address and port input for connecting to the PLC and completing communication. The jog control module includes speed and acceleration inputs to enable forward, reverse, and stop rotation of the servo motor, and also provides operating status indication; this module is primarily used for servo motor debugging. The enable options module includes servo motor enable, enable, and fault clearing functions, and also includes a fault indicator light. The parameter settings module is mainly used for automated servo motor testing, including input of forward and reverse positions, speed, and acceleration, as well as setting and returning to origin. The operating status module includes real-time data display, showing speed, torque, and position information during servo motor testing via instrument controls. The status monitoring module displays data curves, allowing real-time observation of data changes and fluctuations. The report printing module generates and prints test reports, including test time, test speed, test quantity, and test result information.

7. The system used in the multi-mode control and state monitoring method for simulating servo motor motion attitude as described in any one of claims 1-6, characterized in that: It includes a servo control module, an attitude sensing module, a load simulation module, a data processing module, and a host computer module, as well as a test bench device for simulating the motion attitude of the servo motor.

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