Steering engine assembling and debugging method

Abstract

The invention relates to a steering engine assembling and debugging method, belongs to the technical field of equipment debugging, and solves the problems that a steering engine assembling and debugging method in the prior art is lack of systematicness, low in accuracy, low in debugging efficiency and incapable of coping with complex conditions. S1, executing a step test, and if the step test result of the steering engine is qualified, executing the step S2; otherwise, adjusting the transmission mechanism of the steering engine, and repeatedly executing the step S1 until the step test result is qualified; s2, a running-in test is executed, and if the result of the running-in test of the steering engine is qualified, the step S3 is executed; otherwise, adjusting a gasket of the steering engine, and returning to the step S1; and S3, executing a small instruction frequency sweep test, if a small instruction frequency sweep test result of the steering engine is qualified, ending the test, otherwise, adjusting a gasket of the steering engine, and returning to the step S1. And the mechanical assembling and debugging efficiency of the steering engine is improved.

Description

Technical Field

[0001] The invention relates to the technical field of equipment debugging, and in particular to a steering gear assembly and debugging method. Background Art

[0002] A micro electric servo is a miniaturized drive device that is widely used in model aircraft, model vehicles, robots, ships and other micro-equipment. Its main function is to control the direction and angle of movement of the equipment to achieve precise control and operation. The core components of an electric servo include a motor, a transmission mechanism and a controller. Any abnormality in any component will affect the performance of the entire machine, resulting in rework and affecting production efficiency.

[0003] The existing production process is from mechanical assembly of the servo to electrical assembly to whole machine debugging. When the debugging performance of the whole machine does not meet expectations, the controller parameters are abnormally amplified to accommodate the mechanical assembly errors as much as possible to avoid rework. The disadvantage is that abnormally large control parameters affect the stability of the controller and there is a risk of whole machine instability. At the same time, the existing debugging process does not provide a quantitative adjustment method. It relies on the process personnel to set the adjustment method based on experience, and finally obtain the servo that meets the requirements through continuous trial and error. However, the method based on manual experience has the disadvantages of poor systematicity, difficulty in handling complex situations, and low efficiency.

[0004] Therefore, the existing steering gear assembly and debugging methods have the problems of lack of systematicity, low accuracy, low debugging efficiency, and inability to cope with complex situations. Summary of the invention

[0005] In view of the above analysis, an embodiment of the present invention aims to provide a steering gear assembly and debugging method to solve the problems of the existing steering gear assembly and debugging method, such as lack of systematicness, low accuracy, low debugging efficiency, and inability to cope with complex situations.

[0006] An embodiment of the present invention provides a steering gear assembly and debugging method, the method comprising:

[0007] S1: Perform a step test. If the step test result of the servo is qualified, execute step S2; otherwise, adjust the transmission mechanism of the servo and repeat step S1 until the step test result is qualified;

[0008] S2: Perform a running-in test. If the running-in test result of the servo is qualified, execute step S3; otherwise, adjust the gasket of the servo and return to step S1;

[0009] S3: Execute a small command sweep frequency test. If the small command sweep frequency test result of the servo is qualified, the test is ended. Otherwise, the gasket of the servo is adjusted and the process returns to step S1.

[0010] Based on the further improvement of the above method, during the test processes of the step test, the running-in test and the small instruction sweep test, a control quantity is obtained based on the test function corresponding to each test and the displacement feedback information, and the control quantity is applied to the motor of the servo to control the operation of the motor, thereby obtaining the displacement feedback information of the servo, and judging whether the test result is qualified based on the displacement feedback information.

[0011] Based on the further improvement of the above method, the adjusting of the transmission mechanism of the steering gear includes:

[0012] Replace a new transmission mechanism, the relationship between the transmission friction coefficient of the new transmission mechanism and the transmission friction coefficient of the current steering gear transmission mechanism is:

[0013] objectFriction=NowFriction*|StepStableValue / MaxAmplitude|, where objectFriction is the transmission friction parameter of the new transmission mechanism, NowFriction is the transmission friction coefficient of the transmission mechanism of the current servo, StepStableValue is the average value of the displacement feedback information of the servo during the step test, and MaxAmplitude is the maximum mechanical stroke of the product corresponding to the servo.

[0014] Based on the further improvement of the above method, the gasket of the servo is adjusted to reduce the gasket thickness in the running-in test, and the reduction amount of the gasket thickness PadThickness1 is:

[0015]

[0016] Among them, RunningErrorIntergration is the integral of the absolute value of the error between the displacement feedback information of the servo during the running-in test and the target displacement position output by the test function corresponding to the running-in test. To round up;

[0017] The small command sweep frequency test adjusts the pad of the servo to increase the pad thickness, and the increase in pad thickness PadThickness2 is:

[0018]

[0019] Among them, SineSweepMaxAmpvalue is the maximum value of the tracking amplitude, MinAmplitude is the minimum required value of the insensitive area of ​​the servo, and the tracking amplitude is calculated based on the maximum value of the displacement feedback information of the test function corresponding to the small instruction sweep frequency test within an execution cycle and the minimum required value of the insensitive area.

[0020] Based on the further improvement of the above method, the step of obtaining displacement feedback information of the steering gear and judging whether the test result is qualified based on the displacement feedback information includes:

[0021] For the step test, the average value of the first displacement feedback information of the servo after the step is maintained for a certain period of time is calculated. If the absolute value of the deviation between the average value and the amplitude of the test function corresponding to the step test is less than a first preset threshold, the test result is qualified; otherwise, the test result is abnormal;

[0022] For the running-in test, the integral of the absolute value of the error between the second displacement feedback information of the servo for a certain number of cycles and the test function corresponding to the running-in test is calculated. If the integral is less than a second preset threshold, the test result is qualified; otherwise, the test result is abnormal;

[0023] For the small instruction sweep test, obtain T n The maximum value of the third displacement feedback information of the steering gear is calculated based on the maximum value, and when the tracking amplitude is less than the third preset threshold value, the test result is qualified; otherwise, the test result is abnormal;

[0024] Among them, T n The tracking amplitude Mtemp is the sum of the time when the frequency is executed from 1 to N:

[0025]

[0026] Wherein, SineSweepMaxAmpvalue is the maximum value of the third displacement feedback information, and MinAmplitude is the minimum required value of the insensitive zone of the servo.

[0027] Based on a further improvement of the above method, the first preset threshold is 0.5, the second preset threshold is 5, and the third preset threshold is 2.

[0028] Based on the further improvement of the above method, the control amount outPut3 is generated based on the following method, including:

[0029] outPut1=Kv*(Kp*(Ref-Fed)-Kf*Fed′+Ref′)-Fed"+Ref″,

[0030]

[0031] outPut3=LimitDesign(LF(s)*outPut2),

[0032] Among them, outPut1 and outPut2 are intermediate variables; Fed is the first displacement feedback information, the second displacement feedback information or the third displacement feedback information of the current execution cycle; Kv is the differential control coefficient, Kp is the displacement control coefficient, Kf is the feedback adaptive adjustment coefficient, Fed′ is the differential of Fed, Ref′ is the differential of Ref, Fed" is the secondary differential of Fed, Ref" is the secondary differential of Ref, Ka is the torque control coefficient, Ki is the integral control coefficient, Ref is the target displacement position output by the test function of the current execution cycle, MaxDesignSpeed ​​is the maximum operating speed of the servo; fun() is a function, when the function input is greater than 2, the function output is equal to 2, when the function input is less than 0.5, the function output is equal to 0.5, in other cases, the function output is equal to the input; LimitDesign() is a limiting function, when the input is less than -0.99, the output is equal to -0.99, when the input is greater than 0.99, the output is equal to 0.99, in other cases, the function output is equal to the input; LF(s) is the low-pass filter transfer function, which is calculated as follows,

[0033]

[0034] s is the complex variable of Laplace transform.

[0035] Based on the further improvement of the above method, for each control cycle, the feedback adaptive adjustment coefficient Kf is determined in the following way:

[0036] A1: Calculate the tracking error E and tracking speed V based on the target displacement position and displacement feedback information;

[0037] A2: Construct the tracking error segment based on the maximum mechanical travel of the servo, and construct the tracking speed segment based on the maximum operating speed, specifically:

[0038] The tracking error segments include E1-E2, E2-E3, and E3-E4, and the tracking speed segments include V1-V2, V1-V2, and V3-V4, wherein 0<E1<E2<E3<E4<2Emax, 0<V1<V2<V3<V4<Vmax, after determining E1 and E4, E2 and E3 are obtained by equidistant division based on E1 and E4, after determining V1 and V4, V2 and V3 are obtained by equidistant division based on V1 and V4, Emax is the maximum mechanical stroke of the product, and Vmax is the maximum operating speed;

[0039] Construct segment adjustment coefficients P1, P2, P3, where 0<P1, P2, P3<1;

[0040] A3: Calculate the speed adjustment coefficient, error adjustment coefficient, and offset coefficient based on the segmented tracking error, segmented tracking speed, and segmented adjustment coefficient;

[0041] A4: Calculate the first intermediate variable value Etemp based on the relationship between the tracking error E and the endpoint values E1 and E4 of the error range, and calculate the second intermediate variable value Vtemp based on the relationship between the tracking speed V and the endpoint values V1 and V4 of the speed range;

[0042] A5: Calculate the third intermediate variable value Econ based on the relationship between the first intermediate variable value Etemp and the intermediate values E2 and E3 of the error range, and calculate the fourth intermediate variable value Vcon based on the relationship between the second intermediate variable value Vtemp and the intermediate values V2 and V3 of the speed range;

[0043] A6: Calculate the fifth intermediate variable value EVcon based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon, and obtain the value of the feedback adaptive adjustment coefficient KKf based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the offset coefficient, the first intermediate variable value Etemp, and the second intermediate variable value Vtemp.

[0044] Based on a further improvement of the above method, the calculation of the speed adjustment coefficient, error adjustment coefficient, and offset coefficient based on the segmented tracking error and the segmented tracking speed includes:

[0045] The speed adjustment coefficients are a11, a12, a13, a21, a22, a23, a31, a32, a33, and the specific calculation method is:

[0046]

[0047] The error adjustment coefficients are b11, b12, b13, b21, b22, b23, b31, b32, b33, and the specific calculation method is:

[0048]

[0049] The offset coefficients are c11, c12, c13, c21, c22, c23, c31, c32, c33, and the specific calculation method is:

[0050] c11 = 1 - a11 * V1 - b11 * E1, c12 = 1 + P1 - a12 * V2 - b12 * E1,

[0051] c13 = 1 + P1 - P2 - a13 * V3 - b13 * E1, c21 = 1 - P1 - a21 * v1 - b21 * E2,

[0052] c22=1-a22*V2-b22*E2, c23=1+P1-a23*v3-b23*E2, c21=1-P1-P2-a31*v1-b21*E3, c32=1-P1-a32*V2-b32*E3,

[0053] c33=1-a33*v3-b33*E3.

[0054] Based on the further improvement of the above method, the calculation of the fifth intermediate variable value EVcon ​​based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon includes:

[0055] EVcon=Econ+Vcon;

[0056] The value of the feedback adaptive adjustment coefficient Kf obtained based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the bias coefficient, the first intermediate variable value Etemp and the second intermediate variable value Vtemp includes:

[0057] If EVcon=11, then Kf=a11*Vtemp+b11*Etemp+c11;

[0058] If EVcon=12, then Kf=a12*Vtemp+b12*Etemp+c12;

[0059] If EVcon=13, then Kf=a13*Vtemp+b13*Etemp+c13;

[0060] If EVcon=21, then Kf=a21*Vtemp+b21*Etemp+c21;

[0061] If EVcon=22, then Kf=a22*Vtemp+b22*Etemp+c22;

[0062] If EVcon=23, then Kf=a23*Vtemp+b23*Etemp+c23;

[0063] If EVcon=31, then Kf=a31*Vtemp+b31*Etemp+c31;

[0064] If EVcon=32, then Kf=a32*Vtemp+b32*Etemp+c32;

[0065] If EVcon=33, then Kf=a33*Vtemp+b33*Etemp+c33.

[0066] Compared with the prior art, the present invention can achieve at least one of the following beneficial effects:

[0067] 1. The present invention provides a method for assembling and debugging a steering gear. Different from the method for debugging a whole machine in the prior art, the present invention sequentially performs a step test, a running-in test, and a small instruction frequency sweep test. The next test can be performed only after the current test is qualified. This test method improves production efficiency. Compared with debugging a whole machine, it reduces the amount of rework in the production process, facilitates mass production of products, leaves sufficient stability margin for debugging the performance of the whole machine, and improves the reliability of the steering gear product.

[0068] 2. The present invention provides a method for assembling and debugging a steering gear, which provides a quantitative debugging method for step test, running-in test and small command sweep frequency test. It has strong systematicity and high accuracy, can adapt to various complex situations, and improves the debugging efficiency in the mechanical assembly process.

[0069] 3. The present invention provides a steering gear assembly and debugging method, and provides a method for calculating a feedback adaptive adjustment coefficient, thereby further improving the accuracy of the output control quantity, thereby being able to obtain more accurate displacement feedback information of the steering gear motor to be tested.

[0070] In the present invention, the above-mentioned technical solutions can also be combined with each other to achieve more preferred combination solutions. Other features and advantages of the present invention will be described in the subsequent description, and some advantages can become obvious from the description, or can be understood by practicing the present invention. The purpose and other advantages of the present invention can be realized and obtained through the contents particularly pointed out in the description and the drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0071] The accompanying drawings are only used for the purpose of illustrating specific embodiments and are not to be considered as limiting the present invention. In the entire drawings, the same reference symbols represent the same components;

[0072] Figure 1 A schematic diagram of a steering gear assembly and debugging method in an embodiment;

[0073] Figure 2 It is a schematic diagram of a test function of a step test in an embodiment. DETAILED DESCRIPTION

[0074] The preferred embodiments of the present invention are described in detail below in conjunction with the accompanying drawings, wherein the accompanying drawings constitute a part of this application and are used together with the embodiments of the present invention to illustrate the principles of the present invention, but are not used to limit the scope of the present invention.

[0075] Mechanical assembly refers to assembling the main components such as the motor, steering gear frame, transmission mechanism, displacement sensor, etc. together to make the mechanical motion function structure of the steering gear complete. Aiming at the defects existing in the steering gear assembly process, the present invention designs a steering gear assembly and debugging method to solve the problems of the existing steering gear assembly and debugging methods such as lack of systematicity, low accuracy, low debugging efficiency, and inability to cope with complex situations.

[0076] The debugging methods include step test, running-in test and small command sweep test. Among them, the step test is used for the initial test of the servo performance, to check whether the transmission mechanism is stuck, and to determine whether the transmission mechanism needs to be replaced for mechanical assembly rework; the running-in test is used for the running-in of the servo transmission mechanism to release the mechanical assembly stress of the transmission mechanism. If the test requirements are not met, the shim is adjusted; the small command sweep test is used to test the small command amplitude-frequency characteristics and check the tightness of the mechanical assembly. If the test requirements are not met, the shim is adjusted.

[0077] A specific embodiment of the present invention discloses a steering gear assembly and debugging method, such as Figure 1 As shown, the method includes:

[0078] S1: perform a step test. If the step test result of the servo is qualified, perform step S2; otherwise, adjust the transmission mechanism of the servo and repeat step S1 until the step test result is qualified.

[0079] Specifically, during the test process of the step test, a control quantity is obtained based on a test function corresponding to the step test and displacement feedback information, the control quantity is applied to a motor of the servo to control the operation of the motor, and then the displacement feedback information of the servo is obtained, and whether the test result is qualified is judged based on the displacement feedback information.

[0080] During implementation, the test function is input into a digital processor, and the digital processor performs closed-loop control of the servo motor based on the current test instruction (ie, the test function) and the first displacement feedback information of the servo to generate a motor control variable.

[0081] Among them, the digital processor is implemented based on a single-chip microcomputer, ARM or DSP digital controller, runs an embedded control program, and has IO input and output control, AD acquisition, PWM output and timing interrupt functions. It is used to realize closed-loop control of the servo motor to be tested, and can receive the displacement feedback information of the servo and transmit the generated motor control quantity.

[0082] The test function for the step test is:

[0083]

[0084] Where A1 is the amplitude, T1 is the step time, T2 is the zero return time, and y1(t1) is the target displacement position at time t1. Figure 2 , which gives a schematic diagram of the test function form of a step test.

[0085] The parameter values ​​in the test function can be determined according to the test requirements of the servo to be tested, and can meet the customized needs of the tester. The first displacement feedback information corresponds to the step test function.

[0086] The process of generating the motor control quantity outPut3 is as follows:

[0087] outPut1=Kv*(Kp*(Ref-Fed)-Kf*Fed′+Ref′)-Fed"+Ref",

[0088]

[0089] outPut3=LimitDesign(LF(s)*outPut2),

[0090] Among them, outPut1 and outPut2 are intermediate variables; Fed is the displacement feedback information of the current execution cycle; Kv is the differential control coefficient, Kp is the displacement control coefficient, Kf is the feedback adaptive adjustment coefficient, Fed′ is the differential of Fed, Ref′ is the differential of Ref, Fed" is the secondary differential of Fed, Ref" is the secondary differential of Ref, Ka is the torque control coefficient, Ki is the integral control coefficient, Ref is the target displacement position output by the test function of the current execution cycle, MaxDesignSpeed ​​is the maximum operating speed of the servo; fun() is a function, when the function input is greater than 2, the function output is equal to 2, when the function input is less than 0.5, the function output is equal to 0.5, in other cases, the function output is equal to the input; LimitDesign() is a limiting function, when the input is less than -0.99, the output is equal to -0.99, when the input is greater than 0.99, the output is equal to 0.99, in other cases, the function output is equal to the input; LF(s) is the low-pass filter transfer function, which is calculated as follows,

[0091]

[0092] s is the complex variable of Laplace transform.

[0093] Among the above parameters, the differential control coefficient Kv, the displacement control coefficient Kp, the torque control coefficient Ka, and the integral control coefficient Ki are determined based on the trial and error method or the simulation method. Among them, the trial and error method and the simulation method are common knowledge in the art, and the present invention does not make specific limitations on them, as long as the parameter values ​​obtained by the above two methods can meet the test requirements of the steering gear assembly test.

[0094] The feedback adaptive adjustment coefficient Kf is determined in the following manner. For each cycle, the following calculation process is performed:

[0095] A1: Calculate the tracking error E and tracking speed V based on the target displacement position and displacement feedback information.

[0096] A2: Construct the tracking error segment based on the maximum mechanical travel of the servo, and construct the tracking speed segment based on the maximum operating speed, specifically:

[0097] The tracking error segments include E1-E2, E2-E3, and E3-E4, and the tracking speed segments include V1-V2, V1-V2, and V3-V4, wherein 0<E1<E2<E3<E4<2Emax, 0<V1<V2<V3<V4<Vmax, after determining E1 and E4, E2 and E3 are obtained by equidistant division based on E1 and E4, after determining V1 and V4, V2 and V3 are obtained by equidistant division based on V1 and V4, Emax is the maximum mechanical stroke of the servo, and Vmax is the maximum operating speed of the servo;

[0098] Construct segmented adjustment coefficients P1, P2, P3, where 0<P1, P2, P3<1.

[0099] A3: Calculating a speed adjustment coefficient, an error adjustment coefficient, and a bias coefficient based on the tracked error segment, the tracked speed segment, and the segment adjustment coefficient, including:

[0100] The speed adjustment coefficients are a11, a12, a13, a21, a22, a23, a31, a32, and a33, and the specific calculation method is:

[0101]

[0102] The error adjustment coefficients are b11, b12, b13, b21, b22, b23, b31, b32, b33, and are specifically calculated as follows:

[0103]

[0104]

[0105] The bias coefficients are c11, c12, c13, c21, c22, c23, c31, c32, c33, and are specifically calculated as follows:

[0106] c11=1-a11*V1-b11*E1, c12=1+P1-a12*V2-b12*E1,

[0107] c13=1+P1-P2-a13*V3-b13*E1, c21=1-P1-a21*V1-b21*E2,

[0108] c22=1-a22*V2-b22*E2, c23=1+P1-a23*V3-b23*E2, c21=1-P1-P2-a31*V1-b21*E3, c32=1-P1-a32*V2-b32*E3,

[0109] c33=1-a33*V3-b33*E3.

[0110] A4: Calculating a first intermediate variable value Etemp based on the relationship between the tracking error E and the error range endpoint values ​​E1 and E4, and calculating a second intermediate variable value Vtemp based on the relationship between the tracking speed V and the speed range endpoint values ​​V1 and V4, including:

[0111] If the tracking error E is less than E1 or greater than the negative of E1, then Etemp = E1; if the tracking error E is greater than E4 or less than the negative of E4, then Etemp = E4; otherwise, Etemp = |E|, where || is the calculated absolute value;

[0112] If the tracking speed V is less than V1 or greater than the negative of V1, then Vtemp=V1; if the tracking error V is greater than V4 or less than the negative of V4, then Vtemp=V4; otherwise, Vtemp=|V|.

[0113] A5: Calculating the third intermediate variable value Econ based on the relationship between the first intermediate variable value Etemp and the intermediate values ​​E2 and E3 of the error range, and calculating the fourth intermediate variable value Vcon based on the relationship between the second intermediate variable value Vtemp and the intermediate values ​​V2 and V3 of the speed range, including:

[0114] If Etemp is greater than E3, then Econ = 30, if Etemp is greater than E2, then Econ = 20, otherwise, Econ = 10;

[0115] If Vtemp is greater than V3, then Vcon=3; if Vtemp is greater than E2, then Vcon=2; otherwise, Vcon=1.

[0116] A6: A fifth intermediate variable value EVcon ​​is calculated based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon, and a value of a feedback adaptive adjustment coefficient Kf is obtained based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the bias coefficient, the first intermediate variable value Etemp, and the second intermediate variable value Vtemp, including:

[0117] The calculation of the fifth intermediate variable value EVcon ​​based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon comprises:

[0118] EVcon=Econ+Vcon;

[0119] The value of the feedback adaptive adjustment coefficient Kf obtained based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the bias coefficient, the first intermediate variable value Etemp and the second intermediate variable value Vtemp includes:

[0120] If EVcon=11, then Kf=a11*Vtemp+b11*Etemp+c11;

[0121] If EVcon=12, then Kf=a12*Vtemp+b12*Etemp+c12;

[0122] If EVcon=13, then Kf=a13*Vtemp+b13*Etemp+c13;

[0123] If EVcon=21, then Kf=a21*Vtemp+b21*Etemp+c21;

[0124] If EVcon=22, then Kf=a22*Vtemp+b22*Etemp+c22;

[0125] If EVcon=23, then Kf=a23*Vtemp+b23*Etemp+c23;

[0126] If EVcon=31, then Kf=a31*Vtemp+b31*Etemp+c31;

[0127] If EVcon=32, then Kf=a32*Vtemp+b32*Etemp+c32;

[0128] If EVcon=33, then Kf=a33*Vtemp+b33*Etemp+c33.

[0129] The feedback adaptive adjustment coefficient value is determined based on the value of EVcon ​​and then the value of the control quantity is calculated. The calculation method of the feedback adaptive adjustment coefficient provided in the present invention can further improve the accuracy of the output control quantity, thereby obtaining more accurate displacement feedback information of the servo motor to be tested.

[0130] In addition, the digital processor can also be connected to a storage device for storing displacement feedback information within a certain period of time.

[0131] The control amount is applied to the motor of the servo to control the operation of the motor, and then the first displacement feedback information of the servo is obtained. After running for several cycles, it is necessary to judge whether the test result is qualified based on the displacement feedback information, including: calculating the average value of the first displacement feedback information of the servo after the step is maintained for a certain period of time, if the absolute value of the deviation between the average value and the amplitude of the test function corresponding to the step test is less than a first preset threshold, the test result is qualified; otherwise, the test result is abnormal.

[0132] Among them, the absolute value Adv of the deviation between the average value and the amplitude A1 is:

[0133] Adv=|MaxAmplitude-StepStableValue|,

[0134] Among them, MaxAmplitude is the maximum mechanical stroke of the servo to be tested, and StepStableValue is the average value of the displacement feedback information.

[0135] Exemplarily, the average value of the displacement sensor for 0.5 seconds after the step is maintained may be calculated; and the first preset threshold may be set to 0.5.

[0136] If the test result is qualified, step S2 is executed. If the test result is abnormal, if a new transmission mechanism is replaced, the relationship between the transmission friction coefficient of the new transmission mechanism and the transmission friction coefficient of the current steering gear transmission mechanism is:

[0137] objectFriction=NowFriction*|StepStableValue / MaxAmplitude|, where objectFriction is the transmission friction parameter of the new transmission mechanism, NowFriction is the transmission friction coefficient of the transmission mechanism of the current servo, StepStableValue is the average value of the displacement feedback information of the servo during the step test, and MaxAmplitude is the maximum mechanical stroke of the product corresponding to the servo.

[0138] Until the new transmission mechanism can meet the step test requirements, step S2 is executed.

[0139] S2: Perform a running-in test. If the running-in test result of the servo is qualified, execute step S3; otherwise, adjust the gasket of the servo and return to step S1.

[0140] Specifically, during the test process of the test, a control quantity is obtained based on a test function corresponding to the running-in test and displacement feedback information, and the control quantity is applied to a motor of the servo to control the operation of the motor, thereby obtaining displacement feedback information of the servo, and judging whether the test result is qualified based on the displacement feedback information.

[0141] During implementation, the test function is input into a digital processor, and the digital processor performs closed-loop control of the servo motor based on the current test instruction (ie, the test function) and the second displacement feedback information of the servo to generate a motor control variable.

[0142] Among them, the test function of the running-in test is:

[0143]

[0144] Among them, A2 is the amplitude, N is the period, f2 is the frequency, t2 is the time required for f2 to execute one cycle, and y2(t2) is the target displacement position at time t2.

[0145] The parameter values ​​in the test function can be determined according to the test requirements of the servo to be tested, so as to meet the customized needs of the tester. The second displacement feedback information corresponds to the running-in test function.

[0146] The way motor control quantities are generated in the run and test is the same as the way control quantities are generated in the step test.

[0147] The control amount is applied to the motor of the servo to control the operation of the motor, and then the second displacement feedback information of the servo is obtained. After running for several cycles, it is necessary to judge whether the test result is qualified based on the displacement feedback information, including: calculating the integral of the absolute value of the error between the second displacement feedback information of the servo for a certain number of cycles and the test function corresponding to the running-in test, when it is less than a second preset threshold, the test result is qualified; otherwise, the test result is abnormal.

[0148] The integral Iaev of the absolute value of the error between the second displacement feedback information and the test function corresponding to the running-in test is:

[0149]

[0150] Wherein, dfi is the displacement feedback information of a certain number of cycles.

[0151] Exemplarily, displacement feedback information of 10 cycles may be calculated; and the second preset threshold may be set to 5.

[0152] The number of cycles and the second preset threshold value can be set according to the type of the servo to be tested and the actual test requirements. The present invention does not make any specific limitation here, as long as it can meet the experimental requirements.

[0153] If the test result is normal, step S3 is executed; otherwise, the thickness of the gasket is reduced, and the reduction amount of the gasket thickness PadThickness1 is:

[0154]

[0155] Among them, RunningErrorIntergration is the integral of the absolute value of the error, To round up, return to step S1 and perform the step test again.

[0156] S3: Execute a small command sweep frequency test. If the small command sweep frequency test result of the servo is qualified, the test is ended. Otherwise, the gasket of the servo is adjusted and the process returns to step S1.

[0157] Specifically, during the test of the small command frequency sweep, a control quantity is obtained based on a test function corresponding to the small command frequency sweep test and displacement feedback information, and the control quantity is applied to a motor of the servo to control the operation of the motor, thereby obtaining the displacement feedback information of the servo, and judging whether the test result is qualified based on the displacement feedback information.

[0158] During implementation, the test function is input into a digital processor, and the digital processor performs closed-loop control of the servo motor based on the current test instruction (ie, the test function) and the third displacement feedback information of the servo to generate a motor control variable.

[0159] The test function of the small instruction sweep frequency test is:

[0160]

[0161] Wherein, A3 is the amplitude, f3 is the frequency, f3=1, 2, ..., N, N is the maximum frequency allowed by the servo, t3 is the time required for f3 to execute a cycle, T n is the sum of the time it takes for the frequency f3 to be executed from 1 to N, and y3(t3) is the target displacement position at time t3.

[0162] The parameter values ​​in the test function can be determined according to the test requirements of the servo to be tested, so as to meet the customized needs of the tester. The third displacement feedback information corresponds to the small instruction sweep frequency test function.

[0163] The way the motor control quantity is generated in the small command sweep test is the same as the way the control quantity is generated in the step test.

[0164] The control amount is applied to the motor of the steering gear to control the operation of the motor, thereby obtaining the third displacement feedback information of the steering gear.

[0165] After running for several cycles, the test results are judged to be qualified based on the displacement feedback information, including: obtaining T n The maximum value of the third displacement feedback information of the steering gear is calculated based on the maximum value, and when the tracking amplitude is less than the third preset threshold value, the test result is qualified; otherwise, the test result is abnormal;

[0166] Among them, T n It is the sum of the time when the frequency is executed from 1 to N, and the tracking amplitude Mtemp is:

[0167]

[0168] Wherein, SineSweepMaxAmpvalue is the maximum value of the third displacement feedback information, and MinAmplitude is the minimum required value of the insensitive zone of the servo.

[0169] The frequency range and the third preset threshold value can be set according to the type of the servo to be tested and the actual test requirements. The present invention does not make any specific limitations here, and it is sufficient to meet the experimental requirements. For example, the third preset threshold value can be set to 2.

[0170] If the test result is normal, the servo product after the assembly test will be formally assembled to the servo product to debug and test the performance of the whole product; otherwise, the thickness of the pad will be increased, and the increase in the pad thickness PadThickness2 is:

[0171]

[0172] Wherein, SineSweepMaxAmpvalue is the maximum value of the tracking amplitude, MinAmplitude is the minimum required value of the insensitive area of ​​the servo, and the process returns to step S1 and executes the step test again.

[0173] Compared with the prior art, the steering gear assembly and debugging method provided in this embodiment is different from the whole machine debugging method in the prior art. The present invention sequentially performs step test, running-in test and small command sweep test. Only after the current test is qualified can the next test be performed. This test method improves production efficiency. Compared with the whole machine debugging, it reduces the amount of rework in the production link, facilitates mass production of products, leaves sufficient stable margin for whole machine performance debugging, and improves the reliability of steering gear products. Quantitative debugging methods are provided for step test, running-in test and small command sweep test, which are highly systematic and accurate, can be adapted to various complex situations, and improve the debugging efficiency in the mechanical assembly process.

[0174] Those skilled in the art will appreciate that all or part of the processes of the above-mentioned embodiments can be implemented by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, wherein the computer-readable storage medium is a disk, an optical disk, a read-only storage memory, or a random access memory, etc.

[0175] The above description is only a preferred specific implementation manner of the present invention, but the protection scope of the present invention is not limited thereto. Any changes or substitutions that can be easily conceived by any technician familiar with the technical field within the technical scope disclosed by the present invention should be covered within the protection scope of the present invention.

Claims

1. A steering gear assembly and debugging method, characterized in that: The method comprises: S1: Perform a step test. If the step test result of the servo is qualified, execute step S2; otherwise, adjust the transmission mechanism of the servo and repeat step S1 until the step test result is qualified; S2: Perform a running-in test. If the running-in test result of the servo is qualified, execute step S3; otherwise, adjust the gasket of the servo and return to step S1; S3: Execute a small command sweep frequency test. If the small command sweep frequency test result of the servo is qualified, the test is ended. Otherwise, the gasket of the servo is adjusted and the process returns to step S1.

2. A steering gear assembly and debugging method according to claim 1, characterized in that: During the test processes of the step test, the running-in test and the small instruction sweep test, a control quantity is obtained based on the test function corresponding to each test and the displacement feedback information, and the control quantity is applied to the motor of the servo to control the operation of the motor, thereby obtaining the displacement feedback information of the servo, and judging whether the test result is qualified based on the displacement feedback information.

3. A steering gear assembly and debugging method according to claim 2, characterized in that: The adjusting of the transmission mechanism of the steering gear comprises: Replace a new transmission mechanism, the relationship between the transmission friction coefficient of the new transmission mechanism and the transmission friction coefficient of the current steering gear transmission mechanism is: objectFriction=NowFriction*|StepStable Value / MaxAmplitude|, where objectFriction is the transmission friction parameter of the new transmission mechanism, NowFriction is the transmission friction coefficient of the transmission mechanism of the current servo, StepStableValue is the average value of the displacement feedback information of the servo during the step test, and MaxAmplitude is the maximum mechanical stroke of the product corresponding to the servo.

4. A steering gear assembly and debugging method according to claim 3, characterized in that: In the running-in test, the gasket of the servo is adjusted to reduce the gasket thickness, and the reduction amount of the gasket thickness PadThickness1 is: Among them, RunningErrorIntergration is the integral of the absolute value of the error between the displacement feedback information of the servo during the running-in test and the target displacement position output by the test function corresponding to the running-in test. To round up; The small command sweep frequency test adjusts the pad of the servo to increase the pad thickness, and the increase in pad thickness PadThickness2 is: Among them, SineSweepMaxAmpvalue is the maximum value of the tracking amplitude, MinAmplitude is the minimum required value of the insensitive area of ​​the servo, and the tracking amplitude is calculated based on the maximum value of the displacement feedback information of the test function corresponding to the small instruction sweep frequency test within an execution cycle and the minimum required value of the insensitive area.

5. A steering gear assembly and debugging method according to claim 4, characterized in that: The step of obtaining displacement feedback information of the steering gear and judging whether the test result is qualified based on the displacement feedback information includes: For the step test, the average value of the first displacement feedback information of the servo after the step is maintained for a certain period of time is calculated. If the absolute value of the deviation between the average value and the amplitude of the test function corresponding to the step test is less than a first preset threshold, the test result is qualified; otherwise, the test result is abnormal; For the running-in test, calculate the integral of the absolute value of the error between the second displacement feedback information of the servo for a certain number of cycles and the test function corresponding to the running-in test. When it is less than the second preset threshold, the test result is qualified; otherwise, the test result is abnormal. For the small instruction sweep test, obtain T n The maximum value of the third displacement feedback information of the steering gear is calculated based on the maximum value, and when the tracking amplitude is less than the third preset threshold value, the test result is qualified; otherwise, the test result is abnormal; Among them, T n The tracking amplitude Mtemp is the sum of the time when the frequency is executed from 1 to N: Among them, SineSweepMaxAmpvalue is the maximum value of the third displacement feedback information, and MinAmplitude is the minimum required value of the dead zone of the servo.

6. A steering gear assembly and debugging method according to claim 5, characterized in that: The first preset threshold is 0.5, the second preset threshold is 5, and the third preset threshold is 2.

7. A steering gear assembly and debugging method according to claim 6, characterized in that: The control quantity outPut3 is generated based on the following method, including: outPut1 = Kv * (Kpp * (R旷 - Fed) - Kf * Fed′ + R旷) - Fed" + R旷", outPut3 = LimitDesign(LF(s) * outPut2), Among them, outPut1 and outPut2 are intermediate variables; Fed is the first displacement feedback information, the second displacement feedback information, or the third displacement feedback information of the current execution cycle; Kv is the differential control coefficient, Kp is the displacement control coefficient, Df is the feedback adaptive adjustment coefficient, Fed′ is the differential of Fed, Ref′ is the differential of Ref, Fed" is the second differential of Fed, Ref" is the second differential of Ref, Ka is the torque control coefficient, Ki is the integral control coefficient, Ref is the target displacement position output by the test function of the current execution cycle, MaxDesignSpeed is the maximum operating speed of the servo; fun() is a function. When the function input is greater than 2, the function output is equal to 2. When the function input is less than 0.5, the function output is equal to 0.

5. In other cases, the function output is equal to the input; LimitDesign() is a limiter function. When the input is less than -0.99, the output is equal to -0.

99. When the input is greater than 0.99, the output is equal to 0.

99. In other cases, the function output is equal to the input; LF(s) is the transfer function of the low-pass filter, and its calculation method is as follows. s is the complex variable of the Laplace transform.

8. A steering gear assembly and debugging method according to claim 7, characterized in that: For each control cycle, the feedback adaptive adjustment coefficient Kf is determined in the following way: A1: Calculate the tracking error E and the tracking speed V based on the target displacement position and the displacement feedback information. A2: Construct the tracking error segments based on the maximum mechanical stroke of the servo and construct the tracking speed segments based on the maximum operating speed. Specifically: The tracking error segments include E1 - E2, E2 - E3, E3 - E4, and the tracking speed segments include V1 - V2, V1 - V2, V3 - V4. Among them, 0 < E1 < E2 < E3 < E4 < 2Emax, 0 < V1 < V2 < V3 < V4 < Vmax. After determining E1 and E4, E2 and E3 are equally divided based on E1 and E4. After determining V1 and V4, V2 and V3 are equally divided based on V1 and V4. Emax is the maximum mechanical stroke of the product, and Vmax is the maximum operating speed. Construct segment adjustment coefficients P1, P2, P3, where 0 <P1,P2,P3<1; A3: Calculating a speed adjustment coefficient, an error adjustment coefficient, and a bias coefficient based on the tracked error segment, the tracked speed segment, and the segment adjustment coefficient; A4: Calculate the first intermediate variable value Etemp based on the relationship between the tracking error E and the error range endpoint values ​​E1 and E4, and calculate the second intermediate variable value Vtemp based on the relationship between the tracking speed V and the speed range endpoint values ​​V1 and V4; A5: Calculate the third intermediate variable value Econ based on the relationship between the first intermediate variable value Etemp and the intermediate values ​​E2 and E3 of the error range, and calculate the fourth intermediate variable value Vcon based on the relationship between the second intermediate variable value Vtemp and the intermediate values ​​V2 and V3 of the speed range; A6: The fifth intermediate variable value EVcon ​​is calculated based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon, and the value of the feedback adaptive adjustment coefficient Kf is obtained based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the bias coefficient, the first intermediate variable value Etemp and the second intermediate variable value Vtemp.

9. A steering gear assembly and debugging method according to claim 8, characterized in that: The calculating of the speed adjustment coefficient, the error adjustment coefficient and the bias coefficient based on the tracked error segment and the tracked speed segment comprises: The speed adjustment coefficients are a11, a12, a13, a21, a22, a23, a31, a32, and a33, and the specific calculation method is: The error adjustment coefficients are b11, b12, b13, b21, b22, b23, b31, b32, b33, and are specifically calculated as follows: The bias coefficients are c11, c12, c13, c21, c22, c23, c31, c32, c33, and are specifically calculated as follows: c11=1-a11*V1-b11*E1, c12=1+P1-a12*V2-b12*E1, c13=1+P1-P2-a13*V3-b13*E1, c21=1-P1-a21*V1-b21*E2, c22=1-a22*V2-b22*E2, c23=1+P1-a23*V3-b23*E2, c21=1-P1-P2-a31*V1-b21*E3, c32=1-P1-a32*V2-b32*E3, c33=1-a33*V3-b33*E3.

10. A steering gear assembly and debugging method according to claim 8, characterized in that: The calculation of the fifth intermediate variable value EVcon ​​based on the third intermediate variable value Econ and the fourth intermediate variable value Vcon comprises: EVcon=Econ+Vcon; The value of the feedback adaptive adjustment coefficient Kf obtained based on the fifth intermediate variable value EVcon, the speed adjustment coefficient, the error adjustment coefficient, the bias coefficient, the first intermediate variable value Etemp and the second intermediate variable value Vtemp includes: If EVcon=11, then Kf=a11*Vtemp+b11*Etemp+c11; If EVcon=12, then Kf=a12*Vtemp+b12*Etemp+c12; If EVcon=13, then Kf=a13*Vtemp+b13*Etemp+c13; If EVcon=21, then Kf=a21*Vtemp+b21*Etemp+c21; If EVcon=22, then Kf=a22*Vtemp+b22*Etemp+c22; If EVcon=23, then Kf=a23*Vtemp+b23*Etemp+c23; If EVcon=31, then Kf=a31*Vtemp+b31*Etemp+c31; If EVcon=32, then Kf=a32*Vtemp+b32*Etemp+c32; If EVcon=33, then Kf=a33*Vtemp+b33*Etemp+c33.

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