Method, system and device for testing and calibrating electric control handle

Abstract

The invention discloses a method, a system and a device for testing and calibrating an electric control handle, a movement device is adopted to control the movement of the electric control handle, the automatic testing and calibration of the electric control handle are realized by collecting the displacement angle and output in the testing process of the electric control handle, the influence of the skill level of an operator can be avoided, the efficiency is improved, and the testing accuracy is improved. And in the calibration process, through iterative adjustment of the relation line, the final performance of the electric control handle is enabled to be better, and the precision of the electric control handle is improved.

Description

Technical Field

[0001] The invention relates to a testing and calibration method, system and device for an electric control handle, and belongs to the field of engineering machinery. Background Art

[0002] With the rapid development of engineering machinery technology, the performance of the electric control handle, as an important part of the control system, directly affects the operating accuracy and safety of the machinery. However, traditional electric control handle testing and calibration work mostly relies on manual operation, which is not only inefficient but also easily affected by the operator's skill level, resulting in inconsistency and poor repeatability of test results. Summary of the invention

[0003] The present invention provides a method, system and device for testing and calibrating an electric control handle, which solves the problems disclosed in the background technology.

[0004] According to one aspect of the present disclosure, a method for testing and calibrating an electric control handle is provided, comprising: Obtaining the limit data of the electric control handle in each first preset direction, and calibrating the dead zone of the electric control handle according to the limit data; wherein the movement of the electric control handle is controlled by a motion device; the limit data is the constant output data when the torque of the electric control handle is greater than the set value; Traverse all the second preset directions, obtain the relationship line between the displacement angle and the output during the test of the electric control handle in the second preset direction, calculate the performance parameters of the electric control handle according to the relationship line, if any performance parameter of the electric control handle is lower than the corresponding standard value, adjust the relationship line between the displacement angle and the output of the electric control handle in the second preset direction, and retest the electric control handle until all performance parameters are not lower than the corresponding standard values.

[0005] In some embodiments of the present disclosure, the first preset direction includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis in the rectangular coordinate system; the second preset direction includes the X-axis direction, the Y-axis direction, and the XY-axis direction; wherein the XY-axis direction is the X-axis direction first and the Y-axis direction second.

[0006] In some embodiments of the present disclosure, a test process of an electric control handle includes controlling the electric control handle to move for multiple cycles; the process of one cycle of movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the middle position along the positive direction of the second preset direction to the maximum displacement angle, then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the middle position; The process of one cycle movement in the XY axis direction is as follows: the electric control handle first moves from the neutral position along the positive direction of the X axis to the maximum displacement angle, then moves along the negative direction of the X axis to the maximum displacement angle, then resets to the neutral position, moves from the neutral position along the positive direction of the Y axis to the maximum displacement angle, then moves along the negative direction of the Y axis to the maximum displacement angle, and then resets to the neutral position.

[0007] In some embodiments of the present disclosure, the relationship line between the displacement angle of the electric control handle and the output in the second preset direction is adjusted, including: obtaining the output corresponding to each displacement angle in the relationship line; averaging the outputs of the same displacement angle and taking the average value as the new output of the displacement angle; and fitting a new relationship line based on the displacement angle and the new output.

[0008] According to another aspect of the present disclosure, a testing and calibration system for an electric control handle is provided, comprising: A dead zone calibration module is used to obtain the limit data of the electric control handle in each first preset direction, and calibrate the dead zone of the electric control handle according to the limit data; wherein the movement of the electric control handle is controlled by a motion device; and the limit data is constant output data when the torque of the electric control handle is greater than a set value; The relationship calibration module traverses all the second preset directions, obtains the relationship line between the displacement angle and the output during the test of the electric control handle in the second preset direction, and calculates the performance parameters of the electric control handle according to the relationship line. If any performance parameter of the electric control handle is lower than the corresponding standard value, adjust the relationship line between the displacement angle and the output of the electric control handle in the second preset direction, and re-test the electric control handle until all performance parameters are not lower than the corresponding standard values.

[0009] In some embodiments of the present disclosure, in the dead zone calibration module, the first preset direction includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis; in the relationship calibration module, the second preset direction includes the X-axis direction, the Y-axis direction, and the XY-axis direction; wherein the XY-axis direction is the X-axis direction first and the Y-axis direction second.

[0010] In some embodiments of the present disclosure, in the relationship calibration module, a test process of an electric control handle includes controlling the electric control handle to perform multi-cycle movement; the process of one cycle movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the center position along the positive direction of the second preset direction to the maximum displacement angle, and then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the center position; the process of one cycle movement in the XY axis direction is: the electric control handle first moves from the center position along the positive direction of the X-axis to the maximum displacement angle, then moves along the negative direction of the X-axis to the maximum displacement angle, and then resets to the center position, starts from the center position and moves along the positive direction of the Y-axis to the maximum displacement angle, then moves along the negative direction of the Y-axis to the maximum displacement angle, and then resets to the center position.

[0011] In some embodiments of the present disclosure, in the relationship calibration module, the relationship line between the displacement angle of the electric control handle and the output in the second preset direction is adjusted, including: obtaining the output corresponding to each displacement angle in the relationship line; averaging the outputs of the same displacement angle and taking the average value as the new output of the displacement angle; and fitting a new relationship line based on the displacement angle and the new output.

[0012] According to another aspect of the present disclosure, a testing and calibration device for an electric control handle is provided, comprising a motion device and a host computer; the host computer controls the motion of the electric control handle through the motion device; the host computer uses the above method to test and calibrate the electric control handle.

[0013] In some embodiments of the present disclosure, the motion device is a platform including a three-axis servo system, the electric control handle is arranged on the platform, and the three-axis servo system drives the handle operating part to move along the X-axis, Y-axis and Z-axis; when the handle operating part is along the Z-axis, the touch position of the handle operating part and the electric control handle is adjusted; when the handle operating part and the electric control handle are in touch, the handle operating part moves along the X-axis, driving the electric control handle to move along the X-axis, and the handle operating part moves along the Y-axis, driving the electric control handle to move along the Y-axis.

[0014] The beneficial effects achieved by the present invention are as follows: the present invention adopts a motion device to control the movement of the electric control handle, and realizes automatic testing and calibration of the electric control handle by collecting the displacement angle and output during the test of the electric control handle. This is not affected by the skill level of the operator, thereby improving efficiency, and in the calibration process, through iterative adjustment of the relationship line, the final electric control handle has better performance and improved the accuracy of the electric control handle. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 A flow chart of the test and calibration method of the electric control handle; Figure 2 is the relationship line before adjustment; Figure 3 is the adjusted relationship line; Figure 4 This is a block diagram of the test and calibration system for the electric control handle; Figure 5 It is a structural schematic diagram of the testing and calibration device of the electric control handle; Figure 6 This is the schematic diagram of the testing and calibration device for the electric control handle. DETAILED DESCRIPTION

[0016] The following will be combined with the drawings in the embodiments of the present disclosure to clearly and completely describe the technical solutions in the embodiments of the present disclosure. It is obvious that the described embodiments are only part of the embodiments of the present disclosure, rather than all the embodiments. The following description of at least one exemplary embodiment is actually only illustrative and is by no means intended to limit the present disclosure and its application or use. Based on the embodiments in the present disclosure, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present disclosure.

[0017] Unless otherwise specified, the relative arrangement of components and steps, the numerical expressions and numerical values ​​set forth in these embodiments do not limit the scope of the present disclosure.

[0018] At the same time, it should be understood that for the convenience of description, the sizes of the various parts shown in the drawings are not drawn according to the actual proportional relationship.

[0019] Technologies, methods, and equipment known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, methods, and equipment should be considered part of the specification.

[0020] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not as limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0021] It should be noted that similar symbols and letters refer to similar items in the following figures, and therefore, once an item is defined in one figure, it does not require further discussion in subsequent figures.

[0022] The electric control handle 3 is mainly composed of a mechanical structure, electric control elements, and a signal transmission line. It can convert the operation of personnel into an electric signal output, specifically, convert the displacement angle of the handle into an electric signal, thereby realizing the control of external devices.

[0023] At present, the electric control handle 3 is widely used in many fields, mainly including the following aspects: 1) Construction machinery: In the field of construction machinery, the electric control handle 3 is widely used in excavators, loaders, cranes and other equipment. Through the electric control handle 3, the operator can accurately control the movement of the equipment, including speed, direction and strength, to meet complex work requirements.

[0024] 2) Agricultural machinery: In agricultural machinery, the electric control handle 3 is used to control the actions of various agricultural machinery, such as seeders, harvesters, etc. Its precise control and efficient operation make the operation of agricultural machinery more convenient and efficient.

[0025] 3) Metallurgy, mining and shipbuilding: In the metallurgy, mining and shipbuilding industries, the electric control handle 3 also plays an important role. It helps operators complete their tasks more efficiently and safely, especially in situations where precise control of the hydraulic system is required.

[0026] 4) Other mechanical equipment: The electric control handle 3 is also used in other mechanical equipment, such as road rollers, aerial work vehicles, etc. Through the electric control handle 3, these equipment can achieve precise operation and control to improve work efficiency and safety.

[0027] The electric control handle 3 has become an indispensable control device in modern industry due to its precise control, efficient operation and wide application range. The electric control handle 3 needs to be tested and calibrated before leaving the factory, wherein the test mainly tests the performance parameters, and the calibration mainly calibrates the dead zone and the relationship between the displacement angle and the output. In order to solve the problems existing in the existing manual testing and calibration, the present disclosure proposes a testing and calibration method, system and device for the electric control handle 3, which can realize automated testing and calibration.

[0028] Figure 1 This is a schematic diagram of an embodiment of a method for testing and calibrating the electric control handle 3 disclosed in the present invention. Figure 1 The embodiment can be executed by the host computer 1.

[0029] like Figure 1 As shown, step 1 of the embodiment obtains the limit data of the electric control handle 3 in each first preset direction, and calibrates the dead zone of the electric control handle 3 according to the limit data; wherein the movement of the electric control handle 3 is controlled by a motion device; the limit data is a constant output data when the torque of the electric control handle 3 is greater than the set value.

[0030] It should be noted that the electric control handle 3 can generally move in the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis and the negative direction of the Y-axis. Therefore, in some embodiments, the first preset direction is the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis and the negative direction of the Y-axis.

[0031] When the electric control handle 3 moves in one direction, there will be two dead zones. When the electric control handle 3 moves a certain angle from the middle position, the output of the electric control handle 3 is constant. This is the dead zone close to the middle position. The other is that the torque of the electric control handle 3 is greater than the set value (usually 20N, which can be changed according to different test handles). At this time, the output of the electric control handle 3 in the positive direction of the X-axis is the largest. Even if the electric control handle 3 continues to move, the output will not change. This is another dead zone.

[0032] Therefore, a motion device can be used to control the electric control handle 3 to move along each first preset direction, and the output of the electric control handle 3 can be obtained. The dead zone of the electric control handle 3 can be calibrated through the limit data.

[0033] return Figure 1 In step 2 of the embodiment, all second preset directions are traversed to obtain the relationship line between the displacement angle and the output of the electric control handle 3 during the test in the second preset direction, and the performance parameters of the electric control handle 3 are calculated according to the relationship line. If any performance parameter of the electric control handle 3 is lower than the corresponding standard value, the relationship line between the displacement angle and the output of the electric control handle 3 in the second preset direction is adjusted, and the electric control handle 3 is tested again until all performance parameters are not lower than the corresponding standard values.

[0034] It should be noted that, similar to the first preset direction, in some embodiments, the X-axis direction, the Y-axis direction and the XY direction may be selected as the second preset direction, wherein the XY-axis direction is the X-axis direction first and the Y-axis direction second.

[0035] In order to ensure the accuracy of testing and calibration, the testing process must be carried out under the same conditions, that is, a unified test angular velocity, test height, number of cycles, etc. must be set.

[0036] The test angular velocity is the angular velocity of the moving electric control handle 3, which is generally 0.2° / s. The test height is the height of the moving device touching the electric control handle 3, which must be the distance from the fulcrum rotation center of the handle bar of the electric control handle to the test bench bracket, such as 160mm. The number of cycles is the number of cycles during which the electric control handle 3 is controlled to move for multiple cycles, generally not less than three times. Since the more times, the more accurate the subsequent marking, but the longer the time required, this value needs to take into account efficiency and accuracy and is determined according to actual conditions.

[0037] It should be noted that the process of one cycle of movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the middle position along the positive direction of the second preset direction to the maximum displacement angle, then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the middle position. The process of one cycle of movement in the XY-axis direction is: the electric control handle first moves from the middle position along the positive direction of the X-axis to the maximum displacement angle, then moves along the negative direction of the X-axis to the maximum displacement angle, then resets to the middle position, starts from the middle position and moves along the positive direction of the Y-axis to the maximum displacement angle, then moves along the negative direction of the Y-axis to the maximum displacement angle, and then resets to the middle position.

[0038] Taking the X-axis direction as an example, the electric control handle 3 first moves from the middle position along the positive direction of the X-axis to the maximum displacement, then moves along the negative direction of the X-axis to the maximum displacement, and finally resets to the middle position; other directions are similar and will not be repeated here.

[0039] It should be noted that during the test, the displacement angle of the electric control handle 3 and the corresponding output will be sampled, such as 0.1 degree sampling. The relationship line can be fitted through the displacement angle and output. The relationship line can be clearer and facilitate the subsequent performance parameter calculation; among them, the relationship line can be seen Figure 2, is a curve where x is the displacement angle and y is the output.

[0040] It should be noted that the performance parameters of the electric control handle 3 may include limit output, sensitivity, repeatability, hysteresis and linearity; wherein, the limit output is the maximum output value and the minimum output value determined by the working characteristics; sensitivity is the ratio of the output change to the corresponding input change; repeatability is the dispersion between a group of output quantities measured when the input changes full scale from the same direction and approaches and reaches the same calibration point many times within a short time interval under the same working conditions; linearity is the maximum deviation of the actual average characteristic curve of the forward and reverse strokes relative to the reference straight line, expressed as a percentage of the full scale output.

[0041] The sensitivity formula can be expressed as: ; In the formula, s is the sensitivity, y max and y min are the maximum and minimum output values, respectively. x max and x min They are the maximum and minimum values ​​of the input (i.e. displacement angle) respectively.

[0042] The formula for hysteresis can be expressed as: ; ; In the formula, is the hysteresis, They are respectively the actual average characteristics of the reverse and forward strokes, Y FS is the full-scale output of the sensor, It is the maximum difference between the actual average characteristics of the forward and reverse strokes.

[0043] The formula for repeatability can be expressed as: ; In the formula, is the inclusion factor, S max The standard deviation of the maximum sample (i.e. the maximum output difference in the same direction and at the same calibration point). The calibration test is generally performed for 3 to 5 cycles. The measured value belongs to a small sample. For a small sample, the distribution is more in line with the actual situation than the normal distribution. This standard stipulates that t Distribution takes coverage factor c = t 0.95 (95% confidence level guaranteed).

[0044] The formula for linearity can be expressed as: ; ; In the formula, is the linearity, It is the maximum deviation of the actual characteristic curve of the sensor (i.e. the relationship between the displacement angle and the output) obtained by the least square method from the reference straight line. The sensors are i The total average characteristic value and reference characteristic value at the calibration points.

[0045] It should be noted that adjusting the relationship line is mainly to adjust the output, so in some embodiments, the process of adjusting the relationship line can be as follows: 1) Filter the dead zone data in the relationship line and obtain the output corresponding to each displacement angle in the relationship line.

[0046] Since the output corresponding to the dead zone is constant, this part of the output does not need to be adjusted, and only the output of the non-dead zone needs to be adjusted.

[0047] 2) Average the outputs of the same displacement angle and use the average value as the new output for that displacement angle.

[0048] Since a test will perform multiple cycles of movement, taking three cycles of movement in the X-axis direction as an example, there will be 6 outputs for one displacement angle. The new output can be obtained by taking the average value.

[0049] 3) According to the displacement angle and the new output, a new relationship line is fitted, which shows Figure 3 .

[0050] The simplest adjustment method is to use the averaging method. Of course, you can also use common optimization algorithms to obtain new outputs.

[0051] The relationship line is adjusted iteratively until all performance parameters are no lower than the corresponding standard values. At this time, the final relationship line is recorded as the calibration result of the relationship between the displacement angle and the output.

[0052] The testing and calibration method of the electric control handle 3 adopts a motion device to control the movement of the electric control handle 3. By collecting the displacement angle and output during the testing process of the electric control handle 3, the automatic testing and calibration of the electric control handle 3 is realized. It is not affected by the skill level of the operator, which improves the efficiency. In the calibration process, through the iterative adjustment of the relationship line, the final performance of the electric control handle 3 is better, and the accuracy of the electric control handle 3 is improved.

[0053] Figure 4 This is a schematic diagram of an embodiment of a testing and calibration system for the electric control handle 3 disclosed in the present invention. Figure 4The embodiment is a virtual system, which can be loaded and executed by the host computer 1, and includes a dead zone calibration module and a relationship calibration module.

[0054] The dead zone calibration module of the embodiment is configured to obtain the limit data of the electric control handle 3 in each first preset direction, and calibrate the dead zone of the electric control handle 3 according to the limit data; wherein the movement of the electric control handle 3 is controlled by a motion device; the limit data is a constant output data when the torque of the electric control handle 3 is greater than the set value.

[0055] The relationship calibration module of the embodiment is configured to traverse all second preset directions, obtain the relationship line between the displacement angle and the output during the test of the electric control handle 3 in the second preset direction, calculate the performance parameters of the electric control handle 3 according to the relationship line, and if any performance parameter of the electric control handle 3 is lower than the corresponding standard value, adjust the relationship line between the displacement angle and the output of the electric control handle 3 in the second preset direction, and re-test the electric control handle 3 until all performance parameters are not lower than the corresponding standard values.

[0056] It should be noted that in the dead zone calibration module, the first preset direction includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis and the negative direction of the Y-axis; in the relationship calibration module, the second preset direction includes the X-axis direction, the Y-axis direction and the XY-axis direction; among them, the XY-axis direction is the X-axis direction first and the Y-axis direction second.

[0057] In the relationship calibration module, a test process of the electric control handle 3 includes controlling the electric control handle 3 to move for multiple cycles, generally not less than three times. Since the more times, the more accurate the subsequent annotation, but the longer the time required, this value needs to comprehensively consider efficiency and accuracy, and is determined according to actual conditions; wherein, the process of one cycle movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the middle position along the positive direction of the second preset direction to the maximum displacement angle, then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the middle position; the process of one cycle movement in the XY axis direction is: the electric control handle first moves from the middle position along the positive direction of the X-axis to the maximum displacement angle, then moves along the negative direction of the X-axis to the maximum displacement angle, then resets to the middle position, starts from the middle position and moves along the positive direction of the Y-axis to the maximum displacement angle, then moves along the negative direction of the Y-axis to the maximum displacement angle, and then resets to the middle position.

[0058] It should be noted that adjusting the relationship line is mainly to adjust the output, so in some embodiments, the process of adjusting the relationship line can be as follows: 1) Filter the dead zone data in the relationship line and obtain the output corresponding to each displacement angle in the relationship line.

[0059] 2) Average the outputs of the same displacement angle and use the average value as the new output for that displacement angle.

[0060] 3) Fit a new relationship line based on the displacement angle and the new output.

[0061] The simplest adjustment method is to use the averaging method. Of course, you can also use common optimization algorithms to obtain new outputs.

[0062] Similar to the method, the system uses a motion device to control the movement of the electric control handle 3. By collecting the displacement angle and output during the test of the electric control handle 3, the automatic testing and calibration of the performance of the electric control handle 3 is realized. It is not affected by the skill level of the operator, which improves the efficiency. In the calibration process, through the iterative adjustment of the relationship line, the final performance of the electric control handle 3 is better, and the accuracy of the electric control handle 3 is improved.

[0063] Figure 5 This is a schematic diagram of an embodiment of a testing and calibration device for an electric control handle 3 disclosed in the present invention, which may include a motion device and a host computer 1; the host computer 1 controls the motion of the electric control handle 3 through the motion device; the host computer 1 uses the above method to test and calibrate the electric control handle 3.

[0064] In some embodiments, the motion device may adopt a platform 4 including a three-axis servo system 2, and the electric control handle 3 can be detachably mounted directly on the platform 4, and the three-axis servo system 2 drives the handle operating part to move along the X-axis, Y-axis and Z-axis; when the handle operating part is along the Z-axis, the touch position of the handle operating part and the electric control handle 3 is adjusted; when the handle operating part touches the electric control handle 3, the handle operating part moves along the X-axis, driving the electric control handle 3 to move along the X-axis, and the handle operating part moves along the Y-axis, driving the electric control handle 3 to move along the Y-axis.

[0065] It should be noted that the three-axis servo system 2 mainly includes three high-performance servo motors (X, Y, and Z axes), each of which can be connected to the electric control handle 3 through a high-rigidity reducer to ensure excellent performance under high load and fast movement. Each servo motor is also equipped with a high-resolution photoelectric encoder that can provide a positioning accuracy of up to 1 micron and has high-speed response capabilities to ensure the stability of the system in a dynamic environment.

[0066] See Figure 6 The three-axis servo system 2 adopts the EtherCAT protocol, supports high-speed communication of multiple nodes, and ensures real-time data transmission (10ms). The servo controller works closely with the PLC to adjust the speed and position of the motor in real time and perform high-precision motion control. The control algorithm is based on advanced PID strategy and can adaptively adjust the control parameters to maintain optimal performance under various load conditions.

[0067] In addition, the three-axis servo system 2 also integrates motion planning and path control functions, supports multiple motion modes, such as linear interpolation, circular interpolation and complex trajectory motion, to meet different test requirements. The flexibility of the system enables it to perform multi-point calibration according to user-defined parameters to ensure the consistency and reliability of the electric control handle 3 at different angles.

[0068] In terms of safety design, the three-axis servo system 2 is equipped with protection mechanisms such as overload, overheating and current limitation. It can automatically cut off the power supply and sound an alarm under abnormal conditions to prevent equipment damage. Users can monitor the real-time status through the host computer 1, adjust parameters and perform system diagnosis to improve the overall operating experience.

[0069] The three-axis servo system 2 not only improves the measurement accuracy of the electric control handle 3, but also significantly improves the operating efficiency and reliability of the entire device.

[0070] It should be noted that the three-axis servo system 2 can also be replaced by a robot arm, etc., which mainly needs to be able to operate the electric control handle 3.

[0071] It should be noted that the host computer 1 can be a computer. The software system loaded in the host computer 1 is the core control platform 4 of the three-axis servo system 2, which is responsible for monitoring, controlling and data analysis of the entire motion process. It realizes efficient user interaction and intelligent operation through powerful hardware and software architecture.

[0072] In addition to the above-mentioned testing and calibration functions, the software system loaded in the host computer 1 can also realize the following functions: 1. Test parameter setting: allows users to set the swing direction, handle cycle times and angular velocity, provides a friendly interface, and ensures easy setting; 2. Drawing and display of torque / angle curve; 3. Draw time-angle, time-torque and angle-torque curves in real time to help users intuitively analyze motion performance; 4. Data analysis: in-depth analysis and display of performance indicators such as repeatability, linearity, sensitivity, etc. 5. Report generation: Generate test reports with one click, support export in Excel and PDF formats, convenient for users to archive and share; 6. Data export / load: Supports CSV format export of test data and loading of historical data for easy review and further analysis; 7. DBC file loading and parsing: supports the configuration and loading of different handle calibration protocols to ensure the compatibility and flexibility of the system; 8. Channel selection: Provide CAN and analog channel selection function, allowing users to customize the source of collected data to meet different test requirements; 9. Real-time status monitoring: Display the position information and working status of the handle on the platform 4 in real time to ensure transparent and easy management of operations; 10. Manual / automatic test: Provides manual test button and one-key automatic test function, users can flexibly select the test mode according to needs; 11. Automatic process configuration: supports users to edit and formulate automatic test processes to improve test efficiency and flexibility; 12. Simple manual calibration interface and one-key automatic calibration function improve the convenience of calibration operation; 13. High-speed data exchange with the three-axis servo system 2 is achieved through the Modbus TCP industrial communication protocol to ensure real-time performance and reliability.

[0073] The beneficial effects of the above device are: 1) Improved efficiency: automated testing is achieved, and testing time is greatly reduced; 2) Enhanced consistency: variables caused by manual operation are eliminated, and data reliability is improved; 3) Meeting high-precision requirements: precise control is achieved to ensure that the technical standards of modern engineering machinery are met; 4) Reduced safety risks: manual intervention is reduced, and operational safety is improved; 5) Overall performance is improved: through multi-point automatic calibration, the performance of the electric control handle 3 is comprehensively improved, providing guarantee for the safe and efficient operation of engineering machinery.

[0074] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A method for testing and calibrating an electric control handle, characterized in that: include: Obtaining the limit data of the electric control handle in each first preset direction, and calibrating the dead zone of the electric control handle according to the limit data; wherein the movement of the electric control handle is controlled by a motion device; the limit data is the constant output data when the torque of the electric control handle is greater than the set value; Traverse all the second preset directions, obtain the relationship line between the displacement angle and the output during the test of the electric control handle in the second preset direction, calculate the performance parameters of the electric control handle according to the relationship line, if any performance parameter of the electric control handle is lower than the corresponding standard value, adjust the relationship line between the displacement angle and the output of the electric control handle in the second preset direction, and retest the electric control handle until all performance parameters are not lower than the corresponding standard values.

2. The method according to claim 1, characterized in that The first preset direction includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis; The second preset direction includes an X-axis direction, a Y-axis direction and an XY-axis direction; wherein the XY-axis direction is the X-axis direction first and the Y-axis direction second.

3. The method according to claim 2, characterized in that An electric control handle test process includes controlling the electric control handle to move for multiple cycles; The process of one cycle of movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the middle position along the positive direction of the second preset direction to the maximum displacement angle, then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the middle position; The process of one cycle movement in the XY axis direction is as follows: the electric control handle first moves from the neutral position along the positive direction of the X axis to the maximum displacement angle, then moves along the negative direction of the X axis to the maximum displacement angle, then resets to the neutral position, moves from the neutral position along the positive direction of the Y axis to the maximum displacement angle, then moves along the negative direction of the Y axis to the maximum displacement angle, and then resets to the neutral position.

4. The method according to claim 3, characterized in that: Adjusting the relationship between the displacement angle of the electric control handle and the output in the second preset direction includes: Get the output corresponding to each displacement angle in the relationship line; The outputs of the same displacement angle are averaged, and the average value is used as the new output of the displacement angle; According to the displacement angle and the new output, a new relationship line is fitted.

5. A testing and calibration system for an electric control handle, characterized in that: include: A dead zone calibration module is used to obtain the limit data of the electric control handle in each first preset direction, and calibrate the dead zone of the electric control handle according to the limit data; wherein the movement of the electric control handle is controlled by a motion device; and the limit data is constant output data when the torque of the electric control handle is greater than a set value; The relationship calibration module traverses all the second preset directions, obtains the relationship line between the displacement angle and the output during the test of the electric control handle in the second preset direction, and calculates the performance parameters of the electric control handle according to the relationship line. If any performance parameter of the electric control handle is lower than the corresponding standard value, adjust the relationship line between the displacement angle and the output of the electric control handle in the second preset direction, and re-test the electric control handle until all performance parameters are not lower than the corresponding standard values.

6. The system according to claim 5, characterized in that In the dead zone calibration module, the first preset direction includes the positive direction of the X-axis, the negative direction of the X-axis, the positive direction of the Y-axis, and the negative direction of the Y-axis; In the relationship calibration module, the second preset direction includes an X-axis direction, a Y-axis direction and an XY-axis direction; wherein the XY-axis direction is the X-axis direction first and the Y-axis direction second.

7. The system according to claim 6, characterized in that In the relation calibration module, a test process of the electric control handle includes controlling the electric control handle to move for multiple cycles; The process of one cycle of movement in the X-axis direction or the Y-axis direction is: the electric control handle first moves from the middle position along the positive direction of the second preset direction to the maximum displacement angle, then moves along the negative direction of the second preset direction to the maximum displacement angle, and finally resets to the middle position; The process of one cycle movement in the XY axis direction is as follows: the electric control handle first moves from the neutral position along the positive direction of the X axis to the maximum displacement angle, then moves along the negative direction of the X axis to the maximum displacement angle, then resets to the neutral position, moves from the neutral position along the positive direction of the Y axis to the maximum displacement angle, then moves along the negative direction of the Y axis to the maximum displacement angle, and then resets to the neutral position.

8. The system according to claim 7, characterized in that In the relationship calibration module, adjusting the relationship line between the displacement angle of the electric control handle and the output in the second preset direction includes: Get the output corresponding to each displacement angle in the relationship line; The outputs of the same displacement angle are averaged, and the average value is used as the new output of the displacement angle; According to the displacement angle and the new output, a new relationship line is fitted.

9. A testing and calibration device for an electric control handle, characterized in that: The invention comprises a motion device and a host computer; the host computer controls the motion of the electric control handle through the motion device; the host computer uses the method described in any one of claims 1 to 4 to test and calibrate the electric control handle.

10. The device according to claim 9, characterized in that The motion device is a platform including a three-axis servo system. The electric control handle is set on the platform. The three-axis servo system drives the handle operating part to move along the X-axis, Y-axis and Z-axis. When the handle operating part is along the Z-axis, the touch position of the handle operating part and the electric control handle is adjusted. When the handle operating part and the electric control handle are in touch, the handle operating part moves along the X-axis, driving the electric control handle to move along the X-axis, and the handle operating part moves along the Y-axis, driving the electric control handle to move along the Y-axis.

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