Programmable load servo system and experimental method thereof

Abstract

The invention discloses a programmable load servo system and an experiment method thereof, and relates to the field of experiment teaching, and the system comprises a driving servo system, a load servo system, an upper computer, a controller, and a torque sensor. A first belt wheel and a second belt wheel extend out of the driving servo system and the load servo system respectively, the first belt wheel and the second belt wheel are connected through a belt, the belt is provided with a tensioning device, the upper computer communicates with the controller through the Ethernet, and the motion states of a driving servo motor and a load servo motor are displayed in real time. Meanwhile, a torque given curve of the load can be set in a graphical mode, the load in complex engineering can be simulated, the operation is simple, the use is convenient, the safety is high, the load simulation device can be used for experiment teaching related to professional servo systems such as automation and robots, and the ability of students to solve complex engineering problems is cultivated.

Description

Technical Field

[0001] The invention relates to the technical field of servo motor control, in particular to a programmable load servo system and an experimental method thereof. Background Art

[0003] In order to meet the new demand for talent training under the background of new engineering, researchers have developed different experimental devices for servo systems, including electro-hydraulic servo experimental devices, servo motor position control devices, and PLC-based dual-axis servo follow-up drawing systems. However, the servo motor used in the existing servo experimental device is relatively fixed after being connected to the load through the transmission mechanism, and it is impossible to simulate some typical load types carried by the servo motor in actual application, such as constant torque load (potential type, resistance), constant power load, fan pump load, etc. As the final object of control, the impact of load on the performance of the servo system cannot be ignored. Existing load simulation devices include mechanical, hydraulic, magnetic powder brakes, electric loads, etc. The mechanical load simulation device was born the earliest, including torsion bar type and cantilever beam type, but it cannot realize arbitrary load loading, and the larger the load, the larger the volume of the experimental device. The hydraulic load simulation system dominates the field of loading systems, with the advantages of high precision, wide bandwidth, and large torque, but the structure is complex and the control is difficult. The magnetic powder brake controls the magnitude of the torque transmitted by the magnetic powder by controlling the current. It has a simple structure but can only load in the positive direction. Electric load simulation devices simulate various loads by controlling the load motor. They have the advantages of fast response speed, high precision, and adjustable torque, making them the first choice for load simulation devices. The document "Dynamic Loading of Direct Torque Control of Four-quadrant Motor Operation" calculates the given torque of the loading motor according to the operating state of the motor under test and the required load torque characteristics, and can only simulate potential loads.

[0004] The patent with the publication number CN 108983099 B discloses a control method for a permanent magnet synchronous motor load simulation system. By controlling the permanent magnet synchronous motor, it can simulate potential and resistance loads, but does not realize the model of arbitrary loads. The literature "Coaxial Paired AC Motor Modeling Analysis and Test Platform Design" and "Permanent Magnet Synchronous Motor Harmonic Suppression Method and Paired Test Research" designed two motor pairing platforms to test the load capacity and overload capacity of the tested motor through load experiments. The two motors used in the platform are hard-connected coaxially. If improperly controlled, it will cause shaft breakage and is not suitable for experimental teaching.

[0005] Therefore, there is an urgent need for a programmable load servo system and its experimental method to enable students to understand the performance of the servo control system under different load conditions and cultivate students' ability to solve complex engineering problems. Summary of the invention

[0006] In order to solve the problems that the servo motor used in the servo experimental device in the prior art is relatively fixed after being connected to the load through a transmission mechanism, and some typical load types carried by the servo motor in actual application cannot be simulated, etc., the present application proposes a programmable load servo system and an experimental method thereof, including: a drive servo system, a load servo system, a host computer, a controller, and a torque sensor;

[0007] The drive servo system and the load servo system are respectively provided with a first pulley and a second pulley, the first pulley and the second pulley are connected by a belt, and the belt is provided with a tensioning device;

[0008] The driving servo system comprises: a driving servo driver, a driving servo motor and a first encoder;

[0009] The driving servo driver is connected to the driving servo motor, the driving servo motor is equipped with the first encoder, the output of the first encoder is connected to the driving servo driver, the driving servo motor is rotatably connected to a first coupling, the other end of the first coupling is connected to a first torque sensor, and the first torque sensor is fixedly connected to the first pulley;

[0010] The load servo system comprises: a load servo driver, a load servo motor and a second encoder;

[0011] The load servo driver is connected to the load servo motor, the load servo motor is equipped with a second encoder, the output of the second encoder is connected to the load servo driver, the load servo motor is rotatably connected to a second coupling, the other end of the second coupling is connected to a second torque sensor, and the second torque sensor is fixedly connected to the second pulley;

[0012] The load servo driver provides power to the load servo motor and controls the load servo motor to be in a speed working mode, a position working mode or a torque working mode. The second encoder is used to detect the real-time speed and position of the load servo motor.

[0013] The controller is connected to the driving servo driver and the load servo driver respectively through the EtherCAT communication mode, and sends control signals to the driving servo driver and the load servo driver respectively, and obtains the real-time status of the driving servo driver and the load servo driver at the same time;

[0014] The first torque sensor and the second torque sensor are used to collect torque signals of the driving servo motor and the load servo motor respectively and feed them back to the controller via RS485 communication;

[0015] The host computer is connected to the controller via Ethernet communication, and outputs motion parameters and control modes to the controller. At the same time, the host computer displays the real-time status obtained by the controller.

[0016] Preferably, the control modes of the host computer include: single-machine jog mode, single-machine continuous mode and programmable load mode, wherein the single-machine jog mode is used for test operation of the drive, load servo motor and drive, load servo driver, and by individually controlling the drive servo motor and the load servo motor, each of them is in the jog working mode;

[0017] The single machine continuous mode is used to observe and analyze the performance of the drive and load servo motors in different working modes, and to individually control the drive and load servo motors and the drive and load servo drivers so that they are in speed working mode, position working mode or torque working mode respectively;

[0018] The programmable load mode is used to simulate the load in the actual project through the load servo motor to realize the loading and unloading of the driving servo motor, and through the interlocking control of the driving and load servo motors, the driving servo motor is in the speed working mode and the load servo motor is in the torque working mode.

[0019] An experimental method for a programmable load servo system is applied to the programmable load servo system and is performed according to the following steps:

[0020] Step 1: Determine whether the control mode of the host computer is a single-machine jog mode, and if so, determine whether the host computer performs a jog operation on the drive servo motor;

[0021] If not, determine whether the control mode of the host computer is a single-machine continuous mode;

[0022] Step 2: If the host computer performs a jog operation on the driving servo motor, the host computer sends a jog operation instruction for the driving servo motor to the controller, and the driving servo motor performs a forward or reverse jog motion;

[0023] If the host computer is not performing a jog operation on the driving servo motor, the host computer sends a jog operation instruction to the load servo motor, and the load servo motor performs a forward or reverse jog motion;

[0024] Step 3: If the control mode of the host computer is the single-machine continuous mode, determine whether the host computer performs continuous operation on the driving servo motor. If so, the host computer sends a corresponding continuous operation instruction to the driving servo motor according to the control mode, and the driving servo motor performs forward or reverse continuous motion. Otherwise, execute the continuous operation instruction of the load servo motor, and the load servo motor performs forward or reverse continuous motion.

[0025] If the control mode of the host computer is not the single-machine continuous mode, the driving servo motor and the load servo motor are placed and fixed in parallel, the output shaft of the driving servo motor is connected to the torque sensor through a first coupling, and the output shaft of the torque sensor is connected to the load servo motor through a belt, and the belt is tensioned;

[0026] Step 4: The host computer sets the working modes of the drive servo system and the load servo system, including: setting the working mode of the drive servo driver to a speed working mode, and setting the working mode of the load servo system to a torque working mode;

[0027] Step 5: The host computer sets the motion parameters of the drive servo system and the load servo system, wherein the motion parameter of the drive servo system is a speed given value, and the motion parameter of the load servo system is a torque given value and is set in a graphical manner;

[0028] Step 6: The host computer sends the motion parameters and control commands to the controller through communication, and the controller executes the speed motion control module and the torque motion control module, and sends the servo motor motion parameters and control commands to the drive servo driver and the load servo driver through EtherCAT communication;

[0029] Step 7: The driving servo driver controls the driving servo motor to start moving according to the set speed and speed control mode, and the load servo driver controls the load servo motor to move according to the set torque given curve;

[0030] Step 8: The controller obtains the real-time motion data of the motors of the driving servo driver and the load servo driver through EtherCAT communication, including real-time speed, position and other information, and obtains the real-time torque information detected by the torque sensor through RS485 communication;

[0031] Step 9: The controller compares the real-time torque returned by the torque sensor with the torque given value. If they are not equal, the controller calculates the compensation amount of the torque given by the PI algorithm and transmits it to the load servo controller;

[0032] If they are equal, the load servo controller controls the load servo motor to operate according to the torque given instruction and the torque compensation amount, so as to realize loading and unloading of the drive servo motor;

[0033] Step 10: The host computer obtains the real-time motion data and torque information of the motor obtained by the controller in real time through Ethernet communication and displays them;

[0034] Step 11: Determine whether the load servo motor has completed the given torque motion curve. If completed, the current motion of the servo motor ends.

[0035] Preferably, in step 2, the specific content of the step in which the host computer sends a jog operation instruction to the controller to drive the servo motor is:

[0036] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk;

[0037] The controller executes the jog motion instruction and sends the jog motion parameters and the forward or reverse jog command to the driving servo driver through EtherCAT communication;

[0038] The driving servo driver controls the driving servo motor to start moving according to the received jog motion parameters, forward or reverse jog commands;

[0039] The controller obtains the real-time motion data of the driving servo motor through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

[0040] Preferably, in step 2, the host computer sends a jog operation instruction to the load servo motor, and the specific content of the load servo motor performing the forward or reverse jog motion is:

[0041] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk;

[0042] The controller sends jog motion parameters and forward or reverse jog commands to the load servo driver via EtherCAT communication;

[0043] The load servo driver controls the load servo motor to start moving according to the received jog motion parameters, forward or reverse jog commands;

[0044] The controller obtains the real-time motion data of the load servo motor through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

[0045] Preferably, in step 3, the host computer sends corresponding continuous operation instructions to the driving servo motor according to the control mode, and the specific content of the driving servo motor performing forward or reverse continuous motion is:

[0046] If the control mode of the host computer is the speed control mode, the host computer sends the speed given value, the forward or reverse command to the controller, and the controller sends the speed given value, the forward or reverse command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor to start continuous movement according to the received motion parameters and commands;

[0047] If the control mode of the host computer is position control mode, the host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the driving servo driver through EtherCAT communication, and the load servo driver controls the load servo motor to start continuous movement according to the received motion parameters and commands;

[0048] If the control mode of the host computer is torque control mode, the host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the drive servo driver through EtherCAT communication, and the load servo driver controls the load servo motor to start continuous movement according to the received motion parameters and commands;

[0049] The controller obtains the real-time motion data of the driving servo motor through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

[0050] Preferably, the specific content of executing the continuous operation instruction of the load servo motor in step 3, and the load servo motor performing the forward or reverse continuous motion is:

[0051] Step 3.1: Determine whether the control mode of the load servo motor set by the host computer is speed control, position control or torque control. If it is speed control, execute step 3.2; if it is position control, execute step 3.3; if it is torque control, execute step 3.4;

[0052] Step 3.2: The host computer sends the speed given value, forward or reverse command to the controller, and the controller sends the speed given value, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5;

[0053] Step 3.3: The host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5;

[0054] Step 3.4: The host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5;

[0055] Step 3.6: The load servo driver controls the load servo motor to start continuous motion according to the received motion parameters and commands;

[0056] Step 3.6: The controller obtains the real-time motion data of the load servo motor through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

[0057] Preferably, the torque given value in step 5 is plotted graphically and converted into a torque given value, specifically including:

[0058] Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and the ordinate, wherein the abscissa represents time and the ordinate represents torque;

[0059] Press the left mouse button to draw the torque trajectory curve. The host computer records the coordinates when the left mouse button is pressed, and connects adjacent coordinates through a straight line to obtain a torque given curve. The position coordinate point set of the curve is T = {T1, T2, ..., T i ,…,T m}, where T i represents the coordinates of the i-th position point, i = 1, 2, ..., m; m represents the total number of position coordinate points sampled;

[0060] The horizontal coordinates of each position coordinate point in the position coordinate point set T are marked as the horizontal coordinate set T x ={T x,1 ,T x,2 ,…,T x,i ,…,T x,m}, where Tx,i represents the horizontal coordinate of the i-th position point coordinate; the vertical coordinate of each position coordinate point in the position coordinate point set T is marked as the vertical coordinate set T y ={T y,1 ,T y,2 ,…,T y,i ,…,T y,m}, where T y,i The ordinate represents the coordinates of the i-th position point; the abscissa set T of the torque given curve x and the ordinate set T y is the torque given value.

[0061] To sum up, compared with traditional technologies, the programmable load servo system and experimental method of the present invention can simulate the loads in complex projects and realize forward and reverse loading of the drive servo motor by controlling the load servo motor; the torque setting curve of the load servo motor is set in a graphical manner on the host computer, and the load servo motor moves according to the drawn torque curve. The operation is simple and easy to use, and can complete the setting of complex loads, including potential loads, resistive loads, constant power loads, fan pump loads, arbitrary loads, etc., to realize load programmability.

[0062] Different from the traditional method of coaxially dragging the driving servo motor and the load servo motor for loading, the present invention adopts parallel symmetrical installation and connects them through belts, with simple structure, high safety and small size. At the same time, the belt is equipped with a tensioning device. When the belt is tightened, it simulates a rigid load, and when the belt is loose, it simulates a flexible load. In addition, the present invention designs 3 control modes, which can carry out different experiments on the programmable load servo system comprehensive experimental device, and has the advantage of flexibility.

[0063] The technical method of the present invention is further described in detail below through the drawings and embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0064] Figure 1 It is a comprehensive system structure diagram of the programmable load servo system of the present invention;

[0065] Figure 2 It is a structural schematic diagram of the core components of the integrated system of the programmable load servo system of the present invention;

[0066] Figure 3 This is the overall program flow chart of the controller of the present invention;

[0067] Figure 4 A flowchart of the program for the controller of the present invention to execute the programmable load mode.

[0068] Reference numerals:

[0069] 1. Driving servo motor; 2. First coupling; 3. First torque sensor; 4. First pulley; 5. Belt; 6. Load servo motor; 7. Second coupling; 8. Second torque sensor; 9. Second pulley; 10. Tensioning device. DETAILED DESCRIPTION

[0070] The technical method of the present invention is further described below by means of the accompanying drawings and embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of the components and steps, numerical expressions and numerical values ​​described in these embodiments do not limit the scope of the present application.

[0071] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present application, its application, or uses.

[0072] Technologies, systems, and devices known to ordinary technicians in the relevant art may not be discussed in detail, but where appropriate, the technologies, systems, and devices should be considered part of the specification.

[0073] 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.

[0074] Unless otherwise defined, technical or scientific terms used in the present invention shall have the common meanings understood by one having ordinary skills in the field to which the present invention belongs.

[0075] like Figure 1 and Figure 2 As shown, a comprehensive experimental device for a programmable load servo system includes: a drive servo system, a load servo system, a host computer, a controller, and a torque sensor;

[0076] The drive servo system and the load servo system are respectively extended with a first pulley 4 and a second pulley 9, the first pulley 4 and the second pulley 9 are connected by a belt 5, and the belt 5 is equipped with a tensioning device 10;

[0077] The driving servo system comprises: a driving servo driver, a driving servo motor 1 and a first encoder;

[0078] The driving servo driver is connected to the driving servo motor 1, the driving servo motor 1 is equipped with the first encoder, the output of the first encoder is connected to the driving servo driver, the driving servo motor 1 is rotatably connected to the first coupling 2, the other end of the first coupling 2 is connected to the first torque sensor 3, and the first torque sensor 3 is fixedly connected to the first pulley 4;

[0079] The load servo system comprises: a load servo driver, a load servo motor 6 and a second encoder;

[0080] The load servo driver is connected to the load servo motor 6, the load servo motor 6 is equipped with a second encoder, the output of the second encoder is connected to the load servo driver, the load servo motor 6 is rotatably connected to a second coupling 7, the other end of the second coupling 7 is connected to a second torque sensor 8, and the second torque sensor 8 is fixedly connected to the second pulley 9;

[0081] The load servo driver provides power to the load servo motor 6 and controls the load servo motor 6 to be in a speed working mode, a position working mode or a torque working mode. The second encoder is used to detect the real-time speed and position of the load servo motor 6.

[0082] The controller is connected to the driving servo driver and the load servo driver respectively through the EtherCAT communication mode, and sends control signals to the driving servo driver and the load servo driver respectively, and obtains the real-time status of the driving servo driver and the load servo driver at the same time;

[0083] The first torque sensor 3 and the second torque sensor 8 are used to collect torque signals of the driving servo motor 1 and the load servo motor 6 respectively and feed them back to the controller via RS485 communication;

[0084] The host computer is connected to the controller via Ethernet communication, and outputs motion parameters and control modes to the controller. At the same time, the host computer displays the real-time status obtained by the controller.

[0085] Furthermore, the control modes of the host computer include: a single-machine jog mode, a single-machine continuous mode and a programmable load mode, wherein the single-machine jog mode is used to test-run the drive and load servo motors 6 and the drive and load servo drivers, and by individually controlling the drive servo motor 1 and the load servo motor 6, each of them is in a jog working mode;

[0086] The single machine continuous mode is used to observe and analyze the performance of the drive and load servo motors 6 in different working modes, and to individually control the drive and load servo motors 6 and the drive and load servo drivers so that they are in a speed working mode, a position working mode or a torque working mode;

[0087] The programmable load mode is used to simulate the load in the actual project through the load servo motor 6 to realize the loading and unloading of the drive servo motor 1, and through the interlocking control of the drive and load servo motors 6, the drive servo motor 1 is in the speed working mode and the load servo motor 6 is in the torque working mode.

[0088] like Figure 3 and Figure 4 As shown, an experimental method of a programmable load servo system is applied to the programmable load servo system and is performed in the following steps:

[0089] Step 1: Determine whether the control mode of the host computer is a single-machine jog mode, and if so, determine whether the host computer performs a jog operation on the drive servo motor 1;

[0090] If not, determine whether the control mode of the host computer is a single-machine continuous mode;

[0091] Step 2: If the host computer performs a jog operation on the driving servo motor 1, the host computer sends a jog operation instruction for the driving servo motor 1 to the controller, and the driving servo motor 1 performs a forward or reverse jog motion;

[0092] If the host computer does not perform a jog operation on the drive servo motor 1, the host computer sends a jog operation instruction to the load servo motor 6, and the load servo motor 6 performs a forward or reverse jog motion;

[0093] Furthermore, the specific content of the step in which the host computer sends the controller a jog operation instruction for driving the servo motor 1 in step 2 is:

[0094] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk;

[0095] The controller executes the jog motion instruction and sends the jog motion parameters and the forward or reverse jog command to the driving servo driver through EtherCAT communication;

[0096] The driving servo driver controls the driving servo motor 1 to start moving according to the received jog motion parameters, forward or reverse jog commands;

[0097] The controller obtains the real-time motion data of the driving servo motor 1 through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

[0098] Furthermore, in step 2, the host computer sends a jog operation instruction to the load servo motor 6, and the specific content of the load servo motor 6 performing the forward or reverse jog motion is:

[0099] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk;

[0100] The controller sends jog motion parameters and forward or reverse jog commands to the load servo driver via EtherCAT communication;

[0101] The load servo driver controls the load servo motor 6 to start moving according to the received jog motion parameters, forward or reverse jog commands;

[0102] The controller obtains the real-time motion data of the load servo motor 6 through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

[0103] Step 3: If the control mode of the host computer is the single-machine continuous mode, determine whether the host computer performs continuous operation on the drive servo motor 1. If so, the host computer sends a corresponding continuous operation instruction to the drive servo motor 1 according to the control mode, and the drive servo motor 1 performs forward or reverse continuous motion. Otherwise, execute the continuous operation instruction of the load servo motor 6, and the load servo motor 6 performs forward or reverse continuous motion.

[0104] If the control mode of the host computer is not the single-machine continuous mode, the driving servo motor 1 and the load servo motor 6 are placed and fixed in parallel, the output shaft of the driving servo motor 1 is connected to the torque sensor through the first coupling 2, and the output shaft of the torque sensor is connected to the load servo motor 6 through the belt 5, and the belt 5 is tensioned;

[0105] Furthermore, in step 3, the host computer sends corresponding continuous operation instructions to the driving servo motor 1 according to the control mode, and the specific content of the driving servo motor 1 performing forward or reverse continuous motion is:

[0106] If the control mode of the host computer is the speed control mode, the host computer sends the speed given value, the forward or reverse command to the controller, and the controller sends the speed given value, the forward or reverse command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor 1 to start continuous movement according to the received motion parameters and commands;

[0107] If the control mode of the host computer is position control mode, the host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the drive servo driver through EtherCAT communication, and the load servo driver controls the load servo motor 6 to start continuous movement according to the received motion parameters and commands;

[0108] If the control mode of the host computer is torque control mode, the host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the drive servo driver through EtherCAT communication, and the load servo driver controls the load servo motor 6 to start continuous movement according to the received motion parameters and commands;

[0109] The controller obtains the real-time motion data of the driving servo motor 1 through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

[0110] Furthermore, in step 3, the specific contents of executing the continuous operation instruction of the load servo motor 6 and the load servo motor 6 performing the forward or reverse continuous motion are:

[0111] Step 3.1: Determine whether the control mode of the load servo motor 6 set by the host computer is speed control, position control or torque control. If it is speed control, execute step 3.2; if it is position control, execute step 3.3; if it is torque control, execute step 3.4;

[0112] Step 3.2: The host computer sends the speed given value, forward or reverse command to the controller, and the controller sends the speed given value, forward or reverse command to the load servo driver through EtherCAT communication, and the drive servo driver controls the drive servo motor 1 to start continuous movement according to the received motion parameters and commands;

[0113] Step 3.3: The host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5;

[0114] Step 3.4: The host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5;

[0115] Step 3.6: The load servo driver controls the load servo motor 6 to start continuous motion according to the received motion parameters and commands;

[0116] Step 3.6: The controller obtains the real-time motion data of the load servo motor 6 through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

[0117] Step 4: The host computer sets the working modes of the drive servo system and the load servo system, including: setting the working mode of the drive servo driver to a speed working mode, and setting the working mode of the load servo system to a torque working mode;

[0118] Step 5: The host computer sets the motion parameters of the drive servo system and the load servo system, wherein the motion parameter of the drive servo system is a speed given value, and the motion parameter of the load servo system is a torque given value and is set in a graphical manner;

[0119] Furthermore, the torque given value described in step 5 is plotted in a graphical manner and converted into a torque given value, specifically including:

[0120] Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and the ordinate, wherein the abscissa represents time and the ordinate represents torque;

[0121] Press the left mouse button to draw the torque trajectory curve. The host computer records the coordinates when the left mouse button is pressed, and connects adjacent coordinates through a straight line to obtain a torque given curve. The position coordinate point set of the curve is T = {T1, T2, ..., T i ,…,T m}, where T i represents the coordinates of the i-th position point, i = 1, 2, ..., m; m represents the total number of position coordinate points sampled;

[0122] The horizontal coordinates of each position coordinate point in the position coordinate point set T are marked as the horizontal coordinate set T x ={T x,1 ,T x,2 ,…,T x,i ,…,T x,m}, where T x,irepresents the horizontal coordinate of the i-th position point coordinate; the vertical coordinate of each position coordinate point in the position coordinate point set T is marked as the vertical coordinate set T y ={T y,1 ,T y,2 ,…,T y,i ,…,T y,m}, where T y,i The ordinate represents the coordinates of the i-th position point; the abscissa set T of the torque given curve x and the ordinate set T y is the torque given value.

[0123] Step 6: The host computer sends the motion parameters and control commands to the controller through communication, and the controller executes the speed motion control module and the torque motion control module, and sends the servo motor motion parameters and control commands to the drive servo driver and the load servo driver through EtherCAT communication;

[0124] Step 7: The driving servo driver controls the driving servo motor 1 to start moving according to the set speed and speed control mode, and the load servo driver controls the load servo motor 6 to move according to the set torque given curve;

[0125] Step 8: The controller obtains the real-time motion data of the motors of the driving servo driver and the load servo driver through EtherCAT communication, including real-time speed, position and other information, and obtains the real-time torque information detected by the torque sensor through RS485 communication;

[0126] Step 9: The controller compares the real-time torque returned by the torque sensor with the torque given value. If they are not equal, the controller calculates the compensation amount of the torque given by the PI algorithm and transmits it to the load servo controller;

[0127] If they are equal, the load servo controller controls the load servo motor 6 to operate according to the torque given instruction and the torque compensation amount, so as to realize the loading and unloading of the drive servo motor 1;

[0128] Step 10: The host computer obtains the real-time motion data and torque information of the motor obtained by the controller in real time through Ethernet communication and displays them;

[0129] Step 11: Determine whether the load servo motor 6 has completed the torque given motion curve. If completed, the current motion of the servo motor ends.

[0130] Finally, it should be noted that the above embodiments are only used to illustrate the technical method of the present invention rather than to limit it. Although the present invention has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that they can still modify or replace the technical method of the present invention with equivalents, and these modifications or equivalent replacements cannot cause the modified technical method to deviate from the spirit and scope of the technical method of the present invention.

Claims

1. A programmable load servo system, characterized in that: include: Drive servo system, load servo system, host computer, controller, torque sensor; The drive servo system and the load servo system are respectively provided with a first pulley and a second pulley, the first pulley and the second pulley are connected by a belt, and the belt is provided with a tensioning device; The driving servo system comprises: a driving servo driver, a driving servo motor and a first encoder; The driving servo driver is connected to the driving servo motor, the driving servo motor is equipped with the first encoder, the output of the first encoder is connected to the driving servo driver, the driving servo motor is rotatably connected to a first coupling, the other end of the first coupling is connected to a first torque sensor, and the first torque sensor is fixedly connected to the first pulley; The load servo system comprises: a load servo driver, a load servo motor and a second encoder; The load servo driver is connected to the load servo motor, the load servo motor is equipped with a second encoder, the output of the second encoder is connected to the load servo driver, the load servo motor is rotatably connected to a second coupling, the other end of the second coupling is connected to a second torque sensor, and the second torque sensor is fixedly connected to the second pulley; The controller is connected to the driving servo driver and the load servo driver respectively through the EtherCAT communication mode, and sends control signals to the driving servo driver and the load servo driver respectively, and obtains the real-time status of the driving servo driver and the load servo driver at the same time; The first torque sensor and the second torque sensor are used to collect torque signals of the driving servo motor and the load servo motor respectively and feed them back to the controller via RS485 communication; The host computer is connected to the controller via Ethernet communication, and outputs motion parameters and control modes to the controller. At the same time, the host computer displays the real-time status obtained by the controller.

2. A programmable load servo system according to claim 1, characterized in that: The control modes of the host computer include: single-machine jog mode, single-machine continuous mode and programmable load mode, wherein the single-machine jog mode is used for test operation of the drive, load servo motor and drive, load servo driver, and by individually controlling the drive servo motor and the load servo motor, each of them is in the jog working mode; The single machine continuous mode is used to observe and analyze the performance of the drive and load servo motors in different working modes, and to individually control the drive and load servo motors and the drive and load servo drivers so that they are in speed working mode, position working mode or torque working mode respectively; The programmable load mode is used to simulate the load in the actual project through the load servo motor to realize the loading and unloading of the driving servo motor, and through the interlocking control of the driving and load servo motors, the driving servo motor is in the speed working mode and the load servo motor is in the torque working mode.

3. An experimental method for a programmable load servo system, characterized in that: The method is applied to a programmable load servo system as claimed in claims 1-2 and is carried out in the following steps: Step 1: Determine whether the control mode of the host computer is a single-machine jog mode, and if so, determine whether the host computer performs a jog operation on the drive servo motor; If not, determine whether the control mode of the host computer is a single-machine continuous mode; Step 2: If the host computer performs a jog operation on the driving servo motor, the host computer sends a jog operation instruction for the driving servo motor to the controller, and the driving servo motor performs a forward or reverse jog motion; If the host computer is not performing a jog operation on the driving servo motor, the host computer sends a jog operation instruction to the load servo motor, and the load servo motor performs a forward or reverse jog motion; Step 3: If the control mode of the host computer is the single-machine continuous mode, determine whether the host computer performs continuous operation on the driving servo motor. If so, the host computer sends a corresponding continuous operation instruction to the driving servo motor according to the control mode, and the driving servo motor performs forward or reverse continuous motion. Otherwise, execute the continuous operation instruction of the load servo motor, and the load servo motor performs forward or reverse continuous motion. If the control mode of the host computer is not the single-machine continuous mode, the driving servo motor and the load servo motor are placed and fixed in parallel, the output shaft of the driving servo motor is connected to the torque sensor through a first coupling, and the output shaft of the torque sensor is connected to the load servo motor through a belt, and the belt is tensioned; Step 4: The host computer sets the working modes of the drive servo system and the load servo system, including: setting the working mode of the drive servo driver to a speed working mode, and setting the working mode of the load servo system to a torque working mode; Step 5: The host computer sets the motion parameters of the drive servo system and the load servo system, wherein the motion parameter of the drive servo system is a speed given value, and the motion parameter of the load servo system is a torque given value and is set in a graphical manner; Step 6: The host computer sends the motion parameters and control commands to the controller through communication, and the controller executes the speed motion control module and the torque motion control module, and sends the servo motor motion parameters and control commands to the drive servo driver and the load servo driver through EtherCAT communication; Step 7: The driving servo driver controls the driving servo motor to start moving according to the set speed and speed control mode, and the load servo driver controls the load servo motor to move according to the set torque given curve; Step 8: The controller obtains the real-time motion data of the motors of the driving servo driver and the load servo driver through EtherCAT communication, including real-time speed, position and other information, and obtains the real-time torque information detected by the torque sensor through RS485 communication; Step 9: The controller compares the real-time torque returned by the torque sensor with the torque given value. If they are not equal, the controller calculates the compensation amount of the torque given by the PI algorithm and transmits it to the load servo controller; If they are equal, the load servo controller controls the load servo motor to operate according to the torque given instruction and the torque compensation amount, so as to realize loading and unloading of the drive servo motor; Step 10: The host computer obtains the real-time motion data and torque information of the motor obtained by the controller in real time through Ethernet communication and displays them; Step 11: Determine whether the load servo motor has completed the given torque motion curve. If completed, the current motion of the servo motor ends.

4. The experimental method of a programmable load servo system according to claim 3, characterized in that: The specific content of the step in which the host computer sends a jog operation instruction to the controller to drive the servo motor in step 2 is: The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk; The controller executes the jog motion instruction and sends the jog motion parameters and the forward or reverse jog command to the driving servo driver through EtherCAT communication; The driving servo driver controls the driving servo motor to start moving according to the received jog motion parameters, forward or reverse jog commands; The controller obtains the real-time motion data of the driving servo motor through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

5. The experimental method of a programmable load servo system according to claim 3, characterized in that: In step 2, the host computer sends a jog operation instruction to the load servo motor, and the specific content of the load servo motor performing forward or reverse jog motion is: The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, the jog motion parameters including the target speed, acceleration, deceleration, and jerk; The controller sends jog motion parameters and forward or reverse jog commands to the load servo driver via EtherCAT communication; The load servo driver controls the load servo motor to start moving according to the received jog motion parameters, forward or reverse jog commands; The controller obtains the real-time motion data of the load servo motor through EtherCAT communication, including real-time speed and position information, and sends it to the host computer for display through Ethernet communication.

6. The experimental method of a programmable load servo system according to claim 3, characterized in that: In step 3, the host computer sends corresponding continuous operation instructions to the driving servo motor according to the control mode, and the specific content of the driving servo motor performing forward or reverse continuous motion is: If the control mode of the host computer is the speed control mode, the host computer sends the speed given value, the forward or reverse command to the controller, and the controller sends the speed given value, the forward or reverse command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor to start continuous movement according to the received motion parameters and commands; If the control mode of the host computer is position control mode, the host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the driving servo driver through EtherCAT communication, and the load servo driver controls the load servo motor to start continuous movement according to the received motion parameters and commands; If the control mode of the host computer is torque control mode, the host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the drive servo driver through EtherCAT communication, and the load servo driver controls the load servo motor to start continuous movement according to the received motion parameters and commands; The controller obtains the real-time motion data of the driving servo motor through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

7. The experimental method of a programmable load servo system according to claim 3, characterized in that: The specific contents of executing the continuous operation instruction of the load servo motor in step 3, and having the load servo motor perform forward or reverse continuous motion are as follows: Step 3.1: Determine whether the control mode of the load servo motor set by the host computer is speed control, position control or torque control. If it is speed control, execute step 3.2; if it is position control, execute step 3.3; if it is torque control, execute step 3.4; Step 3.2: The host computer sends the speed given value, forward or reverse command to the controller, and the controller sends the speed given value, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5; Step 3.3: The host computer sends the position given value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position given value, maximum speed, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5; Step 3.4: The host computer sends the torque given value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque given value, maximum speed, maximum torque, forward or reverse command to the load servo driver through EtherCAT communication, and executes step 3.5; Step 3.5: The load servo driver controls the load servo motor to start continuous motion according to the received motion parameters and commands; Step 3.6: The controller obtains the real-time motion data of the load servo motor through EtherCAT communication, including real-time speed, position, and torque information, and sends it to the host computer for display through Ethernet communication.

8. The experimental method of a programmable load servo system according to claim 3, characterized in that: The torque given value described in step 5 is plotted graphically and converted into a torque given value, specifically including: Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and the ordinate, wherein the abscissa represents time and the ordinate represents torque; Press the left mouse button to draw the torque trajectory curve. The host computer records the coordinates when the left mouse button is pressed, and connects adjacent coordinates through a straight line to obtain a torque given curve. The position coordinate point set of the curve is T = {T1, T2, ..., T i ,…,T m }, where T i represents the coordinates of the i-th position point, i = 1, 2, ..., m; m represents the total number of position coordinate points sampled; The horizontal coordinates of each position coordinate point in the position coordinate point set T are marked as the horizontal coordinate set T x ={T x,1 ,T x,2 ,…,T x,i ,…,T x,m }, where T x,i represents the horizontal coordinate of the i-th position point coordinate; the vertical coordinate of each position coordinate point in the position coordinate point set T is marked as the vertical coordinate set T y ={T y,1 ,T y,2 ,…,T y,i ,…,T y,m }, where T y,i The ordinate represents the coordinates of the i-th position point; the abscissa set T of the torque given curve x and the ordinate set T y is the torque given value.

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