A programmable load servo system and its experimental method

Abstract

The present invention discloses a programmable load servo system and an experimental method thereof, which relate to the field of experimental teaching. The device comprises a drive servo system, a load servo system, a host computer, a controller, and a 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 host computer and the controller communicate via Ethernet, and the motion states of the drive servo motor and the load servo motor are displayed in real time. At the same time, the torque setting curve of the load can be set in a graphical manner. The present invention can simulate loads in complex engineering, is simple to operate, easy to use, and highly safe. It can be used in experimental teaching related to professional servo systems such as automation and robotics, and can cultivate students' ability to solve complex engineering problems.

Description

Technical Field

[0001] The present 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

[0002] To meet the new demands for talent development in the context of emerging engineering disciplines, researchers have developed various experimental devices for servo systems, including electro-hydraulic servo experimental devices, servo motor position control devices, and PLC-based dual-axis servo tracking mapping systems. However, the servo motors used in existing servo experimental devices are relatively fixed after being connected to the load through a transmission mechanism. This makes it impossible to simulate some typical load types encountered by servo motors in real-world applications, such as constant torque loads (potential energy, resistance), constant power loads, and fan and pump loads. As the ultimate object of control, the load has a significant impact on servo system performance. Existing load simulation devices include mechanical, hydraulic, magnetic powder brakes, and electric loads. Mechanical load simulation devices were the earliest, including torsion bar and cantilever beam types. However, they cannot handle arbitrary loads, and the larger the load, the larger the experimental device. Hydraulic load simulation systems dominate the field of loading systems, offering advantages such as high precision, wide bandwidth, and high torque, but they are complex and difficult to control. Magnetic powder brakes control the torque transmitted by magnetic powder by controlling the current. Although simple in structure, they only support positive loads. Electric load simulators simulate various loads by controlling a load motor. Their fast response, high accuracy, and adjustable torque make them a popular choice for load simulation. The document "Direct Torque Control Dynamic Loading of a Motor in Four-Quadrant Operation" calculates the required torque for the load motor based on the motor's operating state and the required load torque characteristics. However, this approach can only simulate potential loads.

[0003] Patent 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 reactive loads, but it does not model arbitrary loads. The papers "Modeling Analysis and Test Platform Design for Coaxial Paired AC Motors" and "Study on Harmonic Suppression Methods and Paired Tests for Permanent Magnet Synchronous Motors" designed a two-motor pairing platform to test the load and overload capacity of the tested motors through load experiments. The two motors used in this platform are hard-connected coaxially. Improper control can cause shaft breakage, making it unsuitable for experimental teaching.

[0004] 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

[0005] To solve the problem that the servo motor and the load used in the servo experimental device in the prior art are relatively fixed after being connected through the transmission mechanism, and cannot simulate some typical load types carried by the servo motor in actual application, the application proposes a programmable load servo system and an experimental method thereof, comprising: a drive servo system, a load servo system, a host computer, a controller, and a torque sensor;

[0006] 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;

[0007] The driving servo system comprises: a driving servo driver, a driving servo motor and a first encoder;

[0008] 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;

[0009] The load servo system includes: a load servo driver, a load servo motor and a second encoder;

[0010] 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;

[0011] 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.

[0012] The controller is connected to the driving servo driver and the load servo driver respectively through EtherCAT communication, 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;

[0013] 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;

[0014] 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.

[0015] Preferably, the control modes of the host computer include: stand-alone jog mode, stand-alone continuous mode and programmable load mode, wherein the stand-alone jog mode is used for commissioning the drive, load servo motor and drive, load servo driver, and by individually controlling the drive servo motor and the load servo motor, making them each in jog working mode;

[0016] 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;

[0017] The programmable load mode is used to simulate the load in actual engineering through the load servo motor to realize loading and unloading of the drive servo motor, and by interlocking control of the drive and load servo motors, the drive servo motor is in the speed working mode and the load servo motor is in the torque working mode.

[0018] 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:

[0019] Step 1: Determine whether the control mode of the host computer is a single-machine jog mode. If so, determine whether the host computer performs a jog operation on the driving servo motor;

[0020] If not, determine whether the control mode of the host computer is a single-machine continuous mode;

[0021] 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;

[0022] 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;

[0023] Step 3: If the control mode of the host computer is the stand-alone 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.

[0024] 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;

[0025] 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;

[0026] 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 set value, and the motion parameter of the load servo system is a torque set value and is set in a graphical manner;

[0027] Step 6: The host computer sends the motion parameters and control commands to the controller through communication. 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.

[0028] 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;

[0029] 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;

[0030] Step 9: The controller compares the real-time torque returned by the torque sensor with the torque reference value. If they are not equal, the controller calculates the compensation amount of the torque reference through the PI algorithm and transmits it to the load servo controller.

[0031] 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, thereby realizing loading and unloading of the drive servo motor;

[0032] 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 it;

[0033] Step 11: Determine whether the load servo motor has completed the torque given motion curve. If completed, the current motion of the servo motor ends.

[0034] Preferably, in step 2, the specific content of the step of the host computer sending the jog operation instruction for driving the servo motor to the controller is:

[0035] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include target speed, acceleration, deceleration, and jerk;

[0036] 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 via EtherCAT communication;

[0037] The driving servo driver controls the driving servo motor to start moving according to the received jog motion parameters and the forward or reverse jog command;

[0038] 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.

[0039] 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:

[0040] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include target speed, acceleration, deceleration, and jerk;

[0041] The controller sends jog motion parameters and forward or reverse jog commands to the load servo driver via EtherCAT communication;

[0042] The load servo driver controls the load servo motor to start moving according to the received jog motion parameters and the forward or reverse jog command;

[0043] 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 through Ethernet communication for display.

[0044] 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:

[0045] If the control mode of the host computer is the speed control mode, the host computer sends the speed given value and the forward or reverse rotation command to the controller, and the controller sends the speed given value and the forward or reverse rotation command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor to start continuous motion according to the received motion parameters and commands;

[0046] If the control mode of the host computer is position control, 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 motion according to the received motion parameters and commands;

[0047] If the control mode of the host computer is torque control, the host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set value, maximum speed, maximum torque, 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 motion according to the received motion parameters and commands;

[0048] 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.

[0049] Preferably, the specific content 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 is:

[0050] 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 mode, execute step 3.2; if it is position control mode, execute step 3.3; if it is torque control mode, execute step 3.4;

[0051] Step 3.2: The host computer sends the speed setting value and the forward or reverse rotation command to the controller, and the controller sends the speed setting value and the forward or reverse rotation command to the load servo driver via EtherCAT communication, and then executes step 3.5;

[0052] Step 3.3: The host computer sends the position set value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position set value, maximum speed, forward or reverse command to the load servo driver via EtherCAT communication, and executes step 3.5;

[0053] Step 3.4: The host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set value, maximum speed, maximum torque, forward or reverse command to the load servo driver via EtherCAT communication, and executes step 3.5;

[0054] Step 3.6: The load servo driver controls the load servo motor to start continuous motion according to the received motion parameters and commands;

[0055] 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.

[0056] Preferably, the torque given value in step 5 is plotted graphically and converted into a torque given value, specifically including:

[0057] Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and ordinate, wherein the abscissa represents time and the ordinate represents torque;

[0058] 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 the adjacent coordinates through a straight line to obtain the 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;

[0059] 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 The horizontal coordinate of the i-th position point is represented by the horizontal 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 of the i-th position point; the abscissa of the torque given curve set T x and the vertical coordinate set T y is the torque given value.

[0060] 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 energy loads, resistive loads, constant power loads, fan pump loads, arbitrary loads, etc., to realize load programmability.

[0061] Unlike the traditional method of coaxially dragging and loading the driving servo motor and the load servo motor, the present invention adopts parallel symmetrical installation and is connected by a belt, which has a 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 three control modes, which can carry out different experiments on the programmable load servo system comprehensive experimental device, and has the advantage of flexibility.

[0062] The technical method of the present invention is further described in detail below through the accompanying drawings and examples. BRIEF DESCRIPTION OF THE DRAWINGS

[0063] Figure 1 This is a comprehensive system structure diagram of the programmable load servo system of the present invention;

[0064] Figure 2 It is a structural diagram of the core components of the programmable load servo system integrated system of the present invention;

[0065] Figure 3 This is the overall program flow chart of the controller of the present invention;

[0066] Figure 4 Flowchart of the program for executing programmable load mode by the controller of the present invention.

[0067] Reference numerals:

[0068] 1. Drive 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

[0069] The technical method of the present invention is further described below through the accompanying drawings and embodiments. It should be noted that unless otherwise specifically stated, the relative arrangement of components and steps, numerical expressions and values ​​described in these embodiments do not limit the scope of this application.

[0070] The following description of at least one exemplary embodiment is merely illustrative in nature and is in no way intended to limit the present disclosure, its application, or uses.

[0071] Technologies, systems, and devices known to those of ordinary skill in the relevant art may not be discussed in detail, but where appropriate, they should be considered part of the specification.

[0072] In all examples shown and discussed herein, any specific values ​​should be interpreted as merely exemplary and not limiting. Therefore, other examples of the exemplary embodiments may have different values.

[0073] Unless otherwise defined, technical or scientific terms used in the present invention shall have the same meaning as commonly understood by one of ordinary skill in the art to which the present invention belongs.

[0074] 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;

[0075] 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;

[0076] The driving servo system comprises: a driving servo driver, a driving servo motor 1 and a first encoder;

[0077] 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;

[0078] The load servo system includes: a load servo driver, a load servo motor 6 and a second encoder;

[0079] The load servo driver is connected to the load servo motor 6, and 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. The second torque sensor 8 is fixedly connected to the second pulley 9.

[0080] Among them, the load servo driver provides power to the load servo motor 6 and controls the load servo motor 6 to put it in speed working mode, position working mode or torque working mode, and the second encoder is used to detect the real-time speed and position of the load servo motor 6.

[0081] The controller is connected to the driving servo driver and the load servo driver respectively through EtherCAT communication, 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;

[0082] The first torque sensor 3 and the second torque sensor 8 are used to collect the 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;

[0083] 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.

[0084] Furthermore, the control modes of the host computer include: stand-alone jog mode, stand-alone continuous mode and programmable load mode, wherein the stand-alone 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 the jog working mode;

[0085] 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 speed working mode, position working mode or torque working mode respectively;

[0086] 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.

[0087] 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:

[0088] Step 1: Determine whether the control mode of the host computer is a single-machine jog mode. If so, determine whether the host computer performs a jog operation on the driving servo motor 1;

[0089] If not, determine whether the control mode of the host computer is a single-machine continuous mode;

[0090] 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;

[0091] If the host computer is not performing 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;

[0092] Furthermore, the specific content of the step in which the host computer sends the jog operation instruction for driving the servo motor 1 to the controller in step 2 is:

[0093] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include target speed, acceleration, deceleration, and jerk;

[0094] 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 via EtherCAT communication;

[0095] The driving servo driver controls the driving servo motor 1 to start moving according to the received jog motion parameters and the forward or reverse jog command;

[0096] 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.

[0097] 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 as follows:

[0098] The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include target speed, acceleration, deceleration, and jerk;

[0099] The controller sends jog motion parameters and forward or reverse jog commands to the load servo driver via EtherCAT communication;

[0100] 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;

[0101] 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 through Ethernet communication for display.

[0102] Step 3: If the control mode of the host computer is the single-machine continuous mode, it is determined 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, the continuous operation instruction of the load servo motor 6 is executed, and the load servo motor 6 performs forward or reverse continuous motion.

[0103] 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 tightened;

[0104] 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:

[0105] If the control mode of the host computer is the speed control mode, the host computer sends the speed given value and the forward or reverse rotation command to the controller, and the controller sends the speed given value and the forward or reverse rotation command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor 1 to start continuous motion according to the received motion parameters and commands;

[0106] If the control mode of the host computer is position control, 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 motion according to the received motion parameters and commands;

[0107] If the control mode of the host computer is torque control mode, the host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set 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 motion according to the received motion parameters and commands;

[0108] 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.

[0109] 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 as follows:

[0110] 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 mode, execute step 3.2; if it is position control mode, execute step 3.3; if it is torque control mode, execute step 3.4;

[0111] Step 3.2: The host computer sends the speed setting value and the forward or reverse rotation command to the controller, and the controller sends the speed setting value and the forward or reverse rotation command to the load servo driver via EtherCAT communication. The drive servo driver controls the drive servo motor 1 to start continuous motion according to the received motion parameters and commands;

[0112] Step 3.3: The host computer sends the position set value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position set value, maximum speed, forward or reverse command to the load servo driver via EtherCAT communication, and executes step 3.5;

[0113] Step 3.4: The host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set value, maximum speed, maximum torque, forward or reverse command to the load servo driver via EtherCAT communication, and executes step 3.5;

[0114] 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;

[0115] 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.

[0116] 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;

[0117] 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 set value, and the motion parameter of the load servo system is a torque set value and is set in a graphical manner;

[0118] Furthermore, the torque reference value described in step 5 is graphically plotted and converted into a torque reference value, specifically including:

[0119] Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and ordinate, wherein the abscissa represents time and the ordinate represents torque;

[0120] 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 the adjacent coordinates through a straight line to obtain the 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;

[0121] 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,iThe horizontal coordinate of the i-th position point is represented by the horizontal 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 of the i-th position point; the abscissa of the torque given curve set T x and the vertical coordinate set T y is the torque given value.

[0122] Step 6: The host computer sends the motion parameters and control commands to the controller through communication. 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.

[0123] 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;

[0124] 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;

[0125] Step 9: The controller compares the real-time torque returned by the torque sensor with the torque reference value. If they are not equal, the controller calculates the compensation amount of the torque reference through the PI algorithm and transmits it to the load servo controller.

[0126] 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, thereby realizing loading and unloading of the drive servo motor 1;

[0127] 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 it;

[0128] 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.

[0129] 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, when the belt is tightened, a rigid load is simulated, and when the belt is loose, a flexible load is simulated; 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 includes: 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 EtherCAT communication, 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 mode to the controller. At the same time, the host computer displays the real-time status obtained by the controller; The control modes of the host computer include: single-machine inching mode, single-machine continuous mode and programmable load mode; The programmable load servo system is configured with an experimental method, which is carried out as follows: Step 1: Determine whether the control mode of the host computer is a single-machine jog mode. If so, determine whether the host computer performs a jog operation on the driving 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 stand-alone 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 set value, and the motion parameter of the load servo system is a torque set 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. 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 reference value. If they are not equal, the controller calculates the compensation amount of the torque reference through 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, thereby realizing 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 it; Step 11: Determine whether the load servo motor has completed the torque given motion curve, and if so, the current motion of the servo motor ends; The torque reference value described in step 5 is plotted graphically and converted into a torque reference value, specifically including: Creating a blank graphics window in the host computer and setting the maximum values ​​of the abscissa and 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 the adjacent coordinates through a straight line to obtain the 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 The horizontal coordinate of the i-th position point is represented by the horizontal 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 of the i-th position point; the abscissa of the torque given curve set T x and the vertical coordinate set T y is the torque given value.

2. A programmable load servo system according to claim 1, characterized in that: The specific content of the step in which the host computer sends the jog operation instruction for driving the servo motor to the controller in step 2 is: The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include 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 via EtherCAT communication; The driving servo driver controls the driving servo motor to start moving according to the received jog motion parameters and the forward or reverse jog command; 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.

3. A programmable load servo system according to claim 1, characterized in that: In step 2, the host computer sends a jog operation instruction to the load servo motor, and the load servo motor performs forward or reverse jog motion. The specific content is: The host computer sends the jog motion parameters and the forward or reverse jog command to the controller, where the jog motion parameters include 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 and the forward or reverse jog command; 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 through Ethernet communication for display.

4. A programmable load servo system according to claim 1, 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 as follows: If the control mode of the host computer is the speed control mode, the host computer sends the speed given value and the forward or reverse rotation command to the controller, and the controller sends the speed given value and the forward or reverse rotation command to the driving servo driver through EtherCAT communication, and the driving servo driver controls the driving servo motor to start continuous motion according to the received motion parameters and commands; If the control mode of the host computer is position control, 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 motion according to the received motion parameters and commands; If the control mode of the host computer is torque control, the host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set value, maximum speed, maximum torque, 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 motion 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.

5. A programmable load servo system according to claim 1, characterized in that: The specific contents of executing the continuous operation instructions 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 mode, execute step 3.2; if it is position control mode, execute step 3.3; if it is torque control mode, execute step 3.4; Step 3.2: The host computer sends the speed setting value and the forward or reverse rotation command to the controller, and the controller sends the speed setting value and the forward or reverse rotation command to the load servo driver via EtherCAT communication, and then executes step 3.5; Step 3.3: The host computer sends the position set value, maximum speed, forward or reverse command to the controller, and the controller sends the motor position set value, maximum speed, forward or reverse command to the load servo driver via EtherCAT communication, and executes step 3.5; Step 3.4: The host computer sends the torque set value, maximum speed, maximum torque, forward or reverse command to the controller; and the controller sends the motor torque set value, maximum speed, maximum torque, forward or reverse command to the load servo driver via 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.

6. A programmable load servo system according to claim 1, characterized in that: The control modes of the host computer include: stand-alone jog mode, stand-alone continuous mode and programmable load mode, wherein the stand-alone 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 which is in 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 actual engineering through the load servo motor to realize loading and unloading of the drive servo motor, and through interlocking control of the drive and load servo motors, the drive servo motor is in the speed working mode and the load servo motor is in the torque working mode.

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