Servo driving system performance detection method based on dynamic load

Abstract

The invention discloses a servo driving system performance detection method based on a dynamic load, and relates to the field of servo driving system performance detection. Under the condition that frameworks and corresponding parameters of a standard servo driver and a tested servo driver are completely consistent with those of a reference system and added control signals are also the same, voltages corresponding to the rotating speeds of the two servo drivers are compared through a rotating speed-voltage conversion module, and the consistency of the performance of the servo drivers is detected.

Description

Technical Field

[0001] The invention relates to performance detection of a servo drive system, and in particular to a method for detecting the performance of a servo drive system under dynamic load. Background Art

[0002] Servo drives are core components of advanced manufacturing and processing equipment. Their technical performance and reliability are crucial to processing quality. After the production of new servo drive products or prototypes is completed, the same series and model of driver boards need to be tested for consistency during mass production. At present, different manufacturers usually use a standard servo drive as a test reference when testing mass-produced servo drives after EMC testing of the driver boards. Other servo drives or prototypes are compared with this, and the parameterization of the servo drive and the standard servo drive are observed under different working conditions. If the parameters of the two are close (according to the comparison target), it means that the performance of the tested servo drive is consistent with that of the standard part, so other products or prototypes can be tested in turn.

[0003] The company has been committed to the production, development and research of servo drives. In 2019, it applied for a sampling and comparison servo drive quality consistency detection system in China, with application number 201910732484.1. Batches of servo drives to be tested are arranged in a matrix of ten rows and five columns on the product inspection conveyor table. Through S-type and 8-type extraction, the extracted products to be tested are connected to the strong and weak current terminals in the sampling and comparison servo drive quality consistency detection system. However, the present invention can detect the quality, but it cannot be detailed to whether the performance of the drive is consistent.

[0004] There is no unified standard for consistency testing of servo drive performance. Some methods are based on inertia. Currently, the more common method is to set the forward and reverse rotation of the motor through programming or operation panel, connect the servo motor and servo drive, and compare the obtained voltage, current, and speed with the standard servo drive system to determine whether they are consistent. This type of test has a single operating condition. Summary of the invention

[0005] Based on the above description, in order to realize more convenient and comprehensive detection of the consistency of the driving performance of the servo drive, a servo drive system performance detection method under dynamic load is proposed in the present invention. The architecture and corresponding parameters of the standard servo drive and the servo drive under test are completely consistent with the reference system, and the added control signals are also the same. Through the speed-voltage conversion module, under the load condition, the voltages corresponding to the speeds of the two servo drives are compared to detect the performance consistency of the servo drive.

[0006] The technical solution adopted is: a servo drive system performance detection method under dynamic load, in which the system where motor M1 is located is the standard drive system, and the system where motor M2 is located is the drive system under test; the standard drive system includes a standard servo drive, motor M1, an encoder and a speed-voltage conversion module; the drive system under test includes a servo drive under test, motor M2, an encoder and a speed-voltage conversion module; the architecture and corresponding parameters of the standard servo drive and the servo drive under test are completely consistent with those of the reference system.

[0007] The control signals added to the tested drive system and the standard drive system are the same. Under rated conditions, a constant load is added to the standard servo drive and the tested servo drive respectively. During the starting process and stable operation, the given speeds of the two are consistent; through the speed-voltage conversion module, the speed is converted into voltage in a linear proportional relationship. At this time, the output voltage of the standard servo drive is U 01 , the output voltage of the tested servo drive is U 02 ; U 01 and U 02 The voltage deviation △U is formed, and the consistency between the tested servo drive and the standard servo drive is judged by △U, that is, U 01 and U 02 Forming voltage deviation △U, △U=U 01 -U 02 .

[0008] When △U=0, then U 01 =U 02 , that is, the speed of the standard servo drive is equal to the speed of the tested servo drive, then the performance of the two drives is consistent;

[0009] When △U>U 设定 , U 01 with U 02 If the deviation is large, the performance of the standard servo drive and the tested servo drive is inconsistent; 设定 Set according to different types of actual servo drives; set the maximum voltage deviation value U between the standard servo drive and the tested servo drive 设定 ;

[0010] When U 设定 >△U>0,U 01 ≠U 02 , the voltage deviation △U is judged by the differential operational amplifier circuit;

[0011] The differential operational amplifier circuit with the operational amplifier as the main circuit includes the operational amplifier IC1, the voltage divider resistor R 11 , R 12 , R 21 , R22 , R 23 , variable feedback resistor R 13 , Zener diode, capacitors C1 and C2, R1 is the current limiting resistor, voltage divider resistor R 21 Connect capacitor C1 and voltage divider resistor R 23 Connect capacitor C2, △U input signal to the inverting terminal of operational amplifier IC1, and the input voltage threshold U at the non-inverting terminal + , through the Zener diode and the mobile resistor R P1 , to set the voltage threshold U + ;

[0012] When △U + , then G1 output is high level, indicating that the speed of the standard servo drive and the tested servo drive are consistent, and the performance of the two is consistent;

[0013] When △U>U + , then G1 output is low level, indicating that the speed difference between the standard servo drive and the tested servo drive is large, and the performance of the two is inconsistent.

[0014] Furthermore, a resistor R is connected to the speed-voltage module in the standard drive system. 01 ; Connect resistor R to each speed-voltage module in the tested drive system 02 .

[0015] The servo drive system of the present invention realizes multiple working conditions to detect the performance of the servo drive system under load conditions; the motor in the patent of the present invention is a PMSM or a BLDCM. The present invention utilizes a speed-voltage conversion module, which can be purchased off the shelf, such as a PWM-to-voltage module available online, to convert the speeds of the standard servo drive and the servo drive being tested, and compare the converted voltages to fully reflect the consistency functional characteristics of the servo drive. The speed-voltage conversion utilizes a sensor (such as a Hall sensor, a magnetoelectric sensor, etc.) to detect the speed of a rotating object; the sensor converts the speed signal into an electrical signal, which is proportional to the speed or has a certain corresponding relationship; the electrical signal is converted into a voltage output through circuit processing, which is convenient for subsequent measurement, recording or control.

[0016] When testing the performance of batches of servo drivers, a standard servo driver is used as a test reference, and other products are compared with it. Under different working conditions such as the starting process or stable operation, a constant load is added to observe the parameter changes of the tested servo driver and the standard servo driver. In the present invention, the voltage converted by the speed is compared, and the voltage difference △U between the two is compared. When △U=0, the speed of the standard servo driver is consistent with the driving performance of the tested servo driver.

[0017] ​When △U>U 设定 , U 01 with U 02 If the deviation is large, the performance of the standard servo drive and the tested servo drive is inconsistent; 设定 Set according to different types of actual servo drives; set the maximum voltage deviation value U between the standard servo drive and the tested servo drive 设定 .

[0018] When U 设定 >△U>0,U 01 ≠U 02 , voltage deviation △U, is judged by the differential operational amplifier circuit; the differential operational amplifier circuit with the operational amplifier as the main circuit includes the operational amplifier IC1, the voltage dividing resistor R 11 , R 12 , R 21 , R 22 , R 23 , variable feedback resistor R 13 , Zener diode, capacitors C1 and C2, R1 is the current limiting resistor, voltage divider resistor R 21 Connect capacitor C1 and voltage divider resistor R 23 Connect capacitor C2, connect the △U input signal to the inverting terminal of operational amplifier IC1, and connect the required voltage regulator diode and mobile resistor R to the non-inverting terminal. P1 , to set the voltage threshold U + When △U + , then G1 output is high level, indicating that the speed of the standard servo drive and the tested servo drive are consistent, and the performance of the two is consistent;

[0019] When △U>U + , then G1 output is low level, indicating that the speed difference between the standard servo drive and the tested servo drive is large, and the performance of the two is inconsistent.

[0020] In addition to judging from the level of G1, the difference in speed between the two systems under the same circumstances can also be determined from the specific value of its output.

[0021] If the identified inconsistent characteristics mostly occur when the load changes dynamically, such as adding or subtracting the load or accelerating or decelerating, the operational amplifier can be used to make judgments, and it is easy to determine the working conditions under which inconsistent or consistent performance occurs. Finally, the consistency performance status of the relevant prototype or product is statistically analyzed.

[0022] The present invention can also use the specific value of the voltage output by the operational amplifier to determine and set a standard voltage value. The standard voltage values ​​of different series of servo drivers are different. If the output voltage value is within a certain range of the standard voltage value, it can be determined that the performance is consistent. BRIEF DESCRIPTION OF THE DRAWINGS​

[0023] Figure 1 It is a schematic diagram of the structure of the connection between the standard servo driver and the tested servo driver during the test in the present invention;

[0024] Figure 2 It is a circuit structure schematic diagram of the differential operational amplifier circuit in the present invention. DETAILED DESCRIPTION

[0025] The present invention will be further described in detail below with reference to the accompanying drawings and by way of examples. The following examples are intended to explain the present invention but the present invention is not limited to the following examples.

[0026] See also Figure 1 to Figure 2 As shown in FIG. 1 , a servo drive system performance detection method based on dynamic load is shown in FIG. Figure 1 As shown, the system where the motor M1 is located is the standard drive system, and the system where the motor M2 is located is the drive system under test; the standard drive system includes a standard servo drive, a motor M1, an encoder PG1, and a speed-voltage conversion module 01; the drive system under test includes a servo drive under test, a motor M2, an encoder PG2, and a speed-voltage conversion module 02; the architecture and corresponding parameters of the standard servo drive and the servo drive under test are completely consistent;

[0027] The control signal 02 and the control signal 01 added to the tested drive system and the standard drive system are the same, the encoder PG1 and the encoder PG2 are the same; the speed-voltage conversion module 01 and the speed-voltage conversion module 02 are the same; under rated conditions, a constant load is added to the standard servo drive and the tested servo drive respectively, and the given speeds of the two are consistent during the starting process and stable operation; through their respective speed-voltage conversion modules, the speed is converted into the corresponding voltage in a linear positive proportional relationship, and the output voltage of the standard servo drive is U 01 , the output voltage of the tested servo drive is U 02 ; U 01 and U 02 The voltage deviation △U is formed, and the consistency between the tested servo drive and the standard servo drive is judged by △U, that is, U 01 and U 02 Forming voltage deviation △U, △U=U 01 -U 02 ;

[0028] When △U=0, then U 01 =U 02 , that is, the speed of the standard servo drive is equal to the speed of the tested servo drive, then the performance of the two drives is consistent;

[0029] When △U>U 设定, U 01 with U 02 If the deviation is large, the performance of the standard servo drive and the tested servo drive is inconsistent; 设定 Set according to different types of actual servo drives; set the maximum voltage deviation value U between the standard servo drive and the tested servo drive 设定 ;

[0030] When U 设定 >△U>0,U 01 ≠U 02 , the voltage deviation △U is judged by the differential operational amplifier circuit;

[0031] The differential operational amplifier circuit with the operational amplifier as the main circuit includes the operational amplifier IC1, the voltage divider resistor R 11 , R 12 , R 21 , R 22 , R 23 , variable feedback resistor R 13 , Zener diode, capacitors C1 and C2, R1 is the current limiting resistor, voltage divider resistor R 21 Connect capacitor C1 and voltage divider resistor R 23 Connect capacitor C2, connect the △U input signal to the inverting terminal of operational amplifier IC1, and connect the required voltage regulator diode and mobile resistor R to the non-inverting terminal. P1 , to set the voltage threshold U + ;

[0032] When △U + , then G1 output is high level, indicating that the speed of the standard servo drive and the tested servo drive are consistent, and the performance of the two is consistent;

[0033] When △U>U + , then G1 output is low level, indicating that the speed difference between the standard servo drive and the tested servo drive is large, and the performance of the two is inconsistent.​

Claims

1. A servo drive system performance detection method based on dynamic load, characterized in that: The system where the motor M1 is located is the standard drive system, and the system where the motor M2 is located is the tested drive system; the standard drive system includes a standard servo drive, a motor M1, an encoder and a speed-voltage conversion module; the tested drive system includes a tested servo drive, a motor M2, an encoder and a speed-voltage conversion module; the architecture and corresponding parameters of the standard servo drive and the tested drive are completely consistent, the motor M1 and the motor M2 are the same motors, the input control signal 01 and the control signal 02 are the same, the encoder PG1 and the encoder PG2 are the same, and the speed-voltage conversion module 01 and the speed-voltage conversion module 02 are the same; The control signals added to the tested drive system and the standard drive system are the same. Under rated conditions, a constant load is added to the standard servo drive and the tested servo drive respectively. During the starting process and stable operation, the given speeds of the two are consistent; through the speed-voltage conversion module, the speed is converted into voltage in a linear proportional relationship. At this time, the output voltage of the standard servo drive is U 01 , the output voltage of the tested servo drive is U 02 ; U 01 and U 02 Forming voltage deviation △U, △U=U 01 -U 02 , use △U to determine whether the tested servo drive is consistent with the standard servo drive.

2. The method for detecting the performance of a servo drive system under dynamic load according to claim 1, characterized in that: When △U=0, then U 01 =U 02 , that is, the speed of the standard servo drive is equal to the speed of the tested servo drive, then the performance of the two drives is consistent; When △U>U 设定 , U 01 with U 02 If the deviation is large, the performance of the standard servo drive and the tested servo drive is inconsistent; 设定 Set according to different types of actual servo drives; Set the maximum voltage deviation value U between the standard servo drive and the tested servo drive 设定 ; When U 设定 >△U>0,U 01 ≠U 02 , voltage deviation △U is judged by the differential operational amplifier circuit.

3. A servo drive system performance detection method based on dynamic load according to claim 2, characterized in that: The differential operational amplifier circuit is a differential operational amplifier circuit with an operational amplifier as the main circuit, including an operational amplifier IC1, a voltage divider resistor R 11 , R 12 , R 21 , R 22 , R 23 , variable feedback resistor R 13 , Zener diode, capacitors C1 and C2, current limiting resistor R1; voltage divider resistor R 21 Connect capacitor C1 and voltage divider resistor R 23 Connect capacitor C2, connect the △U input signal to the inverting terminal of operational amplifier IC1, and connect the required voltage regulator diode and mobile resistor R to the non-inverting terminal. P1 , to set the voltage threshold U + ; When △U + , then G1 output is high level, indicating that the speed of the standard servo drive and the tested servo drive are consistent, and the performance of the two is consistent;​ When △U>U + , then G1 output is low level, indicating that the speed difference between the standard servo drive and the tested servo drive is large, and the performance of the two is inconsistent.

4. The method for detecting the performance of a servo drive system under dynamic load according to claim 1, characterized in that The speed-voltage module in the standard drive system is connected to a resistor R 01 ; Connect resistor R to each speed-voltage module in the tested drive system 02 .

5. The method for detecting the performance of a servo drive system under dynamic load according to claim 3, characterized in that: The △U is divided by the voltage dividing resistor R 11 , R 12 Connect to the inverting terminal of operational amplifier IC1; the positive terminal input voltage threshold U of operational amplifier IC1 +； Voltage threshold U + Through the voltage divider resistor R 21 , Zener diode, mobile resistor R P1 to set.

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