Servo motor magnetic coding calibration method, platform, equipment and medium

Abstract

The invention discloses a servo motor magnetic programming calibration method, platform, equipment and medium, and relates to the technical field of servo motors, and the method comprises the steps: carrying out the vibration test of a servo motor, and obtaining a vibration fluctuation interval and a vibration range parameter; acquiring a rotation angle range and a rotation speed range, and acquiring vibration rotation speed parameters; comprehensive measurement parameters are obtained based on multiple tests, the comprehensive measurement parameters are calibrated, and the calibrated comprehensive measurement parameters are used as calibration parameters; the method is used for solving the problem that in an existing servo motor magnetic programming calibration method, when the vibration amplitude of equipment where the servo motor is located during operation is large, due to the influence of vibration of the equipment, calibration parameters of the servo motor cannot be accurately obtained, and the difference between actual operation parameters and the calibration parameters is large.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motors, and in particular to a servo motor magnetic encoder calibration method, platform, equipment and medium. Background Art

[0002] The servo motor can be used as an actuator in an automatic control system to convert the input voltage signal into the angular displacement or angular velocity of the shaft to control the controlled object; it has a wide speed regulation range, linear mechanical and adjustment characteristics, no "self-rotation" phenomenon and fast responsiveness; servo motor magnetic encoder calibration refers to the process of calibrating and adjusting the magnetic encoder in the servo motor; the magnetic encoder is a sensor installed on the servo motor to measure the magnetic pole position, rotation angle and speed.

[0003] Existing methods for servo motor magnetic encoder calibration usually calibrate a certain parameter of the servo motor during operation based on the operable speed range of the servo motor, such as obtaining a plurality of target speeds and a range in which the servo motor can operate under a plurality of target speeds, thereby obtaining the calibration parameters corresponding to the temperature rise value of the servo motor. Although this improved method can obtain the calibration parameters corresponding to the temperature rise value with the speed of the servo motor as a reference standard, when the vibration amplitude of the equipment in which the servo motor is running is large, only analyzing the operating speed of the servo motor will be affected by the vibration of the equipment, resulting in the inability to accurately obtain the calibration parameters of the servo motor, resulting in a large difference between the actual operating parameters and the calibration parameters. For example, in the patent application with publication number CN117895857A, the patent application A servo motor calibration method, device, readable storage medium and robot are disclosed. The scheme is to obtain the temperature rise value of the servo motor under each set parameter when the servo motor is started and the speed is maintained at the target speed; the set parameter when the temperature rise value reaches the temperature rise index is used as the calibration parameter corresponding to the target speed. Other improvements in the servo motor magnetic encoder calibration are usually improvements in data acquisition optimization, which still cannot solve the problem that during the setting process of calibration parameters, when the vibration amplitude of the equipment in which the servo motor is running is large, it will be affected by the vibration of the equipment, resulting in the inability to accurately obtain the calibration parameters of the servo motor, resulting in a large difference between the actual operating parameters and the calibration parameters. In view of this, it is necessary to improve the existing servo motor magnetic encoder calibration method. Summary of the invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to a certain extent. A servo motor magnetic encoder calibration method, platform, device and medium are proposed to solve the problem that in the existing servo motor magnetic encoder calibration method, when the vibration amplitude of the equipment in which the servo motor is running is large, the calibration parameters of the servo motor cannot be accurately obtained due to the influence of the vibration of the equipment, resulting in a large difference between the actual operating parameters and the calibration parameters.

[0005] To achieve the above objectives, in a first aspect, the present application provides a servo motor magnetic encoder calibration method, comprising the following steps: Perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test; The servo motor's rotation angle range and speed range are obtained based on the angle reader and the tachometer, respectively; the servo motor is tested at multiple angles based on the rotation angle range and the speed range, and the servo motor is simulated to vibrate based on the vibration range parameters during the test to obtain the vibration speed parameters at different rotation angles; The servo motor is repeatedly tested at multiple angles, and comprehensive measurement parameters are obtained based on the vibration and speed parameters obtained from multiple tests. The comprehensive measurement parameters are calibrated using the vibration fluctuation range, and the calibrated comprehensive measurement parameters are used as calibration parameters for the servo motor at different rotation angles and speeds.

[0006] Furthermore, a vibration test is performed on the servo motor based on the device where the servo motor is located, and the vibration fluctuation interval and vibration range parameters of the servo motor during the vibration test are obtained, including: The device where the servo motor is located is recorded as the target test device, and a vibration sensor is installed in the servo motor, wherein the vibration sensor is used to detect the amplitude of the servo motor when it vibrates; Start the vibration sensor and start the target test equipment until the target test equipment runs to maximum power, and record the start-up time of the target test equipment at this time as t; when the target test equipment runs to maximum power, keep running at maximum power for t and then turn off the target test equipment, and when the detection result of the vibration sensor is 0, record the data detected by the vibration sensor as vibration test data.

[0007] Further, performing a vibration test on the servo motor based on the device where the servo motor is located, and obtaining the vibration fluctuation interval and vibration range parameters of the servo motor during the vibration test also includes: Establish a plane rectangular coordinate system and record it as a vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; draw a corresponding curve in the vibration analysis coordinate system based on the vibration test data and record it as a vibration test curve, where the abscissa of the rightmost point of the vibration test curve is 2t; The points in the curve with a ordinate greater than 0 and a slope of 0 are recorded as positive convex points; the points in the curve with a ordinate less than 0 and a slope of 0 are recorded as negative concave points; the curve obtained by fitting all the positive convex points in the vibration test curve is recorded as a positive amplitude fluctuation curve, and the curve obtained by fitting all the negative concave points in the vibration test curve is recorded as a negative amplitude fluctuation curve.

[0008] Further, performing a vibration test on the servo motor based on the device where the servo motor is located, and obtaining the vibration fluctuation interval and vibration range parameters of the servo motor during the vibration test also includes: Obtain a curve that is symmetrical about the X-axis of the negative amplitude fluctuation curve and record it as the negative amplitude symmetrical curve; record the area in the positive amplitude fluctuation curve within X=0 to X=2t that does not overlap with the negative amplitude symmetrical curve as the positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, record the slope of the straight line formed by the point with the largest ordinate and the point with the smallest ordinate in the curve α as the longitudinal slope of the curve α; record the slope of the straight line formed by the point with the largest abscissa and the point with the smallest abscissa in the curve α as the transverse slope of the curve α, and record the average of the longitudinal slope and the transverse slope of the curve α as the offset slope of the curve α; Obtain the offset slopes of all independent curves in the positive and negative fluctuation regions, and record the maximum value of all offset slopes as the maximum offset; Get the maximum slope and the minimum slope in the positive amplitude fluctuation curve, and record them as K max and K min , will [K min -k,K max +k] is recorded as the vibration fluctuation range of the servo motor, the difference between the maximum and minimum values ​​of the ordinates in all positive concave points is recorded as the vibration range parameter of the servo motor, and the minimum value of the ordinates in all positive concave points is recorded as the starting amplitude, where k is the maximum offset.

[0009] Furthermore, the servo motor is tested at multiple angles based on the rotation angle range and the rotation speed range, and the servo motor is simulated to vibrate based on the vibration range parameters during the test, and the vibration speed parameters at different rotation angles are obtained, including: The servo motor's rotation angle range and speed range are obtained based on the angle reader and recorded as [γ1, γ2] and [β1, β2], where γ1 is the minimum angle at which the servo motor can rotate, γ2 is the maximum angle at which the servo motor can rotate, β1 is the minimum speed at which the servo motor is running, and β2 is the maximum speed at which the servo motor is running; The multi-angle test is as follows: for any rotation angle γ0 that can be achieved by the servo motor in [γ1, γ2], the servo motor is rotated by γ0, and the servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the starting amplitude; when the amplitude of the servo motor reaches the starting amplitude, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained, and recorded as the starting data; Return the servo motor speed to zero and stop the simulated vibration; The servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the vibration range parameter; when the amplitude of the servo motor reaches the vibration range parameter, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained and recorded as vibration data.

[0010] Furthermore, the multi-angle test also includes: Obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system respectively, and record them as the starting curve and the vibration curve respectively; record the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and record the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; record the difference between the starting slope and the vibration slope as the vibration speed parameter of the servo motor when it is at γ0; Get the vibration speed parameters corresponding to the rotation angles that all servo motors in [γ1, γ2] can achieve.

[0011] Furthermore, the servo motor is repeatedly tested at multiple angles, and comprehensive measurement parameters are obtained based on the vibration speed parameters obtained from multiple tests, the comprehensive measurement parameters are calibrated using the vibration fluctuation range, and the calibrated comprehensive measurement parameters are used as calibration parameters for the servo motor at different rotation angles and speeds, including: Repeat the multi-angle test on the servo motor, and record the vibration speed parameters corresponding to the angles that can be achieved by all servo motors in each multi-angle test; for any angle γ0 that can be achieved by any servo motor in [γ1, γ2], when the vibration speed parameter of the angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the angle γ0 in tests other than the latest multi-angle test, the angle γ0 is recorded as the achievable angle; When all the rotation angles are recorded as achievable rotation angles during repeated multi-angle tests on the servo motor, the repeated tests are stopped, and the vibration speed parameters corresponding to the rotation angles that can be achieved by all the servo motors in the latest multi-angle test are recorded as comprehensive measurement parameters; For any vibration speed parameter corresponding to the rotation angle γ0 in the comprehensive measurement parameters, adjust the vibration speed parameter of the rotation angle γ0 to T× , where T is the vibration speed parameter of the rotation angle γ0; After the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, the vibration speed parameter of each rotation angle in the comprehensive measurement parameters is set to the calibrated speed at any speed when the servo motor is at different rotation angles.

[0012] In a second aspect, the present application also provides a servo motor magnetic encoder calibration platform, including a vibration test module, a vibration parameter analysis module and a calibration parameter determination module; The vibration test module is used to perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test; The vibration parameter analysis module is used to obtain the servo motor's rotation angle range and speed range based on the angle reader and the tachometer, respectively; perform multi-angle tests on the servo motor based on the rotation angle range and the speed range, and simulate vibration of the servo motor based on the vibration range parameters during the test to obtain vibration speed parameters at different rotation angles; The calibration parameter determination module is used to repeatedly perform multi-angle tests on the servo motor, and obtain comprehensive measurement parameters based on the vibration and speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as calibration parameters for the servo motor at different rotation angles and speeds.

[0013] In a third aspect, the present application provides an electronic device, comprising a processor and a memory, wherein the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are performed.

[0014] In a fourth aspect, the present application provides a storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps in the above method are performed.

[0015] Beneficial effects of the present invention: The present application firstly performs a vibration test on the servo motor based on the equipment where the servo motor is located, and obtains the vibration fluctuation interval and vibration range parameters of the servo motor during the vibration test. The advantage of this is that by obtaining the vibration fluctuation interval and vibration range parameters, the parameters corresponding to the vibration amplitude of the servo motor when it is operating under the influence of the vibration of the equipment in which it is located can be obtained, which is helpful in subsequent analysis to calibrate the calibration parameters of the servo motor in combination with the parameters affected by the vibration of the servo motor, that is, the vibration fluctuation interval and vibration range parameters, to ensure that when the vibration amplitude of the equipment in which the servo motor is located is large, the calibration parameters obtained will not be affected by the vibration of the equipment, thereby accurately reflecting the actual operating state of the servo motor; The present application also obtains the servo motor's angular range and speed range based on the angle reader and the tachometer, respectively; performs multi-angle tests on the servo motor based on the angular range and the speed range, and simulates the vibration of the servo motor based on the vibration range parameters during the test to obtain vibration speed parameters at different angles; finally, repeatedly performs multi-angle tests on the servo motor, and obtains comprehensive measurement parameters based on the vibration speed parameters obtained from multiple tests, calibrates the comprehensive measurement parameters using the vibration fluctuation range, and uses the calibrated comprehensive measurement parameters as calibration parameters for the servo motor at different angles and speeds. The advantage of this is that by performing multi-angle tests and obtaining comprehensive measurement parameters, the calibration parameters of the servo motor when it is running under the influence of vibration can be obtained, so as to ensure that the obtained calibration parameters are not affected by the vibration of the equipment, thereby improving the accuracy of the calibration parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is a functional block diagram of the system of the present invention; Figure 2 is a flow chart of the steps of the method of the present invention; Figure 3 It is a schematic diagram of the analysis of the vibration analysis curve of the present invention; Figure 4 It is a schematic diagram of obtaining the negative amplitude symmetric curve of the present invention; Figure 5 A schematic diagram of obtaining the offset slope of the present invention; Figure 6 It is a schematic structural diagram of the electronic device of the present invention. DETAILED DESCRIPTION

[0017] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0018] Example 1, please refer to Figure 1 As shown, the present application provides a servo motor magnetic encoder calibration platform, including a vibration test module, a vibration parameter analysis module and a calibration parameter determination module; The vibration test module is used to perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test; The vibration test module includes a vibration test unit, and the vibration test unit is configured with a vibration test strategy, and the vibration test strategy includes: The device where the servo motor is located is recorded as the target test device, and a vibration sensor is installed in the servo motor, wherein the vibration sensor is used to detect the amplitude of the servo motor when it vibrates; Start the vibration sensor and start the target test equipment until the target test equipment runs to the maximum power, and record the start-up time of the target test equipment at this time as t; when the target test equipment runs to the maximum power, keep the maximum power running for t and then turn off the target test equipment, and when the detection result of the vibration sensor is 0, record the data detected by the vibration sensor as vibration test data; In the specific implementation process, the target test device can be any device that can be equipped with a servo motor, such as a robot, a conveyor belt, a packaging machine, a printing machine, etc. For example, in a data analysis, the target test device is a conveyor belt, and the time from starting the conveyor belt to the maximum power of the conveyor belt is 30s, then t can be set to 30s. By keeping the maximum power running for t and then shutting down the target device, it can be ensured that the subsequent analysis data not only includes the data when the target test device is started, but also includes the data when the target test device is running stably, so as to ensure that the analysis results are more comprehensive; Establish a plane rectangular coordinate system and record it as a vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; draw a corresponding curve in the vibration analysis coordinate system based on the vibration test data and record it as a vibration test curve, where the abscissa of the rightmost point of the vibration test curve is 2t; The points in the curve whose ordinate is greater than 0 and whose slope is 0 are recorded as positive convex points; the points in the curve whose ordinate is less than 0 and whose slope is 0 are recorded as negative concave points; the curve obtained by fitting all positive convex points in the vibration test curve is recorded as a positive amplitude fluctuation curve, and the curve obtained by fitting all negative concave points in the vibration test curve is recorded as a negative amplitude fluctuation curve; In the specific implementation process, for example, during a data analysis, the vibration analysis curve obtained is as follows: Figure 3As shown by the curve ZF in , it can be obtained through analysis that points ZT1 to ZT4 are positive convex points, points FO1 to FO4 are negative concave points, and curve ZB is a positive amplitude fluctuation curve, and curve FF is a negative amplitude fluctuation curve; by symmetric curve FF about the X-axis, it can be obtained Figure 4 The middle curve DF is a negative amplitude symmetrical curve. Through analysis, we can get: Figure 5 The middle curve α is an independent curve in the positive and negative fluctuation area, so the slope of the straight line formed by the middle point HX and point HD of the curve α can be recorded as the horizontal slope, and the slope of the straight line formed by the point ZX and point HD can be recorded as the vertical slope, and then the average value of the vertical slope and the horizontal slope can be recorded as the offset slope of the curve α; Obtain a curve that is symmetrical about the X-axis of the negative amplitude fluctuation curve and record it as the negative amplitude symmetrical curve; record the area in the positive amplitude fluctuation curve within X=0 to X=2t that does not overlap with the negative amplitude symmetrical curve as the positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, record the slope of the straight line formed by the point with the largest ordinate and the point with the smallest ordinate in the curve α as the longitudinal slope of the curve α; record the slope of the straight line formed by the point with the largest abscissa and the point with the smallest abscissa in the curve α as the transverse slope of the curve α, and record the average of the longitudinal slope and the transverse slope of the curve α as the offset slope of the curve α; Obtain the offset slopes of all independent curves in the positive and negative fluctuation regions, and record the maximum value of all offset slopes as the maximum offset; Get the maximum slope and the minimum slope in the positive amplitude fluctuation curve, and record them as K max and K min , [K min -k,K max +k] is recorded as the vibration fluctuation range of the servo motor, the difference between the maximum and minimum values ​​of the ordinates in all positive concave points is recorded as the vibration range parameter of the servo motor, and the minimum value of the ordinates in all positive concave points is recorded as the starting amplitude, where k is the maximum offset.

[0019] In the specific implementation process, for example, in a data processing, the maximum and minimum values ​​of the slope in the positive amplitude fluctuation curve are 4 and 0.5 respectively, and the maximum offset is 0.15, then the vibration fluctuation range of the servo motor can be obtained by calculation as [0.35, 5.5]; by obtaining the vibration fluctuation curve of the servo motor, the parameters of the servo motor under the influence of vibration can be collected, which is helpful to obtain the calibration parameters of the servo motor in combination with the influence of vibration in subsequent analysis, so as to ensure that the calibration parameters are more accurate; The vibration parameter analysis module is used to obtain the servo motor's rotation angle range and speed range based on the angle reader and the tachometer, respectively; perform multi-angle tests on the servo motor based on the rotation angle range and the speed range, and simulate vibration of the servo motor based on the vibration range parameters during the test to obtain vibration speed parameters at different rotation angles; The vibration parameter analysis module includes a vibration parameter analysis unit, and the vibration parameter analysis unit is configured with a vibration parameter analysis strategy, and the vibration parameter analysis strategy includes: The servo motor's rotation angle range and speed range are obtained based on the angle reader and recorded as [γ1, γ2] and [β1, β2], where γ1 is the minimum angle at which the servo motor can rotate, γ2 is the maximum angle at which the servo motor can rotate, β1 is the minimum speed at which the servo motor is running, and β2 is the maximum speed at which the servo motor is running; In the specific implementation process, for example, in actual application, the servo motor in the conveyor belt can only rotate 10 degrees and 30 degrees, and the minimum speed of the servo motor during operation is 0 and the maximum speed is 1000r / min, then [γ1, γ2] can be set to [10, 30], and [β1, β2] can be set to [0, 10000]; by obtaining the angle range and the speed range, the servo motor at different angles and speeds can be tested in combination with vibration, so as to obtain the calibration parameters associated with the angle and speed of the servo motor under the influence of vibration; The multi-angle test is as follows: for any rotation angle γ0 that can be achieved by the servo motor in [γ1, γ2], the servo motor is rotated by γ0, and the servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the starting amplitude; when the amplitude of the servo motor reaches the starting amplitude, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained, and recorded as the starting data; Return the servo motor speed to zero and stop the simulated vibration; The servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the vibration range parameter; when the amplitude of the servo motor reaches the vibration range parameter, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained and recorded as vibration data; In the specific implementation process, by testing the servo motor with the initial amplitude and the vibration range parameter coordinate vibration conditions respectively, the data corresponding to the minimum vibration amplitude and the maximum vibration amplitude in the operating environment of the servo motor can be obtained respectively, which helps to make the obtained vibration speed parameters conform to the vibration state of the servo motor in actual operation; Obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system respectively, and record them as the starting curve and the vibration curve respectively; record the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and record the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; record the difference between the starting slope and the vibration slope as the vibration speed parameter of the servo motor when it is at γ0; In the specific implementation process, for example, during a data processing, the initial slope is 1 and the vibration slope is 4, then the value of the vibration speed parameter can be recorded as 3; the vibration speed parameter corresponding to the rotation angle that can be achieved by all servo motors in [γ1, γ2] is obtained.

[0020] The calibration parameter determination module is used to repeatedly perform multi-angle tests on the servo motor, and obtain comprehensive measurement parameters based on the vibration speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as calibration parameters when the servo motor is at different rotation angles and speeds; The calibration parameter determination module includes a calibration parameter determination unit, and the calibration parameter determination unit is configured with a calibration parameter determination strategy, and the calibration parameter determination strategy includes: Repeat the multi-angle test on the servo motor, and record the vibration speed parameters corresponding to the angles that can be achieved by all servo motors in each multi-angle test; for any angle γ0 that can be achieved by any servo motor in [γ1, γ2], when the vibration speed parameter of the angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the angle γ0 in tests other than the latest multi-angle test, the angle γ0 is recorded as the achievable angle; When all the rotation angles are recorded as achievable rotation angles during repeated multi-angle tests on the servo motor, the repeated tests are stopped, and the vibration speed parameters corresponding to the rotation angles that can be achieved by all servo motors in the latest multi-angle test are recorded as comprehensive measurement parameters; In the specific implementation process, the comprehensive measurement parameters are obtained, and the calibration parameters of the servo motor when it is running under the influence of vibration can be obtained to ensure that the obtained calibration parameters are not affected by the vibration of the equipment, thereby improving the accuracy of the calibration parameters; For any vibration speed parameter corresponding to the rotation angle γ0 in the comprehensive measurement parameters, adjust the vibration speed parameter of the rotation angle γ0 to T× , where T is the vibration speed parameter of the rotation angle γ0; In the specific implementation process, for example, in a data processing, the vibration speed parameter corresponding to the rotation angle γ0 is 3, K max is 4, K min is 0.5, k is 0.15, then by calculation, the corrected vibration speed parameter is 2.85; After the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, the vibration speed parameter of each rotation angle in the comprehensive measurement parameters is set to the calibrated speed at any speed when the servo motor is at different rotation angles.

[0021] Example 2, please refer to Figure 2 As shown, the present application also provides a servo motor magnetic encoder calibration method, comprising the following steps: Step S1, performing a vibration test on the servo motor based on the device where the servo motor is located, and obtaining a vibration fluctuation interval and a vibration range parameter of the servo motor during the vibration test; Step S1 includes: step S101, recording the device where the servo motor is located as the target test device, and installing a vibration sensor in the servo motor, wherein the vibration sensor is used to detect the amplitude of the servo motor when it vibrates; Step S102, start the vibration sensor, and start the target test device until the target test device runs to maximum power, and record the start-up time of the target test device at this time as t; when the target test device runs to maximum power, keep the maximum power running for t and then turn off the target test device, and when the detection result of the vibration sensor is 0, record the data detected by the vibration sensor as vibration test data; Step S103, establishing a plane rectangular coordinate system and recording it as a vibration analysis coordinate system, wherein the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; drawing a corresponding curve in the vibration analysis coordinate system based on the vibration test data, and recording it as a vibration test curve, wherein the abscissa of the rightmost point of the vibration test curve is 2t; Step S104, record the points in the curve whose ordinate is greater than 0 and whose slope is 0 as positive convex points; record the points in the curve whose ordinate is less than 0 and whose slope is 0 as negative concave points; record the curve obtained by fitting all positive convex points in the vibration test curve as a positive amplitude fluctuation curve, and record the curve obtained by fitting all negative concave points in the vibration test curve as a negative amplitude fluctuation curve; Step S105, obtaining a curve that is symmetrical about the X-axis of the negative amplitude fluctuation curve, and recording it as a negative amplitude symmetrical curve; recording the area in the positive amplitude fluctuation curve within X=0 to X=2t that does not overlap with the negative amplitude symmetrical curve as a positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, recording the slope of a straight line formed by a point with a maximum ordinate and a point with a minimum ordinate in the curve α as the longitudinal slope of the curve α; recording the slope of a straight line formed by a point with a maximum abscissa and a point with a minimum abscissa in the curve α as the transverse slope of the curve α, and recording the average value of the longitudinal slope and the transverse slope of the curve α as the offset slope of the curve α; Step S106, obtaining the offset slopes of all independent curves in the positive and negative fluctuation regions, and recording the maximum value of all offset slopes as the maximum offset; Step S107, obtaining the maximum slope value and the minimum slope value in the positive amplitude fluctuation curve, and recording them as K and max and K min , [K min -k,K max +k] is recorded as the vibration fluctuation range of the servo motor, the difference between the maximum and minimum values ​​of the ordinates in all positive concave points is recorded as the vibration range parameter of the servo motor, and the minimum value of the ordinates in all positive concave points is recorded as the starting amplitude, where k is the maximum offset.

[0022] Step S2, obtaining the servo motor's rotation angle range and rotation speed range based on the angle reader and the tachometer respectively; performing multi-angle tests on the servo motor based on the rotation angle range and the rotation speed range, and performing simulated vibration on the servo motor based on the vibration range parameters during the test to obtain vibration speed parameters at different rotation angles; Step S2 includes: step S201, obtaining the rotation angle range and the rotation speed range of the servo motor based on the angle reader, and recording them as [γ1, γ2] and [β1, β2], wherein γ1 is the minimum angle that the servo motor can rotate, γ2 is the maximum angle that the servo motor can rotate, β1 is the minimum rotation speed when the servo motor is running, and β2 is the maximum rotation speed when the servo motor is running; Step S202, multi-angle test is as follows: Step S2021, for any one of the servo motors [γ1, γ2] that can achieve an angle γ0, the servo motor is rotated by γ0, and the servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor is the starting amplitude; when the amplitude of the servo motor is the starting amplitude, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained, and recorded as the starting data; Step S2022, returning the rotation speed of the servo motor to zero and stopping the simulated vibration; Step S2023, simulating vibration of the servo motor from rest until the amplitude of the vibration sensor in the servo motor reaches the vibration range parameter; when the amplitude of the servo motor reaches the vibration range parameter, starting the servo motor and increasing the speed of the servo motor to β1; controlling the speed of the servo motor to increase from β1 to β2, and obtaining data detected by the vibration sensor when the speed of the servo motor increases from β1 to β2, which is recorded as vibration data; Step S2024, respectively obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system, and record them as the starting curve and the vibration curve respectively; record the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and record the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; record the difference between the starting slope and the vibration slope as the vibration speed parameter of the servo motor when it is at γ0; Step S2025, obtaining vibration speed parameters corresponding to the rotation angles that can be achieved by all servo motors in [γ1, γ2].

[0023] Step S3, repeatedly performing multi-angle tests on the servo motor, and obtaining comprehensive measurement parameters based on the vibration speed parameters obtained from multiple tests, calibrating the comprehensive measurement parameters using the vibration fluctuation range, and using the calibrated comprehensive measurement parameters as calibration parameters when the servo motor is at different rotation angles and speeds; Step S3 includes: step S301, repeatedly performing multi-angle tests on the servo motor, and recording the vibration speed parameters corresponding to the angles that can be achieved by all servo motors in each multi-angle test; for the angle γ0 that can be achieved by any servo motor in [γ1, γ2], when the vibration speed parameter of the angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the angle γ0 in tests other than the latest multi-angle test, the angle γ0 is recorded as the achievable angle; Step S302, when all the rotation angles are recorded as achievable rotation angles during repeated multi-angle testing of the servo motor, the repeated testing is stopped, and the vibration speed parameters corresponding to the rotation angles that can be achieved by all the servo motors in the latest multi-angle test are recorded as comprehensive measurement parameters; Step S303: for any vibration speed parameter corresponding to the rotation angle γ0 in the comprehensive measurement parameters, adjust the vibration speed parameter of the rotation angle γ0 to T× , where T is the vibration speed parameter of the rotation angle γ0; Step S304, after the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, the vibration speed parameter of each rotation angle in the comprehensive measurement parameters is set to the calibrated speed at any speed when the servo motor is at different rotation angles.

[0024] Example 3, please refer to Figure 6 As shown, Figure 6The structural schematic diagram of an electronic device is illustrated, and the electronic device may include: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus. The memory stores computer-readable instructions, and the processor can call the instructions in the memory. When the computer-readable instructions are executed by the processor, the steps in a servo motor magnetic encoder calibration method are executed to achieve the following functions: first, a vibration test is performed on the servo motor based on the device where the servo motor is located, and the vibration fluctuation interval and vibration range parameters of the servo motor during the vibration test are obtained; then, the servo motor's angular range and speed range are obtained based on the angle reader and the tachometer; the servo motor is tested at multiple angles based on the angular range and the speed range, and the servo motor is simulated to vibrate based on the vibration range parameters during the test to obtain the vibration speed parameters at different angles; finally, the servo motor is repeatedly tested at multiple angles, and the comprehensive measurement parameters are obtained based on the vibration speed parameters obtained from multiple tests, the comprehensive measurement parameters are calibrated using the vibration fluctuation interval, and the calibrated comprehensive measurement parameters are used as calibration parameters when the servo motor is at different angles and speeds.

[0025] In addition, the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and can be stored in a computer-readable storage medium when sold or used as an independent product. Based on this understanding, the technical solution of the present application can be essentially or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk, etc. Various media that can store program codes.

[0026] Embodiment 4, the present application also provides a computer-readable storage medium, the present application provides a storage medium, on which a computer program is stored, and when the computer program is executed by the processor, the steps in the above servo motor magnetic encoder calibration method are executed to achieve the following functions: first, a vibration test is performed on the servo motor based on the device where the servo motor is located, and the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test are obtained; then, the angular range and speed range of the servo motor are respectively obtained based on the angle reader and the tachometer; based on the angular range and the speed range, a multi-angle test is performed on the servo motor, and during the test, the servo motor is simulated to vibrate based on the vibration range parameters to obtain vibration speed parameters at different angles; finally, the multi-angle test is repeated on the servo motor, and comprehensive measurement parameters are obtained based on the vibration speed parameters obtained from multiple tests, the comprehensive measurement parameters are calibrated using the vibration fluctuation range, and the calibrated comprehensive measurement parameters are used as calibration parameters for the servo motor at different angles and speeds.

[0027] Through the description of the above implementation methods, the embodiments of the present invention can be provided as methods, systems or computer program products. Based on such an understanding, the above technical solutions can be essentially or partly contributed to the prior art in the form of software products, which can be stored in a computer-readable storage medium, such as ROM / RAM, a magnetic disk, an optical disk, etc., and include several instructions for enabling a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the methods described in each embodiment or some parts of the embodiments.

[0028] In the embodiments provided in the present application, it should be understood that the disclosed system or method can be implemented in other ways. The embodiments described above are merely schematic. For example, the division of modules or units is only a logical function division. There may be other division methods in actual implementation. For example, multiple modules or units can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some communication interfaces, and the indirect coupling or communication connection of systems, modules and units can be electrical, mechanical or other forms.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit it. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

Claims

1. A servo motor magnetic encoder calibration method, characterized in that: The steps include: Perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test; The servo motor's rotation angle range and speed range are obtained based on the angle reader and the tachometer, respectively; the servo motor is tested at multiple angles based on the rotation angle range and the speed range, and the servo motor is simulated to vibrate based on the vibration range parameters during the test to obtain the vibration speed parameters at different rotation angles; The servo motor is repeatedly tested at multiple angles, and comprehensive measurement parameters are obtained based on the vibration and speed parameters obtained from multiple tests. The comprehensive measurement parameters are calibrated using the vibration fluctuation range, and the calibrated comprehensive measurement parameters are used as calibration parameters for the servo motor at different rotation angles and speeds.

2. A servo motor magnetic encoder calibration method according to claim 1, characterized in that: Perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test, including: The device where the servo motor is located is recorded as the target test device, and a vibration sensor is installed in the servo motor, wherein the vibration sensor is used to detect the amplitude of the servo motor when it vibrates; Start the vibration sensor and start the target test equipment until the target test equipment runs to maximum power, and record the start-up time of the target test equipment at this time as t; when the target test equipment runs to maximum power, keep running at maximum power for t and then turn off the target test equipment, and when the detection result of the vibration sensor is 0, record the data detected by the vibration sensor as vibration test data.

3. A servo motor magnetic encoder calibration method according to claim 2, characterized in that: Performing vibration test on the servo motor based on the equipment where the servo motor is located, and obtaining the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test also include: Establish a plane rectangular coordinate system and record it as a vibration analysis coordinate system, where the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; draw a corresponding curve in the vibration analysis coordinate system based on the vibration test data and record it as a vibration test curve, where the abscissa of the rightmost point of the vibration test curve is 2t; The points in the curve with a ordinate greater than 0 and a slope of 0 are recorded as positive convex points; the points in the curve with a ordinate less than 0 and a slope of 0 are recorded as negative concave points; the curve obtained by fitting all the positive convex points in the vibration test curve is recorded as a positive amplitude fluctuation curve, and the curve obtained by fitting all the negative concave points in the vibration test curve is recorded as a negative amplitude fluctuation curve.

4. A servo motor magnetic encoder calibration method according to claim 3, characterized in that: Performing vibration test on the servo motor based on the equipment where the servo motor is located, and obtaining the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test also include: Obtain a curve that is symmetrical about the X-axis of the negative amplitude fluctuation curve and record it as the negative amplitude symmetrical curve; record the area in the positive amplitude fluctuation curve within X=0 to X=2t that does not overlap with the negative amplitude symmetrical curve as the positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, record the slope of the straight line formed by the point with the largest ordinate and the point with the smallest ordinate in the curve α as the longitudinal slope of the curve α; record the slope of the straight line formed by the point with the largest abscissa and the point with the smallest abscissa in the curve α as the transverse slope of the curve α, and record the average of the longitudinal slope and the transverse slope of the curve α as the offset slope of the curve α; Obtain the offset slopes of all independent curves in the positive and negative fluctuation regions, and record the maximum value of all offset slopes as the maximum offset; Get the maximum slope and the minimum slope in the positive amplitude fluctuation curve, and record them as K max and K min , [K min -k,K max +k] is recorded as the vibration fluctuation range of the servo motor, the difference between the maximum and minimum values ​​of the ordinates in all positive concave points is recorded as the vibration range parameter of the servo motor, and the minimum value of the ordinates in all positive concave points is recorded as the starting amplitude, where k is the maximum offset.

5. A servo motor magnetic encoder calibration method according to claim 4, characterized in that: The servo motor is tested at multiple angles based on the rotation angle range and speed range. During the test, the servo motor is simulated to vibrate based on the vibration range parameters. The vibration speed parameters at different rotation angles are as follows: The servo motor's rotation angle range and speed range are obtained based on the angle reader and recorded as [γ1, γ2] and [β1, β2], where γ1 is the minimum angle at which the servo motor can rotate, γ2 is the maximum angle at which the servo motor can rotate, β1 is the minimum speed at which the servo motor is running, and β2 is the maximum speed at which the servo motor is running; The multi-angle test is as follows: for any rotation angle γ0 that can be achieved by the servo motor in [γ1, γ2], the servo motor is rotated by γ0, and the servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the starting amplitude; when the amplitude of the servo motor reaches the starting amplitude, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained, and recorded as the starting data; Return the servo motor speed to zero and stop the simulated vibration; The servo motor is simulated to vibrate from rest until the amplitude of the vibration sensor in the servo motor reaches the vibration range parameter; when the amplitude of the servo motor reaches the vibration range parameter, the servo motor is started and the speed of the servo motor is increased to β1; the speed of the servo motor is controlled to increase from β1 to β2, and the data detected by the vibration sensor when the speed of the servo motor is increased from β1 to β2 is obtained and recorded as vibration data.

6. A servo motor magnetic encoder calibration method according to claim 5, characterized in that: Multi-angle testing also includes: Obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system respectively, and record them as the starting curve and the vibration curve respectively; record the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and record the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; record the difference between the starting slope and the vibration slope as the vibration speed parameter of the servo motor when it is at γ0; Get the vibration speed parameters corresponding to the rotation angles that all servo motors in [γ1, γ2] can achieve.

7. A servo motor magnetic encoder calibration method according to claim 6, characterized in that: The servo motor is repeatedly tested at multiple angles, and comprehensive measurement parameters are obtained based on the vibration speed parameters obtained from multiple tests. The comprehensive measurement parameters are calibrated using the vibration fluctuation range, and the calibrated comprehensive measurement parameters are used as calibration parameters for the servo motor at different rotation angles and speeds, including: Repeat the multi-angle test on the servo motor, and record the vibration speed parameters corresponding to the angles that can be achieved by all servo motors in each multi-angle test; for any angle γ0 that can be achieved by any servo motor in [γ1, γ2], when the vibration speed parameter of the angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the angle γ0 in tests other than the latest multi-angle test, the angle γ0 is recorded as the achievable angle; When all the rotation angles are recorded as achievable rotation angles during repeated multi-angle tests on the servo motor, the repeated tests are stopped, and the vibration speed parameters corresponding to the rotation angles that can be achieved by all the servo motors in the latest multi-angle test are recorded as comprehensive measurement parameters; For any vibration speed parameter corresponding to the rotation angle γ0 in the comprehensive measurement parameters, adjust the vibration speed parameter of the rotation angle γ0 to T× , where T is the vibration speed parameter of the rotation angle γ0; After the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, the vibration speed parameter of each rotation angle in the comprehensive measurement parameters is set to the calibrated speed at any speed when the servo motor is at different rotation angles.

8. A servo motor magnetic encoder calibration platform, used to implement a servo motor magnetic encoder calibration method according to any one of claims 1 to 7, characterized in that: It includes a vibration test module, a vibration parameter analysis module and a calibration parameter determination module; The vibration test module is used to perform a vibration test on the servo motor based on the device where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test; The vibration parameter analysis module is used to obtain the servo motor's rotation angle range and speed range based on the angle reader and the tachometer, respectively; perform multi-angle tests on the servo motor based on the rotation angle range and the speed range, and simulate vibration of the servo motor based on the vibration range parameters during the test to obtain vibration speed parameters at different rotation angles; The calibration parameter determination module is used to repeatedly perform multi-angle tests on the servo motor, and obtain comprehensive measurement parameters based on the vibration and speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as calibration parameters for the servo motor at different rotation angles and speeds.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the memory stores computer-readable instructions. When the computer-readable instructions are executed by the processor, the steps in the method according to any one of claims 1 to 7 are executed.

10. A storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 7 are executed.

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