A Servo Motor Magnetic Encoder Calibration Method, Platform, Device and Medium

Abstract

The present invention discloses a method, platform, device and medium for calibrating a magnetic encoder of a servo motor, relating to the technical field of servo motors, including: performing a vibration test on the servo motor, and obtaining a vibration fluctuation range and vibration range parameters; obtaining a rotation angle range and a rotation speed range and obtaining vibration rotation speed parameters; obtaining comprehensive measurement parameters based on multiple tests, calibrating the comprehensive measurement parameters, and using the calibrated comprehensive measurement parameters as calibration parameters; The present invention is used to solve the problem that in the existing method for calibrating the magnetic encoder of a servo motor, when the vibration amplitude of the device where the servo motor operates is large, due to the influence of the vibration of the device, it is impossible to accurately obtain the calibration parameters of the servo motor, resulting in a large difference between the actual operating parameters and the calibration parameters.

Description

Technical Field

[0001] The present invention relates to the technical field of servo motors, and specifically to a method, platform, device and medium for calibrating the magnetic encoder of a servo motor. Background Art

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

[0003] Existing methods for calibrating the magnetic encoder of a servo motor usually calibrate a certain parameter during the operation of the servo motor based on the operable speed range of the servo motor. For example, by obtaining multiple target speeds and the range within which the servo motor can operate at multiple target speeds, the calibration parameter corresponding to the temperature rise value of the servo motor can be obtained. Although this improved method can obtain the calibration parameter corresponding to the temperature rise value with the speed of the servo motor as a reference standard, when the vibration amplitude of the device where the servo motor operates is relatively large, only analyzing the operating speed of the servo motor will be affected by the vibration of the device, resulting in the inability to accurately obtain the calibration parameter of the servo motor, causing a large difference between the actual operating parameter and the calibration parameter. For example, in the patent application with the publication number CN117895857A, a calibration method, device, readable storage medium and robot of a servo motor are disclosed. This solution obtains the temperature rise value of the servo motor when the servo motor starts and maintains the speed at the target speed under each set parameter; 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 calibration of the magnetic encoder of a servo motor are usually improvements in data acquisition optimization, and still cannot solve the problem that when the vibration amplitude of the device where the servo motor operates is relatively large during the setting process of the calibration parameter, it will be affected by the vibration of the device, resulting in the inability to accurately obtain the calibration parameter of the servo motor, causing a large difference between the actual operating parameter and the calibration parameter. In view of this, it is necessary to improve the existing method for calibrating the magnetic encoder of a servo motor. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems in the prior art to some extent. By providing a servo motor magnetic encoder calibration method, platform, device and medium, it is used to solve the problem in the existing servo motor magnetic encoder calibration method that during the setting process of calibration parameters, when the vibration amplitude of the device where the servo motor operates is relatively large, due to the influence of the device vibration, it is impossible to accurately obtain the calibration parameters of the servo motor, resulting in a large difference between the actual operating parameters and the calibration parameters.

[0005] To achieve the above object, in the first aspect, the present application provides a servo motor magnetic encoder calibration method, including the following steps:

[0006] 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;

[0007] Obtain the rotation angle range and rotation speed range of the servo motor based on an angle reader and a tachometer respectively; perform multi-angle tests on the servo motor based on the rotation angle range and rotation speed range, and simulate the vibration of the servo motor based on the vibration range parameters during the test to obtain the vibration rotation speed parameters at different rotation angles;

[0008] Repeat the multi-angle test on the servo motor, obtain the comprehensive measurement parameters based on the vibration rotation speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as the calibration parameters of the servo motor at different rotation angles and rotation speeds.

[0009] Further, performing a vibration test on the servo motor based on the device where the servo motor is located, and obtaining the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test includes:

[0010] Record the device where the servo motor is located as the target test device, and install a vibration sensor in the servo motor, where the vibration sensor is used to detect the amplitude when the servo motor vibrates;

[0011] Start the vibration sensor, and start the target test device until the target test device runs to the maximum power. Record the start time of the target test device at this time as t; when the target test device runs to the maximum power, keep running at the maximum power 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 the vibration test data.

[0012] Further, performing a vibration test on the servo motor based on the device where the servo motor is located, and obtaining the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test further includes:

[0013] Establish a plane rectangular coordinate system, denoted as the vibration analysis coordinate system. Among them, the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; draw the corresponding curve in the vibration analysis coordinate system based on the vibration test data, and denote it as the vibration test curve. Among them, the abscissa of the rightmost point of the vibration test curve is 2t;

[0014] Denote the point on the curve with a vertical coordinate greater than 0 and a slope of 0 as the positive convex point; denote the point on the curve with a vertical coordinate less than 0 and a slope of 0 as the negative concave point; denote the curve obtained by fitting all the positive convex points in the vibration test curve as the positive amplitude fluctuation curve, and denote the curve obtained by fitting all the negative concave points in the vibration test curve as the negative amplitude fluctuation curve.

[0015] Furthermore, conduct a vibration test on the servo motor based on the equipment where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test, which also include:

[0016] Obtain the curve that is symmetric about the X-axis of the negative amplitude fluctuation curve, and denote it as the negative amplitude symmetric curve; denote the area in the positive amplitude fluctuation curve from X = 0 to X = 2t that does not coincide with the negative amplitude symmetric curve as the positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, denote the slope of the straight line formed by the point with the maximum vertical coordinate and the point with the minimum vertical coordinate in curve α as the longitudinal slope of curve α; denote the slope of the straight line formed by the point with the maximum abscissa and the point with the minimum abscissa in curve α as the transverse slope of curve α, and denote the average value of the longitudinal slope and the transverse slope of curve α as the offset slope of curve α;

[0017] Obtain the offset slopes of all independent curves in the positive and negative fluctuation area, and denote the maximum value of all offset slopes as the maximum offset;

[0018] Obtain the maximum slope value and the minimum slope value in the positive amplitude fluctuation curve, and denote them as K max and K min , denote [K min - k, K max + k] as the vibration fluctuation range of the servo motor, denote the difference between the maximum value and the minimum value of the vertical coordinates of all positive concave points as the vibration range parameter of the servo motor, and denote the minimum value of the vertical coordinates of all positive concave points as the starting amplitude, where k is the maximum offset.

[0019] Furthermore, conduct multi-angle tests on the servo motor based on the rotation angle range and the rotation speed range, and simulate the vibration of the servo motor based on the vibration range parameter during the test, and obtain the vibration rotation speed parameters at different rotation angles, including:

[0020] Obtain the rotation angle range and rotation speed range of the servo motor based on the angle reader, and denote them as [γ1, γ2] and [β1, β2], where 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 during the operation of the servo motor, and β2 is the maximum rotation speed during the operation of the servo motor;

[0021] The multi-angle test is as follows: For any rotation angle γ0 that the servo motor can achieve within [γ1, γ2], rotate the servo motor by γ0, simulate vibration of the servo motor starting 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, start the servo motor and increase the rotation speed of the servo motor to β1; control the rotation speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotation speed of the servo motor increases from β1 to β2, and denote it as the starting data;

[0022] Reset the rotation speed of the servo motor to zero and stop simulating vibration;

[0023] Simulate vibration of the servo motor starting from rest until the amplitude of the vibration sensor in the servo motor is the vibration range parameter; when the amplitude of the servo motor is the vibration range parameter, start the servo motor and increase the rotation speed of the servo motor to β1; control the rotation speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotation speed of the servo motor increases from β1 to β2, and denote it as the vibration data.

[0024] Furthermore, the multi-angle test further includes:

[0025] Respectively obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system, and denote them as the starting curve and the vibration curve respectively; denote the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and denote the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; denote the difference between the starting slope and the vibration slope as the vibration rotation speed parameter of the servo motor when it is at γ0.

[0026] Obtain the vibration rotation speed parameters corresponding to all the rotation angles that the servo motor can achieve within [γ1, γ2].

[0027] Furthermore, repeat the multi-angle test on the servo motor, obtain the comprehensive measurement parameter based on the vibration rotation speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameter using the vibration fluctuation interval, and use the calibrated comprehensive measurement parameter as the calibration parameter of the servo motor at different rotation angles and rotation speeds, including:

[0028] Perform multi-angle tests on the servo motor repeatedly, and record the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve during each multi-angle test; for any rotation angle γ0 that a servo motor in [γ1, γ2] can achieve, when the vibration speed parameter of the rotation angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the rotation angle γ0 in the tests other than the latest multi-angle test, record the rotation angle γ0 as an achievable rotation angle.

[0029] When all rotation angles are recorded as achievable rotation angles during the process of repeatedly performing multi-angle tests on the servo motor, stop the repeated tests, and record the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve in the latest multi-angle test as comprehensive measurement parameters.

[0030] For the vibration speed parameter corresponding to any 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.

[0031] When the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, set the vibration speed parameter of each rotation angle in the comprehensive measurement parameters as the calibration speed at any speed when the servo motor is at different rotation angles.

[0032] In a second aspect, the present application further provides a servo motor magnetic encoder calibration platform, including a vibration test module, a vibration parameter analysis module, and a calibration parameter determination module;

[0033] The vibration test module is used to perform vibration tests on the servo motor based on the equipment where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test.

[0034] The vibration parameter analysis module is used to obtain the rotation angle range and speed range of the servo motor based on an angle reader and a tachometer respectively; perform multi-angle tests on the servo motor based on the rotation angle range and speed range, and perform simulated vibration on the servo motor based on the vibration range parameters during the test to obtain the vibration speed parameters at different rotation angles.

[0035] The calibration parameter determination module is used to perform multi-angle tests on the servo motor repeatedly, 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 the calibration parameters when the servo motor is at different rotation angles and speeds.

[0036] In a third aspect, the present application provides an electronic device, including a processor and a memory, where the memory stores computer-readable instructions, and when the computer-readable instructions are executed by the processor, the steps in the above method are run.

[0037] In a fourth aspect, the present application provides a storage medium, on which a computer program is stored. When the computer program is executed by a processor, it runs the steps in the above method.

[0038] Advantageous effects of the present invention: The present application first conducts a vibration test on a servo motor based on the device where the servo motor is located, and obtains the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test. The advantage of this is that by obtaining the vibration fluctuation range and vibration range parameters, parameters corresponding to the vibration amplitude when the servo motor operates under the vibration influence of the device where it is located can be obtained, which helps in subsequent analysis to calibrate the calibration parameters of the servo motor in combination with the vibration influence parameters of the servo motor, that is, the vibration fluctuation range and vibration range parameters, to ensure that when the vibration amplitude of the device where the servo motor operates is large, the obtained calibration parameters are not affected by the vibration of the device, thereby accurately reflecting the actual operating state of the servo motor.

[0039] The present application also obtains the rotation angle range and rotation speed range of the servo motor based on an angle reader and a tachometer respectively; conducts multi-angle tests on the servo motor based on the rotation angle range and rotation speed range, and simulates vibration on the servo motor based on the vibration range parameters during the test to obtain vibration rotation speed parameters at different rotation angles; finally, repeats multi-angle tests on the servo motor, obtains comprehensive measurement parameters based on the vibration rotation speed parameters obtained from multiple tests, calibrates the comprehensive measurement parameters using the vibration fluctuation range, and uses the calibrated comprehensive measurement parameters as the calibration parameters of the servo motor at different rotation angles and rotation speeds. The advantage of this is that by conducting multi-angle tests and obtaining comprehensive measurement parameters, calibration parameters when the servo motor operates under the influence of vibration can be obtained to ensure that the obtained calibration parameters are not affected by the vibration of the device, thereby improving the accuracy of the calibration parameters. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 is a principle block diagram of the system of the present invention;

[0041] Figure 2 is a step flowchart of the method of the present invention;

[0042] Figure 3 is an analysis schematic diagram of the vibration analysis curve of the present invention;

[0043] Figure 4 is a schematic diagram for obtaining the negative amplitude symmetry curve of the present invention;

[0044] Figure 5 is a schematic diagram for obtaining the offset slope of the present invention;

[0045] Figure 6Schematic structural diagram of the electronic device of the present invention. Detailed implementation manners

[0046] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0047] 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;

[0048] The vibration test module is used to perform vibration tests 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;

[0049] 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:

[0050] Denote the device where the servo motor is located as the target test device, and install a vibration sensor in the servo motor, where the vibration sensor is used to detect the amplitude when the servo motor vibrates;

[0051] Start the vibration sensor, and start the target test device until the target test device runs to the maximum power. Denote the start time of the target test device at this time as t; when the target test device runs to the maximum power, keep running at the maximum power 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;

[0052] In the specific implementation process, the target test device can be any device capable of carrying 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 for starting the conveyor belt until the running power of the conveyor belt reaches the maximum power is 30s, then t can be set to 30s. By keeping running at the maximum power for t and then turning off the target device, it can ensure that the subsequent analysis data not only includes the data when the target test device starts, but also includes the data when the target test device runs stably, so as to ensure that the analysis result is more comprehensive;

[0053] Establish a plane rectangular coordinate system and denote it as the vibration analysis coordinate system. Among them, the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude; based on the vibration test data, draw the corresponding curve in the vibration analysis coordinate system and denote it as the vibration test curve. Among them, the abscissa of the rightmost point of the vibration test curve is 2t;

[0054] Mark the points on the curve with a vertical coordinate greater than 0 and a slope of 0 as positive convex points; mark the points on the curve with a vertical coordinate less than 0 and a slope of 0 as negative concave points; mark the curve obtained by fitting all the positive convex points on the vibration test curve as the positive amplitude fluctuation curve, and mark the curve obtained by fitting all the negative concave points on the vibration test curve as the negative amplitude fluctuation curve;

[0055] In the specific implementation process, for example, in a data analysis, the obtained vibration analysis curve is as shown in the curve ZF in Figure 3 . Then, through analysis, it can be obtained that the points ZT1 to ZT4 are positive convex points, the points FO1 to FO4 are negative concave points, and the curve ZB is the positive amplitude fluctuation curve, and the curve FF is the negative amplitude fluctuation curve; by making the curve FF symmetric about the X-axis, it can be obtained that the curve DF in Figure 4 is the negative amplitude symmetric curve. Through analysis, it can be obtained that Figure 5 the curve α in is an independent curve in the positive and negative fluctuation region. Therefore, the slope of the straight line formed by the point HX and the point HD on the curve α can be denoted as the horizontal slope, and the slope of the straight line formed by the point ZX and the point HD can be denoted as the vertical slope. Furthermore, the average value of the vertical slope and the horizontal slope can be denoted as the offset slope of the curve α;

[0056] Obtain the curve that is symmetric about the X-axis of the negative amplitude fluctuation curve and denote it as the negative amplitude symmetric curve; mark the region of the positive amplitude fluctuation curve within X = 0 to X = 2t that does not coincide with the negative amplitude symmetric curve as the positive and negative fluctuation region; for any independent curve α in the positive and negative fluctuation region, denote the slope of the straight line formed by the point with the largest vertical coordinate and the point with the smallest vertical coordinate on the curve α as the vertical slope of the curve α; denote the slope of the straight line formed by the point with the largest horizontal coordinate and the point with the smallest horizontal coordinate on the curve α as the horizontal slope of the curve α, and denote the average value of the vertical slope and the horizontal slope of the curve α as the offset slope of the curve α;

[0057] Obtain the offset slopes of all independent curves in the positive and negative fluctuation region, and denote the maximum value of all offset slopes as the maximum offset;

[0058] Obtain the maximum value of the slope and the minimum value of the slope in the positive amplitude fluctuation curve, and denote them as K max and K min , and denote [K min - k, K maxDenote the vibration fluctuation range of the servo motor as [+k], denote the difference between the maximum value and the minimum value of the ordinates among all positive concave points as the vibration range parameter of the servo motor, and denote the minimum value of the ordinates among all positive concave points as the starting amplitude, where k is the maximum offset.

[0059] In the specific implementation process, for example, during a data processing, the maximum value and the minimum value of the slopes in the obtained positive amplitude fluctuation curve are 4 and 0.5 respectively, and the maximum offset is 0.15. Then, through calculation, the vibration fluctuation range of the servo motor can be obtained as [0.35, 5.5]; by acquiring the vibration fluctuation curve of the servo motor, it is possible to collect the parameters of the servo motor under the influence of vibration, which helps to obtain the calibration parameters of the servo motor in combination with the vibration influence during subsequent analysis to ensure that the calibration parameters are more accurate.

[0060] The vibration parameter analysis module is used to obtain the rotation angle range and the rotation speed range of the servo motor based on the angle reader and the tachometer respectively; conduct multi-angle tests on the servo motor based on the rotation angle range and the rotation speed range, and simulate the vibration of the servo motor based on the vibration range parameter during the test to obtain the vibration rotation speed parameters at different rotation angles.

[0061] 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. The vibration parameter analysis strategy includes:

[0062] Obtain the rotation angle range and the rotation speed range of the servo motor based on the angle reader, and denote them as [γ1, γ2] and [β1, β2], where 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 operates, and β2 is the maximum rotation speed when the servo motor operates.

[0063] 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 rotation speed when the servo motor operates is 0, and the maximum rotation speed is 1000 r / min. Then, [γ1, γ2] can be set as [10, 30], and [β1, β2] can be set as [0, 10000]; by obtaining the rotation angle range and the rotation speed range, it is possible to test the servo motor at different rotation angles and rotation speeds in combination with vibration, so as to obtain the calibration parameters related to the rotation angle and rotation speed of the servo motor under the influence of vibration.

[0064] The multi-angle test is as follows: For any rotation angle γ0 that a servo motor in [γ1, γ2] can achieve, rotate the servo motor by γ0, simulate vibration starting from the stationary state of the servo motor 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, start the servo motor and increase the rotational speed of the servo motor to β1; control the rotational speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotational speed of the servo motor increases from β1 to β2, which is recorded as the starting data;

[0065] Zero the rotational speed of the servo motor and stop simulating vibration;

[0066] Simulate vibration starting from the stationary state of the servo motor until the amplitude of the vibration sensor in the servo motor is the vibration range parameter; when the amplitude of the servo motor is the vibration range parameter, start the servo motor and increase the rotational speed of the servo motor to β1; control the rotational speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotational speed of the servo motor increases from β1 to β2, which is recorded as the vibration data;

[0067] In the specific implementation process, by testing the servo motor respectively with the starting amplitude and the vibration range parameter coordinate vibration conditions, the data corresponding to the minimum and maximum vibration amplitudes in the operating environment of the servo motor can be obtained respectively, which helps to make the obtained vibration rotational speed parameters conform to the vibration state when the servo motor actually operates;

[0068] 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 rotational speed parameter of the servo motor when it is at γ0;

[0069] In the specific implementation process, for example, in a data processing, the obtained starting slope is 1 and the vibration slope is 4, then the value of the vibration rotational speed parameter can be recorded as 3; obtain the vibration rotational speed parameters corresponding to the rotation angles that all servo motors in [γ1, γ2] can achieve.

[0070] The calibration parameter determination module is used to repeatedly perform multi-angle tests on the servo motor, obtain comprehensive determination parameters based on the vibration rotational speed parameters obtained from multiple tests, calibrate the comprehensive determination parameters using the vibration fluctuation interval, and use the calibrated comprehensive determination parameters as the calibration parameters of the servo motor at different rotation angles and rotational speeds;

[0071] 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:

[0072] The multi - angle tests are repeated on the servo motor, and the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve during each multi - angle test are recorded; for any rotation angle γ0 that a servo motor in [γ1, γ2] can achieve, when the vibration speed parameter of the rotation angle γ0 obtained in the latest multi - angle test is the same as the average value of all vibration speed parameters of the rotation angle γ0 in the tests other than the latest multi - angle test, the rotation angle γ0 is recorded as an achievable rotation angle.

[0073] When all rotation angles are recorded as achievable rotation angles during the process of repeatedly performing multi - angle tests on the servo motor, stop the repeated tests, and record the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve in the latest multi - angle test as comprehensive measurement parameters.

[0074] In the specific implementation process, by obtaining the comprehensive measurement parameters, the calibration parameters during the operation of the servo motor 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.

[0075] For the vibration speed parameter corresponding to any 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.

[0076] In the specific implementation process, for example, during a data processing, the vibration speed parameter corresponding to the rotation angle γ0 obtained is 3, K max is 4, K min is 0.5, and k is 0.15. Then, through calculation, the corrected vibration speed parameter is 2.85.

[0077] When the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, set the vibration speed parameter of each rotation angle in the comprehensive measurement parameters as the calibration speed at any speed when the servo motor is at different rotation angles.

[0078] Example 2, please refer to Figure 2 As shown, the present application also provides a method for calibrating the magnetic encoder of a servo motor, including the following steps:

[0079] Step S1, perform a vibration test on the servo motor based on the equipment where the servo motor is located, and obtain the vibration fluctuation range and vibration range parameters of the servo motor during the vibration test.

[0080] Step S1 includes: Step S101, record the equipment where the servo motor is located as the target test equipment, and install a vibration sensor in the servo motor, where the vibration sensor is used to detect the amplitude when the servo motor vibrates.

[0081] Step S102: Start the vibration sensor and start the target test device until it runs at the maximum power. Record the startup time of the target test device at this moment as t. When the target test device runs at the maximum power, keep it running at the maximum power for t and then turn off the target test device. When the detection result of the vibration sensor is 0, record the data detected by the vibration sensor as vibration test data.

[0082] Step S103: Establish a rectangular coordinate system and denote it as the vibration analysis coordinate system. Among them, the unit of the X-axis of the vibration analysis coordinate system is time, and the unit of the Y-axis is amplitude. Based on the vibration test data, plot the corresponding curve in the vibration analysis coordinate system and denote it as the vibration test curve. Among them, the abscissa of the rightmost point of the vibration test curve is 2t.

[0083] Step S104: Denote the points on the curve with a vertical coordinate greater than 0 and a slope of 0 as positive convex points; denote the points on the curve with a vertical coordinate less than 0 and a slope of 0 as negative concave points; denote the curve obtained by fitting all the positive convex points on the vibration test curve as the positive amplitude fluctuation curve, and denote the curve obtained by fitting all the negative concave points on the vibration test curve as the negative amplitude fluctuation curve.

[0084] Step S105: Obtain the curve that is symmetric about the X-axis of the negative amplitude fluctuation curve and denote it as the negative amplitude symmetric curve; denote the area of the positive amplitude fluctuation curve within X = 0 to X = 2t that does not coincide with the negative amplitude symmetric curve as the positive and negative fluctuation area; for any independent curve α in the positive and negative fluctuation area, denote the slope of the straight line formed by the point with the maximum vertical coordinate and the point with the minimum vertical coordinate on curve α as the longitudinal slope of curve α; denote the slope of the straight line formed by the point with the maximum abscissa and the point with the minimum abscissa on curve α as the transverse slope of curve α, and denote the average value of the longitudinal slope and the transverse slope of curve α as the offset slope of curve α.

[0085] Step S106: Obtain the offset slopes of all independent curves in the positive and negative fluctuation area, and denote the maximum value of all offset slopes as the maximum offset.

[0086] Step S107: Obtain the maximum slope value and the minimum slope value in the positive amplitude fluctuation curve, and denote them as K max and k min , respectively. Denote [K min - k, K max + k] as the vibration fluctuation interval of the servo motor. Denote the difference between the maximum value and the minimum value of the vertical coordinates of all positive concave points as the vibration range parameter of the servo motor, and denote the minimum value of the vertical coordinates of all positive concave points as the starting amplitude, where k is the maximum offset.

[0087] Step S2: Obtain the rotation angle range and rotation speed range of the servo motor based on the angle reader and the tachometer respectively; conduct multi-angle tests on the servo motor based on the rotation angle range and rotation speed range, and simulate vibration on the servo motor based on the vibration range parameter during the test to obtain the vibration rotation speed parameters at different rotation angles.

[0088] Step S2 includes: Step S201: Obtain the rotation angle range and rotation speed range of the servo motor based on the angle reader, and denote them as [γ1, γ2] and [β1, β2], where 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 operates, and β2 is the maximum rotation speed when the servo motor operates.

[0089] The multi-angle test in Step S202 is as follows: Step S2021: For any rotation angle γ0 that the servo motor can achieve within [γ1, γ2], rotate the servo motor by γ0, simulate vibration on the servo motor starting 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, start the servo motor and increase the rotation speed of the servo motor to β1; control the rotation speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotation speed of the servo motor increases from β1 to β2, denoted as the starting data.

[0090] Step S2022: Zero the rotation speed of the servo motor and stop simulating vibration.

[0091] Step S2023: Simulate vibration on the servo motor starting from rest until the amplitude of the vibration sensor in the servo motor is the vibration range parameter; when the amplitude of the servo motor is the vibration range parameter, start the servo motor and increase the rotation speed of the servo motor to β1; control the rotation speed of the servo motor to increase from β1 to β2, and obtain the data detected by the vibration sensor when the rotation speed of the servo motor increases from β1 to β2, denoted as the vibration data.

[0092] Step S2024: Respectively obtain the curves corresponding to the starting data and the vibration data in the vibration analysis coordinate system, and denote them as the starting curve and the vibration curve respectively; denote the slope of the straight line obtained by fitting the positive convex points in the starting curve as the starting slope, and denote the slope of the straight line obtained by fitting the positive convex points in the vibration curve as the vibration slope; denote the difference between the starting slope and the vibration slope as the vibration rotation speed parameter of the servo motor at γ0.

[0093] Step S2025: Obtain the vibration rotation speed parameters corresponding to all rotation angles that the servo motor can achieve within [γ1, γ2].

[0094] Step S3: Repeatedly conduct multi-angle tests on the servo motor, 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 the calibration parameters for the servo motor at different rotation angles and speeds.

[0095] Step S3 includes: Step S301: Repeatedly conduct multi-angle tests on the servo motor and record the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve during each multi-angle test; for any rotation angle γ0 that the servo motor can achieve within [γ1, γ2], when the vibration speed parameter of the rotation angle γ0 obtained in the latest multi-angle test is the same as the average value of all vibration speed parameters of the rotation angle γ0 in the tests other than the latest multi-angle test, record the rotation angle γ0 as an achievable rotation angle.

[0096] Step S302: When all rotation angles are recorded as achievable rotation angles during the process of repeatedly conducting multi-angle tests on the servo motor, stop the repeated tests and record the vibration speed parameters corresponding to the rotation angles that all servo motors can achieve in the latest multi-angle test as the comprehensive measurement parameters.

[0097] Step S303: For any vibration speed parameter corresponding to a 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.

[0098] Step S304: When the vibration speed parameters of all rotation angles in the comprehensive measurement parameters are adjusted, set the vibration speed parameter of each rotation angle in the comprehensive measurement parameters as the calibration speed at any speed when the servo motor is at different rotation angles.

[0099] Example 3, please refer to Figure 6 as shown in Figure 6The structural schematic diagram of an electronic device is exemplified. The electronic device may include: a processor, a communication interface, a memory, and a communication bus. Among them, the processor, the communication interface, and the memory complete communication with each other through the communication bus. The memory stores computer-readable instructions. 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 run to achieve the following functions: First, 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; then obtain the rotation angle range and rotation speed range of the servo motor based on an angle reader and a tachometer respectively; perform multi-angle tests on the servo motor based on the rotation angle range and the rotation speed range, and perform simulated vibration on the servo motor based on the vibration range parameters during the test to obtain the vibration rotation speed parameters at different rotation angles; finally, repeatedly perform multi-angle tests on the servo motor, and obtain comprehensive measurement parameters based on the vibration rotation speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as the calibration parameters when the servo motor is at different rotation angles and rotation speeds.

[0100] In addition, when the logic instructions in the above-mentioned memory can be implemented in the form of software functional units and sold or used as an independent product, they can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in various embodiments of the present application. And the aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0101] 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. When the computer program is executed by a processor, it runs the steps in the above-mentioned servo motor magnetic encoder calibration method to achieve the following functions: First, 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; then obtain the rotation angle range and rotation speed range of the servo motor based on the angle reader and the tachometer respectively; perform multi-angle tests on the servo motor based on the rotation angle range and rotation speed range, and simulate the vibration of the servo motor based on the vibration range parameters during the test to obtain the vibration rotation speed parameters at different rotation angles; finally, repeat the multi-angle tests on the servo motor, obtain the comprehensive measurement parameters based on the vibration rotation speed parameters obtained from multiple tests, calibrate the comprehensive measurement parameters using the vibration fluctuation range, and use the calibrated comprehensive measurement parameters as the calibration parameters of the servo motor at different rotation angles and rotation speeds.

[0102] Through the description of the above embodiments, the embodiments of the present invention can be provided as a method, a system or a computer program product. Based on such an understanding, the above technical solution, in essence, or the part that contributes to the prior art can be embodied in the form of a software product. The computer software product can be stored in a computer-readable storage medium, such as ROM / RAM, magnetic disk, optical disk, etc., and includes several instructions for causing 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.

[0103] In the embodiments provided by the present application, it should be understood that the disclosed system or method can be implemented in other ways. The above-described embodiments are merely illustrative. For example, the division of modules or units is only a logical function division, and there may be other division methods in actual implementation. For another 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 displayed or discussed coupling or direct coupling or communication connection between each other can be through some communication interfaces. The indirect coupling or communication connection of systems, modules and units can be in an electrical, mechanical or other form.

[0104] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present application, and are not intended to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements on some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate 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. 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; Among them, γ1 is the minimum angle that the servo motor can rotate, and γ2 is the maximum angle that the servo motor can rotate.

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 , 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.

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 β1 is the minimum speed of the servo motor and β2 is the maximum speed of the servo motor. 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. The following also includes: For any vibration speed parameter corresponding to the rotation angle γ0 in the comprehensive measurement parameters, the vibration speed parameter of the rotation angle γ0 is adjusted to , 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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