Debugging control method and device of servo system, terminal equipment and storage medium

Abstract

The invention discloses a debugging control method and device of a servo system, terminal equipment and a storage medium. The method comprises the following steps: acquiring control data of a to-be-processed vehicle type; determining a plurality of servo drivers of the servo system based on the vehicle type to be processed; determining a teaching controller according to the communication protocol of each servo driver, the control data and the communication protocol of the teaching controller; wherein the control data comprises a control parameter corresponding to each servo driver; and establishing connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and controlling each servo driver in the teaching controller according to the control parameter corresponding to each servo driver. The servo drivers are connected through the teaching controller, the multiple servo drivers can be controlled at the same time, and the control efficiency of the servo system is greatly improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle body control, and in particular to a debugging control method, device, terminal equipment and storage medium of a servo system. Background Art

[0002] The body production line is compatible with a variety of models and covers flexible mixed-line production. The main work is different models, high and low configuration parts assembly, welding, gluing, etc. The traditional body mainly relies on specialized tooling and grippers for switching; resulting in a large number of tooling and grippers, high cost, long switching time, and large storage area. In order to solve the problem of production line equipment flexibility, various tooling and grippers that use servos for flexible switching have been developed; currently, the debugging of servo systems mostly uses computers to install special servo debugging software (such as Panasonic debugging software PANATERM, New STEP monitor3.9, etc.) for debugging, which has high professional and technical requirements, long debugging time, and is not convenient for troubleshooting, and can only be debugged one-on-one. Therefore, the debugging of existing servo systems has the problem of low efficiency.

[0003] In summary, there is an urgent need for a debugging control strategy for a servo system to solve the problem of low efficiency in debugging the servo system. Summary of the invention

[0004] The embodiments of the present invention provide a debugging control method, an apparatus, a terminal device and a storage medium of a servo system to solve the problem of low efficiency in debugging of the servo system.

[0005] In order to solve the above problem, an embodiment of the present invention provides a debugging control method of a servo system, comprising:

[0006] Obtain control data of the vehicle model to be processed;

[0007] Based on the vehicle model to be processed, determine the number of servo drivers of the servo system;

[0008] Determine the teaching controller according to the communication protocol, control data and communication protocol of each servo driver; wherein the control data includes: control parameters corresponding to each servo driver;

[0009] Based on the communication protocol of the teaching controller and the communication protocol of each servo driver, a connection between the teaching controller and each servo driver is established, and each servo driver is controlled in the teaching controller according to the control parameters corresponding to each servo driver.

[0010] As an improvement of the above solution, the method of determining the teaching controller according to the communication protocol, control data and communication protocol of each servo drive includes:

[0011] According to the communication protocol of each servo drive, the control parameters of each servo drive, and the communication protocol of the teaching controller, the protocol data volume of each servo drive per unit time is calculated; wherein each protocol data volume is specifically: the data volume required for the teaching controller to convert the control parameters corresponding to the current servo drive into the control instructions that can be executed by the current servo drive;

[0012] According to the data processing amount per unit time of the teaching controller and the sum of the protocol conversion data amounts per unit time of all servo drives, it is determined whether the data processing amount per unit time is greater than the sum of the protocol conversion data amounts;

[0013] If so, a single teaching controller is determined, all servo drives are assigned to the single teaching controller, and each servo drive is controlled by the single teaching controller;

[0014] If not, multiple teaching controllers are determined, and the corresponding servo driver is controlled according to each teaching controller.

[0015] As an improvement of the above solution, the method of determining a plurality of teaching controllers and controlling a corresponding servo driver according to each teaching controller includes:

[0016] Dividing the sum of the amount of protocol data transferred per unit time by the amount of data processed to obtain a division result; wherein the division result includes: one or more of a quotient and a remainder;

[0017] Judge the division result;

[0018] If there is a remainder, the number of teaching controllers is determined to be the quotient plus one, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives;

[0019] If there is no remainder, the number of teaching controllers is determined as the quotient, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives.

[0020] As an improvement of the above solution, the control parameters include: drive parameters and motion parameters; the control of each servo driver in the teaching controller according to the control parameters corresponding to each servo driver includes:

[0021] In the teaching controller, according to the control data of the vehicle model to be processed, firstly, the origin, lead value and positioning deviation of each target servo driver are set according to the drive parameters of each assigned target servo driver, and then the control amount and control time point of each target servo driver are set according to the motion parameters of each target servo driver;

[0022] After the drive parameters and motion parameters of each target servo driver are set, the setting of each target servo driver is completed so that each target servo driver executes a corresponding control amount on the servo motor at a corresponding time point, thereby completing the debugging of the target servo driver based on the vehicle model to be processed.

[0023] As an improvement of the above solution, the teaching controller obtains the driving parameters and motion parameters of each target servo driver by inputting the vehicle model code of the vehicle model to be processed.

[0024] As an improvement of the above solution, before establishing the connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, it also includes:

[0025] According to the target servo driver assigned by the teaching controller, the target servo driver and the teaching controller are connected in the form of a data line; wherein the teaching controller is connected to the data line through multiple interfaces to realize the control of multiple target servo drivers.

[0026] As an improvement of the above scheme, before controlling each servo driver in the teaching controller according to the control parameters corresponding to each servo driver, it also includes: inputting a password in the teaching controller, and controlling each servo controller when the password is passed.

[0027] Accordingly, an embodiment of the present invention further provides a debugging control device for a servo system, comprising: a data acquisition module, a data screening module, a data selection module and a control module;

[0028] The data acquisition module is used to acquire control data of the vehicle model to be processed;

[0029] The data screening module is used to determine a number of servo drivers of the servo system based on the vehicle type to be processed;

[0030] The data selection module is used to determine the teaching controller according to the communication protocol of each servo driver, the control data and the communication protocol of the teaching controller; wherein the control data includes: control parameters corresponding to each servo driver;

[0031] The control module is used to establish a connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and to control each servo driver in the teaching controller according to the control parameters corresponding to each servo driver.

[0032] Correspondingly, an embodiment of the present invention further provides a computer terminal device, comprising a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a debugging control method for a servo system as described in the present invention is implemented.

[0033] Correspondingly, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute a debugging control method for a servo system as described in the present invention.

[0034] As can be seen from the above, the present invention has the following beneficial effects:

[0035] The present invention provides a debugging control method for a servo system, which obtains control data of a vehicle model to be processed; determines a plurality of servo drivers of a servo system based on the vehicle model to be processed; determines a teaching controller according to the communication protocol, control data and communication protocol of each servo driver; wherein the control data includes: control parameters corresponding to each servo driver; establishes a connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and controls each servo driver in the teaching controller according to the control parameters corresponding to each servo driver. The present invention determines the servo driver corresponding to the servo system through the vehicle model to be processed, and determines the teaching controller according to the communication protocol of the servo driver, the communication protocol of the teaching controller and the control data, thereby connecting each servo driver through the selected teaching controller. The present invention connects the servo drivers through the teaching controller, and can realize simultaneous control of multiple servo drivers, which greatly improves the control efficiency of the servo system.

[0036] Furthermore, the present invention calculates the data processing volume of the teaching controller per unit time and the protocol data conversion volume of the servo driver per unit time, and determines the number of teaching controllers by analyzing the relationship between the data processing volume and the protocol data conversion volume. This can determine the control range of the teaching controller, avoid the problem of control overload of the teaching controller, and improve the control safety of the teaching controller. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 It is a flow chart of a debugging control method of a servo system provided by an embodiment of the present invention;

[0038] Figure 2 It is a structural schematic diagram of a debugging control device for a servo system provided by an embodiment of the present invention;

[0039] Figure 3 This is a schematic diagram of the structure of a terminal device provided by an embodiment of the present invention;

[0040] Figure 4 is a schematic diagram of a setting interface of driving parameters provided by an embodiment of the present invention;

[0041] Figure 5 is a schematic diagram of a setting interface of motion parameters provided by an embodiment of the present invention;

[0042] Figure 6 It is a connection diagram of a teaching controller and a servo system provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0043] 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.

[0044] Embodiment 1

[0045] See also Figure 1 , Figure 1 FIG. 1 is a flow chart of a debugging control method of a servo system provided by an embodiment of the present invention. Figure 1 As shown, this embodiment includes steps 101 to 104, and each step is specifically as follows:

[0046] Step 101: Obtain control data of the vehicle model to be processed.

[0047] Step 102: Determine a number of servo drivers of the servo system based on the vehicle type to be processed.

[0048] Step 103: Determine the teaching controller according to the communication protocol, control data and communication protocol of each servo driver; wherein the control data includes: control parameters corresponding to each servo driver.

[0049] In a specific embodiment, the present invention adopts a teaching controller that supports HMI, and internally sets Modbus, ECAT, CANOPEN and other mainstream real-time servo system communication protocols in the market, and connects the teaching controller and the servo motor through a universal bus to realize motion control of multi-brand, multi-axis servo motors. The motor only needs to support one of the above protocols without brand restrictions. Other servo system communications can also be added as needed to achieve compatibility with multiple protocols. The teaching controller is small in size and is handheld for easy operation. The teaching controller has multiple external interfaces, and multiple groups of data lines can be connected to the servo driver at the same time; each group of data lines corresponds to a certain type of communication protocol; this group of data lines can simultaneously connect multiple groups of servo drivers with the same type of protocol in series. The teaching controller interface only displays the parameters of a certain servo driver, and the parameter display is switched by clicking the names of different servo drivers.

[0050] In this embodiment, determining the teaching controller according to the communication protocol of each servo driver, the control data and the communication protocol of the teaching controller includes:

[0051] According to the communication protocol of each servo drive, the control parameters of each servo drive, and the communication protocol of the teaching controller, the protocol data volume of each servo drive per unit time is calculated; wherein each protocol data volume is specifically: the data volume required for the teaching controller to convert the control parameters corresponding to the current servo drive into the control instructions that can be executed by the current servo drive;

[0052] According to the data processing amount per unit time of the teaching controller and the sum of the protocol conversion data amounts per unit time of all servo drives, it is determined whether the data processing amount per unit time is greater than the sum of the protocol conversion data amounts;

[0053] If so, a single teaching controller is determined, all servo drives are assigned to the single teaching controller, and each servo drive is controlled by the single teaching controller;

[0054] If not, multiple teaching controllers are determined, and the corresponding servo driver is controlled according to each teaching controller.

[0055] In this embodiment, the step of determining a plurality of teaching controllers and controlling a corresponding servo driver according to each teaching controller includes:

[0056] Dividing the sum of the amount of protocol data transferred per unit time by the amount of data processed to obtain a division result; wherein the division result includes: one or more of a quotient and a remainder;

[0057] Judge the division result;

[0058] If there is a remainder, the number of teaching controllers is determined to be the quotient plus one, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives;

[0059] If there is no remainder, the number of teaching controllers is determined as the quotient, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives.

[0060] Step 104: Based on the communication protocol of the teaching controller and the communication protocol of each servo driver, a connection is established between the teaching controller and each servo driver, and each servo driver is controlled in the teaching controller according to the control parameters corresponding to each servo driver.

[0061] In this embodiment, the control parameters include: drive parameters and motion parameters; the control of each servo driver in the teaching controller according to the control parameters corresponding to each servo driver includes:

[0062] In the teaching controller, according to the control data of the vehicle model to be processed, firstly, the origin, lead value and positioning deviation of each target servo driver are set according to the drive parameters of each assigned target servo driver, and then the control amount and control time point of each target servo driver are set according to the motion parameters of each target servo driver;

[0063] After the drive parameters and motion parameters of each target servo driver are set, the setting of each target servo driver is completed so that each target servo driver executes a corresponding control amount on the servo motor at a corresponding time point, thereby completing the debugging of the target servo driver based on the vehicle model to be processed.

[0064] In a specific embodiment, motion parameters: used to display and modify the recipe parameters of the currently selected vehicle model. Drive parameters: used for basic parameters of the servo drive, such as origin, lead, positioning deviation, axis number, etc. Drive parameters are related to the mechanical structure of the system, so drive parameters do not need to be associated with the vehicle model.

[0065] It should be noted that if Figure 4 As shown, set the drive parameters: When modifying the servo drive parameters, you must first enter the password to modify the parameters. Secondly, enter the axis number to be debugged as the current working axis (corresponding to the servo motor). Then, modify the servo drive parameters of the current axis. The servo drive parameters include the origin setting, lead value, positioning deviation, etc. Finally, after the modification is completed, click the "Write Recipe" command. Through the above steps, the servo drive parameter setting and recipe input are realized.

[0066] In a specific embodiment, the lead value is set as follows: the distance the motor moves during one rotation, in units of 0.01 mm;

[0067] Positioning deviation setting: the allowable absolute value difference between the theoretical stop position of the motor and the actual position. If the absolute value difference between the theoretical stop position of the motor and the actual position is less than the allowable absolute value difference, the system sends an in-position signal, otherwise the system sends a position deviation signal;

[0068] Origin setting: Manually run the motor to a suitable position, click the "Set Origin" function key, and the position will be recorded as the origin of the motor.

[0069] It should be noted that the teach pendant can quickly switch between multiple vehicle models based on the advantages of bus control.

[0070] When modifying motion parameters, such as Figure 5 , you must first enter the password to modify the parameters. When updating the vehicle model information, you can use teaching and change the configuration. Input the vehicle model code through external signals such as i / o, CAN, EIP, MODBUS, etc. The teach pendant switches the vehicle model configuration parameters according to the vehicle model code to achieve fast switching of vehicle models.

[0071] The control logic and safety logic for the servo drive are built into the teaching controller. You only need to send the current processing model to the servo drive according to the configured recipe. The teaching controller converts the control instructions of the servo drive according to the recipe. According to the recipe configured according to the principle of 1 model 1 recipe, each recipe reserves 12 groups of servos with three positions by default, and prepares recipes for 15 models.

[0072] In this embodiment, the teaching controller obtains the driving parameters and motion parameters of each target servo driver by inputting the vehicle model code of the vehicle model to be processed.

[0073] In this embodiment, before establishing the connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, the method further includes:

[0074] According to the target servo driver assigned by the teaching controller, the target servo driver and the teaching controller are connected in the form of a data line; wherein the teaching controller is connected to the data line through multiple interfaces to realize the control of multiple target servo drivers.

[0075] In this embodiment, before controlling each servo driver according to the control parameters corresponding to each servo driver in the teaching controller, it also includes: inputting a password in the teaching controller, and controlling each servo controller when the password is passed.

[0076] In a specific embodiment, the teaching controller also includes the following functions: network settings: used to set the vehicle input signal source and the teaching pendant network address setting; alarm list: displays the current device alarm information.

[0077] In a specific embodiment, see Figure 6 , a flexible gripper equipped with three servo motors, when debugging the servo motors, you can Figure 6 The three servo motors are connected in series. The parameters of the three servo motors are set separately through the handheld teaching pendant. The three servo motors are named axis 1, axis 2, and axis 3 on the teaching controller. The axis numbers increase as the number of servo motors increases. The workflow is:

[0078] a) Communicate with one or more servo drives using some type of real-time communication protocol.

[0079] b) After the communication is connected, the key parameters of the selected servo driver are set through the teaching controller, and the servo driver drives the servo motor to move.

[0080] c) Teaching controller interface, such as Figure 4 , 5 There are five interfaces at the bottom of the interface: motion parameters or drive parameters, manual operation, network settings, alarm list, and return.

[0081] See also Figure 2 , Figure 2 It is a structural diagram of a debugging control device for a servo system provided by an embodiment of the present invention, comprising: a data acquisition module 201, a data screening module 202, a data selection module 203 and a control module 204;

[0082] The data acquisition module is used to acquire control data of the vehicle model to be processed;

[0083] The data screening module is used to determine a number of servo drivers of the servo system based on the vehicle type to be processed;

[0084] The data selection module is used to determine the teaching controller according to the communication protocol of each servo driver, the control data and the communication protocol of the teaching controller; wherein the control data includes: control parameters corresponding to each servo driver;

[0085] The control module is used to establish a connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and to control each servo driver in the teaching controller according to the control parameters corresponding to each servo driver.

[0086] It can be understood that the above-mentioned system item embodiments correspond to the method item embodiments of the present invention, and can implement the debugging control method of the servo system provided by any one of the above-mentioned method item embodiments of the present invention.

[0087] This embodiment obtains the control data of the vehicle type to be processed; determines several servo drivers of the servo system based on the vehicle type to be processed; determines the teaching controller according to the communication protocol, control data and communication protocol of each servo driver; wherein the control data includes: control parameters corresponding to each servo driver; establishes a connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and controls each servo driver in the teaching controller according to the control parameters corresponding to each servo driver. The present invention determines the servo driver corresponding to the servo system through the vehicle type to be processed, and determines the teaching controller according to the communication protocol of the servo driver, the communication protocol of the teaching controller and the control data, thereby connecting each servo driver through the selected teaching controller. The present invention connects the servo drivers through the teaching controller, and can realize the simultaneous control of multiple servo drivers, which greatly improves the control efficiency of the servo system.

[0088] Embodiment 2

[0089] See also Figure 3 , Figure 3 It is a schematic diagram of the structure of a terminal device provided in one embodiment of the present invention.

[0090] A terminal device of this embodiment includes: a processor 301, a memory 302, and a computer program stored in the memory 302 and executable on the processor 301. When the processor 301 executes the computer program, the steps of the above-mentioned debugging control method of each servo system in the embodiment are implemented, for example Figure 1 Alternatively, when the processor executes the computer program, the functions of each module in the above-mentioned device embodiments are realized, for example: Figure 2 The servo system shown has all modules of the debugging control device.

[0091] In addition, an embodiment of the present invention further provides a computer-readable storage medium, which includes a stored computer program, wherein when the computer program is running, the device where the computer-readable storage medium is located is controlled to execute the debugging control method of the servo system as described in any of the above embodiments.

[0092] Those skilled in the art will understand that the schematic diagram is merely an example of a terminal device and does not constitute a limitation on the terminal device. The terminal device may include more or fewer components than shown in the diagram, or a combination of certain components, or different components. For example, the terminal device may also include input and output devices, network access devices, buses, etc.

[0093] The processor 301 may be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSP), application-specific integrated circuits (ASIC), field-programmable gate arrays (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. A general-purpose processor may be a microprocessor or any conventional processor, etc. The processor 301 is the control center of the terminal device, and uses various interfaces and lines to connect various parts of the entire terminal device.

[0094] The memory 302 can be used to store the computer program and / or module. The processor 301 implements various functions of the terminal device by running or executing the computer program and / or module stored in the memory and calling the data stored in the memory 302. The memory 302 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, an application required for at least one function (such as a sound playback function, an image playback function, etc.), etc.; the data storage area can store data created according to the use of the mobile phone (such as audio data, a phone book, etc.), etc. In addition, the memory can include a high-speed random access memory, and can also include a non-volatile memory, such as a hard disk, a memory, a plug-in hard disk, a smart memory card (Smart Media Card, SMC), a secure digital (Secure Digital, SD) card, a flash card (Flash Card), at least one disk storage device, a flash memory device, or other volatile solid-state storage devices.

[0095] Wherein, if the module / unit integrated in the terminal device is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the present invention implements all or part of the processes in the above-mentioned embodiment method, and can also be completed by instructing the relevant hardware through a computer program. The computer program can be stored in a computer-readable storage medium, and the computer program can implement the steps of the above-mentioned various method embodiments when executed by the processor. Wherein, the computer program includes computer program code, and the computer program code can be in source code form, object code form, executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium, etc.

[0096] It should be noted that the device embodiments described above are merely schematic, wherein the units described as separate components may or may not be physically separated, and the components displayed as units may or may not be physical units, that is, they may be located in one place, or they may be distributed on multiple network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the scheme of this embodiment. In addition, in the accompanying drawings of the device embodiments provided by the present invention, the connection relationship between the modules indicates that there is a communication connection between them, which may be specifically implemented as one or more communication buses or signal lines. A person of ordinary skill in the art may understand and implement it without paying any creative effort.

[0097] The above is a preferred embodiment of the present invention. It should be pointed out that a person skilled in the art can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications are also considered to be within the scope of protection of the present invention.

Claims

1. A debugging control method for a servo system, characterized in that: include: Obtain control data of the vehicle model to be processed; Based on the vehicle model to be processed, determine the number of servo drivers of the servo system; Determine the teaching controller according to the communication protocol, control data and communication protocol of each servo driver; wherein the control data includes: control parameters corresponding to each servo driver; Based on the communication protocol of the teaching controller and the communication protocol of each servo driver, a connection between the teaching controller and each servo driver is established, and each servo driver is controlled in the teaching controller according to the control parameters corresponding to each servo driver.

2. The debugging control method of the servo system according to claim 1, characterized in that: Determining the teaching controller according to the communication protocol, control data and communication protocol of each servo drive includes: According to the communication protocol of each servo drive, the control parameters of each servo drive, and the communication protocol of the teaching controller, the protocol data volume of each servo drive per unit time is calculated; wherein each protocol data volume is specifically: the data volume required for the teaching controller to convert the control parameters corresponding to the current servo drive into the control instructions that can be executed by the current servo drive; According to the data processing amount per unit time of the teaching controller and the sum of the protocol conversion data amounts per unit time of all servo drives, it is determined whether the data processing amount per unit time is greater than the sum of the protocol conversion data amounts; If so, a single teaching controller is determined, all servo drives are assigned to the single teaching controller, and each servo drive is controlled by the single teaching controller; If not, multiple teaching controllers are determined, and the corresponding servo driver is controlled according to each teaching controller.

3. The debugging control method of the servo system according to claim 2, characterized in that: The step of determining a plurality of teaching controllers and controlling a corresponding servo driver according to each teaching controller includes: Dividing the sum of the amount of protocol data transferred per unit time by the amount of data processed to obtain a division result; wherein the division result includes: one or more of a quotient and a remainder; Judge the division result; If there is a remainder, the number of teaching controllers is determined to be the quotient plus one, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives; If there is no remainder, the number of teaching controllers is determined as the quotient, and a servo drive is allocated to each teaching controller; wherein the data processing volume per unit time of each teaching controller is greater than the sum of the protocol data volumes per unit time of the allocated servo drives.

4. The debugging control method of the servo system according to claim 3, characterized in that: The control parameters include: drive parameters and motion parameters; the control of each servo driver in the teaching controller according to the control parameters corresponding to each servo driver includes: In the teaching controller, according to the control data of the vehicle model to be processed, firstly, the origin, lead value and positioning deviation of each target servo driver are set according to the drive parameters of each assigned target servo driver, and then the control amount and control time point of each target servo driver are set according to the motion parameters of each target servo driver; After the drive parameters and motion parameters of each target servo driver are set, the setting of each target servo driver is completed so that each target servo driver executes a corresponding control amount on the servo motor at a corresponding time point, thereby completing the debugging of the target servo driver based on the vehicle model to be processed.

5. The debugging control method of the servo system according to claim 4, characterized in that: The teaching controller obtains the driving parameters and motion parameters of each target servo driver by inputting the vehicle model code of the vehicle model to be processed.

6. The debugging control method of the servo system according to claim 5, characterized in that: Before establishing the connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, the method further includes: According to the target servo driver assigned by the teaching controller, the target servo driver and the teaching controller are connected in the form of a data line; wherein the teaching controller is connected to the data line through multiple interfaces to realize the control of multiple target servo drivers.

7. The debugging control method of the servo system according to claim 6, characterized in that: Before controlling each servo driver in the teaching controller according to the control parameters corresponding to each servo driver, the method further includes: inputting a password in the teaching controller, and controlling each servo controller when the password is passed.

8. A debugging control device for a servo system, characterized in that: include: Data acquisition module, data screening module, data selection module and control module; The data acquisition module is used to acquire control data of the vehicle model to be processed; The data screening module is used to determine a number of servo drivers of the servo system based on the vehicle type to be processed; The data selection module is used to determine the teaching controller according to the communication protocol of each servo driver, the control data and the communication protocol of the teaching controller; wherein the control data includes: control parameters corresponding to each servo driver; The control module is used to establish a connection between the teaching controller and each servo driver based on the communication protocol of the teaching controller and the communication protocol of each servo driver, and to control each servo driver in the teaching controller according to the control parameters corresponding to each servo driver.

9. A computer terminal device, characterized in that: The method comprises a processor, a memory, and a computer program stored in the memory and configured to be executed by the processor, wherein when the processor executes the computer program, a debugging control method for a servo system as claimed in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored computer program, wherein when the computer program is executed, the device where the computer-readable storage medium is located is controlled to execute a debugging control method for a servo system as claimed in any one of claims 1 to 7.

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