Servo driver test system and method, electronic equipment and storage medium

Abstract

The invention relates to the field of servo drive, and provides a servo driver test system and method, electronic equipment and a storage medium. The servo driver test system comprises a control unit, a test driver, a first test motor, a to-be-tested servo driver and a second test motor. The control unit is connected with the test driver and the to-be-tested servo driver, the test driver is connected with the first test motor, the to-be-tested servo driver is connected with the second test motor, and the first test motor and the second test motor are connected in an opposite dragging mode. Therefore, the speed of load regulation is greatly improved, the dynamic change of the power system can be quickly responded, and the problem that the test efficiency and accuracy of the to-be-tested servo driver are low due to the fact that the regulation speed of the excitation system is slow and the dynamic change of the power system is difficult to quickly respond is solved.

Description

Technical Field

[0001] This application relates to the field of servo drive technology, and in particular to a servo drive testing system, method, electronic device and storage medium. Background Technology

[0002] A servo drive is a key device used to control the operation of a servo motor, and it is widely used in industrial automation, robotics, CNC machine tools, and other fields. By receiving control commands (such as position, speed, or torque commands), the servo drive drives the servo motor and achieves high-precision, high-response motion control through feedback control.

[0003] Testing is an indispensable and crucial stage in the development of servo drives. In related technologies, excitation loading systems are commonly used for testing servo drives. However, excitation loading systems, based on the principle of electromagnetic induction, have certain limitations in their adjustment characteristics. When high loads need to be applied to the servo drive, the adjustment speed of the excitation system (such as an AC exciter system) is slow, making it difficult to quickly respond to dynamic changes in the power system. This lag can adversely affect the stability and safety testing of the servo drive under high load conditions, thus limiting testing efficiency and accuracy. Summary of the Invention

[0004] In view of this, embodiments of this application provide a servo drive testing system, method, electronic device, and storage medium to solve the problem that the prior art cannot accurately test servo drives.

[0005] A first aspect of this application provides a servo driver testing system, comprising: a control unit, a test driver, a first test motor, a servo driver under test, and a second test motor; the control unit is connected to both the test driver and the servo driver under test, the test driver is connected to the first test motor, the servo driver under test is connected to the second test motor, and the first and second test motors are connected in a toggle connection; the control unit is used to generate control drive commands and test drive commands; the control unit is also used to transmit the control drive commands to the test driver, the test driver is used to drive the first test motor to rotate according to the control drive commands; the control unit is also used to send the test drive commands to the servo driver under test, the servo driver under test is used to drive the second test motor according to the test drive commands, such that the second test motor rotates under the load force generated by the rotation of the first test motor; the control unit is used to obtain the drive state when the servo driver under test drives the second test motor, and generate test results for the servo driver under test based on the drive state.

[0006] A second aspect of this application provides a servo driver testing method, the method comprising: generating control drive instructions and test drive instructions for testing the servo driver under test according to test requirements; transmitting the control drive instructions to the test driver so that the test driver drives a first test motor to rotate according to the control drive instructions; sending the test drive instructions to the servo driver under test so that the servo driver under test drives a second test motor according to the test drive instructions, such that the second test motor rotates under load generated by the rotation of the first test motor; acquiring the drive state of the servo driver under test when driving the second test motor, and generating a test result of the servo driver under test based on the drive state.

[0007] A third aspect of this application provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the above-described method.

[0008] A fourth aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the above-described method.

[0009] The beneficial effects of this application embodiment compared with the prior art are as follows: The servo drive testing system of this application embodiment includes: a control unit, a test driver, a first test motor, a servo drive under test, and a second test motor; the control unit is connected to the test driver and the servo drive under test respectively, the test driver is connected to the first test motor, the servo drive under test and the second test motor are connected, and the first test motor and the second test motor are connected in a toggle connection. This application provides load by driving the first test motor through the test driver, which greatly improves the speed of load adjustment and can quickly respond to the dynamic changes of the power system. It avoids the problem that the adjustment speed of the excitation system is slow and it is difficult to quickly respond to the dynamic changes of the power system, resulting in low testing efficiency and accuracy of the servo drive under test. In addition, the maintenance cost of the first test motor in this application is low, avoiding the problem that the rotating contact parts such as brushes and slip rings in the excitation system are worn during operation and need to be replaced regularly, thereby increasing the maintenance cost. Attached Figure Description

[0010] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0011] Figure 1 This is a basic schematic diagram of a servo driver testing system provided in an embodiment of this application;

[0012] Figure 2 This is a basic schematic diagram of another servo driver testing system provided in an embodiment of this application;

[0013] Figure 3 This is a basic schematic diagram of another servo driver testing system provided in the embodiments of this application;

[0014] Figure 4 This is a basic schematic diagram of another servo driver testing system provided in the embodiments of this application;

[0015] Figure 5 This is a basic schematic diagram of another servo driver testing system provided in the embodiments of this application;

[0016] Figure 6 This is a flowchart illustrating a servo driver testing method provided in an embodiment of this application;

[0017] Figure 7 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application;

[0018] Explanation of reference numerals in the attached figures:

[0019] 1-Control unit; 11-Interactive controller; 110-HMI touchscreen; 12-Logic controller; 121-Programmable logic controller; 2-Test driver; 21-Vector control frequency converter; 3-First test motor; 31-Three-phase asynchronous motor; 4-Servo driver under test; 5-Second test motor; 51-Servo synchronous motor; 6-First power supply unit; 61-Low voltage contactor; 62-High voltage contactor; 621-220V contactor; 622-24V contactor; 7-Second power supply unit; 71-24V power module; 8-Power supply equipment; 9-Energy recovery device; 91-Sine wave energy recovery device; 10-Platform base; 101-Storage cabinet; 102-Connecting shaft; 103-Integrated automated control power cabinet; 104-160A air switch; 105-80A air switch; 106-16A air switch; 107-Wire trough; 108-Quick connection terminal block. Detailed Implementation

[0020] In the following description, specific details such as particular system architectures and techniques are set forth for illustrative purposes and not for limitation, in order to provide a thorough understanding of the embodiments of this application. However, those skilled in the art will understand that this application may also be implemented in other embodiments without these specific details. In other instances, detailed descriptions of well-known systems, apparatuses, circuits, and methods have been omitted so as not to obscure the description of this application with unnecessary detail.

[0021] A servo driver testing system and method according to embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0022] This application provides a servo driver testing system, such as... Figure 1 As shown, the servo drive testing system includes: a control unit 1, a test driver 2, a first test motor 3, a servo drive to be tested 4, and a second test motor 5.

[0023] like Figure 1 As shown, the control unit 1 is connected to the test driver 2 and the servo driver under test 4 respectively. The test driver 2 is connected to the first test motor 3. The servo driver under test 4 is connected to the second test motor 5, and the first test motor 3 and the second test motor 5 are connected in a drag-on configuration.

[0024] What is understandable is that, Figure 1 As shown, control unit 1 is connected to test driver 2, enabling control unit 1 to transmit commands to test driver 2. Test driver 2 is connected to first test motor 3, enabling test driver 2 to transmit control signals to first test motor 3 to drive first test motor 3 to rotate. Control unit 1 is connected to servo driver 4 under test, enabling control unit 1 to transmit commands to servo driver 4 under test. Servo driver 4 under test and second test motor 5 are connected, enabling servo driver 4 under test to transmit control signals to second test motor 5 to drive second test motor 5 to rotate.

[0025] It is understandable that, since the first test motor 3 and the second test motor 5 are connected in pairs, the first test motor 3 acts as the load end and the second test motor 5 acts as the drive end. The first test motor 3, as the load end, can provide load to the second test motor 5 and absorb the power output by the second test motor 5. The second test motor 5, as the active end, provides power output. Subsequently, the test result of the servo driver 4 under test is determined according to the drive state of the second test motor 5 driven by the servo driver 4 under test.

[0026] Specifically, when the servo drive 4 under test needs to be tested, the control unit 1 generates control drive instructions and test drive instructions; the control unit 1 is also used to transmit the control drive instructions to the test drive 2, and the test drive 2 is used to drive the first test motor 3 to rotate according to the control drive instructions; the control unit 1 is also used to send the test drive instructions to the servo drive 4 under test, and the servo drive 4 under test is used to drive the second test motor 5 according to the test drive instructions, so that the second test motor 5 rotates under the load force generated by the rotation of the first test motor 3; the control unit 1 is also used to obtain the drive state when the servo drive 4 under test drives the second test motor 5, and determine the test result of the servo drive 4 under test according to the drive state.

[0027] It is understood that this application may involve connecting the control unit 1 to the servo driver 4 under test, thereby acquiring the driving state of the servo driver 4 under test driving the second test motor 5, and determining the test result of the servo driver 4 under test based on the driving state; in some examples, a separate test unit may be set up in the servo driver test system, which is used to acquire the driving state of the servo driver 4 under test driving the second test motor 5, and determine the test result of the servo driver 4 under test based on the driving state.

[0028] According to the technical solution provided in the embodiments of this application, the servo drive testing system includes: a control unit 1, a test driver 2, a first test motor 3, a servo drive under test 4, and a second test motor 5. The control unit 1 is connected to the test driver 2 and the servo drive under test 4, the test driver 2 is connected to the first test motor 3, and the servo drive under test 4 is connected to the second test motor 5. The first test motor 3 and the second test motor 5 are connected in a drag-and-drop configuration. This application uses the test driver 2 to drive the first test motor 3 to provide load, which greatly improves the speed of load adjustment and enables rapid response to dynamic changes in the power system. This avoids the problem that the adjustment speed of the excitation system is slow and it is difficult to respond quickly to dynamic changes in the power system, resulting in low testing efficiency and accuracy of the servo drive under test 4. In addition, the maintenance cost of the first test motor 3 in this application is low, avoiding the problem that rotating contact parts such as brushes and slip rings in the excitation system wear out during operation and need to be replaced regularly, thus increasing maintenance costs.

[0029] In some examples, such as Figure 2 As shown, the control unit 1 includes an interactive controller 11 and a logic controller 12. The interactive controller and the logic controller 12 are connected. The logic controller 12 is connected to the test driver 2 and the servo driver under test 4, respectively. The interactive controller 11 is used to receive test instructions and generate test requirements according to the test instructions. The logic controller 12 is used to generate control drive instructions and test drive instructions according to the test requirements.

[0030] It is understood that the interactive controller 11 includes, but is not limited to, a Human Machine Interface (HMI) touchscreen 110, which supports user-defined control object development. In addition to basic display and control functions, the HMI touchscreen 110 provides an open programming interface and control development tools, allowing users to create and integrate new control objects according to their task requirements. These control objects can be buttons, sliders, progress bars, graphical display areas, etc., and users can define their appearance, behavior, and functions according to the actual application scenario.

[0031] It is understood that the aforementioned logic controller 12 includes, but is not limited to, a programmable logic controller 121. The programmable logic controller 121 internally stores instructions for performing logical operations, sequential control, timing, counting, and arithmetic operations, and controls various types of mechanical equipment or production processes through digital or analog inputs and outputs.

[0032] It is understood that the interactive controller 11 and the logic controller 12 can be connected via wired and / or wireless means, and this example does not limit the communication protocol between them; for example, the interactive controller 11 and the logic controller 12 are connected via the Ethernet protocol. The logic controller 12 and the test driver 2 can be connected via wired and / or wireless means, and this example does not limit the communication protocol between them; for example, the logic controller 12 and the test driver 2 are connected via the RS-485 communication protocol. Similarly, the interactive controller 11 and the logic controller 12 are connected via the Ethernet protocol. The logic controller 12 and the servo driver under test 4 can be connected via wired and / or wireless means, and this example does not limit the communication protocol between them.

[0033] In some examples, when a user needs to test the servo drive 4 under test, he / she issues a test command to the HMI touch screen 110, which then generates a test requirement based on the test command and sends the test requirement to the programmable logic controller 121. The logic controller generates control drive instructions and test drive instructions based on the test requirement.

[0034] In some examples, if the interactive controller 11 integrates the functionality of the logic controller 12, then the interactive controller 11 is directly connected to the servo driver under test 4 and the test driver 2. Similarly, if the logic controller 12 integrates the functionality of the interactive controller 11, then the logic controller 12 can generate test requirements based on test instructions.

[0035] In some examples, such as Figure 3As shown, the servo driver test system also includes a power supply unit, which includes a first power supply unit 6 and a second power supply unit 7. The first power supply unit 6 is connected to the test driver 2 and the servo driver under test 4 and is used to provide power to the test driver 2 and the servo driver under test 4. The second power supply unit 7 is connected to the control unit 1 and is used to provide power to the control unit 1.

[0036] Specifically, such as Figure 3 As shown, the power supply device 8 is used to supply power. The power supply device 8 includes, but is not limited to, the power grid, generator, and storage battery. The first power supply unit 6 is used to obtain power from the power supply device 8 and convert the power into the power required by the test driver 2 and the servo driver under test 4. The converted power is then sent to the test driver 2 and the servo driver under test 4 respectively, thereby providing a stable power supply to the test driver 2 and the servo driver under test 4, so that the test driver 2 and the servo driver under test 4 can operate stably.

[0037] It is understandable that, in order to avoid the problem of wasting power resources by continuously supplying power to the test driver 2 and the servo driver under test 4 when no testing is being performed (when there is no need for use), the first power supply unit 6 in this application will only supply power to the test driver 2 and the servo driver under test 4 when testing is required (that is, or when there is any need for use).

[0038] Specifically, such as Figure 3As shown, the first power supply unit 6 consists of a low-voltage contactor 61 and a high-voltage contactor 62. The control terminal of the low-voltage contactor 61 is connected to the control unit 1, and the control terminal of the high-voltage contactor 62 is connected to the low-voltage contactor 61. The input terminal of the high-voltage contactor 62 is connected to the power supply device 8, and the output terminal of the high-voltage contactor 62 is connected to the test driver 2 and the servo driver under test 4, respectively. When the servo driver under test 4 needs to be tested (i.e., or for any usage requirement), the control unit 1 outputs a first conduction signal to the low-voltage contactor 61, making the low-voltage contactor 61 conduct. After the low-voltage contactor 61 conducts, it transmits a second conduction signal to the high-voltage contactor 62, making the high-voltage contactor 62 conduct. At this time, the high-voltage contactor 62 converts the power supplied by the power supply device 8 and transmits it to the test driver 2 and the servo driver under test 4. When the servo driver 4 under test is not required to be tested (or there is no need for it to be used), the control unit 1 will output a third conduction signal to the low voltage contactor 61 (stop outputting the first conduction signal), so that the low voltage contactor 61 is in an open state. After the low voltage contactor 61 is open, it will stop transmitting the second conduction signal to the high voltage contactor 62, so that the high voltage contactor 62 is in an open state. At this time, the high voltage contactor 62 will stop converting the power supplied by the power supply device 8 and transmitting it to the test driver 2 and the servo driver 4 under test.

[0039] It is understood that the aforementioned low-voltage contactor 61 includes, but is not limited to, a 24V contactor 622, which is a special switching device used to control the on / off state of current in a DC circuit, thereby controlling the conduction and shutdown of the high-voltage contactor 62; the aforementioned high-voltage contactor 62 includes, but is not limited to, a 220V contactor 621, which is an electrical control element capable of operating at 220V voltage, and controls the on / off state of the test driver 2 and the servo driver 4 under test by controlling the on / off state of the control circuit.

[0040] In some examples, the power supply device 8 can also be directly connected to the test driver 2 and the servo driver under test 4.

[0041] In some examples, when the control unit 1 includes an interactive controller 11 and a logic controller 12, the second power supply unit supplies power to the interactive controller 11 and the logic controller 12 respectively. Specifically, the second power supply unit is connected to the power supply device 8, obtains power from the power supply device 8, converts the power, and matches the converted power to the interactive controller 11 and the logic controller 12, and transmits the converted power to the interactive controller 11 and the logic controller 12 respectively.

[0042] It is understood that the aforementioned second power supply unit includes, but is not limited to, a 24V power module 71, which can convert alternating current (AC) into direct current (DC) and output a 24V voltage; it is understood that the second power supply unit provides a reliable and stable power supply to the control unit 1 through voltage regulation, filtering and other technical means.

[0043] It is understandable that if the power supplied by the power supply device 8 matches the power required by the control unit 1 (interactive controller 11 and logic controller 12), the power supply device 8 can also be directly connected to the control unit 1.

[0044] It is understood that this application is only used to exemplify the presence of a power supply device 8 in a servo drive test system, and is not intended to limit the servo drive test system to having only one power supply device 8. Those who are interested can flexibly set the number of power supply devices 8 in the servo drive test system according to actual needs, so as to provide power to different units, drives, and motors.

[0045] In some examples, the test drive 2 includes one of a vector control inverter 21 and a servo drive, and the first test motor 3 includes, but is not limited to, one of a three-phase asynchronous motor 31 and a servo motor; such as Figure 4 As shown, this application takes the test driver 2 as a vector control inverter 21 and the first test motor 3 as a servo motor as an example. The vector control inverter 21 is used to generate vector control signals according to the control drive command and send the vector control signals to the three-phase asynchronous motor 31 to drive the three-phase asynchronous motor 31 to rotate.

[0046] It is understandable that the vector control frequency converter 21 is an advanced motor control device. Based on a vector control algorithm, it can achieve high-performance control of the first test motor 3. The basic structure of the three-phase asynchronous motor 31 mainly consists of two parts: the stator and the rotor. The working principle of the three-phase asynchronous motor 31 is based on the laws of electromagnetic induction and electromagnetic force. Three-phase asynchronous motors are widely used to drive various mechanical equipment, providing stable and reliable power support.

[0047] In some examples, the second test motor 5 includes, but is not limited to, a servo synchronous motor 51, which is a motor that combines servo system control technology with the characteristics of a synchronous motor. The servo synchronous motor 51 typically employs closed-loop control, meaning the motor is equipped with an encoder or other feedback device to monitor its position and speed in real time and feed this information back to the control system. The control system adjusts the motor's drive current based on the feedback signal, thereby achieving precise control of the motor's motion. The servo synchronous motor 51 is widely used in various applications requiring precise motion control.

[0048] In some examples, such as Figure 4 As shown, the servo drive test system also includes an energy recovery device 9, which is connected to the vector control frequency converter 21 via a common bus and is used to recover the energy generated by the rotation of the three-phase asynchronous motor 31.

[0049] It is understandable that when the first test motor 3 is a three-phase asynchronous motor 31, since the three-phase asynchronous motor 31 absorbs the power output from the second test motor 5, this example sets the three-phase asynchronous motor 31 in regenerative mode, which can convert the received power into electrical energy. To avoid excessive conversion of electrical energy by the three-phase asynchronous motor 31, leading to voltage instability and affecting the control of the three-phase asynchronous motor 31, this application also provides an energy recovery device 9. This energy recovery device 9 is connected to the vector control frequency converter 21 via a common bus and is used to recover the energy generated by the rotation of the three-phase asynchronous motor 31. It is understandable that this energy recovery device 9 is used to feed the converted energy back to the power supply equipment 8.

[0050] For example, taking the power supply equipment 8 as the power grid and the energy recovery device 9 as a sine wave energy recovery device 91, the sine wave energy recovery device 91 can feed the regenerated electrical energy back to the power grid. It uses advanced algorithms to achieve complete sine wave energy feedback, thereby avoiding energy loss caused by conventional energy-consuming braking units and achieving energy-saving effects.

[0051] In some examples, if the three-phase asynchronous motor 31 is in consumption mode, the three-phase asynchronous motor 31 directly converts the received power into heat energy, which can be consumed through resistors or other load devices.

[0052] To better understand this application, a more specific example is provided for illustration, such as... Figure 5 As shown, this example application provides a servo drive testing system. The system includes a three-phase asynchronous motor 31 and a servo synchronous motor 51. The system also includes a platform base 10, under which a storage cabinet 101 is installed for cable concealment. The three-phase asynchronous motor 31 and the servo synchronous motor 51 are respectively fixed on both sides above the platform base 10 (servo synchronous motor 51 on the left and three-phase asynchronous motor 31 on the right). The system also includes a servo drive 4 to be tested and a vector control frequency converter 21. The servo drive 4 to be tested is matched with the servo synchronous motor 51 and can drive the servo synchronous motor 51. The vector control frequency converter 21 is matched with the three-phase asynchronous motor 31 and can drive the three-phase asynchronous motor 31.

[0053] like Figure 5As shown, the three-phase asynchronous motor 31 and the servo synchronous motor 51 are connected via a connecting shaft 102 to achieve a towing connection. The system also includes an HMI touchscreen 110, which is mounted on the platform base 10. Figure 4 As shown, on one side of the three-phase asynchronous motor 31 is an HMI touchscreen 110 that supports user-defined control objects.

[0054] like Figure 5 As shown, the system also includes: an integrated automated control power cabinet 103, which includes a 160A circuit breaker 104 responsible for the main power supply. The input of the 160A circuit breaker 104 is connected to the three-phase 380V AC power grid. The output of the 160A circuit breaker 104 is connected to the input of two 80A circuit breakers 105 and one 16A circuit breaker 106. The output of the 80A circuit breaker 105 is connected to the input of a 220V contactor 621. The output of the 16A circuit breaker 106 is connected to a 24V power module 71. The 24V power module 71 provides 24V power to the programmable logic controller 121 and the HMI touchscreen 110. The HMI touchscreen 110 is connected to the programmable logic controller 121 via an Ethernet cable. The device 121 controls the operation of the programmable logic controller 121. The programmable logic controller 121 controls the operation of the vector control inverter 21 via RS485 communication and controls the operation of two 24V contactors 622 via two I / O ports. The two 24V contactors 622 control the operation of two 220V contactors 621. The two 220V contactors 621 control the power-on and power-off states of the vector control inverter 21 and the servo drive 4 under test. The three-phase output of the vector control inverter 21 is connected to the three-phase asynchronous motor 31 and controls the operation of the three-phase asynchronous motor 31 to load the servo synchronous motor 51 through open-loop vector control. The bus output of the vector control inverter 21 is connected to the sine wave energy recovery device 9 to recover the generated energy of the three-phase asynchronous motor 31 back to the power grid. The servo drive test system provided in this application also includes a cable tray 107 and a quick-connect terminal block 108. The cable tray 107 is used to install cables connecting the three-phase asynchronous motor 31, the servo synchronous motor 51, and the integrated automated control power cabinet 103. The quick-connect terminal block 108 is a connector specifically designed for quick and easy connection of wires.

[0055] It is understandable that the vector control inverter 21 selects open-loop vector control for the control of the three-phase asynchronous motor 31, selects speed tracking for the starting method, selects the communication command channel as the source of the running command, selects communication setpoint for the main frequency source X, and selects digital setpoint for the torque command source. The programmable logic controller 121 communicates with the HMI touch screen 110 via Ethernet, and selects the correct communication protocol, such as Ethernet, according to the selected communication method.

[0056] Set the corresponding communication parameters, such as station address and baud rate, in the programmable logic controller 121 and the HMI touch screen 110. Use the programmable logic controller 121 PLC programming software to write the control program, and define variables and addresses in the program for data exchange with the HMI.

[0057] Use HMI programming software to design a human-machine interface, and create labels or variables in the HMI that correspond to the variables of the programmable logic controller 121, for displaying and controlling the data of the programmable logic controller 121.

[0058] The programmable logic controller (PLC) 121 communicates with the vector control inverter 21 via RS485. The PLC 121 is configured with the same communication parameters as the vector control inverter 21, including baud rate, data bits, stop bits, and parity. Variables and addresses for communication with the vector control inverter 21 are defined in the program. Modbus instructions are used to read or write the register addresses of the vector control inverter 21. Based on the datasheet of the vector control inverter 21, the register addresses corresponding to the required configuration function codes are located, including loading force, loading speed, and loading time. Simultaneously, a control program is written using PLC programming software to control the analog output of the PLC 121's I / O ports, thereby controlling the power-on / off status of the test equipment and the device under test. Operation is performed directly on the HMI touchscreen 110, integrating the power and control components.

[0059] In the servo drive testing system provided in this application, the control section uses an HMI touchscreen 110 to set the required loading curve, including parameters such as loading force, loading speed, and loading time. These parameters can be modified on the touchscreen panel according to experimental needs, without requiring function codes. In the power section, after the air switch is turned on, the power-on / off status of the vector control inverter 21 and the servo drive under test can be controlled via the HMI touchscreen 110, significantly reducing operation time and complexity. The servo drive testing system provided in this application uses a vector control inverter 21. Since the vector control inverter 21 is an advanced motor control device, based on vector control technology, it achieves high-performance motor control by precisely controlling the current in each phase of the motor. While possessing high-precision control and high dynamic response, it can provide high power that general-purpose servo drives cannot provide, which is beneficial for performing multiple overload tests on high-probability servo drives. Furthermore, the three-phase asynchronous motor 31 of the same power has a higher cost-performance ratio than a synchronous motor, saving costs.

[0060] All of the above-mentioned optional technical solutions can be combined in any way to form the optional embodiments of this application, and will not be described in detail here.

[0061] The following are embodiments of the method of this application. For details not disclosed in the embodiments of the method of this application, please refer to the above system embodiments of this application.

[0062] This embodiment also provides a servo driver testing method, such as... Figure 6 As shown, the method includes:

[0063] S601. Generate control drive instructions and test drive instructions for testing the servo driver under test according to the test requirements.

[0064] S602. The control drive command is transmitted to the test driver 2 so that the test driver 2 drives the first test motor 3 to rotate according to the control drive command.

[0065] S603. Send the test drive command to the servo driver 4 under test so that the servo driver 4 under test drives the second test motor 5 according to the test drive command, so that the second test motor 5 rotates when the load force generated by the rotation of the first test motor 3 is applied.

[0066] S604. Obtain the driving state of the servo driver under test when driving the second test motor 5, and generate the test result of the servo driver under test 4 based on the driving state.

[0067] It is understood that the method provided in this application is applied to a servo drive testing system. For the specific composition of the servo drive testing system, please refer to the above embodiments, which will not be repeated here.

[0068] In some examples, control drive instructions and test drive instructions for testing the servo drive under test are generated according to test requirements, including: receiving test instructions through the interactive controller 11 and generating test requirements based on the test instructions; generating control drive instructions and test drive instructions based on the test requirements.

[0069] In some examples, before sending the test drive command to the servo drive 4 under test, the method further includes: generating a power supply command and transmitting the power supply command to the power supply unit, so that the power supply unit supplies power to the test drive 2 and the servo drive 4 under test.

[0070] According to the technical solution provided in the embodiments of this application, control drive instructions and test drive instructions for testing the servo drive under test are generated according to the test requirements; the control drive instructions are transmitted to the test drive 2 so that the test drive 2 drives the first test motor 3 to rotate according to the control drive instructions; the test drive instructions are sent to the servo drive under test 4 so that the servo drive under test 4 drives the second test motor 5 according to the test drive instructions, so that the second test motor 5 rotates under the load force generated by the rotation of the first test motor 3; the drive state when the servo drive under test drives the second test motor 5 is obtained, and the test result of the servo drive under test 4 is generated according to the drive state. This application provides a load by driving the first test motor 3 through the test drive 2, which greatly improves the speed of load adjustment and can quickly respond to the dynamic changes of the power system. It avoids the problem that the adjustment speed of the excitation system is slow and it is difficult to quickly respond to the dynamic changes of the power system, resulting in low test efficiency and accuracy of the servo drive under test 4. In addition, the maintenance cost of the first test motor 3 in this application is low, avoiding the problem that the rotating contact parts such as brushes and slip rings in the excitation system are worn during operation and need to be replaced regularly, thereby increasing the maintenance cost.

[0071] Figure 7 This is a schematic diagram of the electronic device 7 provided in an embodiment of this application. Figure 7 As shown, the electronic device 7 of this embodiment includes a processor 701, a memory 702, and a computer program 703 stored in the memory 702 and executable on the processor 701. When the processor 701 executes the computer program 703, it implements the steps in the various method embodiments described above. Alternatively, when the processor 701 executes the computer program 703, it implements the functions of each module / unit in the various device embodiments described above.

[0072] Electronic device 7 can be a desktop computer, laptop, handheld computer, cloud server, or other electronic device. Electronic device 7 may include, but is not limited to, processor 701 and memory 702. Those skilled in the art will understand that... Figure 7 This is merely an example of electronic device 7 and does not constitute a limitation on electronic device 7. It may include more or fewer components than shown, or different components.

[0073] The processor 701 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc.

[0074] The memory 702 can be an internal storage unit of the electronic device 7, such as a hard disk or RAM of the electronic device 7. The memory 702 can also be an external storage device of the electronic device 7, such as a plug-in hard disk, Smart Media Card (SMC), Secure Digital (SD) card, Flash Card, etc., equipped on the electronic device 7. The memory 702 can also include both internal and external storage units of the electronic device 7. The memory 702 is used to store computer programs and other programs and data required by the electronic device.

[0075] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0076] If an integrated module / unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by a processor, it can implement the steps of the various method embodiments described above. The computer program may include computer program code, which can be in the form of source code, object code, executable files, or certain intermediate forms. A computer-readable medium may include: any entity or device capable of carrying computer program code, recording media, USB flash drives, portable hard drives, magnetic disks, optical disks, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in a computer-readable medium can be appropriately added or removed according to regional requirements and patent practice requirements. For example, in some regions, according to regional requirements and patent practice, a computer-readable medium may not include electrical carrier signals and telecommunication signals.

[0077] The above embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A servo driver testing system, characterized in that, The system includes: a control unit, a test driver, a first test motor, a servo driver under test, and a second test motor; The control unit is connected to the test driver and the servo driver under test respectively. The test driver is connected to the first test motor, the servo driver under test is connected to the second test motor, and the first test motor and the second test motor are connected in a toggle connection. The control unit is used to generate control drive commands and test drive commands; The control unit is further configured to transmit the control drive command to the test driver, and the test driver is configured to drive the first test motor to rotate according to the control drive command; The control unit is further configured to send the test drive command to the servo driver under test, and the servo driver under test is configured to drive the second test motor according to the test drive command, so that the second test motor rotates when subjected to the load force generated by the rotation of the first test motor. The control unit is also used to acquire the driving state when the servo driver under test drives the second test motor, and to determine the test result of the servo driver under test based on the driving state.

2. The system according to claim 1, characterized in that, The control unit includes an interactive controller and a logic controller, the interactive controller and the logic controller are connected, and the logic controller is connected to the test driver and the servo driver under test, respectively. The interactive controller is used to receive test instructions and generate test requirements based on the test instructions; The logic controller is used to generate the control drive instructions and the test drive instructions according to the test requirements.

3. The system according to claim 1, characterized in that, The servo driver testing system also includes: a first power supply unit and a second power supply unit; The first power supply unit is connected to the test driver and the servo driver under test, and is used to provide power to the test driver and the servo driver under test; The second power supply unit is connected to the control unit and is used to provide power to the control unit.

4. The system according to claim 1, characterized in that, The test driver includes a vector control frequency converter, and the first test motor includes a three-phase asynchronous motor; The vector control inverter is used to generate a vector control signal according to the control drive command, and send the vector control signal to the three-phase asynchronous motor to drive the three-phase asynchronous motor to rotate.

5. The system according to claim 4, characterized in that, The servo drive testing system further includes an energy recovery device, which is connected to the vector control frequency converter via a common bus and is used to recover the energy generated by the rotation of the three-phase asynchronous motor.

6. A servo driver testing method, characterized in that, The method includes: Generate control drive instructions and test drive instructions for testing the servo driver under test according to the test requirements. The control drive command is transmitted to the test driver so that the test driver drives the first test motor to rotate according to the control drive command; The test drive command is sent to the servo driver under test so that the servo driver under test drives the second test motor according to the test drive command, so that the second test motor rotates when subjected to the load force generated by the rotation of the first test motor. The drive state of the servo driver under test when driving the second test motor is obtained, and the test result of the servo driver under test is generated based on the drive state.

7. The method according to claim 6, characterized in that, Based on the testing requirements, control drive commands and test drive commands are generated for testing the servo driver under test, including: The system receives test instructions through an interactive controller and generates test requirements based on those instructions. The control drive instructions and the test drive instructions are generated according to the test requirements.

8. The method according to claim 6, characterized in that, Before sending the test driver command to the servo driver under test, the method further includes: A power supply command is generated and transmitted to the power supply unit, so that the power supply unit supplies power to the test driver and the servo driver under test.

9. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the steps of the method as described in any one of claims 6 to 8.

10. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the steps of the method as described in any one of claims 6 to 8.

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