A method and system for analyzing dynamic response characteristics of a servo motor

Abstract

The application provides a dynamic response characteristic analysis method and system of a servo motor. The method comprises the following steps: judging whether a load change intensity I(t) of the servo motor is greater than a load change intensity threshold I0 L (t rt ); when the load change intensity I(t) is greater than the load change intensity threshold I0 L (t rt ), determining a target moment t0 at which the load change intensity I(t) is greater than the load change intensity threshold I0 L (t rt ); obtaining working scene data and working state data of the servo motor at the target moment t0, wherein the working state data of the servo motor comprises position data, motion data and vibration data of a main shaft of the servo motor; evaluating a dynamic response capability of the servo motor under a corresponding load change intensity based on the working state data; and performing summary analysis on the dynamic response capability of the servo motor with the working scene data as an analysis condition. The dynamic response capability of the servo motor can be accurately controlled, thereby enabling efficient decision-making in daily work task allocation of the servo motor.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of automation control technology, in particular to a dynamic response characteristic analysis method and system of a servo motor. BACKGROUND

[0002] Due to the advantages of fast response speed, high positioning accuracy, wide speed regulation range, strong reliability and complex motion control, the servo motor is widely used in industry, aerospace, automobile and smart home fields. When the load variation range and frequency of the servo motor are within a certain range, the servo motor has good high stability performance. However, when any one of the load, load variation range and load variation frequency of the servo motor exceeds the dynamic response capability of the servo motor, the working state of the servo motor will show certain abnormal state, such as slow response, large speed fluctuation or strong equipment vibration. Due to individual differences, different servo motors usually have different dynamic response capabilities, and the dynamic response capability of the same servo motor is not constant due to the influence of various factors such as working environment, working type and device aging. In this case, how to accurately evaluate the dynamic response capability of the servo motor is of great significance to the application of the servo motor. SUMMARY

[0003] The present application is based on the above problems, and proposes a dynamic response characteristic analysis method and system of a servo motor, which can accurately control the dynamic response capability of the servo motor, so as to make efficient decisions in the daily work task allocation of the servo motor.

[0004] Therefore, the first aspect of the present application proposes a dynamic response characteristic analysis method of a servo motor, comprising:

[0005] judging the load variation intensity of the servo motor whether the load variation intensity is greater than the load variation intensity threshold value ;

[0006] when the load variation intensity is greater than the load variation intensity threshold value , the time point when the load variation intensity is greater than the load variation intensity threshold value is determined as a target time point :

[0007] obtaining the working scene data and working state data of the servo motor at the target time point , the working state data of the servo motor including the position data, motion data and vibration data of the main shaft of the servo motor

[0008] evaluate the dynamic response capability of the servo motor under the corresponding load change intensity based on the working state data;

[0009] perform a summary analysis on the dynamic response capability of the servo motor with the working scene data as the analysis condition.

[0010] Further, before the step of judging whether the load change intensity of the servo motor is greater than the load change intensity threshold , the method further comprises:

[0011] obtaining a pre-configured load change intensity threshold ;

[0012] monitoring and recording load change data of the servo motor, the load change data comprising a load change amplitude , a load change speed and a load change frequency of the servo motor;

[0013] evaluating the load change intensity of the servo motor at the moment based on the load change data:

[0014] .

[0015] Further, before the step of evaluating the load change intensity of the servo motor at the moment based on the load change data , the method further comprises:

[0016] obtaining a pre-configured first load amplitude change threshold , a load change speed threshold and a load change frequency threshold ;

[0017] judging whether the load change of the servo motor satisfies any of the following conditions:

[0018] ;

[0019] when the load change of the servo motor satisfies any of the above conditions, performing the step of evaluating the load change intensity of the servo motor at the moment based on the load change data .

[0020] Further, the step of evaluating the load change intensity of the servo motor at the moment based on the load change data specifically comprises:

[0021] obtaining a load change intensity of the servo motor at the moment​ Load variation at any given time Load change rate and load change frequency ;

[0022] Obtain the pre-configured load change amplitude intensity coefficient Load change rate intensity coefficient Load variation frequency intensity coefficient ;

[0023] Calculate the servo motor in Intensity of load change at any given time:

[0024] .

[0025] Furthermore, the servo motor at the target time The dynamic response characteristics include dynamic response duration The dynamic response time The angular velocity of the spindle of the servo motor after receiving a new control command. The steps for evaluating the dynamic response capability of the servo motor under corresponding load changes, based on the working status data, specifically include: the time required to transition from the current value to the target value.

[0026] Extract the spindle angular velocity of the servo motor from the operating status data. ,in ;

[0027] Determine the servo motor from arrive Whether control commands were received within the time frame;

[0028] When the servo motor from arrive When a control command is received within the time frame, the servo motor will be moved from... arrive The last control command received within the time frame, indicating that the spindle of the servo motor has reached the target angular velocity, is determined as the target control command.

[0029] Determine the initial time for executing the target control command. And the end time when the spindle of the servo motor reaches the target angular velocity of the target control command. ;

[0030] Calculate the dynamic response time .

[0031] Furthermore, the servo motor at the target time Its dynamic response characteristics include torque stability The torque stability The steps for evaluating the dynamic response capability of the servo motor under corresponding load change intensity based on the operating state data, which are used to reflect the stability of the servo motor's output torque when the load changes, specifically include:

[0032] Extract the output torque of the servo motor from the operating status data. ,in ;

[0033] Calculate the servo motor from arrive Average output torque over the time range:

[0034] ,

[0035] in For the servo motor from arrive Number of output torque samples within the time range;

[0036] Calculate the torque stability:

[0037] .

[0038] Furthermore, the steps for summarizing and analyzing the dynamic response capability of the servo motor using the aforementioned work scenario data as analysis conditions specifically include:

[0039] The dynamic response capability data of multiple servo motors are summarized. The dynamic response capability data includes the dynamic response characteristic data of the servo motors at several target times, as well as their corresponding load change intensity data and working scenario data.

[0040] Clustering algorithms were used to perform cluster analysis on the dynamic response capability data to obtain several clusters and discrete data points;

[0041] For each cluster, determine whether they share the same working scenario conditions;

[0042] When any cluster has the same working scenario conditions, the dynamic response feature corresponding to the cluster is determined as the common feature under the corresponding working scenario conditions.

[0043] Furthermore, the clustering algorithm is a density-based clustering algorithm. The specific steps of using the clustering algorithm to perform cluster analysis on the dynamic response capability data to obtain several clusters and / or discrete data points include:

[0044] convert the dynamic response features in the dynamic response capability data into dynamic response feature vectors containing a time dimension;

[0045] configure a neighborhood radius and a minimum point number ;

[0046] take each dynamic response feature vector as a clustering data point to calculate a neighborhood data point number of each clustering data point;

[0047] determine a clustering data point with a neighborhood data point number greater than the minimum point number as a core data point;

[0048] determine a boundary data point associated with the core data point with the core data point as a starting point;

[0049] determine a set of the core data point and its associated boundary data point as a clustering cluster.

[0050] Further, after the step of taking each dynamic response feature vector as a clustering data point to calculate a neighborhood data point number of each clustering data point, further comprising:

[0051] determine a clustering data point other than the core point and the boundary point as a discrete data point;

[0052] determine a dynamic response feature corresponding to the discrete data point as an individual feature under a corresponding working scene condition.

[0053] A second aspect of the present application proposes a dynamic response characteristic analysis system of a servo motor, comprising a servo motor and a cloud server, the servo motor comprising a data acquisition unit, a data storage unit, a data communication unit and a data processing unit, the data acquisition unit being configured to acquire working scene data and working state data of the servo motor, the data storage unit being configured to store the working scene data and the working state data, the data communication unit being configured to upload dynamic response capability data of the servo motor to the cloud server, and the data processing unit being configured to:

[0054] determine whether a load change intensity of the servo motor is greater than a load change intensity threshold ;

[0055] when the load change intensity is greater than the load change intensity threshold , determine a time point satisfying the load change intensity being greater than the load change intensity threshold as a target time point :​

[0056] Obtain the target time The working scene data and working status data of the servo motor, wherein the working status data of the servo motor includes the position data, motion data and vibration data of the spindle of the servo motor;

[0057] The dynamic response capability of the servo motor under corresponding load variation intensity is evaluated based on the working status data.

[0058] The cloud server is configured to summarize and analyze the dynamic response capability of the servo motor using the work scenario data as the analysis condition.

[0059] This invention proposes a method and system for analyzing the dynamic response characteristics of a servo motor, which determines the intensity of load changes in the servo motor. Is it greater than the load change intensity threshold? When the intensity of the load change Greater than the load change intensity threshold At that time, the load change intensity will be satisfied. Greater than the load change intensity threshold The time is determined as the target time. : Obtain the target time The working scenario data and working status data of the servo motor, including the position data, motion data and vibration data of the servo motor spindle, are used to evaluate the dynamic response capability of the servo motor under corresponding load changes. The dynamic response capability of the servo motor is summarized and analyzed using the working scenario data as the analysis condition, which can accurately control the dynamic response capability of the servo motor and thus make efficient decisions in the daily work task allocation of the servo motor. Attached Figure Description

[0060] Figure 1 This is a flowchart of a method for analyzing the dynamic response characteristics of a servo motor according to an embodiment of the present invention;

[0061] Figure 2 This is a schematic diagram of a dynamic response characteristic analysis system for a servo motor provided in one embodiment of the present invention. Detailed Implementation

[0062] To better understand the above-mentioned objectives, features, and advantages of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that, unless otherwise specified, the embodiments and features described in these embodiments can be combined with each other.

[0063] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and therefore the scope of protection of the invention is not limited to the specific embodiments disclosed below.

[0064] In the description of this invention, the term "multiple" refers to two or more. Unless otherwise explicitly defined, the terms "upper," "lower," etc., indicate the orientation or positional relationship based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the invention and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the invention. The terms "connect," "install," "fix," etc., should be interpreted broadly. For example, "connect" can be a fixed connection, a detachable connection, or an integral connection; it can be a direct connection or an indirect connection through an intermediate medium. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances. Furthermore, the terms "first," "second," etc., are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of indicated technical features. Thus, a feature defined with "first," "second," etc., may explicitly or implicitly include one or more of that feature. In the description of this invention, unless otherwise stated, "multiple" means two or more.

[0065] In the description of this specification, the terms "one embodiment," "some implementations," "specific embodiment," etc., refer to a specific feature, structure, material, or characteristic described in connection with that embodiment or example, which is included in at least one embodiment or example of the present invention. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0066] The following description, with reference to the accompanying drawings, illustrates a method and system for analyzing the dynamic response characteristics of a servo motor according to some embodiments of the present invention.

[0067] like Figure 1 As shown, the first aspect of the present invention proposes a method for analyzing the dynamic response characteristics of a servo motor, comprising:

[0068] Determine the intensity of load changes in the servo motor Is it greater than the load change intensity threshold? ;

[0069] When the load change intensity Greater than the load change intensity threshold At that time, the load change intensity will be satisfied. greater than the load change intensity threshold is determined as a target time

[0070] acquire the target time working scene data and working state data of the servo motor, the working state data of the servo motor including position data, motion data and vibration data of a spindle of the servo motor;

[0071] evaluate dynamic response capability of the servo motor under corresponding load change intensity based on the working state data;

[0072] perform summary analysis on dynamic response capability of the servo motor with the working scene data as analysis condition.

[0073] The working scene data includes static configuration data of the servo motor, such as working environment type, working equipment type and working content type of the servo motor. The static configuration data can be obtained by manual input or automatic recognition when the servo motor is installed on the corresponding working equipment. The working environment type of the servo motor can be divided in different ways according to actual implementation needs. For example, the working environment type can be divided according to whether it is an indoor environment, such as indoor working environment or outdoor working environment, or according to environmental temperature, such as high-temperature working environment, normal-temperature working environment or low-temperature working environment, or according to dust content in the air, such as high-dust working environment or dust-free working environment. The working equipment type of the servo motor refers to the type of the host equipment on which the servo motor is installed. For example, the servo motor can be installed on industrial automation equipment such as numerical control machine tools, industrial robots or chip mounters, or on medical instruments such as surgical robots, CT scanners, rehabilitation robots or electric wheelchairs, or on logistics transportation equipment such as automatic guided vehicles or palletizing robots. The working content type of the servo motor is divided according to the type of the target component driven by the servo motor. For example, the servo motor can be installed on a numerical control machine tool to drive the mechanical arm or tool bit of the numerical control machine tool, or installed on a sweeping robot to drive the wheels or mop of the sweeping robot. The static configuration data can also include geographic position coordinates of the working site of the servo motor. The working scene data also includes dynamic working data of the servo motor, such as continuous working time length, working environment temperature and working environment humidity of the servo motor.

[0074] ​The servo motor includes an encoder. The position data of the servo motor's spindle is obtained by identifying the position detection data of the encoder. The encoder of the servo motor detects the rotation angle or displacement of the servo motor's spindle and converts the corresponding mechanical position into electrical signals such as pulses or digital codes. Thus, the position of the servo motor's spindle can be represented by the pulse count or angle position in the position detection data.

[0075] In some embodiments of the present invention, the motion data of the servo motor includes the angular acceleration of the main shaft of the servo motor. and angular velocity The motion data of the servo motor can be calculated based on the changes in the position data of the servo motor's spindle.

[0076] In some embodiments of the present invention, the dynamic response characteristic analysis system for a servo motor provided by the present invention includes a vibration sensor disposed on the servo motor, and the vibration data of the servo motor includes the vibration amplitude of the servo motor measured by the vibration sensor. Vibration velocity and vibration frequency .

[0077] Furthermore, after the step of evaluating the dynamic response capability of the servo motor under corresponding load variation intensity based on the operating status data, the method further includes:

[0078] The load variation intensity and dynamic response capability of the servo motor are associated and stored.

[0079] Furthermore, in judging the intensity of load changes in the servo motor... Is it greater than the load change intensity threshold? Before the steps, it also includes:

[0080] Obtain the pre-configured load change intensity threshold ;

[0081] Monitor and record the load change data of the servo motor, including the load change amplitude of the servo motor. Load change rate and load change frequency ;

[0082] The servo motor was evaluated based on the load change data. Intensity of load change at any given time:

[0083] .

[0084] In the technical solutions of the above-mentioned embodiments, is a load change strength calculation function taking the load change amplitude of the servo motor, the load change speed , and the load change frequency as input parameters.

[0085] Further, before the step of monitoring and recording the load change data of the servo motor, the method further comprises:

[0086] configuring a load change data sampling period of the servo motor;

[0087] The step of monitoring and recording the load change data of the servo motor specifically comprises:

[0088] representing each recording time of the load change data as ;

[0089] measuring the load torque of the servo motor at the recording time of the load change data by the torque sensor;

[0090] calculating the load change amplitude at the recording time of the load change data:

[0091] ,

[0092] wherein is the last data sampling time of the recording time of the load change data, and the load torque of the servo motor at the last data sampling time is ;

[0093] calculating the load change speed at the recording time of the load change data:

[0094] .

[0095] Further, the step of monitoring the load change data of the servo motor further comprises:

[0096] obtaining a pre-configured load change statistical duration and a second load amplitude change threshold , wherein the second load amplitude change threshold is smaller than the first load amplitude change threshold ;

[0097] counting the load change amplitude of the servo motor greater than the second load amplitude change threshold in the time range from to ​​​Number of times ;

[0098] Calculate the load change frequency of the servo motor:

[0099] .

[0100] Furthermore, the servo motor is evaluated based on the load change data. Intensity of load change at time Before the steps, it also includes:

[0101] Obtain the pre-configured first load amplitude change threshold Load change rate threshold and load change frequency threshold ;

[0102] Determine whether the load change of the servo motor meets any of the following conditions:

[0103] ;

[0104] When the load change of the servo motor meets any of the above conditions, an evaluation of the servo motor based on the load change data is performed. Intensity of load change at time The steps.

[0105] Specifically, regarding determining whether the load change of the servo motor meets any of the following conditions:

[0106] ;

[0107] In the above steps, when the load variation of the servo motor... satisfy Or the load change rate of the servo motor satisfy Or the load variation frequency of the servo motor satisfy If the load change of the servo motor satisfies any of the above conditions, then it is considered that the load change of the servo motor satisfies any of the above conditions.

[0108] Furthermore, the servo motor is evaluated based on the load change data. Intensity of load change at time The specific steps include:

[0109] Get servo motor in Load variation at any given time Load change rate and load change frequency ;

[0110] obtaining a preconfigured load variation amplitude intensity coefficient , a load variation speed intensity coefficient , and a load variation frequency intensity coefficient ;

[0111] calculating the load variation intensity of the servo motor at the moment of time ;

[0112] .

[0113] Further, before the steps of obtaining a preconfigured load variation amplitude intensity coefficient , a load variation speed intensity coefficient , and a load variation frequency intensity coefficient , the method further comprises:

[0114] configuring a load variation amplitude base number , a load variation speed base number , and a load variation frequency base number ;

[0115] configuring a load variation amplitude intensity multiplier , a load variation speed intensity multiplier , and a load variation frequency intensity multiplier ;

[0116] configuring the load variation amplitude intensity coefficient , the load variation speed intensity coefficient , and the load variation frequency intensity coefficient ;

[0117] .

[0118] Specifically, the load variation amplitude base number , the load variation speed base number , and the load variation frequency base number are empirical constants measured in a laboratory environment, for example, they can be the average values of the load variation amplitude, the load variation speed, and the load variation frequency measured in a certain working condition within a period of time.

[0119] Similarly, the load variation amplitude intensity multiplier , the load variation speed intensity multiplier , and the load variation frequency intensity multiplier are empirical constants fine-tuned in a laboratory environment, which can be an integer or a decimal number. It should be understood that the load variation amplitude intensity multiplier The load change rate intensity ratio and the load change frequency intensity ratio All are positive numbers.

[0120] Furthermore, the servo motor at the target time The dynamic response characteristics include dynamic response duration The dynamic response time The angular velocity of the spindle of the servo motor after receiving a new control command. The steps for evaluating the dynamic response capability of the servo motor under corresponding load changes, based on the working status data, specifically include: the time required to transition from the current value to the target value.

[0121] Extract the spindle angular velocity of the servo motor from the operating status data. ,in ;

[0122] Determine the servo motor from arrive Whether control commands were received within the time frame;

[0123] When the servo motor from arrive When a control command is received within the time frame, the servo motor will be moved from... arrive The last control command received within the time frame, indicating that the spindle of the servo motor has reached the target angular velocity, is determined as the target control command.

[0124] Determine the initial time for executing the target control command. And the end time when the spindle of the servo motor reaches the target angular velocity of the target control command. ;

[0125] Calculate the dynamic response time .

[0126] Furthermore, the servo motor at the target time The dynamic response characteristics also include the peak value of the spindle angular acceleration of the servo motor. peak value of spindle angular velocity fluctuation Peak amplitude of fuselage and the peak frequency of fuselage vibration One or more of them.

[0127] Furthermore, the target time is obtained. The steps for obtaining the working scenario data and working status data of the servo motor specifically include:

[0128] acquiring a pre-configured dynamic response characteristic statistical time length ;

[0129] determining the working scene data and the working state data of the servo motor within a time range from to as the target time .

[0130] the load change statistical time length and the dynamic response characteristic statistical time length may adopt the same value, or can be configured as different values respectively.

[0131] Further, the spindle angular acceleration peak value is the maximum angular acceleration of the spindle of the servo motor within a period of time before the target time , and the step of extracting the dynamic response characteristic of the servo motor from the working state data specifically includes:

[0132] extracting the spindle angular acceleration of the servo motor from the working state data , wherein ;

[0133] determining the spindle angular acceleration peak value in the spindle angular acceleration of the servo motor :

[0134] .

[0135] Further, the spindle angular velocity fluctuation peak value is the maximum angular velocity of the spindle of the servo motor within a period of time before the target time , and the step of extracting the dynamic response characteristic of the servo motor from the working state data further includes:

[0136] extracting the spindle angular velocity of the servo motor from the working state data , wherein ;

[0137] determining the spindle angular velocity peak value in the spindle angular velocity of the servo motor :

[0138] .

[0139] Further, the fuselage amplitude peak value is the amplitude of the servo motor at the target time The step of extracting the dynamic response characteristics of the servo motor from the operating state data, based on the maximum vibration amplitude over a previous period, further includes:

[0140] Extract the servo motor's body amplitude from the operating status data. ,in ;

[0141] The body amplitude of the servo motor The peak value of the fuselage amplitude is determined in the following way:

[0142] .

[0143] Furthermore, the peak value of the fuselage vibration frequency The vibration sensor mounted on the servo motor is used to monitor the servo motor at the target time. The step of extracting the dynamic response characteristics of the servo motor from the operating state data, based on the maximum vibration frequency over a previous period, further includes:

[0144] Extract the body vibration frequency of the servo motor from the operating status data. ,in ;

[0145] The vibration frequency of the servo motor body The peak value of the fuselage vibration frequency is determined in the following way:

[0146] .

[0147] Furthermore, the servo motor at the target time Its dynamic response characteristics include torque stability The torque stability The steps for evaluating the dynamic response capability of the servo motor under corresponding load change intensity based on the operating state data, which are used to reflect the stability of the servo motor's output torque when the load changes, specifically include:

[0148] Extract the output torque of the servo motor from the operating status data. ,in ;

[0149] Calculate the servo motor from arrive Average output torque over the time range:

[0150] ,

[0151] in For the servo motor from arrive the number of output torque samples in the time range;

[0152] calculating the torque stability:

[0153] .

[0154] In the technical solution of some embodiments of the present application, the step of extracting the output torque of the servo motor from the working state data specifically includes:

[0155] determining the torque constant of the servo motor ;

[0156] acquiring the working current of the servo motor at the time of recording the load change data ; ;

[0157] calculating the output torque of the servo motor:

[0158] .

[0159] The above embodiments are applicable to scenarios where the temperature and humidity environment and the electromagnetic environment of the servo motor are relatively stable, such as laboratory environments or workshop environments where temperature, humidity, and electromagnetic field intensity are strictly controlled. The torque constant of the servo motor is a constant measured in advance in this environment. It should be noted that the torque constant may change due to device wear or aging, and needs to be measured and reconfigured regularly.

[0160] In the technical solution of some embodiments of the present application, the step of extracting the output torque of the servo motor from the working state data specifically includes:

[0161] acquiring the moment of inertia of the servo motor and the angular acceleration , the moment of inertia being the sum of the inertia of the servo motor itself and the inertia of the load;

[0162] acquiring the load torque of the servo motor ;

[0163] calculating the output torque of the servo motor:

[0164] .

[0165] Further, the step of summarizing and analyzing the dynamic response capability of the servo motor based on the working scene data specifically includes:

[0166] ​​aggregate dynamic response capability data of a plurality of servo motors, the dynamic response capability data including dynamic response characteristic data of the servo motors at a plurality of target time instants and corresponding load change intensity data and working scenario data;

[0167] perform clustering analysis on the dynamic response capability data using a clustering algorithm to obtain a plurality of clustering clusters and discrete data points;

[0168] for each clustering cluster, determine whether there is a same working scenario condition;

[0169] when there is a same working scenario condition in any clustering cluster, determine the dynamic response characteristic corresponding to the clustering cluster as a common characteristic under the corresponding working scenario condition.

[0170] In the technical solution of some embodiments of the present application, the dynamic response characteristic data in the dynamic response capability data includes dynamic response characteristics of the servo motor at a plurality of target time instants satisfying the load change intensity greater than the load change intensity threshold , i.e., the dynamic response capability data includes one or more of dynamic response duration characteristic, torque stability characteristic, main shaft angular acceleration peak value characteristic, main shaft angular velocity fluctuation peak value characteristic, machine body amplitude peak value characteristic, and machine body vibration frequency peak value characteristic of the servo motor at each target time instant.

[0171] Further, aggregating dynamic response capability data of a plurality of servo motors specifically includes storing load change intensity data, working scenario data, and dynamic response characteristic data of a plurality of servo motors at a plurality of target time instants satisfying the load change intensity greater than the load change intensity threshold in association with the identification of the servo motor in a database.

[0172] In the technical solution of the above embodiments, the clustering cluster is a clustering data point set composed of a plurality of clustering data points in the same dense area in the clustering result, and the discrete data point is a clustering data point not belonging to any clustering cluster in the clustering result.

[0173] Further, the clustering algorithm is a density-based clustering algorithm, and the step of performing clustering analysis on the dynamic response capability data using a clustering algorithm to obtain a plurality of clusters and / or discrete data points specifically includes:

[0174] convert the dynamic response characteristic in the dynamic response capability data into a dynamic response characteristic vector containing a time dimension;

[0175] configure a neighborhood radius and a minimum number of points ;

[0176] each dynamic response feature vector as a cluster data point, to calculate the number of neighborhood data points of each cluster data point;

[0177] determining the cluster data point whose number of neighborhood data points is greater than the minimum point number as a core data point;

[0178] determining the boundary data points associated with the core data point, with the core data point as a starting point;

[0179] determining the set of the core data point and its associated boundary data points as a cluster.

[0180] The clustering algorithm used in the technical solution of the above embodiment is DBSCAN (Density-Based Spatial Clustering of Applications with Noise), and the clustering object is the dynamic response feature vector generated based on the dynamic response feature of the servo motor. For example, when the dynamic response feature includes the dynamic response duration feature and the torque stability feature , the dynamic response feature vector can be represented as:

[0181] ,

[0182] wherein is the unit vector of the time axis, is the unit vector of the dynamic response duration feature axis, is the unit vector of the torque stability feature axis.

[0183] When the difference between the modulus of one dynamic response feature vector and the modulus of another dynamic response feature vector is less than the neighborhood radius , the two dynamic response feature vectors are called neighborhood data points.

[0184] Further, after the step of taking each dynamic response feature vector as a cluster data point to calculate the number of neighborhood data points of each cluster data point, the method further includes:

[0185] determining the cluster data points other than the core points and the boundary points as discrete data points;

[0186] determining the dynamic response feature corresponding to the discrete data points as the individual feature under the corresponding working scene condition.

[0187] Further, the step of determining the boundary data points associated with the core data point, with the core data point as a starting point, specifically includes:

[0188] constructing a cluster based on a core data point;

[0189] placing the core data point into the cluster;

[0190] traversing each neighbor data of the core point to determine it as a target data point;

[0191] performing the following steps on the target data point:

[0192] placing the target data point into the cluster;

[0193] traversing each neighbor data point of the target data point to determine whether there is a neighbor data point not placed into the cluster;

[0194] determining the neighbor data point not placed into the cluster as a new target data point;

[0195] cyclically performing the above steps until there is no untraversed neighbor data point.

[0196] As shown in Figure 2 , a second aspect of the present application proposes a dynamic response characteristic analysis system of a servo motor, comprising a servo motor and a cloud server, the servo motor comprising a data acquisition unit, a data storage unit, a data communication unit and a data processing unit, the data acquisition unit being configured to acquire working scene data and working state data of the servo motor, the data storage unit being configured to store the working scene data and the working state data, the data communication unit being configured to upload dynamic response capability data of the servo motor to the cloud server, and the data processing unit being configured to:

[0197] determine whether a load change intensity of the servo motor is greater than a load change intensity threshold ;

[0198] when the load change intensity is greater than the load change intensity threshold , determine a time point satisfying the load change intensity being greater than the load change intensity threshold as a target time point :

[0199] acquire working scene data and working state data of the servo motor at the target time point , the working state data of the servo motor comprising position data, motion data and vibration data of a main shaft of the servo motor;

[0200] ​evaluate the dynamic response capability of the servo motor under the corresponding load change intensity based on the working state data;

[0201] The cloud server is configured to perform summary analysis on the dynamic response capability of the servo motor with the working scene data as an analysis condition.

[0202] In the technical solution of the present application, the data acquisition unit includes but is not limited to an encoder, a torque sensor, a temperature sensor, a temperature sensor, and a vibration sensor.

[0203] In the technical solution of some embodiments of the present application, the servo motor directly uploads the working scene data and working state data to the cloud server in real time, and the cloud server is configured to:

[0204] determine the load change intensity of the servo motor whether it is greater than the load change intensity threshold ;

[0205] when the load change intensity is greater than the load change intensity threshold , the time when the load change intensity is greater than the load change intensity threshold is determined as the target time :

[0206] acquire the working scene data and working state data of the servo motor at the target time The working state data of the servo motor includes the position data, motion data and vibration data of the main shaft of the servo motor.

[0207] evaluate the dynamic response capability of the servo motor under the corresponding load change intensity based on the working state data;

[0208] perform summary analysis on the dynamic response capability of the servo motor with the working scene data as an analysis condition.

[0209] The working scene data includes static configuration data of the servo motor, such as a working environment type, a working equipment type, and a working content type of the servo motor. The static configuration data can be obtained by manual input or automatic recognition when the servo motor is installed on the corresponding working equipment. The working environment type of the servo motor can be divided in different ways according to actual implementation needs. For example, the working environment type can be divided according to whether it is an indoor environment, such as an indoor working environment or an outdoor working environment. The working environment type can also be divided according to the temperature of the environment, such as a high-temperature working environment, a normal-temperature working environment, or a low-temperature working environment. The working environment type can also be divided according to the dust content in the air, such as a high-dust working environment or a dust-free working environment. The working equipment type of the servo motor refers to the type of the host equipment on which the servo motor is installed. For example, the servo motor can be installed on industrial automation equipment such as a numerical control machine tool, an industrial robot, or a chip mounter. The servo motor can also be installed on medical equipment such as a surgical robot, a CT scanner, a rehabilitation robot, or an electric wheelchair. The servo motor can also be installed on logistics transportation equipment such as an automatic guided vehicle or a palletizing robot. The working content type of the servo motor is divided according to the type of the target component driven by the servo motor. For example, the servo motor can be installed on a numerical control machine tool to drive the mechanical arm or the tool head of the numerical control machine tool to move. The servo motor can also be installed on a sweeping robot to drive the wheels or the mop of the sweeping robot to rotate. The static configuration data can also include geographic position coordinates of the working site of the servo motor. The working scene data also includes dynamic working data of the servo motor, such as the duration of continuous working, the working environment temperature, and the working environment humidity of the servo motor.

[0210] The servo motor includes an encoder. The position data of the main shaft of the servo motor is obtained by identifying the position detection data of the encoder of the servo motor. The encoder of the servo motor converts the corresponding mechanical position into a pulse or a digital code electrical signal by detecting the rotation angle or displacement of the main shaft of the servo motor. Therefore, the position of the main shaft of the servo motor can be represented by pulse counting or angle position in the position detection data.

[0211] In the technical scheme of some embodiments of the present application, the motion data of the servo motor includes angular acceleration and angular velocity of the main shaft of the servo motor. The motion data of the servo motor can be calculated according to the change of the position data of the main shaft of the servo motor.

[0212] In some embodiments of the present invention, the dynamic response characteristic analysis system for a servo motor provided by the present invention includes a vibration sensor disposed on the servo motor, and the vibration data of the servo motor includes the vibration amplitude of the servo motor measured by the vibration sensor. Vibration velocity and vibration frequency .

[0213] Furthermore, after evaluating the dynamic response capability of the servo motor under corresponding load variation intensity based on the operating status data, the servo motor processing unit or the cloud server is configured as follows:

[0214] The load variation intensity and dynamic response capability of the servo motor are associated and stored.

[0215] Furthermore, in judging the intensity of load changes in the servo motor... Is it greater than the load change intensity threshold? Prior to the step, the servo motor processing unit or the cloud server is configured as follows:

[0216] Obtain the pre-configured load change intensity threshold ;

[0217] Monitor and record the load change data of the servo motor, including the load change amplitude of the servo motor. Load change rate and load change frequency ;

[0218] The servo motor was evaluated based on the load change data. Intensity of load change at any given time:

[0219] .

[0220] In the technical solutions of the above embodiments, The load variation of the servo motor Load change rate and load change frequency This is a function for calculating the intensity of load change based on input parameters.

[0221] Furthermore, prior to the step of monitoring and recording the load change data of the servo motor, the servo motor processing unit or the cloud server is configured as follows:

[0222] Configure the load change data sampling period for the servo motor;

[0223] The step of monitoring and recording the load variation data of the servo motor specifically comprises:

[0224] The load variation data at each recording moment is represented as ;

[0225] The load variation data recording moment is measured by a torque sensor The load torque of the servo motor ;

[0226] The load variation amplitude at the load variation data recording moment is calculated as

[0227] ,

[0228] Wherein is the last data sampling moment of the load variation data recording moment , and is the load torque of the servo motor at the last data sampling moment;

[0229] The load variation speed at the load variation data recording moment is calculated as

[0230] .

[0231] Further, in the step of monitoring the load variation data of the servo motor, the processing unit of the servo motor or the cloud server is configured to:

[0232] Obtain a pre-configured load variation statistical duration and a second load amplitude variation threshold , the second load amplitude variation threshold is less than the first load amplitude variation threshold ;

[0233] Statistically count the number of times the load variation amplitude of the servo motor is greater than the second load amplitude variation threshold in the time range from ;

[0234] Calculate the load variation frequency of the servo motor:

[0235] .

[0236] Further, before the step of evaluating the load variation intensity of the servo motor at the moment based on the load variation data , the processing unit of the servo motor or the cloud server is configured to:​​​

[0237] Obtain the pre-configured first load amplitude change threshold Load change rate threshold and load change frequency threshold ;

[0238] Determine whether the load change of the servo motor meets any of the following conditions:

[0239] ;

[0240] When the load change of the servo motor meets any of the above conditions, an evaluation of the servo motor based on the load change data is performed. Intensity of load change at time The steps.

[0241] Specifically, regarding determining whether the load change of the servo motor meets any of the following conditions:

[0242] ;

[0243] In the above steps, when the load variation of the servo motor... satisfy Or the load change rate of the servo motor satisfy Or the load variation frequency of the servo motor satisfy If the load change of the servo motor satisfies any of the above conditions, then it is considered that the load change of the servo motor satisfies any of the above conditions.

[0244] Furthermore, the servo motor is evaluated based on the load change data. Intensity of load change at time In the following steps, the servo motor processing unit or the cloud server is configured as follows:

[0245] Get servo motor in Load variation at any given time Load change rate and load change frequency ;

[0246] Obtain the pre-configured load change amplitude intensity coefficient Load change rate intensity coefficient Load variation frequency intensity coefficient ;

[0247] Calculate the servo motor in Intensity of load change at any given time:

[0248] .

[0249] Further, before the step of obtaining the load change amplitude intensity coefficient , the load change speed intensity coefficient , and the load change frequency intensity coefficient , the processing unit of the servo motor or the cloud server is configured to:

[0250] configure the load change amplitude base number , the load change speed base number , and the load change frequency base number ;

[0251] configure the load change amplitude intensity multiplier , the load change speed intensity multiplier , and the load change frequency intensity multiplier ;

[0252] configure the load change amplitude intensity coefficient , the load change speed intensity coefficient , and the load change frequency intensity coefficient as:

[0253] .

[0254] Specifically, the load change amplitude base number , the load change speed base number , and the load change frequency base number are empirical constants measured in a laboratory environment, for example, they can be the average of the load change amplitude, the load change speed, and the load change frequency in a certain period of time measured under specific working conditions.

[0255] Similarly, the load change amplitude intensity multiplier , the load change speed intensity multiplier , and the load change frequency intensity multiplier are empirical constants fine-tuned in a laboratory environment, which can be an integer or a decimal number. It should be understood that the load change amplitude intensity multiplier , the load change speed intensity multiplier , and the load change frequency intensity multiplier are all positive numbers.

[0256] Further, the dynamic response characteristics of the servo motor at the target time include the dynamic response duration , and the dynamic response duration an angular velocity of a spindle of the servo motor a length of time required for a transition from a current value to a target value, in the step of evaluating the dynamic response capability of the servo motor under a corresponding load change intensity based on the working state data, the processing unit of the servo motor or the cloud server is configured to:

[0257] extracting a spindle angular velocity of the servo motor from the working state data ;

[0258] determining whether a control instruction is received by the servo motor within a time range from to ;

[0259] when the servo motor receives a control instruction within a time range from to , determining a last control instruction received by the servo motor within a time range from to , at which the spindle of the servo motor has reached a target angular velocity, as a target control instruction

[0260] determining an initial time point at which the target control instruction is executed, and an ending time point at which the spindle of the servo motor reaches the target angular velocity of the target control instruction

[0261] calculating the dynamic response length .

[0262] Further, the dynamic response characteristics of the servo motor at the target time point further include one or more of a spindle angular acceleration peak value , a spindle angular velocity fluctuation peak value , a body amplitude peak value , and a body vibration frequency peak value .

[0263] Further, in the step of obtaining the working scene data and the working state data of the servo motor at the target time point , the processing unit of the servo motor or the cloud server is configured to:

[0264] obtaining a pre-configured dynamic response characteristic statistical length .

[0265] determining the working scene data and the working state data of the servo motor within a time range from to as the target time point​ working scenario data and working state data of the servo motor.

[0266] statistical duration of load change and statistical duration of dynamic response characteristics The same value can be used, or different values can be configured respectively.

[0267] Further, the main shaft angular acceleration peak value is the maximum angular acceleration of the main shaft of the servo motor within a period of time before the target time In the step of extracting the dynamic response characteristics of the servo motor from the working state data, the processing unit of the servo motor or the cloud server is configured to:

[0268] extract the main shaft angular acceleration of the servo motor from the working state data , wherein ;

[0269] determine the main shaft angular acceleration peak value in the main shaft angular acceleration of the servo motor :

[0270] .

[0271] Further, the main shaft angular velocity fluctuation peak value is the maximum angular velocity of the main shaft of the servo motor within a period of time before the target time In the step of extracting the dynamic response characteristics of the servo motor from the working state data, the processing unit of the servo motor or the cloud server is configured to:

[0272] extract the main shaft angular velocity of the servo motor from the working state data , wherein ;

[0273] determine the main shaft angular velocity peak value in the main shaft angular velocity of the servo motor :

[0274] 。

[0275] Further, the fuselage amplitude peak value is the maximum vibration amplitude of the servo motor within a period of time before the target time In the step of extracting the dynamic response characteristics of the servo motor from the working state data, the processing unit of the servo motor or the cloud server is configured to:

[0276] extracting the body amplitude of the servo motor from the working state data wherein ;

[0277] determining the body amplitude peak value in the body amplitude of the servo motor

[0278] 。

[0279] further, the body vibration frequency peak value is the maximum vibration frequency of the servo motor in the target moment a period of time before the target moment, in the step of extracting the dynamic response characteristic of the servo motor from the working state data, the processing unit of the servo motor or the cloud server is configured to:

[0280] extracting the body vibration frequency of the servo motor from the working state data wherein ;

[0281] determining the body vibration frequency peak value in the body vibration frequency of the servo motor

[0282] 。

[0283] further, the dynamic response characteristic of the servo motor in the target moment includes torque stability , which is used to reflect the stability degree of the output torque of the servo motor when the load changes, in the step of evaluating the dynamic response capability of the servo motor under the corresponding load change intensity based on the working state data, the processing unit of the servo motor or the cloud server is configured to: extracting the output torque of the servo motor from the working state data

[0284] wherein ;

[0285] calculating the average value of the output torque of the servo motor from to time range:

[0286] ，

[0287] wherein is the average value of the output torque of the servo motor from​​​ to the number of output torque samples in the time range;

[0288] calculating the torque stability:

[0289] 。

[0290] In the technical solution of some embodiments of the present application, in the step of extracting the output torque of the servo motor from the working state data , the processing unit of the servo motor or the cloud server is configured to:

[0291] determine the torque constant of the servo motor ;

[0292] acquire the working current of the servo motor at the time of recording the load change data ; ;

[0293] calculate the output torque of the servo motor:

[0294] .

[0295] The above embodiments are suitable for scenarios where the temperature and humidity environment and the electromagnetic environment of the servo motor are relatively stable, such as laboratory environments or workshop environments where temperature, humidity, and electromagnetic field strength are strictly controlled, and the torque constant of the servo motor is a constant measured in advance in this environment. It should be understood that the torque constant may change due to device wear or aging, and needs to be measured and reconfigured regularly.

[0296] In the technical solution of some embodiments of the present application, in the step of extracting the output torque of the servo motor from the working state data , the processing unit of the servo motor or the cloud server is configured to:

[0297] acquire the moment of inertia of the servo motor and the angular acceleration , the moment of inertia being the sum of the inertia of the servo motor itself and the inertia of the load;

[0298] acquire the load torque of the servo motor ;

[0299] calculate the output torque of the servo motor:

[0300] .

[0301] Further, in the step of summarizing and analyzing the dynamic response capabilities of the servo motors with the working scene data as the analysis condition, the cloud server is configured to:

[0302] summarizing dynamic response capability data of a plurality of servo motors, the dynamic response capability data including dynamic response characteristic data of the servo motors at a plurality of target time instants and corresponding load change intensity data and working scene data;

[0303] performing clustering analysis on the dynamic response capability data using a clustering algorithm to obtain a plurality of clustering clusters and discrete data points;

[0304] for each clustering cluster, determining whether there is a same working scene condition;

[0305] when there is a same working scene condition in any clustering cluster, determining the dynamic response characteristics corresponding to the clustering cluster as common characteristics under the corresponding working scene condition.

[0306] In the technical solution of some embodiments of the present application, the dynamic response characteristic data in the dynamic response capability data includes dynamic response characteristics of the servo motor at a plurality of target time instants satisfying the load change intensity greater than the load change intensity threshold , that is, the dynamic response capability data includes one or more of dynamic response duration characteristics, torque stability characteristics, main shaft angular acceleration peak value characteristics, main shaft angular velocity fluctuation peak value characteristics, machine body amplitude peak value characteristics, and machine body vibration frequency peak value characteristics of the servo motor at each target time instant.

[0307] Further, the step of summarizing dynamic response capability data of a plurality of servo motors specifically includes storing load change intensity data, working scene data, and dynamic response characteristic data of a plurality of servo motors at a plurality of target time instants satisfying the load change intensity greater than the load change intensity threshold in association with the identification of the servo motor in the database.

[0308] In the technical solution of the above embodiments, the clustering cluster is a clustering data point set composed of a plurality of clustering data points in the same dense area in the clustering result, and the discrete data point is a clustering data point not belonging to any clustering cluster in the clustering result.

[0309] Further, the clustering algorithm is a density-based clustering algorithm, and in the step of performing clustering analysis on the dynamic response capability data using the clustering algorithm to obtain a plurality of clusters and / or discrete data points, the cloud server is configured to:

[0310] convert the dynamic response features in the dynamic response capability data into dynamic response feature vectors containing a time dimension;

[0311] configure a neighborhood radius and a minimum point number ;

[0312] take each dynamic response feature vector as a clustering data point to calculate a neighborhood data point number of each clustering data point;

[0313] determine a clustering data point with a neighborhood data point number greater than the minimum point number as a core data point;

[0314] determine a boundary data point associated with the core data point with the core data point as a starting point;

[0315] determine a set of the core data point and its associated boundary data point as a clustering cluster.

[0316] The clustering algorithm used in the technical solution of the above embodiment is DBSCAN (Density-Based Spatial Clustering of Applications with Noise), and the clustering object is the dynamic response feature vector generated based on the dynamic response features of the servo motor. For example, when the dynamic response features include dynamic response duration features and torque stability features , the dynamic response feature vector can be represented as:

[0317] ,

[0318] wherein is a unit vector of a time axis, is a unit vector of a dynamic response duration feature axis, is a unit vector of a torque stability feature axis.

[0319] When the difference between the modulus of a dynamic response feature vector and the modulus of another dynamic response feature vector is less than the neighborhood radius , the two dynamic response feature vectors are called neighborhood data points.

[0320] Further, after the step of taking each dynamic response feature vector as a clustering data point to calculate a neighborhood data point number of each clustering data point, the cloud server is configured to:

[0321] determine a clustering data point other than the core point and the boundary point as a discrete data point;

[0322] The dynamic response feature corresponding to the discrete data point is determined as an individual feature under the corresponding working scene condition.

[0323] Further, in the step of determining the boundary data point associated with the core data point based on each core data point, the cloud server is configured to:

[0324] construct a cluster based on a core data point;

[0325] put the core data point into the cluster;

[0326] traverse each neighborhood data of the core point to determine it as a target data point;

[0327] perform the following steps on the target data point:

[0328] put the target data point into the cluster;

[0329] traverse each neighborhood data point of the target data point to determine whether there is a neighborhood data point not put into the cluster;

[0330] determine the neighborhood data point not put into the cluster as a new target data point;

[0331] recursively perform the above steps until there is no neighborhood data point not traversed.

[0332] It should be noted that, in this article, the relationship terms such as first and second are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between the entities or operations. Moreover, the terms "include", "contain" or any other variants thereof are intended to cover non-exclusive inclusion, so that the process, method, article or equipment including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or equipment. Without more limitations, the element defined by the statement "including a" does not exclude the presence of other identical elements in the process, method, article or equipment including the element.

[0333] In accordance with the practices of the present invention, these embodiments have been described in relation to the above-described embodiments, which are intended to be illustrative only and not restrictive of the invention. Obviously, many modifications and variations of this invention can be effected without departing from the scope of the novel concept of the disclosure. No limitation with respect to the specific implementation techniques and applications presented thereby should be inferred into the scope of the invention, as understood by those skilled in the art. The specification and drawings should be regarded as illustrative only and in no way limiting of the scope of the invention as defined by the appended claims and equivalents thereof.

Claims

1. A method for analyzing the dynamic response characteristics of a servo motor, characterized in that, include: Determine the intensity of load changes in the servo motor Is it greater than the load change intensity threshold? ; When the load change intensity Greater than the load change intensity threshold At that time, the load change intensity will be satisfied. Greater than the load change intensity threshold The time is determined as the target time. : Obtain the target time The working scene data and working status data of the servo motor, wherein the working status data of the servo motor includes the position data, motion data and vibration data of the spindle of the servo motor; The dynamic response capability of the servo motor under corresponding load variation intensity is evaluated based on the working status data. The dynamic response capability of the servo motor is summarized and analyzed using the aforementioned work scenario data as the analysis conditions. The servo motor at the target time Its dynamic response characteristics include torque stability The torque stability The steps for evaluating the dynamic response capability of the servo motor under corresponding load change intensity based on the operating state data, which are used to reflect the stability of the servo motor's output torque when the load changes, specifically include: Extract the output torque of the servo motor from the operating status data. ,in , Statistical duration for pre-configured dynamic response characteristics; Calculate the servo motor from arrive Average output torque over the time range: ； in For the servo motor from arrive Number of output torque samples within the time range; Calculate the torque stability: 。 2. The method for analyzing the dynamic response characteristics of a servo motor according to claim 1, characterized in that, In judging the intensity of load changes of servo motors Is it greater than the load change intensity threshold? Before the steps, it also includes: Obtain the pre-configured load change intensity threshold ; Monitor and record the load change data of the servo motor, including the load change amplitude of the servo motor. Load change rate and load change frequency ; The servo motor was evaluated based on the load change data. Intensity of load change at any given time: ； in, The load variation of the servo motor Load change rate and load change frequency This is a function for calculating the intensity of load change based on input parameters.

3. The method for analyzing the dynamic response characteristics of a servo motor according to claim 2, characterized in that, The servo motor was evaluated based on the load change data. Intensity of load change at time Before the steps, it also includes: Obtain the pre-configured first load amplitude change threshold Load change rate threshold and load change frequency threshold ; Determine whether the load change of the servo motor meets any of the following conditions: ； When the load change of the servo motor meets any of the above conditions, an evaluation of the servo motor based on the load change data is performed. Intensity of load change at time The steps.

4. The method for analyzing the dynamic response characteristics of a servo motor according to claim 2, characterized in that, The servo motor was evaluated based on the load change data. Intensity of load change at time The specific steps include: Get servo motor in Load variation at any given time Load change rate and load change frequency ; Obtain the pre-configured load change amplitude intensity coefficient Load change rate intensity coefficient Load variation frequency intensity coefficient ; Calculate the servo motor in Intensity of load change at any given time: 。 5. The method for analyzing the dynamic response characteristics of a servo motor according to claim 1, characterized in that, The servo motor at the target time The dynamic response characteristics include dynamic response duration The dynamic response time The angular velocity of the spindle of the servo motor after receiving a new control command. The steps for evaluating the dynamic response capability of the servo motor under corresponding load changes, based on the working status data, specifically include: the time required to transition from the current value to the target value. Extract the spindle angular velocity of the servo motor from the operating status data. ,in ; Determine the servo motor from arrive Whether control commands were received within the time frame; When the servo motor from arrive When a control command is received within the time frame, the servo motor will be moved from... arrive The last control command received within the time frame, indicating that the spindle of the servo motor has reached the target angular velocity, is determined as the target control command. Determine the initial time for executing the target control command. And the end time when the spindle of the servo motor reaches the target angular velocity of the target control command. ; Calculate the dynamic response time .

6. The method for analyzing the dynamic response characteristics of a servo motor according to claim 1, characterized in that, The steps for summarizing and analyzing the dynamic response capability of the servo motor using the aforementioned work scenario data as analysis conditions specifically include: The dynamic response capability data of multiple servo motors are summarized. The dynamic response capability data includes the dynamic response characteristic data of the servo motors at several target times, as well as their corresponding load change intensity data and working scenario data. Clustering algorithms were used to perform cluster analysis on the dynamic response capability data to obtain several clusters and discrete data points; For each cluster, determine whether they share the same working scenario conditions; When any cluster has the same working scenario conditions, the dynamic response feature corresponding to the cluster is determined as the common feature under the corresponding working scenario conditions.

7. The method for analyzing the dynamic response characteristics of a servo motor according to claim 6, characterized in that, The clustering algorithm is a density-based clustering algorithm. The specific steps of using the clustering algorithm to perform cluster analysis on the dynamic response capability data to obtain several clusters and / or discrete data points include: The dynamic response features in the dynamic response capability data are converted into dynamic response feature vectors that include a time dimension. Configure neighborhood radius and minimum points ; Each dynamic response feature vector is treated as a cluster data point to calculate the number of neighboring data points for each cluster data point; The number of neighboring data points is greater than the minimum number of points. The clustered data points were identified as core data points; Determine the boundary data points associated with each core data point, starting from each core data point; The set of the core data points and their associated boundary data points is determined as a cluster.

8. The method for analyzing the dynamic response characteristics of a servo motor according to claim 7, characterized in that, After treating each dynamic response feature vector as a cluster data point and calculating the number of neighborhood data points for each cluster data point, the method further includes: Clustered data points other than the core points and boundary points are defined as discrete data points; The dynamic response features corresponding to the discrete data points are determined as individual features under the corresponding working scenario conditions.

9. A dynamic response characteristic analysis system for a servo motor, characterized in that, The system includes a servo motor and a cloud server. The servo motor comprises a data acquisition unit, a data storage unit, a data communication unit, and a data processing unit. The data acquisition unit is used to acquire working scene data and working status data of the servo motor. The data storage unit is used to store the working scene data and working status data. The data communication unit is used to upload the dynamic response capability data of the servo motor to the cloud server. The data processing unit is configured to: Determine the intensity of load changes in the servo motor Is it greater than the load change intensity threshold? ; When the load change intensity Greater than the load change intensity threshold At that time, the load change intensity will be satisfied. Greater than the load change intensity threshold The time is determined as the target time. : Obtain the target time The working scene data and working status data of the servo motor, wherein the working status data of the servo motor includes the position data, motion data and vibration data of the spindle of the servo motor; The dynamic response capability of the servo motor under corresponding load variation intensity is evaluated based on the working status data. The cloud server is configured to summarize and analyze the dynamic response capability of the servo motor using the work scenario data as the analysis condition. The servo motor at the target time Its dynamic response characteristics include torque stability The torque stability The data processing unit, used to reflect the stability of the servo motor's output torque when the load changes, is configured as follows in the step of evaluating the servo motor's dynamic response capability under corresponding load change intensities based on the operating state data: Extract the output torque of the servo motor from the operating status data. ,in , Statistical duration for pre-configured dynamic response characteristics; Calculate the servo motor from arrive Average output torque over the time range: ； in For the servo motor from arrive Number of output torque samples within the time range; Calculate the torque stability: 。

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