A linear motor positioning accuracy dynamic testing and analyzing method

Abstract

The present application relates to the technical field of data processing, and more particularly to a linear motor positioning accuracy dynamic testing and analysis method, comprising: controlling the linear motor to scan uniformly at full stroke, synchronously collecting position, current command and speed data at high frequency; resampling at fixed position interval space to generate forward and reverse current and speed sequences; using the characteristic of opposite friction force direction to offset the friction component, combining the bidirectional speed stability weight to calculate the resistance eigenvalue of each position, and constructing the resistance terrain map; decoupling the magnetic tooth slot effect and mechanical anomaly by spatial gradient and statistical deviation, and determining the mechanical anomaly saliency; generating the current feedforward compensation table and writing it into the driver, and marking the fault for the saliency exceeding the threshold position, to realize the positioning accuracy dynamic testing and analysis. The present application combines the current algebraic operation and bidirectional speed weight to separate the resistance component accurately, constructs the terrain map to decouple the tooth slot and installation anomaly, and improves the dynamic testing accuracy and diagnostic practicability.

Description

Technical Field

[0001] This invention relates to the field of data processing technology, and in particular to a method for dynamic testing and analysis of the positioning accuracy of a linear motor. Background Technology

[0002] Linear motors, with their direct drive, high speed, and high precision, have become core drive components in laser cutting, semiconductor wafer inspection, and precision assembly equipment. In high-end manufacturing scenarios, the dynamic performance of linear motors is crucial. For example, in the uniform scanning stage of laser processing, the stability of the speed directly determines the quality of the processed cut, while in point-to-point high-speed positioning, the settling time determines the output efficiency.

[0003] Currently, the industry mainly relies on laser interferometers to perform static dot-mapping tests for testing the accuracy of linear motors. By controlling the linear motor to move to a series of preset discrete positions, the deviation between the grating ruler feedback and the laser interferometer reading is read after the linear motor comes to a complete stop.

[0004] However, in practical applications, traditional static testing methods cannot accurately reflect the dynamic resistance characteristics of linear motors. Linear motors are subjected to various position-dependent forces during operation, including cogging force, guide rail friction, and cable chain tension. Dynamic resistance causes speed fluctuations, and these forces are masked by static friction during static stops, making them undetectable by laser interferometers. Furthermore, when equipment malfunctions or exhibits inaccurate performance, technicians struggle to distinguish between cogging effects requiring software compensation (electrical needs) and uneven guide rail installation or obstruction (mechanical needs). Additionally, linear motors typically carry power and signal cables (cable chains), and the bending radius of these chains at different travel positions generates non-linear tension interference. Traditional static testing methods ignore this cable interference, leading to discrepancies between test results and actual operating conditions, thus affecting the accuracy of dynamic testing and analysis of linear motor positioning precision. Summary of the Invention

[0005] To address the problems of traditional static testing failing to capture dynamic resistance characteristics, distinguishing between electrical and mechanical faults, and ignoring cable interference, thus affecting the accuracy of dynamic testing and analysis of linear motor positioning accuracy, this invention proposes a method for dynamic testing and analysis of linear motor positioning accuracy. This method includes the following steps:

[0006] The linear motor under test is controlled to perform a full-stroke reciprocating uniform scanning motion. The high-frequency sampling function of the driver synchronously collects real-time position data, real-time current command data, and real-time speed data. Based on the real-time position data, the collected data is spatially resampled at fixed position intervals to generate forward and reverse current and speed sequences at each position. Based on the forward and reverse current sequences, algebraic operations are performed using the opposite direction of friction to cancel out friction components. A bidirectional speed stability weight calculated based on the forward and reverse speed sequences is used to determine the resistance characteristic value at each position, and a resistance topography map of the entire stroke is constructed based on the resistance characteristic value. The spatial gradient of each position within the resistance topography map and the statistical deviation of the resistance characteristic value at each position relative to the average resistance of the entire stroke are calculated. By combining the spatial gradient and statistical deviation, the magnetic cogging effect and mechanical installation anomalies are decoupled, and the significance of mechanical anomalies at each position is determined. A current feedforward compensation table is generated based on the resistance characteristic values, written to the driver for compensation, and positions where the significance of mechanical anomalies exceeds a threshold are marked for fault location. This achieves dynamic testing and analysis of the linear motor's positioning accuracy.

[0007] The beneficial effects are as follows: By controlling the linear motor to perform full-stroke reciprocating uniform scanning motion, comprehensive testing under dynamic working conditions is achieved; by synchronously collecting position, current, and speed data through high-frequency sampling, a multi-dimensional dynamic characteristic evaluation basis is constructed; spatial resampling ensures the uniform distribution of data at each position, providing a reliable data foundation for subsequent analysis; by offsetting the frictional force component through algebraic operations of forward and reverse current sequences, and combining bidirectional speed stability weights to calculate resistance characteristic values, different types of resistance components are effectively separated, reflecting dynamic resistance characteristics more accurately and overcoming the limitation of traditional static testing in capturing dynamic resistance; by constructing resistance topography maps and decoupling analysis, the precise distinction between magnetic cogging effects and mechanical installation anomalies is achieved, providing a scientific basis for fault diagnosis and maintenance decisions, and improving the accuracy and practicality of linear motor positioning accuracy testing and analysis.

[0008] Furthermore, the range of the velocity of the reciprocating uniform scanning motion is as follows: To minimize the impact of back EMF, eddy current loss, and viscous friction on real-time current command data sampling.

[0009] Furthermore, the spatial resampling includes: using the position as an index and a fixed position interval of 0.1 mm, mapping the real-time position data, real-time current command data, and real-time velocity data collected in the time domain to the spatial domain.

[0010] Furthermore, the real-time current command data is Axial torque current, under uniform velocity conditions The axial torque current is proportional to the total resistance overcome by the linear motor.

[0011] Furthermore, the bidirectional velocity stability weights satisfy the following relationship:

[0012] In the formula, For position At the Bidirectional velocity stability weights during reciprocating uniform scanning. and Positions At the The forward and reverse velocity values ​​during each reciprocating uniform scan. The set speed value for reciprocating uniform scanning. It is a natural exponential function. It is a function with maximum value. It is the absolute value symbol.

[0013] The beneficial effects are as follows: by constructing an exponential decay function that includes the maximum value of the forward and reverse speed deviation, the evaluation of bidirectional speed stability weight is realized, which more accurately reflects the stability of speed at each position. The weight is higher when both forward and reverse speeds are close to the set value, and the weight is lower when the speed deviation is large, thereby ensuring the accuracy of the resistance characteristic value calculation and providing a reliable speed stability evaluation basis for dynamic resistance analysis.

[0014] Furthermore, the algebraic operation based on the opposite directions of the forward and reverse current sequences to cancel the frictional force component includes: canceling the Coulomb friction term by algebraically adding the forward and reverse current sequences, while retaining twice the inherent load term.

[0015] Furthermore, the resistance characteristic value satisfies the following relationship:

[0016] In the formula, For position The resistance characteristic value at that point, This represents the total number of reciprocating uniform scanning cycles. and Positions At the Forward and reverse current values ​​during each reciprocating uniform speed scan For position At the Bidirectional velocity stability weights during reciprocating uniform scanning. This is a hyperparameter used to prevent the denominator from being zero.

[0017] The beneficial effects are as follows: by constructing a weighted average model that includes the mean of forward and reverse currents and the speed stability weight, a scientific evaluation of the resistance characteristic value is achieved. The addition of forward and reverse currents effectively cancels out the friction component, and the speed stability weight ensures that stable operating data is given priority, thereby more accurately reflecting the net resistance characteristics at each location and providing a reliable data foundation for constructing resistance topographic maps.

[0018] Furthermore, the significance of the mechanical anomaly satisfies the following relationship:

[0019] In the formula, For position Significance of mechanical anomalies at the location For position The resistance characteristic value at that point, For position Located in the spatial gradient of the resistance topographic map, This represents the average resistance characteristic value at each location. The standard deviation of the resistance characteristic values ​​at each location. The set system noise constant, It is a natural exponential function. It is the absolute value symbol.

[0020] The beneficial effects are as follows: by constructing a composite function that includes spatial gradient and statistical deviation index terms, a comprehensive assessment of the significance of mechanical anomalies is achieved. The spatial gradient term reflects the degree of local variation in resistance, while the statistical deviation index term reflects the degree to which resistance deviates from the average value. This effectively distinguishes between magnetic cogging effect and mechanical installation anomalies, providing an accurate significance assessment for fault location.

[0021] Furthermore, the step of generating a current feedforward compensation table based on the resistance characteristic value includes: extracting the periodic magnetic component from the mechanical anomaly significance and generating a reverse current feedforward compensation table, wherein the current feedforward compensation table records the current value to be compensated at each position.

[0022] Furthermore, the fault location marking includes: in response to the mechanical abnormality significance being greater than a set significance threshold, automatically marking the corresponding position coordinates in the analysis report and prompting to check for foreign objects on the guide rail or interference from the cable chain.

[0023] The beneficial effects are as follows: by setting a saliency threshold for automatic marking, the location of mechanical abnormalities can be realized, the area requiring maintenance can be quickly identified, and clear fault location information can be provided to technicians. At the same time, the automatic marking function improves the efficiency of fault diagnosis, reduces the time for manual troubleshooting, and provides reliable technical support for the precise maintenance and performance optimization of linear motors.

[0024] The present invention has the following beneficial effects:

[0025] (1) In view of the problem that traditional static point testing cannot capture dynamic resistance such as magnetic track cogging force, guide rail friction force, and cable drag chain tension, this invention controls a linear motor to perform a full-stroke reciprocating uniform scanning motion, simultaneously collecting real-time position, current command and speed data, and performs spatial resampling at fixed position intervals to eliminate time dimension interference and focus on position-related dynamic force characteristics; then, it uses the opposite friction force characteristics of the forward and reverse current sequences to cancel the friction force component, and calculates the resistance characteristic value by combining bidirectional speed stability weight and constructs a full-stroke resistance topography map to completely restore the dynamic resistance distribution at different positions, effectively solving the problem of test results being out of touch with actual working conditions due to static testing masking dynamic forces, and providing real data support for dynamic accuracy analysis.

[0026] (2) Breaking through the limitations of traditional testing in distinguishing between electrical cogging effects and mechanical installation anomalies, by calculating the spatial gradient and statistical deviation of the resistance topography map, different anomaly types are precisely decoupled, thereby assessing the significance of mechanical anomalies at each location. This allows technicians to directly determine whether the anomaly is due to electrical cogging effects that require software compensation or mechanical problems that require hardware repair, avoiding blind troubleshooting, improving the efficiency and accuracy of fault location, and reducing equipment downtime maintenance costs.

[0027] (3) In view of the shortcomings of traditional static testing that ignores the nonlinear tension interference of cable drag chain, the full-stroke reciprocating scanning motion of the present invention covers the bending radius change scenario of the drag chain at different stroke positions. The nonlinear tension interference generated by the drag chain is synchronously included in the resistance characteristic value calculation. The resistance topography map can truly reflect the influence of drag chain tension on dynamic resistance, so that the test results fully fit the complex working conditions of the actual operation of the linear motor, avoid the compensation deviation caused by ignoring drag chain interference, and improve the pertinence and effectiveness of current feedforward compensation.

[0028] (4) The current feedforward compensation table generated based on the resistance characteristic value can be directly written into the driver to achieve accurate compensation, effectively offsetting the speed fluctuations caused by dynamic resistance such as tooth cogging force, improving the speed stability of the linear motor in the uniform scanning stage and the setting time of point-to-point positioning, so as to ensure processing quality and improve output efficiency; at the same time, the fault mark at the position where the mechanical abnormality significance exceeds the threshold can guide technicians to carry out targeted hardware repairs, avoid full disassembly and inspection, reduce maintenance time and cost, and improve the dynamic positioning accuracy and operation stability of the linear motor. Attached Figure Description

[0029] Figure 1 This is a flowchart illustrating the steps of a method for dynamic testing and analysis of the positioning accuracy of a linear motor according to an embodiment of the present invention.

[0030] Figure 2This is a full-stroke dynamic resistance scan data diagram of a method for dynamic testing and analysis of positioning accuracy of a linear motor according to an embodiment of the present invention.

[0031] Figure 3 This is a resistance decoupling and fault location analysis diagram of a dynamic testing and analysis method for positioning accuracy of a linear motor according to an embodiment of the present invention. Detailed Implementation

[0032] The technical solutions in the embodiments of the present invention will be clearly and completely described below. The described embodiments are only a part of the embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0033] The specific embodiments of the present invention will now be described in detail with reference to the accompanying drawings.

[0034] Please see Figure 1 The diagram illustrates a flowchart of a method for dynamic testing and analysis of linear motor positioning accuracy according to an embodiment of the present invention. The method includes the following steps:

[0035] S001: Control the linear motor under test to perform a full-stroke reciprocating uniform scanning motion. Utilize the high-frequency sampling function of the driver to synchronously collect real-time position data, real-time current command data, and real-time speed data. Based on the real-time position data, spatially resample the collected data at fixed position intervals to generate forward and reverse current and speed sequences at each position.

[0036] Specifically, the linear motor under test is controlled to perform a full-stroke reciprocating motion. To accurately extract resistance characteristics, the motion mode is set to extremely low-speed uniform scanning, and the speed is set to [missing information]. to To minimize the impact of back electromotive force, eddy current losses, and viscous friction on current sampling, the motor output force is primarily used to overcome position-dependent static resistance and friction. During the scanning process, the high-speed data acquisition function of the driver is used to synchronously record the following data sequences at microsecond intervals, such as 62.5 microseconds or 125 microseconds: real-time position data: absolute position coordinates fed back by the linear grating ruler; real-time current command data: Axial torque current, under uniform velocity conditions The axial torque current is proportional to the total resistance that the motor needs to overcome; real-time speed data is used for subsequent data cleaning and weight calculation to determine whether the motion is smooth. After acquisition, the time-domain data is spatially resampled, using fixed position intervals, such as one position point every 0.1 mm, as an index. The acquired time-series data is mapped to the spatial domain to generate current and velocity sequences for forward motion, as well as current and velocity sequences for reverse motion, indexed by position.

[0037] For example, a uniform scanning rate is set. The stroke length is 1000mm. The driver acquires data at a cycle of 62.5 microseconds when the linear motor moves to the position. At that moment, record the forward current. positive velocity When the current reverses through this location, record the reverse current. Reverse speed The data from the entire journey is interpolated and resampled every 0.1 mm to form a complete data sequence.

[0038] like Figure 2 As shown, the dynamic resistance scan data of the entire stroke is displayed. The blue curve represents the forward scan current containing the positive friction force, and the green curve represents the reverse scan current containing the negative friction force. The two curves show obvious longitudinal translation characteristics.

[0039] In summary, by using low-speed uniform scanning and high-frequency sampling throughout the entire stroke, raw data containing rich dynamic information can be obtained, thus avoiding the problem that static tests cannot reflect dynamic resistance.

[0040] S002: Based on the forward and reverse current sequences, algebraic operations are performed using the opposite direction of friction to cancel the friction components. Combined with the bidirectional velocity stability weights calculated based on the forward and reverse velocity sequences, the resistance characteristic values ​​at each location are determined. Based on the resistance characteristic values, a resistance topographic map of the entire journey is constructed.

[0041] It should be noted that the resistance experienced by the linear motor during operation mainly consists of direction-independent components, such as cogging force, local squeezing force of the guide rail, and elastic restoring force of the drag chain, as well as direction-dependent components, mainly composed of Coulomb friction. In order to accurately extract the position-related inherent resistance characteristics, i.e., the resistance topography, this step uses algebraic operations on the forward and reverse current data to cancel them out by utilizing the opposite direction of friction, and introduces bidirectional speed stability weights to ensure that the data at that position is adopted only when both forward and reverse movements are smooth, so as to reflect the resistance characteristic values ​​at each position.

[0042] Specifically, the resistance characteristic value satisfies the following relationship:

[0043] ;

[0044] In the formula, For position The resistance characteristic value at the location; This represents the total number of reciprocating uniform scanning cycles, typically 3 to 5 times. and Positions At the The forward and reverse current values ​​during each reciprocating uniform speed scan, in the forward direction In the opposite direction Numerically, this is reflected in the absolute value change of the reverse current, which is opposite in direction and negative in sign. Therefore, and Algebraic addition can cancel out the friction term. Retain twice the inherent load items ; For position At the Bidirectional velocity stability weights during reciprocating uniform scanning. For example, to prevent hyperparameters with a denominator of 0, .

[0045] Specifically, the bidirectional velocity stability weights satisfy the following relationship:

[0046] ;

[0047] In the formula, For position At the The bidirectional velocity stability weight during reciprocating uniform scanning is based on the logic that: only when the forward and reverse velocities are at the same position... When all points are very close to the set value, the sum of the data obtained from this reciprocating uniform speed scan has physical meaning. If the speed fluctuates due to a sudden change in resistance in any direction, the weight will drop sharply to prevent inertial force from contaminating the resistance data. and Positions At the The forward and reverse velocity values ​​during each reciprocating uniform scan. The set speed value for reciprocating uniform scanning. It is a natural exponential function. It is a function with maximum value. It is the absolute value symbol.

[0048] For example, in location Set speed :

[0049] hour: , Then the positive velocity deviation Reverse speed deviation The maximum deviation is 0.1, and the bidirectional speed stability weight is... Algebraic sums This represents twice the inherent resistance; assuming only one cycle is calculated. The denominator is approximately molecule is ;but The inherent resistance characteristic value at this location is .

[0050] If a measurement is interrupted by a foreign object, causing a drastic fluctuation in speed, such as If the deviation is 5, then the weight The outlier was almost ignored in the subsequent weighted average, thus ensuring the robustness of the results.

[0051] In summary, by utilizing the physical property that friction forces in forward and reverse motions are in opposite directions, the influence of Coulomb friction is eliminated through algebraic operations, the inherent resistance strongly correlated with position is preserved, and the interference of velocity fluctuations is eliminated by combining bidirectional velocity stability weights.

[0052] S003: Calculate the spatial gradient of each location within the resistance topographic map and the statistical deviation of the resistance characteristic value at each location relative to the average resistance over the entire journey. By combining the spatial gradient and statistical deviation, the magnetic cogging effect and mechanical installation anomalies are decoupled to determine the significance of mechanical anomalies at each location.

[0053] It should be noted that the calculated resistance characteristic value is superimposed with the cogging effect of the magnetic track, which is a sinusoidal wave with a fixed period, and the mechanical installation anomaly, which is a local mutation or non-periodic fluctuation. In order to clearly distinguish whether it is an inherent magnetic problem in the design or a mechanical fault introduced by the assembly, this step constructs the significance of the mechanical anomaly.

[0054] Specifically, the significance of the mechanical anomaly satisfies the following relationship:

[0055] ;

[0056] In the formula, For position Significance of mechanical anomalies at the location; For position The resistance characteristic value at the location; For position In the spatial gradient of the resistance topography, although the magnetic cogging force fluctuates, its change is usually a smooth sine curve with a limited gradient value. However, mechanical hard points, such as guide rail scratches, can cause instantaneous and drastic changes in resistance, resulting in a huge gradient. This represents the average resistance characteristic value at each location. It indicates the degree to which the local resistance value deviates from the average resistance over the entire stroke, and is used to detect large-scale resistance anomalies, such as overall deformation caused by drag chain pulling. The standard deviation of the resistance characteristic values ​​at each position is used to normalize the fluctuation amplitude. The system noise constant is set to prevent noise from exceeding the maximum performance of the linear motor, i.e. When the denominator of the relation is close to 0, an excessively small denominator leads to an overly large exponential amplification of normal, small fluctuations, thus avoiding false alarms; It is a natural exponential function. It is the absolute value symbol.

[0057] For example, , , :

[0058] Normal alveolar force position: at position The resistance characteristic value is slightly higher than the average. The changes between adjacent positions are gradual, and the spatial gradient is ;but The mechanical anomaly was very low in significance.

[0059] The situation regarding the location of mechanical jamming: at the location When encountering a hard point, the resistance characteristic value jumps instantly to And it changes over a very short distance, with a spatial gradient of ;but As can be seen, the mechanical anomaly at the fault location is much more significant than that at the normal location, resulting in a sharp amplification of the signal.

[0060] like Figure 3 As shown, the resistance decoupling and fault location analysis diagram is displayed. The orange curve is the decoupled inherent resistance topography map, and the red filled area is the significance of mechanical anomalies. Extremely high red peaks are formed at the 350mm position of mechanical jamming and the 780mm position of cable chain interference, which accurately indicate the fault.

[0061] In summary, by capturing hardware faults through gradient terms and design faults through statistical deviation terms, mechanical faults are separated from normal magnetic cogging fluctuations, thus achieving accurate fault attribution.

[0062] S004: Generate a current feedforward compensation table based on the resistance characteristic value, write the current feedforward compensation table into the driver for compensation, and mark the location where the mechanical abnormality significance exceeds the threshold for fault location, so as to realize dynamic testing and analysis of the positioning accuracy of the linear motor.

[0063] Specifically, based on the above processing results, a visualization analysis report is generated and optimization operations are performed:

[0064] Generate a resistance terrain cloud map, and display it in the form of a heat map or curve. It visually displays which section of the stroke has the greatest resistance; it marks fault locations and sets a significance threshold, such as 5.0. Locations exceeding the threshold, as mentioned above. The system automatically marks locations to prompt operators to check for foreign objects on the guide rails or interference from the cable chain at the corresponding positions; it also generates a feedforward compensation table for... The periodic magnetic components identified in the data are automatically used to generate a reverse current feedforward compensation table, such as at position... The inherent resistance is Then generate at this position The compensation current is calculated by writing the current feedforward compensation table into the driver. The linear motor will then automatically output additional compensation current when it subsequently reaches that position. The current is used to counteract the inherent resistance, thereby improving the smoothness of dynamic operation.

[0065] Through the above steps, not only is an intuitive visual analysis report provided, but a feedforward compensation table that can be used for the controller is also generated directly. Without adding additional hardware, the smoothness of linear motor operation can be improved through software compensation. At the same time, mechanical fault points are automatically marked, improving the efficiency of equipment debugging and maintenance.

[0066] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for dynamic testing and analysis of the positioning accuracy of a linear motor, characterized in that, include: The linear motor under test is controlled to perform a reciprocating uniform scanning motion throughout its entire stroke. The high-frequency sampling function of the driver is used to synchronously collect real-time position data, real-time current command data, and real-time speed data. Based on the real-time position data, the collected data is spatially resampled at fixed position intervals to generate forward and reverse current and speed sequences at each position. Based on the forward and reverse current sequences, algebraic operations are performed using the opposite direction of friction to cancel out the friction components. Combined with the bidirectional velocity stability weights calculated based on the forward and reverse velocity sequences, the resistance characteristic values ​​at each location are determined, and a resistance topography map for the entire journey is constructed based on the resistance characteristic values. The spatial gradient of each location within the resistance topographic map and the statistical deviation of the resistance characteristic value at each location relative to the average resistance over the entire travel distance are calculated. By combining the spatial gradient and statistical deviation, the magnetic cogging effect and mechanical installation anomalies are decoupled, and the significance of mechanical anomalies at each location is determined. ； In the formula, For position Significance of mechanical anomalies at the location For position The resistance characteristic value at that point, For position Located in the spatial gradient of the resistance topographic map, This represents the average resistance characteristic value at each location. The standard deviation of the resistance characteristic values ​​at each location. The set system noise constant, It is a natural exponential function. It is the absolute value symbol; A current feedforward compensation table is generated based on the resistance characteristic value. The current feedforward compensation table is written into the driver for compensation. Fault location marks are made for positions where the mechanical abnormality significance exceeds the threshold, so as to realize dynamic testing and analysis of the positioning accuracy of the linear motor.

2. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The speed range of the reciprocating uniform scanning motion is: To minimize the impact of back EMF, eddy current loss, and viscous friction on real-time current command data sampling.

3. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The spatial resampling includes: Using location as an index and a fixed position interval of 0.1 mm, real-time location data, real-time current command data, and real-time velocity data acquired in the time domain are mapped to the spatial domain.

4. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The real-time current command data is Axial torque current, under uniform velocity conditions The axial torque current is proportional to the total resistance overcome by the linear motor.

5. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The bidirectional velocity stability weights satisfy the following relationship: ； In the formula, For position At the Bidirectional velocity stability weights during reciprocating uniform scanning. and Positions At the The forward and reverse velocity values ​​during each reciprocating uniform scan. The set speed value for reciprocating uniform scanning. It is a natural exponential function. It is a function with maximum value. It is the absolute value symbol.

6. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The method based on forward and reverse current sequences utilizes the opposite direction of frictional force to perform algebraic operations to cancel out the frictional force components, including: The forward and reverse current sequences are algebraically added to cancel out the Coulomb friction term, while retaining twice the inherent load term.

7. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The resistance characteristic value satisfies the following relationship: ； In the formula, For position The resistance characteristic value at that point, This represents the total number of reciprocating uniform scanning cycles. and Positions At the Forward and reverse current values ​​during each reciprocating uniform speed scan For position At the Bidirectional velocity stability weights during reciprocating uniform scanning. This is a hyperparameter used to prevent the denominator from being zero.

8. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The process of generating a current feedforward compensation table based on resistance characteristic values ​​includes: The periodic magnetic component in the mechanical anomaly significance is extracted to generate a reverse current feedforward compensation table, which records the current value to be compensated at each position.

9. The method for dynamic testing and analysis of linear motor positioning accuracy according to claim 1, characterized in that, The fault location marking includes: In response to the mechanical anomaly being greater than the set significance threshold, the corresponding position coordinates are automatically marked in the analysis report, prompting an inspection for foreign objects on the guide rail or interference from the cable chain.

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