Active actuator product offline detection system and method, and program product

Abstract

The invention discloses an off-line detection system and method for an active actuator product and a program product, and the method comprises the steps: configuring a communication interface of a data simulation collection and analysis subsystem according to the communication requirements of a to-be-detected sample piece; presetting a detection parameter and a judgment threshold value; the sample piece to be tested is installed, and the configured communication interface is connected; and detecting the to-be-detected sample according to the detection parameters and the judgment threshold to obtain a target detection result. The method can improve the offline detection efficiency of active actuator products, and can be widely applied to the technical field of offline detection.

Description

Technical Field

[0001] This invention relates to the field of offline inspection technology, and in particular to an offline inspection system, method and procedure for active actuator products. Background Technology

[0002] With the development of intelligent chassis, active actuators with power sources are being researched and applied. These actuators integrate controllers, sensors, and actuators. Due to their complex structure and high integration, they function as a closed-loop control system. However, existing methods for detecting production consistency in the off-line testing of active actuators are relatively inefficient. Summary of the Invention

[0003] In view of this, the main objective of the embodiments of the present invention is to provide an active actuator product off-line inspection system, method and program product, in order to solve at least one of the problems of the prior art. The present invention can improve the efficiency of active actuator product off-line inspection.

[0004] To achieve the above objectives, one aspect of this invention provides an active actuator product off-line testing system. This system includes a loading subsystem, a data simulation acquisition and analysis subsystem, and a host computer. The host computer is communicatively connected to the data simulation acquisition and analysis subsystem and is used to set detection parameters and judgment thresholds, and to display target detection results. The data simulation acquisition and analysis subsystem is communicatively connected to the loading subsystem and is used to send control commands to the loading subsystem according to the detection parameters, and to collect and analyze sensor data and sample internal data fed back by the loading subsystem. The loading subsystem is used to install the sample to be tested and simulate a load environment according to the control commands.

[0005] In some embodiments, the loading subsystem includes an active actuator controller, an active actuator actuator, a loading platform actuator, a loading platform sensor, and a loading platform controller; the loading platform sensor includes a force sensor and a displacement sensor; the force sensor is fixed to the upper end of the loading platform actuator for collecting force feedback data and is connected to the sample under test; the displacement sensor is disposed at the lower end of the loading platform actuator for collecting displacement feedback data; the loading platform controller is connected to the loading platform actuator via an I / O interface for controlling the movement of the loading platform actuator; the active actuator actuator is mechanically connected to the loading platform actuator; the active actuator controller is communicatively connected to the active actuator actuator for driving the movement of the active actuator.

[0006] In some embodiments, the data simulation acquisition and analysis subsystem is connected to the loading bench controller via the Ethercat protocol, for sending synchronization control signals and receiving sensor data; the data simulation acquisition and analysis subsystem is also connected to the active actuator controller via the CAN protocol, for sending force command signals and receiving internal sample data; the control commands include the synchronization control signals and the force command signals; the sensor data includes force feedback data and displacement feedback data; and the internal sample data includes pressure data, temperature data, and status information.

[0007] To achieve the above objectives, another aspect of the present invention provides a method for detecting the off-line performance of an active actuator product, the method comprising the following steps: Configure the communication interface of the data simulation acquisition and analysis subsystem according to the communication requirements of the sample under test; Preset detection parameters and judgment thresholds; Install the sample under test and connect the configured communication interface; The sample to be tested is tested according to the detection parameters and the judgment threshold to obtain the target detection result.

[0008] In some embodiments, the step of detecting the sample to be tested based on the detection parameters and the judgment threshold to obtain the target detection result includes the following steps: Based on the detection parameters and the judgment threshold, the maximum output force value of the sample to be tested is detected to obtain a first detection result; When the first detection result indicates that the maximum output force of the sample under test is qualified, the active force response of the sample under test is detected to obtain a second detection result; when the first detection result indicates that the maximum output force of the sample under test is unqualified, the sample under test is replaced, and the process returns to the steps of installing the sample under test and connecting the configured communication interface. When the second test result indicates that the main dynamic response of the test sample is qualified, the dynamic force stability test is performed on the test sample to obtain a third test result. The test sample is then replaced, and the process returns to the steps of installing the test sample and connecting the configured communication interface. When the second test result indicates that the main dynamic response of the test sample is unqualified, the test sample is replaced, and the process returns to the steps of installing the test sample and connecting the configured communication interface. The target detection results include the first detection result, the second detection result, and the third detection result.

[0009] In some embodiments, the step of detecting the maximum output force value of the sample under test to obtain a first detection result includes the following steps: The initial position of the loading platform actuator of the loading subsystem is kept unchanged according to a preset duration. The active actuator of the loading subsystem is controlled to move according to a first sine wave signal with a first preset frequency and a first preset amplitude and a preset motion time. Acquire force feedback data from the sensor data and pressure data and status information from the internal data of the sample; According to the calibration document, the pressure data is converted into calibration force values; Obtain the first difference between the calibrated force value and the force feedback data; The first difference is compared with a first preset threshold. When the first difference is less than or equal to the first preset threshold and the status information is normal, a first detection result indicating that the maximum output force detection is qualified is output. When the first difference is greater than the first preset threshold or the status information is abnormal, a first detection result indicating that the maximum output force detection is unqualified is output.

[0010] In some embodiments, the step of performing active force response detection on the sample to be tested to obtain a second detection result includes the following steps: The displacement control of the loading platform actuator of the loading subsystem is performed according to the second sinusoidal signal with the second preset frequency and the second preset amplitude. The active actuator of the loading subsystem is controlled to move according to the preset sweep frequency rate, preset sweep frequency range and the sinusoidal sweep frequency signal with the third preset amplitude. Acquire pressure data and state information from the internal data of the sample, and acquire the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; The pressure data is converted into calibration force values ​​according to the calibration file, and a first Bode plot is generated based on the calibration force values ​​and the force value command signal. The first Bode plot is compared with the second Bode plot of the theoretical transfer function. When the first Bode plot is above the second Bode plot and the state information is normal, a second detection result indicating that the active force response detection is qualified is output. When the first Bode plot is not above the second Bode plot or the state information is abnormal, a second detection result indicating that the active force response detection is unqualified is output.

[0011] In some embodiments, the dynamic force stability test of the sample to be tested to obtain a third test result includes the following steps: The displacement control of the loading platform actuator of the loading subsystem is performed based on the third sine wave signal with the third preset frequency and the fourth preset amplitude. Based on the fourth sine wave signal with the fourth preset frequency and the fifth preset amplitude, and the preset number of cycles, the active actuator of the loading subsystem is controlled to perform cyclic loading. Acquire the pressure data and state information from the internal data of the sample in the nth cycle, and acquire the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; The pressure data is converted into calibration force values ​​according to the calibration file, and a curve is generated with the force value command signal as the abscissa and the calibration force value as the ordinate. Obtain the absolute value of the first difference between the two points where the curve intersects the vertical axis, and obtain the absolute value of the second difference between the maximum and minimum values ​​of the curve; Obtain the ratio of the absolute value of the first difference to the absolute value of the second difference; The ratio is compared with a second preset threshold. When the ratio is less than or equal to the second preset threshold and the status information is normal, a third detection result indicating that the dynamic force stability test is qualified is output. When the ratio is greater than the second preset threshold or the status information is abnormal, a third detection result indicating that the dynamic force stability test is unqualified is output.

[0012] In some embodiments, the detection parameters include a preset duration, a first sine wave signal, a preset motion time, a second sine wave signal, a sine sweep frequency signal, a third sine wave signal, a fourth sine wave signal, and a preset number of cycles; the judgment threshold includes a first preset threshold, a second preset threshold, and a second Bode plot of the theoretical transfer function.

[0013] To achieve the above objectives, another aspect of the present invention provides an electronic device, the electronic device including a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method described above.

[0014] To achieve the above objectives, another aspect of the present invention provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.

[0015] To achieve the above objectives, another aspect of the present invention provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions to cause the computer device to perform the aforementioned method.

[0016] The embodiments of the present invention include at least the following beneficial effects: The present invention provides an active actuator product off-line testing system, method, and program product. This solution configures the communication interface of the data simulation acquisition and analysis subsystem according to the communication requirements of the test sample, ensuring that the testing system can correctly interface with active actuator products of different models or communication protocols, thus improving the versatility and adaptability of the testing system. Pre-setting detection parameters and judgment thresholds provides a unified execution standard and judgment basis for subsequent automated testing, ensuring the standardization of the testing process and the repeatability of the results, reducing errors caused by human intervention. Installing the test sample and connecting it to the configured communication interface completes the physical and signal connection of the test sample under simulated real vehicle conditions, laying the foundation for accurately applying loads and collecting real data. Based on the detection parameters and judgment thresholds, the test sample is tested to obtain the target detection result, achieving efficient, accurate, and automated testing of the key performance of the active actuator. Attached Figure Description

[0017] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0018] Figure 1 This is a schematic diagram of the active actuator product off-line detection system provided in an embodiment of the present invention; Figure 2 This is a flowchart of the active actuator product offline testing method provided in an embodiment of the present invention; Figure 3 yes Figure 2 An optional flowchart of step S400; Figure 4 yes Figure 2 Another optional flowchart for step S400; Figure 5 yes Figure 2 Another optional flowchart for step S400; Figure 6This is a flowchart of obtaining the first detection result provided in an embodiment of the present invention; Figure 7 This is a flowchart of obtaining the second detection result provided in an embodiment of the present invention; Figure 8 This is a flowchart of obtaining the third detection result provided in an embodiment of the present invention; Figure 9 This is a schematic diagram of the offline testing process for the active actuator product provided in an embodiment of the present invention; Figure 10 This is a schematic diagram of the hardware structure of the electronic device provided in an embodiment of the present invention. Detailed Implementation

[0019] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the invention and are not intended to limit the invention. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this invention; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this invention as detailed in the appended claims.

[0020] It should be noted that although functional modules are divided in the system diagram and a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the system or the order in the flowchart. The terms "first / S100" and "second / S200" in the specification, claims, and the foregoing drawings may be used herein to describe various concepts, but unless specifically stated otherwise, these concepts are not limited by these terms. These terms are used only to distinguish one concept from another. For example, first information may also be referred to as second information without departing from the scope of the embodiments of the invention, and similarly, second information may also be referred to as first information. Depending on the context, the words "if" or "when" as used herein may be interpreted as "when," "in response to a determination," or "in the event of a determination."

[0021] The terms “at least one,” “multiple,” “each,” “any,” etc., used in this invention, “at least one” includes one, two, or more than two; “multiple” includes two or more than two; “each” refers to each of the corresponding multiple; and “any” refers to any one of the multiple.

[0022] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention pertains. The terminology used herein is for the purpose of describing embodiments of the invention only and is not intended to limit the invention.

[0023] Before providing a detailed description of the embodiments of the present invention, some of the nouns and terms involved in the embodiments of the present invention will be explained first. The nouns and terms involved in the embodiments of the present invention are subject to the following interpretations.

[0024] An actuator receives control signals and converts some form of energy (usually electrical, hydraulic, or pneumatic) into mechanical motion, thereby driving a device or system. An active actuator is a device in a vibration active control system that continuously relies on external energy input and generates control force / torque according to real-time control commands.

[0025] Product off-line refers to the process after a product has gone through all production processes and is ready for quality inspection, packaging, and shipment.

[0026] Among related technologies, there are dynamic testing and single-point testing methods, which rely on operators using general-purpose instruments such as multimeters and oscilloscopes to manually measure basic electrical parameters of the product, such as resistance, voltage, and current, in a single, static manner. This method cannot simulate the dynamic load of the product under real-world working conditions, nor can it effectively evaluate its core performance, resulting in biased test results that fail to comprehensively reflect product quality. Some technologies employ simple automated test benches. These methods lack high-precision load simulation and synchronous data acquisition and analysis capabilities, making it impossible to quantify the dynamic performance indicators of the product under stress and difficult to detect potential dynamic performance defects. Other methods involve installing the product on a complete vehicle or a complex large-scale simulation bench for testing. While the environment is realistic, this method is extremely costly, time-consuming, and inefficient, and is limited by the condition of the vehicle or other components, making it impossible to achieve rapid, specialized, and repeatable off-line testing.

[0027] In view of this, this invention provides an active actuator product off-line testing system, method, and program. The testing system comprises two parts: a loading subsystem and a data simulation acquisition and analysis subsystem. The loading subsystem applies a vibration signal simulating road surface excitation to the active actuator (i.e., the test sample) and acquires force feedback data and displacement feedback data of the system through force sensors and displacement sensors. The data simulation acquisition and analysis subsystem simulates the force command signal required for the active actuator test, and simultaneously acquires internal pressure data of the active actuator, force and displacement data of the simulated real vehicle loading system, analyzes the data, and outputs a judgment result on whether it is qualified. The testing method is divided into three types based on the key performance requirements of the active actuator: maximum output force value, active force response, and dynamic force stability. The maximum output force value test detects the maximum force capability of the active actuator; the active force response test detects the response capability of the active actuator; and the dynamic force stability test detects the stability of the active force control. By utilizing minimal testing time and common testing equipment, the main performance indicators of the active actuator can be quickly inspected to confirm whether the product is qualified. The testing method of this invention can serve as the basis for the off-line testing of such products.

[0028] Figure 1 This is a schematic diagram of an optional system framework for an active actuator product off-line testing system provided in an embodiment of the present invention. The testing system includes a loading subsystem, a data simulation acquisition and analysis subsystem, and a host computer. The host computer is communicatively connected to the data simulation acquisition and analysis subsystem and is used to set detection parameters and judgment thresholds, and to display the target detection results. The data simulation acquisition and analysis subsystem is communicatively connected to the loading subsystem and is used to send control commands to the loading subsystem according to the detection parameters, and to collect and analyze sensor data and sample internal data fed back by the loading subsystem. The loading subsystem is used to install the sample to be tested and simulate the load environment according to the control commands.

[0029] In some embodiments, the loading subsystem includes an active actuator controller, an active actuator actuator, a loading platform actuator, a loading platform sensor, and a loading platform controller; the loading platform sensor includes a force sensor and a displacement sensor; the force sensor is fixed to the upper end of the loading platform actuator for collecting force feedback data and is connected to the sample under test; the displacement sensor is disposed at the lower end of the loading platform actuator for collecting displacement feedback data; the loading platform controller is connected to the loading platform actuator via an I / O interface for controlling the movement of the loading platform actuator; the active actuator actuator and the loading platform actuator are mechanically connected to simulate the working state of a real vehicle; the active actuator controller is communicatively connected to the active actuator actuator for driving the movement of the active actuator.

[0030] In some embodiments, when performing a testing task, the lower end of the loading bench actuator is the moving end, and the upper end is the fixed end. Optionally, the moving end of the loading bench actuator is directly connected to a drive device (such as a servo motor or hydraulic cylinder) and receives commands from the loading bench controller to perform precise reciprocating motion; the fixed end of the loading bench actuator is rigidly connected to the output end of the active actuator under test (i.e., the test sample) via a force sensor. Through this lower-moving, upper-fixed layout, all simulated load forces generated by the loading bench actuator are transmitted from the moving lower end to the fixed upper end through its internal transmission mechanism, and act directly on the force sensor with almost no attenuation. This direct force transmission path minimizes elastic deformation and energy loss in intermediate links, ensuring that the data collected by the force sensor truly and accurately reflects the load applied to the test sample, providing a high-precision data foundation for subsequent performance analysis.

[0031] In a vehicle's suspension system, the active actuator is typically connected at one end to the vehicle body (which can be considered a relatively fixed point) and at the other end to a wheel or suspension arm (bearing dynamic excitation from the road surface). In the testing system of this invention, the fixed end of the test bench actuator simulates the connection point of the vehicle body, while the moving end of the test bench actuator simulates the excitation from the road surface. This arrangement makes the stress state of the test sample highly similar to that of real working conditions, thereby enabling the offline test results to more realistically reflect the product's performance in actual use.

[0032] In some embodiments, the data simulation acquisition and analysis subsystem is connected to the loading bench controller via the EtherCAT protocol to send synchronization control signals and receive sensor data; the data simulation acquisition and analysis subsystem is connected to the active actuator controller via the CAN protocol to send force command signals and receive sample internal data; the control commands include synchronization control signals and force command signals; the sensor data includes force feedback data and displacement feedback data; the sample internal data includes pressure data, temperature data, and status information.

[0033] In some embodiments, such as Figure 1As shown, the data simulation acquisition and analysis subsystem is connected to the loading bench controller via EtherCAT communication. The subsystem uses its internal detection model to set up synchronous control and data acquisition programs, sending control commands during detection to the loading bench controller to control the movement of the loading bench actuator. During actuator movement, force sensors collect force feedback data, and displacement sensors collect displacement feedback data. The actuator feeds back these force and displacement feedback data to the loading bench controller via an I / O interface. The subsystem then uses its internal data acquisition and analysis model to acquire the force and displacement feedback data from the loading bench controller via EtherCAT communication.

[0034] In some embodiments, such as Figure 1 As shown, the data simulation acquisition and analysis subsystem is connected to the active actuator controller via CAN or the actual vehicle communication method. Before executing the test task, the communication interface between the data simulation acquisition and analysis subsystem and the active actuator controller needs to be connected to prepare for the transmission of instructions and information during the test process. After executing the test task, the communication interface between the data simulation acquisition and analysis subsystem and the active actuator controller is disconnected.

[0035] In some embodiments, such as Figure 1 As shown, after connecting the communication interface between the data simulation acquisition and analysis subsystem and the active actuator controller, the detection model of the data simulation acquisition and analysis subsystem sends a force command signal to the active actuator controller, thereby driving the active actuator to move. Then, the data acquisition and analysis model of the data simulation acquisition and analysis subsystem synchronously acquires the internal data of the test sample. This internal data may include, but is not limited to, pressure sensor information (pressure data), temperature sensor information (temperature data), and status information. The acquired force feedback data, displacement feedback data, and internal sample data are analyzed and calculated using the data acquisition and analysis model of the data simulation acquisition and analysis subsystem.

[0036] In some embodiments, such as Figure 1 As shown, the host computer includes a detection system control interface, an automated detection program, and a data processing and judgment program. Using the detection system control interface on the host computer, information such as communication interfaces and data types can be set. Using the automated detection program on the host computer, detection parameters can be set, and then, via Ethernet communication, the detection model in the data simulation acquisition and analysis subsystem is controlled to move according to the detection method, controlling the loading subsystem's movement. Using the data processing and judgment program on the host computer, data extraction and judgment threshold parameters can be set, and the target detection result (whether the product is qualified) can be output.

[0037] Figure 2 This is an optional flowchart of an active actuator product off-line testing method provided in an embodiment of the present invention. Figure 2 The method may include, but is not limited to, steps S100 to S400: Step S100: Configure the communication interface of the data simulation acquisition and analysis subsystem according to the communication requirements of the sample under test; Step S200: Preset detection parameters and judgment thresholds; Step S300: Install the sample to be tested and connect the configured communication interface; Step S400: Based on the detection parameters and judgment threshold, the sample to be tested is detected to obtain the target detection result.

[0038] In step S100 of some embodiments, the communication interface of the data simulation acquisition and analysis subsystem needs to be configured before performing the detection task. For example... Figure 1 As shown, the data simulation acquisition and analysis subsystem needs to communicate simultaneously with the loading bench controller (usually via the EtherCAT protocol) and the active actuator controller, thereby achieving motion control of the loading bench actuator and the active actuator actuator through synchronous control signals. Since the active actuator is the test piece, the communication protocol (such as CAN bus, CAN FD, FlexRay, etc.), baud rate, node ID, and message identifier used by the active actuator controller may vary depending on the supplier or product batch. Therefore, specific configuration is required before testing to ensure that the data simulation acquisition and analysis subsystem of the testing system can correctly establish data exchange links with active actuator controllers of different models and communication protocols.

[0039] Optionally, the communication interface configuration process can be completed through the host computer's detection system control interface. The operator selects the communication protocol, sets communication parameters, and defines message formats in the software interface based on the technical documentation of the sample under test. For example, in the host computer's detection system control interface, the operator selects a communication protocol matching the sample controller from the drop-down menu, such as CAN; precisely sets the baud rate (e.g., 500kbps), sampling points, and other network timing parameters to ensure communication rate matching and avoid data errors or loss; and configures specific communication messages, including the ID and data format of the force command signal sent to the active actuator, and the ID and parsing rules for receiving the sample's internal data (pressure, temperature, status information) from the active actuator.

[0040] By configuring the communication interface, the same testing system can be adapted to test samples with various communication specifications without hardware modifications, greatly improving the versatility of the testing. Precise configuration ensures that control commands (such as force command signals) are correctly received and executed by the test sample, while also ensuring that key internal data from the sample is collected completely and in real-time by the system. This provides the data source guarantee for subsequent accurate performance analysis and judgment. Optionally, the configured communication interface can be saved as a template. When testing similar test samples later, the template can be directly called, and the system can automatically complete the entire process of communication establishment, command sending, and data acquisition, significantly improving testing efficiency and consistency, and reducing human error.

[0041] In step S200 of some embodiments, detection parameters and judgment thresholds are set based on different detection methods. The detection method may include maximum output force, active force response, and dynamic force stability detection. Detection parameters are the instruction set controlling how the loading system and the test sample move. These parameters include, but are not limited to: control methods, such as displacement control or force control; loading waveforms, such as sine wave signals or sinusoidal sweep signals; key values, such as frequency, amplitude, duration, number of cycles, sweep range, and sweep rate; and data acquisition requirements, such as sampling frequency. These detection parameters define the cooperative motion mode of the loading bench actuator and the active actuator in subsequent detection execution steps, accurately simulating specific working conditions or test conditions. The judgment threshold is a quantitative standard for determining whether a product is qualified. Judgment thresholds include, but are not limited to: a first preset threshold for maximum output force detection, representing the maximum allowable difference between the measured force sensor data and the calibrated force value converted from the internal pressure of the sample under test; a second preset threshold for dynamic force stability detection, representing the upper limit of the ratio of a specific characteristic curve; and a Bode plot of the theoretical transfer function for active force response detection, which represents a benchmark curve derived from the product's ideal design model, describing the theoretical amplitude-frequency and phase-frequency characteristics (i.e., dynamic response capability) of the active actuator product in the frequency domain. By comprehensively utilizing multiple judgment thresholds, including numerical thresholds (first preset threshold, second preset threshold) and theoretical graphical benchmarks (Bode plot), a multi-dimensional and refined evaluation of the core performance of the active actuator, such as static accuracy, dynamic stability, and frequency domain response characteristics, is achieved.

[0042] By pre-setting detection parameters and judgment thresholds, the detection conditions are parameterized, ensuring that products from the same batch or even different batches are tested under completely consistent conditions. This eliminates errors caused by inconsistencies in manual operation, making the test results reliable. The pre-set parameters can be called by the automated detection program to automatically drive the entire system; the pre-set thresholds provide objective decision-making basis for data processing and judgment programs, enabling the system to automatically output "qualified" or "unqualified" conclusions without manual intervention. Different parameter combinations and thresholds are pre-set for different key performance characteristics of the product (limit capabilities, response speed, control precision), forming a complete testing scheme capable of comprehensively evaluating product performance. Furthermore, multiple tests can be completed with a single pre-setting, significantly improving the efficiency of offline testing.

[0043] In step S300 of some embodiments, by installing the test sample and connecting the configured communication interface, the software configuration (communication interface configuration, detection parameter settings) of the previous steps is integrated with the actual hardware system and the test object at the physical level, laying a real physical and signal foundation for the detection execution. For example, in installing the test sample (mechanical connection), the active actuator (i.e., the test sample) is securely installed to the loading platform actuator via mechanical connectors (such as clamps, connecting rods, etc.) to simulate its working state in a real vehicle. Specifically, the output end of the active actuator is reliably connected to a force sensor fixed to the upper end of the loading platform actuator to ensure accurate force transmission path. In connecting the communication interface (signal connection), the system performs a communication handshake with the active actuator controller according to the protocol and parameters set in the previous communication interface configuration, establishing a stable data link. Figure 1 As shown, the link between the data simulation acquisition and analysis subsystem and the active actuator controller is used to send force value command signals downwards and receive internal sample data such as active actuator operating status information and pressure data upwards.

[0044] By installing the sample to be tested and connecting the configured communication interface, the preset control model (test model) in the software is associated with the actual actuators (loading platform, active actuator), forming a complete "command-execution-feedback" control loop. Operators can start the test program with one click through the host computer interface, and the system will automatically execute all subsequent test items according to the preset process without further intervention in hardware connection, which greatly improves test efficiency and reduces the error risk introduced by manual step-by-step operation.

[0045] In step S400 of some embodiments, the detection system, based on detection parameters and judgment thresholds, completes the detection of the sample under test through automated program-driven synchronous control, multi-source data synchronous acquisition, data processing and analysis, and intelligent judgment and result generation, and can obtain target detection results. The target detection results include a first detection result, a second detection result, and a third detection result. For example, in the automated program-driven synchronous control, the detection system calls preset detection parameters and automatically starts the detection program. The system sends synchronous control commands to the loading platform controller and the active actuator controller through the data simulation acquisition and analysis judgment subsystem, driving the loading platform actuator and the active actuator actuator to move in coordination according to preset detection parameters such as waveform, frequency, and amplitude, accurately simulating real vehicle operating conditions (such as maximum output force, road surface excitation response, etc.). In the multi-source data synchronous acquisition, while controlling the movement, the detection system simultaneously acquires data from the loading platform sensors and internal data of the sample under test. In data processing and analysis, the detection system processes the collected raw data, including converting pressure data into calibrated force values ​​according to the calibration file, and generating curves (such as time series curves) or graphs (such as Bode plots) for analysis, and calculating key feature values ​​(such as force difference and feature ratio). In intelligent judgment and result generation, the obtained key feature values ​​are automatically compared with preset judgment thresholds. If the feature value meets the threshold conditions and the status information is normal, the test is judged to be qualified; otherwise, it is judged to be unqualified. Finally, the system integrates the judgment results of all test items to generate the target test result.

[0046] By completely transforming traditional operations relying on human experience (such as manual control, reading recording, and subjective judgment) into a program-driven automated process, the system significantly improves testing efficiency and consistency while reducing human error. Through synchronous control and multi-source data acquisition, the system can simultaneously acquire multiple key dynamic performance parameters of a product in a single test, providing comprehensive testing dimensions.

[0047] In some embodiments, such as Figure 3 As shown, step S400 may include, but is not limited to, steps S410, S420a, and S430a: Step S410: Based on the detection parameters and the judgment threshold, the maximum output force value of the sample to be tested is detected to obtain the first detection result; Step S420a: When the first test result shows that the maximum output force of the sample under test is qualified, the active force response test is performed on the sample under test to obtain the second test result; Step S430a: When the second test result is that the main dynamic response test of the sample under test is qualified, the dynamic force stability test of the sample under test is performed to obtain the third test result, and the sample under test is replaced, the sample under test is returned to be installed, and the configured communication interface is connected.

[0048] In step S410 of some embodiments, the detection system performs maximum output force detection on the test sample based on detection parameters and judgment thresholds to verify whether the test sample (active actuator) has the most basic design output capability. Only after passing this test and proving that the sample has basic functions will subsequent more complex and precise dynamic performance tests be started, avoiding meaningless subsequent tests on unqualified products and saving detection resources.

[0049] In step S420a of some embodiments, after the maximum output force value is detected as qualified, the active force response detection (dynamic performance depth test) is automatically triggered. By comparing the measured Bode plot with the theoretical transfer function Bode plot based on the ideal model (the measured curve is required to be above the theoretical curve), the actual control bandwidth and response speed of the sample are evaluated to see if they meet or exceed the design expectations, thereby filtering out those products that have basic output capabilities but slow dynamic response and cannot meet the real-time control requirements of the vehicle.

[0050] In step S430a of some embodiments, after both the maximum output force value and the active force response tests are qualified, a final inspection is performed to test the performance stability and consistency of the sample under continuous dynamic operation. After the dynamic force value stability test, the system automatically enters the production line cycle, that is, unloads the current sample, replaces the next sample to be tested, and returns to the installation and connection steps, realizing the complete automation and closed-loop management of the testing process, ensuring that the production line can operate continuously and efficiently, and that each product undergoes a complete and logically rigorous set of standardized tests.

[0051] In some embodiments, such as Figure 4 As shown, step S400 may include, but is not limited to, steps S410 to S420b: Step S410: Based on the detection parameters and the judgment threshold, the maximum output force value of the sample to be tested is detected to obtain the first detection result; Step S420b: When the first test result is that the maximum output force of the test sample is unqualified, replace the test sample, return to the installation of the test sample, and connect the configured communication interface. Referring to the aforementioned embodiment of step S410, it will not be repeated here.

[0052] In step S420b of some embodiments, when the first detection result indicates that the maximum output force of the sample under test fails, a rapid rejection of the defective sample and a production line restart are automatically triggered. Once it is confirmed that the sample has failed the maximum output force test, there is no need to waste time and resources on subsequent, more complex, and time-consuming main force response and dynamic force stability tests. The system will immediately determine that the sample under test is defective and automatically perform a replacement operation: unload the current defective sample, replace it with a new sample under test, and then automatically return the entire testing process to the step of installing the sample under test and connecting the configured communication interface to begin testing the new sample. By rapidly rejecting defective samples and restarting the production line, the single testing cycle is greatly reduced, the production line cycle time is optimized, and ineffective investment in known defective products is avoided, thereby significantly improving overall testing efficiency and resource utilization.

[0053] In some embodiments, such as Figure 5 As shown, step S400 may include, but is not limited to, steps S410, S420a, and S430b: Step S410: Based on the detection parameters and the judgment threshold, the maximum output force value of the sample to be tested is detected to obtain the first detection result; Step S420a: When the first test result shows that the maximum output force of the sample under test is qualified, the active force response test is performed on the sample under test to obtain the second test result; Step S430b: When the second test result is that the main dynamic response test of the sample under test is unqualified, replace the sample under test, return to the installation of the sample under test, and connect the configured communication interface.

[0054] Referring to the embodiments of steps S410 and S420a described above, they will not be repeated here.

[0055] In step S430b of some embodiments, when the second test result indicates that the main dynamic response test of the sample under test is unqualified—that is, although the sample under test passes the basic maximum output force test, it fails to meet the standard in dynamic performance (main dynamic response)—the system determines that the sample is unqualified, terminates subsequent tests, and automatically performs the operation of replacing the sample under test. The process then returns to the installation and connection steps to prepare for testing the next sample. This avoids continuing to spend time performing dynamic force stability tests on samples with known unqualified dynamic performance, saving testing time and resources, and making the testing process intelligent and efficient.

[0056] In some embodiments, such as Figure 6 As shown, the steps for detecting the maximum output force value of the sample under test and obtaining the first detection result based on the detection parameters and judgment threshold may include, but are not limited to, steps S411 to S416: Step S411: According to the preset duration, the initial position of the loading platform actuator of the control loading subsystem is kept unchanged; Step S412: Control the movement of the active actuator of the loading subsystem according to the first sine wave signal with the first preset frequency and the first preset amplitude and the preset motion time; Step S413: Obtain force feedback data from the sensor data and pressure data and state information from the sample internal data; Step S414: Convert the pressure data into calibration force values ​​according to the calibration file; Step S415: Obtain the first difference between the calibration force value and the force feedback data; Step S416: Compare the first difference with the first preset threshold. When the first difference is less than or equal to the first preset threshold and the status information is normal, output the first detection result that the maximum output force detection is qualified; when the first difference is greater than the first preset threshold or the status information is abnormal, output the first detection result that the maximum output force detection is unqualified.

[0057] In steps S411 to S416 of some embodiments, the initial position of the loading bench actuator is first kept stationary to achieve stable control of the test environment. Then, a preset load is applied to the test sample. Data from external sensors and the sample's internal data are collected synchronously, and data conversion and analysis are performed according to the calibration file. Finally, the analysis results are accurately compared with the preset threshold, and the test conclusion is automatically output. This realizes intelligent judgment from physical action, ensuring the objectivity, accuracy, and repeatability of the test results.

[0058] In step S411 of some embodiments, the loading platform actuator of the loading subsystem is controlled to remain stationary in its initial position by displacement control, based on a preset duration in the detection parameters. By driving the loading platform actuator to a preset zero point or reference position through the detection system and strictly maintaining this position for a period of time, a fixed displacement boundary condition is established. This ensures that the output force of the sample under test is completely converted into a driving force on the loading platform, and that this force is accurately measured by the force sensor on it. This eliminates the complex mechanical effects caused by displacement changes and provides a stable static test environment for accurately measuring the maximum output force. Optionally, the preset duration is set to 5 seconds.

[0059] In step S412 of some embodiments, based on the first sinusoidal signal with a first preset frequency and a first preset amplitude, and the preset motion time in the detection parameters, the detection system sends a specific control signal to the active actuator. This command drives the active actuator to generate a corresponding output force, accurately simulating the load requirements of the product under extreme working conditions. Optionally, the loading waveform is a sinusoidal signal, the first preset frequency is 0.1Hz, the first preset amplitude is the design maximum force value F, and the preset motion time is 5 seconds. The first preset frequency is low, which can avoid dynamic effect interference during quasi-static loading.

[0060] In step S413 of some embodiments, during the movement of the active actuator, the detection system synchronously records the measurement values ​​from the high-precision force sensor on the loading platform, as well as the pressure data and status information characterizing the system's health obtained from the active actuator controller via internal sensors. This synchronous acquisition of internal and external data provides a comprehensive and reliable data foundation for subsequent cross-validation and integrated analysis. Optionally, the sampling frequency is not less than 256Hz.

[0061] In step S414 of some embodiments, the system uses a conversion relationship (such as a pressure-force curve or formula) obtained beforehand through calibration experiments to convert the collected raw pressure data (units may be Bar or MPa) into a calibrated force value with a physical unit of force (such as kN). This data conversion operation enables the internal sensing data of the sample to be compared with the measurement data from external force sensors under a unified dimension and scale.

[0062] In step S415 of some embodiments, the absolute difference between the calibration force value obtained by converting the internal pressure of the sample and the force feedback data measured by the external force sensor is calculated to obtain a first difference. This first difference quantifies the accuracy error of the sample's own force sensing system and is the core indicator for judging whether its force control accuracy is qualified.

[0063] In step S416 of some embodiments, the first difference is compared with the first preset threshold S1 in the judgment threshold. If the first difference is less than or equal to the first preset threshold, it means that the force output accuracy of the sample meets the requirements. At the same time, if the status information is normal (such as no fault code and temperature within the allowable range), it indicates that the sample is in a healthy working state. Only when both of the above conditions are met at the same time will the system finally output the first detection result of the maximum output force detection being qualified. If either condition is not met, it is immediately judged as unqualified, thus realizing the automated, objective, and intelligent judgment of the key performance of the product.

[0064] In some embodiments, such as Figure 7 As shown, the steps for performing active force response detection on the test sample to obtain the second detection result may include, but are not limited to, steps S421 to S425: Step S421: Displacement control is performed on the loading platform actuator of the loading subsystem according to the second sinusoidal signal with the second preset frequency and the second preset amplitude. Step S422: Control the movement of the active actuator of the loading subsystem according to the preset sweep frequency rate, preset sweep frequency range and the sinusoidal sweep frequency signal with the third preset amplitude. Step S423: Obtain pressure data and state information from the internal data of the sample, and obtain the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; Step S424: Convert the pressure data into calibration force values ​​according to the calibration file, and generate the first Bode plot based on the calibration force values ​​and the force command signal; Step S425: Compare the first Bode plot with the second Bode plot of the theoretical transfer function. When the first Bode plot is above the second Bode plot and the state information is normal, output the second detection result that the active force response detection is qualified; when the first Bode plot is not above the second Bode plot or the state information is abnormal, output the second detection result that the active force response detection is unqualified.

[0065] In steps S421 to S425 of some embodiments, by simulating complex working conditions of a real vehicle, the loading platform and the active actuator are controlled synchronously, and key data are collected. Finally, the actual dynamic response characteristics of the sample are accurately compared with the theoretical ideal model in the frequency domain, so as to scientifically and quantitatively evaluate the response speed and control bandwidth of the sample in the frequency domain, and thus obtain the result of whether the dynamic performance of the sample meets the standard.

[0066] In step S421 of some embodiments, the detection system drives the loading bench actuator to reciprocate according to a second sine wave signal with a second preset frequency and a second preset amplitude. This simulates the smooth, periodic vibration transmitted to the vehicle body through the suspension when the vehicle is driving on an uneven road surface, creating a dynamic environment that simulates the basic road surface excitation experienced by a real vehicle during driving. Optionally, the control method is displacement control, the loading waveform is a sine wave signal, the second preset frequency is 0.1Hz, and the second preset amplitude is 5mm.

[0067] In step S422 of some embodiments, based on the preset sweep rate, preset sweep range, and third preset amplitude sinusoidal sweep signal in the detection parameters, the detection system applies a force command signal with a continuously varying frequency from low to high to the active actuator. This signal requires the sample to continuously track and output a force with a constant amplitude but continuously changing frequency, thereby comprehensively detecting the tracking capability and phase delay of the sample under test at different frequencies. Optionally, the preset sweep rate is 2Hz / s, the preset sweep range is 0Hz-30Hz, the third preset amplitude is 50%F, and the applied waveform is a sinusoidal sweep signal.

[0068] In step S423 of some embodiments, the system synchronously records the force command signal sent to the sample (as a reference for downstream task input), the pressure data fed back by the internal sensors of the sample (used to calculate the actual output force), and the status information, providing a data foundation for subsequent data analysis.

[0069] In step S424 of some embodiments, the system first converts the pressure data into actual force data. Then, using the force command signal as input and the converted calibrated force value as output, it generates amplitude-frequency characteristic curves and phase-frequency characteristic curves, i.e., the first Bode plot (measured Bode plot), reflecting the actual dynamic response characteristics of the sample, through signal processing methods such as Fourier transform. This plot characterizes the gain (amplification factor) and phase changes of the sample at different frequencies.

[0070] In step S425 of some embodiments, the measured Bode plot is compared with the theoretical Bode plot, which represents ideal performance and is derived based on the product design model. If the measured Bode plot is above the theoretical Bode plot, meaning that the amplitude-frequency response curve of the sample in actual testing has a gain (amplitude ratio) that is not lower than (usually required to be higher than) the expected value of the theoretical model throughout the entire frequency sweep range, then the actual response speed and control bandwidth of the sample meet or exceed the design target. Simultaneously, combined with the condition that the status information is normal, a second detection result indicating that the active force response detection is qualified is automatically output. If the measured Bode plot is not above the theoretical Bode plot, or the status information is abnormal, a second detection result indicating that the active force response detection is unqualified is output.

[0071] In some embodiments, such as Figure 8 As shown, the steps for performing dynamic force stability testing on the test sample and obtaining the third test result may include, but are not limited to, steps S431 to S437: Step S431: Displacement control is performed on the loading platform actuator of the loading subsystem based on the third sinusoidal signal with the third preset frequency and the fourth preset amplitude. Step S432: Based on the fourth sine wave signal with the fourth preset frequency and the fifth preset amplitude, and the preset number of cycles, control the active actuator of the loading subsystem to perform cyclic loading; Step S433: Obtain the pressure data and state information from the sample internal data of the nth cycle, and obtain the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; Step S434: Convert the pressure data into calibration force values ​​according to the calibration file, and generate a curve with the force command signal as the abscissa and the calibration force value as the ordinate; Step S435: Obtain the absolute value of the first difference between the two points where the curve intersects the vertical axis, and obtain the absolute value of the second difference between the maximum and minimum values ​​of the curve; Step S436: Obtain the ratio of the absolute value of the first difference to the absolute value of the second difference; Step S437: Compare the ratio with the second preset threshold. When the ratio is less than or equal to the second preset threshold and the status information is normal, output a third detection result indicating that the dynamic force stability test is qualified. When the ratio is greater than the second preset threshold or the status information is abnormal, output a third detection result indicating that the dynamic force stability test is unqualified.

[0072] In steps S431 to S437 of some embodiments, the sample under test is subjected to continuous cyclic force control tests under simulated periodic load conditions, and response data for specific cycles is extracted. A curve feature quantization method is then used to calculate key indicators characterizing force value stability. Finally, by comparing these indicators with threshold values, the performance retention capability of the sample under dynamic operation is objectively determined. By forming a closed loop from load simulation and data acquisition to feature extraction and intelligent judgment, the output consistency and reliability of the sample under continuous dynamic load are evaluated.

[0073] In step S431 of some embodiments, based on the third sine wave signal with a third preset frequency and a fourth preset amplitude in the detection parameters, the detection system drives the loading bench actuator to reciprocate according to the third sine wave signal. This simulates the continuous road surface unevenness excitation during vehicle operation, providing a dynamically changing displacement boundary condition for the test. This allows the force control task of the test specimen to be performed in a more realistic and complex environment with interference, thereby more accurately detecting its stability. Optionally, the control method is displacement control, the loading waveform is a sine wave, the third preset frequency is 0.1Hz, and the fourth preset amplitude is 5mm.

[0074] In step S432 of some embodiments, based on the fourth sine wave signal with a fourth preset frequency and a fifth preset amplitude in the detection parameters, and the preset number of cycles in the detection parameters, the detection system issues a command to the active actuator, requiring it to repeatedly track a sine wave force command with a specific frequency and amplitude multiple times (such as a preset number of cycles) under a fixed background displacement disturbance. This cyclic loading simulates the repetitive actuation of the sample under specific working conditions. Optionally, the loading waveform is a sine wave signal, the fourth preset frequency is 12Hz, the fifth preset amplitude is 50%F, and the preset number of cycles is 3.

[0075] In step S433 of some embodiments, the detection system extracts the force command signal and corresponding sample pressure data and state information within the nth cycle, focusing on the performance of the sample in a steady state or specific state after a certain number of operations, and extracts representative analytical samples from the continuous test data. Optionally, when the preset number of cycles is 3, data from the second cycle can be selected for extraction.

[0076] In step S434 of some embodiments, the system converts the pressure data in the nth cycle into actual force values, and plots the actual output force value corresponding to each force command point in the form of a scatter plot or trajectory plot, with the force command signal as the abscissa and the calibrated force value as the ordinate, thereby forming a curve describing the "command-response" relationship. For an ideal linearly stable system, this curve should be a straight line; however, factors such as hysteresis and nonlinearity in real systems will cause it to form a loop.

[0077] In step S435 of some embodiments, the absolute value of the first difference between the two points where the curve intersects the vertical axis is obtained. The absolute value of the first difference reflects the hysteresis or deviation of the output force value near the zero command point, which is related to the repeatability or hysteresis of the system. The absolute value of the second difference between the maximum and minimum values ​​of the curve is obtained. The absolute value of the second difference is the maximum fluctuation range of the curve in the vertical axis (calibrated force value) direction, which represents the peak-to-peak value of the output force.

[0078] In step S436 of some embodiments, by obtaining the ratio of the absolute value of the first difference to the absolute value of the second difference, a dimensionless ratio can be obtained, transforming the curve characteristics into a quantitative indicator. The smaller the ratio, the narrower the "loop" of the curve, and the better the consistency, repeatability, and stability of force control.

[0079] In step S437 of some embodiments, the calculated ratio is compared with the second preset threshold S2 in the judgment threshold. If the ratio is less than or equal to the second preset threshold, it indicates that the force output fluctuation of the sample under dynamic cyclic loading is within the allowable range, and the stability is qualified. At the same time, combined with the condition that the status information is normal, a third detection result indicating that the dynamic force stability test is qualified is automatically output. If the ratio is greater than the second preset threshold, or the status information is abnormal, a third detection result indicating that the dynamic force stability test is unqualified is output.

[0080] like Figure 9 As shown, the process for the offline testing of active actuator products includes: Step 1: Configure the communication interface according to the communication requirements of the test sample; Step 2: Set the detection parameters and judgment thresholds according to the detection methods (maximum output force detection, active force response detection, and dynamic force stability detection); Step 3: Install the sample and connect the communication interface; Step 4: Start the detection program; Step 5: Determine whether the test sample is qualified based on the test results; Step 6: Replace the sample and return to Step 3.

[0081] This invention also provides an electronic device, which includes a processor and a memory. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including a tablet computer, an in-vehicle computer, or similar device.

[0082] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.

[0083] refer to Figure 10 , Figure 10 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 501 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of the present invention. The memory 502 can be implemented as a read-only memory (ROM), a static storage device, a dynamic storage device, or a random access memory (RAM). The memory 502 can store the operating system and other application programs. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 502 and is called and executed by the processor 501. The input / output interface 503 is used to implement information input and output; The communication interface 504 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 505 transmits information between various components of the device (e.g., processor 501, memory 502, input / output interface 503, and communication interface 504); The processor 501, memory 502, input / output interface 503, and communication interface 504 are connected to each other within the device via bus 505.

[0084] This invention also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.

[0085] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.

[0086] This invention also provides a computer program product or computer program that includes computer instructions stored in a computer-readable storage medium. A processor of a computer device can read the computer instructions from the computer-readable storage medium and execute the computer instructions to cause the computer device to perform the aforementioned method.

[0087] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this invention are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is altered and sub-operations described as part of a larger operation are executed independently.

[0088] Furthermore, although the invention has been described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the described functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding the invention. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional skill of an engineer. Therefore, those skilled in the art can implement the invention as set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of the invention, which is determined by the full scope of the appended claims and their equivalents.

[0089] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this invention, essentially, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0090] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0091] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0092] It should be understood that various parts of the present invention can be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented in software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0093] In the description of this specification, references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of the 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.

[0094] Although embodiments of the invention have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of the invention, the scope of which is defined by the claims and their equivalents.

[0095] The above is a detailed description of the preferred embodiments of the present invention. However, the present invention is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention. All such equivalent modifications or substitutions are included within the scope defined by the claims of the present invention.

Claims

1. A product off-line inspection system for active actuators, characterized in that, The system includes a loading subsystem, a data simulation acquisition and analysis subsystem, and a host computer. The host computer is communicatively connected to the data simulation acquisition and analysis subsystem and is used to set detection parameters and judgment thresholds, and to display target detection results. The data simulation acquisition and analysis subsystem is communicatively connected to the loading subsystem and is used to send control commands to the loading subsystem according to the detection parameters, and to collect and analyze sensor data and sample internal data fed back by the loading subsystem. The loading subsystem is used to install the sample under test and simulate the load environment according to the control commands.

2. The system according to claim 1, characterized in that, The loading subsystem includes an active actuator controller, an active actuator actuator, a loading platform actuator, a loading platform sensor, and a loading platform controller. The loading platform sensor includes a force sensor and a displacement sensor. The force sensor is fixed to the upper end of the loading platform actuator for collecting force feedback data and is connected to the sample under test. The displacement sensor is located at the lower end of the loading platform actuator for collecting displacement feedback data. The loading platform controller is connected to the loading platform actuator via an I / O interface for controlling the movement of the loading platform actuator. The active actuator actuator is mechanically connected to the loading platform actuator. The active actuator controller is communicatively connected to the active actuator actuator for driving the movement of the active actuator.

3. The system according to claim 2, characterized in that, The data simulation acquisition and analysis subsystem is connected to the loading bench controller via the EtherCAT protocol to send synchronization control signals and receive sensor data; the data simulation acquisition and analysis subsystem is also connected to the active actuator controller via the CAN protocol to send force command signals and receive internal data of the sample; the control commands include the synchronization control signals and the force command signals; the sensor data includes force feedback data and displacement feedback data; the internal data of the sample includes pressure data, temperature data, and status information.

4. A method for detecting the off-line status of an active actuator product, executed by an active actuator product off-line detection system as described in any one of claims 1 to 3, characterized in that, The method includes the following steps: Configure the communication interface of the data simulation acquisition and analysis subsystem according to the communication requirements of the sample under test; Preset detection parameters and judgment thresholds; Install the sample under test and connect the configured communication interface; The sample to be tested is tested according to the detection parameters and the judgment threshold to obtain the target detection result.

5. The method according to claim 4, characterized in that, The step of detecting the sample to be tested based on the detection parameters and the judgment threshold to obtain the target detection result includes the following steps: Based on the detection parameters and the judgment threshold, the maximum output force value of the sample to be tested is detected to obtain a first detection result; When the first detection result indicates that the maximum output force of the sample under test is qualified, the active force response of the sample under test is detected to obtain a second detection result; when the first detection result indicates that the maximum output force of the sample under test is unqualified, the sample under test is replaced, and the process returns to the steps of installing the sample under test and connecting the configured communication interface. When the second test result indicates that the main dynamic response of the test sample is qualified, the dynamic force stability test is performed on the test sample to obtain a third test result. The test sample is then replaced, and the process returns to the steps of installing the test sample and connecting the configured communication interface. When the second test result indicates that the main dynamic response of the test sample is unqualified, the test sample is replaced, and the process returns to the steps of installing the test sample and connecting the configured communication interface. The target detection results include the first detection result, the second detection result, and the third detection result.

6. The method according to claim 5, characterized in that, The process of detecting the maximum output force value of the sample to be tested and obtaining a first detection result includes the following steps: The initial position of the loading platform actuator of the loading subsystem is kept unchanged according to a preset duration. The active actuator of the loading subsystem is controlled to move according to a first sine wave signal with a first preset frequency and a first preset amplitude and a preset motion time. Acquire force feedback data from the sensor data and pressure data and status information from the internal data of the sample; According to the calibration document, the pressure data is converted into calibration force values; Obtain the first difference between the calibrated force value and the force feedback data; The first difference is compared with a first preset threshold. When the first difference is less than or equal to the first preset threshold and the status information is normal, a first detection result indicating that the maximum output force detection is qualified is output. When the first difference is greater than the first preset threshold or the status information is abnormal, a first detection result indicating that the maximum output force detection is unqualified is output.

7. The method according to claim 5, characterized in that, The process of performing active force response detection on the sample to be tested to obtain a second detection result includes the following steps: The displacement control of the loading platform actuator of the loading subsystem is performed according to the second sinusoidal signal with the second preset frequency and the second preset amplitude. The active actuator of the loading subsystem is controlled to move according to the preset sweep frequency rate, preset sweep frequency range and the sinusoidal sweep frequency signal with the third preset amplitude. Acquire pressure data and state information from the internal data of the sample, and acquire the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; The pressure data is converted into calibration force values ​​according to the calibration file, and a first Bode plot is generated based on the calibration force values ​​and the force value command signal. The first Bode plot is compared with the second Bode plot of the theoretical transfer function. When the first Bode plot is above the second Bode plot and the state information is normal, a second detection result indicating that the active force response detection is qualified is output. When the first Bode plot is not above the second Bode plot or the state information is abnormal, a second detection result indicating that the active force response detection is unqualified is output.

8. The method according to claim 5, characterized in that, The process of performing dynamic force stability testing on the sample to obtain a third test result includes the following steps: The displacement control of the loading platform actuator of the loading subsystem is performed based on the third sine wave signal with the third preset frequency and the fourth preset amplitude. Based on the fourth sine wave signal with the fourth preset frequency and the fifth preset amplitude, and the preset number of cycles, the active actuator of the loading subsystem is controlled to perform cyclic loading. Acquire the pressure data and state information from the internal data of the sample in the nth cycle, and acquire the force command signal simulated and sent by the data simulation acquisition and analysis subsystem; The pressure data is converted into calibration force values ​​according to the calibration file, and a curve is generated with the force value command signal as the abscissa and the calibration force value as the ordinate. Obtain the absolute value of the first difference between the two points where the curve intersects the vertical axis, and obtain the absolute value of the second difference between the maximum and minimum values ​​of the curve; Obtain the ratio of the absolute value of the first difference to the absolute value of the second difference; The ratio is compared with a second preset threshold. When the ratio is less than or equal to the second preset threshold and the status information is normal, a third detection result indicating that the dynamic force stability test is qualified is output. When the ratio is greater than the second preset threshold or the status information is abnormal, a third detection result indicating that the dynamic force stability test is unqualified is output.

9. The method according to claim 4, characterized in that, The detection parameters include a preset duration, a first sine wave signal, a preset motion time, a second sine wave signal, a sine sweep frequency signal, a third sine wave signal, a fourth sine wave signal, and a preset number of cycles; the judgment thresholds include a first preset threshold, a second preset threshold, and a second Bode plot of the theoretical transfer function.

10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method as described in any one of claims 4 to 9.

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