Limited angle motor position small closed loop dynamic test method

Abstract

The invention discloses a limited angle motor position small closed-loop dynamic test method, which comprises the following steps of: 1, detecting position step response, measuring angle step response data under a position closed-loop condition, and analyzing and calculating a steady-state value, rise time, peak time, overshoot rate and steady-state precision of angle response; step 2, frequency response characteristic detection: measuring a time domain signal of limited angle motor angle response under a position closed-loop condition, and analyzing and calculating an amplitude-frequency characteristic and phase-frequency characteristic curve of angle quantity; step 3, detecting position following characteristics, measuring angle following data under a position closed-loop condition, and analyzing and calculating angle following lag time; the method optimizes and realizes testing and data processing of position step response, frequency response characteristics and position following characteristics according to the small closed-loop dynamic testing characteristics of the position of the limited angle motor, and can reduce gross errors and random errors, thereby providing a more accurate testing result.

Description

Technical Field

[0001] This invention relates to the field of well logging technology in the petroleum industry, and in particular to a small closed-loop dynamic testing method for the position of a finite-angle motor. Background Technology

[0002] A limited-angle torque motor (LATM) is a new type of motor that can oscillate repeatedly within a limited angle without the need for complex mechanical transmission devices. Its operating range is generally less than 180°, hence it is also known as a "swing motor." Although the topology of a LATM is similar to that of a conventional rotary motor, it boasts advantages such as high power density, simple control methods, and high reliability. These advantages have led to its widespread application in fields such as infrared imaging, aerospace servo valves, satellite antenna positioning, telemetry radar, and micro-robot joint actuation.

[0003] To meet certain specific technical requirements, the actuator needs to be able to perform repetitive yaw motion within a limited angle. Typically, this can be achieved using a rotary motor with mechanical transmission devices such as cranks, gears, or limit switches. However, this system suffers from drawbacks such as complex structure, poor robustness, significant efficiency losses in intermediate transmission devices, and low reliability. While it's possible to achieve repetitive yaw motion using a rotary motor with a closed-loop control algorithm, eliminating the intermediate mechanical transmission link, this approach suffers from drawbacks such as complex control algorithms, high cost, and difficult maintenance. The complexity of the control algorithm leads to increased gross and random errors, affecting test results. Therefore, in addition to continuously researching and improving the performance and characteristics of finite-angle torque motors, it's necessary to strengthen testing and research on finite-angle torque motor products to assess their performance and identify defects for improvement and reliable operation. Thus, based on actual needs, it is necessary to conduct small-loop dynamic testing research on the position of finite-angle torque motors. Summary of the Invention

[0004] The purpose of this invention is to provide a small closed-loop dynamic testing method for the position of a finite angle motor, in order to solve the problem in the prior art where the complexity of the control algorithm leads to increased gross and random errors, thereby affecting the test results.

[0005] The technical solution of this invention: a small closed-loop dynamic testing method for the position of a finite-angle motor, comprising the following steps:

[0006] Step 1: Position step response detection. Measure the angle step response data under position closed-loop conditions, and analyze and calculate the steady-state value, rise time, peak time, overshoot rate, and steady-state accuracy of the angle response.

[0007] Step 2: Frequency response characteristic detection. Measure the time-domain signal of the angle response of the finite-angle motor under closed-loop position conditions, and analyze and calculate the amplitude-frequency characteristic and phase-frequency characteristic curves of the angle quantity.

[0008] Step 3: Position following characteristic detection. Measure the angle following data under position closed-loop conditions and analyze and calculate the angle following lag time.

[0009] Furthermore, the specific steps for detecting the position step response are as follows:

[0010] S1. Install the motor on the motor test bench. Connect the other end of the motor to the encoder and torque sensor via a tooling. Connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller. Rotate the motor rotor counterclockwise to the limit position and set the encoder angle to zero.

[0011] S2, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0012] S3, open the saved test data, preprocess the data, use the differential method to obtain the starting position of the step signal, and extract data from the original data starting from the starting position of the step signal;

[0013] S4 calculates the peak value, peak time, overshoot, steady-state value, steady-state accuracy, and rise time of the step response. Starting from the step input, it calculates the various time parameters of the step response, plots the angle step response curve, and displays the test results data.

[0014] S5 uses a motor testing platform to measure and obtain data files, and then uses an R language program to perform corresponding analysis.

[0015] Furthermore, the calculations of the peak value, peak time, overshoot, steady-state value, steady-state accuracy, and rise time of the step response in S4 are as follows:

[0016] The starting position of the step signal is obtained as follows:

[0017] ;

[0018] Among them, record For discrete unit step function, For discrete unit impulse function, Represents an angle value. The product of the angle and the discrete unit impulse function, μ(n+1) is the discrete unit step signal with forward translation. The starting position of the angle step can be determined by using forward differentiation and the maximum value function.

[0019] To eliminate measurement errors, the steady-state value of the step signal given is calculated by averaging the values ​​from 30% to 80% of the step signal sequence generated by the signal transmitter in the test device. The result is then used as the angle value of the step signal given. ;

[0020] The formulas for calculating the peak position and overshoot rate are as follows:

[0021] ;

[0022] Among them, from To calculate the maximum response value, This value is the peak response, and the corresponding time is the delay and peak time. At the same time, the delay and rise time are calculated with 90% of the peak response as the endpoint.

[0023] Response steady-state position acquisition and adjustment time calculation, starting from the steady-state position, calculate When rising, among them For an angle step response sequence, when At any moment This refers to the time between the rise and the adjustment period;

[0024] Steady-state accuracy calculation, starting from the rise and settling times. For rising and adjusting time, For the response sequence termination time, then The steady-state relative average error is used as a measure of steady-state accuracy.

[0025] Furthermore, the specific steps for detecting the frequency response characteristics are as follows:

[0026] S10, Install the motor on the motor test bench, connect the other end of the motor to the encoder and torque sensor through the tooling, connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller, rotate the motor rotor counterclockwise to the limit position, and set the encoder angle to zero.

[0027] S20, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0028] S30, open the saved test data, preprocess the data, use the differential method to obtain the starting position of the step signal, and calculate the steady-state time. Extract data from the original data from the starting position of the step signal to the point after entering the steady state.

[0029] S40, the system is linear and time-invariant. The time-domain unit impulse response data of the system is calculated using the differential method and normalization. The complex frequency domain system function is calculated using the discrete Fourier transform algorithm. The amplitude frequency curve and phase frequency curve are calculated and plotted respectively, and the calculation results of the maximum gain frequency and phase shift, cutoff frequency and phase shift are displayed.

[0030] S50 uses a motor test platform to measure and obtain data files, and then uses an R language program to perform corresponding analysis.

[0031] Furthermore, in the S40 step response calculation, the unit impact response is obtained using the step response calculation. When the electronic controller-motor system is linear, then... Know, Therefore, by differentiating the angle step and the angle step response and using the step input angle... By normalizing, the unit impulse response of the system can be obtained: ,in For the angular step response, the discrete unit impulse response sequence is calculated from the test data using forward differentiation and normalization: ;

[0032] The amplitude-frequency and phase-frequency characteristics are calculated using a discrete unit impulse response sequence. Perform a Fourier transform:

[0033] Obtain the system function of the electronic controller-motor system, and denote it as follows: ,but Let be the system's amplitude-frequency response function. Let be the phase frequency response function of the system, and let the sampling period be . seconds, then , Using the FFT algorithm, a length of [length missing] can be obtained. The amplitude frequency response sequence and phase frequency response sequence (in the previous formula) It is a non-negative integer, and the unit is . From the above discrete Fourier transform formula, it can be seen that using... before sequence The term can describe the maximum frequency as The amplitude-frequency and phase-frequency characteristics, at the same time ,Pick ,thereby When calculating the frequency of a specific gain point, a linear interpolation method is used to obtain a more accurate frequency value.

[0034] Furthermore, the specific steps of the characteristic detection are as follows:

[0035] S11, Install the motor on the motor test bench. Connect the other end of the motor to the encoder and torque sensor via a tooling. Connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller. Rotate the motor rotor counterclockwise to the limit position and set the encoder angle to zero.

[0036] S22, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0037] S33, open the saved test data, calculate the relative deviation between the given signal and the measured signal at the same time, calculate the time required when the average relative deviation is less than 1.5%, plot the angle following curve and the angle following relative deviation curve, and display the following lag result data;

[0038] S44: Use a motor test platform to measure and obtain data files, and then use an R language program to perform corresponding analysis.

[0039] Furthermore, in step S33, the error calculation with respect to relative deviation is performed, assuming the input sequence is... The output sequence is Then the following relative error sequence is ,in,

[0040] The calculation of the upper limit of the relative average error requires time. Let the upper limit of the relative average error be... The test sequence length is ,calculate ,when hour, To meet the time required to follow the upper limit of the relative average error, where .

[0041] The beneficial effects of this invention compared with the prior art are as follows: This method is designed for the small closed-loop dynamic testing characteristics of finite angle motors, and optimizes the testing and data processing of position step response, frequency response characteristics, and position following characteristics. Compared with traditional testing methods that use general-purpose oscilloscopes, this method is more convenient. Furthermore, this method can reduce gross errors and random errors, thereby providing more accurate test results. Attached Figure Description

[0042] Figure 1 This is a step curve diagram of the angle of the present invention;

[0043] Figure 2 These are the amplitude-frequency response curves and phase-frequency response curves of this invention;

[0044] Figure 3 This is the angle following error curve and angle following curve diagram of the present invention. Detailed Implementation

[0045] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the scope of protection of the present invention.

[0046] It should be noted that all directional indications (such as up, down, left, right, front, back, etc.) in the embodiments of the present invention are only used to explain the relative positional relationship and movement of each component in a certain specific posture (as shown in the figure). If the specific posture changes, the directional indication will also change accordingly.

[0047] Furthermore, the use of terms such as "first" and "second" in this invention is for descriptive purposes only and should not be construed as indicating or implying their relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined with "first" or "second" may explicitly or implicitly include at least one of that feature. Additionally, the technical solutions of the various embodiments can be combined with each other, but only on the basis of being achievable by those skilled in the art. When the combination of technical solutions is contradictory or impossible to implement, such a combination of technical solutions should be considered non-existent and not within the scope of protection claimed by this invention.

[0048] See Figure 1-3 The present invention discloses a small closed-loop dynamic testing method for the position of a finite angle motor, the steps of which include:

[0049] Step 1: Position step response detection. Measure the angle step response data under closed-loop position conditions, and analyze and calculate the steady-state value, rise time, peak time, overshoot, and steady-state accuracy of the angle response. This requires control delay and rise time measurement resolutions of no more than 0.01 s; overshoot measurement resolution of 1%; settling time measurement resolution of no more than 0.1 s; and steady-state relative deviation measurement resolution of no more than 0.5%.

[0050] The testing equipment is a dual-margin finite angle motor controller with a motor testing platform. The dual-margin finite angle motor controller has a built-in front-end data acquisition system that provides step signal sequences. The specific operating steps are as follows:

[0051] S1. Install the motor on the motor test bench. Connect the other end of the motor to the encoder and torque sensor via a tooling. Connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller. Rotate the motor rotor counterclockwise to the limit position and set the encoder angle to zero.

[0052] S2, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0053] S3, open the saved test data, preprocess the data, use the differential method to obtain the starting position of the step signal, and extract data from the original data starting from the starting position of the step signal;

[0054] S4 calculates the peak value, peak time, overshoot, steady-state value, steady-state accuracy, and rise time of the step response. Starting from the step input, it calculates the various time parameters of the step response, plots the angle step response curve, and displays the test results data.

[0055] Furthermore, the calculations for the peak value, peak time, overshoot, steady-state value, steady-state accuracy, and rise time of the step response in S4 are as follows:

[0056] The starting position of the step signal is obtained as follows:

[0057] ;

[0058] Among them, record For discrete unit step function, For discrete unit impulse function, Represents an angle value. The product of the angle and the discrete unit impulse function, μ(n+1) is the discrete unit step signal with forward translation. The starting position of the angle step can be determined by using forward differentiation and the maximum value function.

[0059] To eliminate measurement errors, the steady-state value of the step signal given is calculated by averaging the values ​​from 30% to 80% of the step signal sequence generated by the signal transmitter in the test device. The result is then used as the angle value of the step signal given. ;

[0060] The formulas for calculating the peak position and overshoot rate are as follows:

[0061] ;

[0062] Among them, from To calculate the maximum response value, This value is the peak response, and the corresponding time is the delay and peak time. At the same time, the delay and rise time are calculated with 90% of the peak response as the endpoint.

[0063] Response steady-state position acquisition and adjustment time calculation, starting from the steady-state position, calculate When rising, among them For an angle step response sequence, when At any moment This refers to the time between the rise and the adjustment period;

[0064] Steady-state accuracy calculation, starting from the rise and settling times. For rising and adjusting time, For the response sequence termination time, then The steady-state relative average error is used as a measure of steady-state accuracy.

[0065] The data processing method described above involves using a motor testing platform to measure and obtain data files, and then using an R language program to perform the corresponding analysis.

[0066] Step 2: Frequency response characteristic detection. Measure the time-domain signal of the angle response of the finite angle motor under closed-loop position conditions, analyze and calculate the amplitude-frequency characteristic and phase-frequency characteristic curves of the angle, and analyze and calculate the bandwidth of not less than 30Hz.

[0067] The testing equipment is a dual-margin finite angle motor controller with a motor testing platform. The dual-margin finite angle motor controller has a built-in front-end data acquisition system that provides a step signal sequence. The specific steps for frequency response characteristic testing are as follows:

[0068] S10, Install the motor on the motor test bench, connect the other end of the motor to the encoder and torque sensor through the tooling, connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller, rotate the motor rotor counterclockwise to the limit position, and set the encoder angle to zero.

[0069] S20, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0070] S30, open the saved test data, preprocess the data, use the differential method to obtain the starting position of the step signal, and calculate the steady-state time. Extract data from the original data from the starting position of the step signal to the point after entering the steady state.

[0071] S40, the system is linear and time-invariant. The time-domain unit impulse response data of the system is calculated using the differential method and normalization. The complex frequency domain system function is calculated using the discrete Fourier transform algorithm. The amplitude frequency curve and phase frequency curve are calculated and plotted respectively, and the calculation results of the maximum gain frequency and phase shift, cutoff frequency and phase shift are displayed.

[0072] S50 uses a motor test platform to measure and obtain data files, and then uses an R language program to perform corresponding analysis.

[0073] More specifically in this embodiment, the angle step response calculation in S40 uses the angle step response calculation to obtain the unit impact response. When the electronic controller-motor system is linear, then... Know, Therefore, by differentiating the angle step and the angle step response and using the step input angle... By normalizing, the unit impulse response of the system can be obtained: ,in For the angular step response, the discrete unit impulse response sequence is calculated from the test data using forward differentiation and normalization: ;

[0074] The amplitude-frequency and phase-frequency characteristics are calculated using a discrete unit impulse response sequence. Perform a Fourier transform:

[0075] Obtain the system function of the electronic controller-motor system, and denote it as follows: ,but Let be the system's amplitude-frequency response function. Let be the phase frequency response function of the system, and let the sampling period be . seconds, then , Using the FFT algorithm, a length of [length missing] can be obtained. The amplitude frequency response sequence and phase frequency response sequence (in the previous formula) It is a non-negative integer, and the unit is . From the above discrete Fourier transform formula, it can be seen that using... before sequence The term can describe the maximum frequency as The amplitude-frequency and phase-frequency characteristics, at the same time ,Pick ,thereby When calculating the frequency of a specific gain point, a linear interpolation method is used to obtain a more accurate frequency value.

[0076] Data processing method: The data files are obtained by measuring using a motor test platform, and then the corresponding analysis is performed using an R language program.

[0077] Step 3: Position following characteristic detection. Measure angle following data under closed-loop position conditions, analyze and calculate angle following lag time. Ramp signal following duration: 0-10 seconds; ramp signal angle change rate: 0-80 degrees / s; tracking angle relative deviation measurement resolution: no more than 0.3%; sine signal duration: 0-10 seconds; amplitude: 80 degrees; frequency: 0-1Hz.

[0078] The testing equipment is a dual-margin finite angle motor controller with a motor testing platform. The dual-margin finite angle motor controller has a built-in front-end data acquisition system that provides a step signal sequence. The specific steps of the characteristic detection are as follows:

[0079] S11, Install the motor on the motor test bench. Connect the other end of the motor to the encoder and torque sensor via a tooling. Connect the two sets of armature windings and two sets of rotary transformers to the dual-redundant motor controller. Rotate the motor rotor counterclockwise to the limit position and set the encoder angle to zero.

[0080] S22, the motor controller is powered on, the measurement and control system sends an angle step command to the motor controller, and collects and stores the given angle and measured angle data in real time according to the specified test data name;

[0081] S33, open the saved test data, calculate the relative deviation between the given signal and the measured signal at the same time, calculate the time required when the average relative deviation is less than 1.5%, plot the angle following curve and the angle following relative deviation curve, and display the following lag result data;

[0082] S44: Use a motor test platform to measure and obtain data files, and then use an R language program to perform corresponding analysis.

[0083] Furthermore, in step S33, the error calculation with respect to relative deviation is performed, assuming the input sequence is... The output sequence is Then the following relative error sequence is ,in,

[0084] The calculation of the upper limit of the relative average error requires time. Let the upper limit of the relative average error be... The test sequence length is ,calculate ,when hour, To meet the time required to follow the upper limit of the relative average error, where .

[0085] For the detection processes mentioned above in steps one through three, data processing is ultimately required. This data processing includes:

[0086] All test data files are text files, and the test format is as follows: 1. Data within a channel is separated by " / "; 2. Data between channels is separated by "\n" (newline). The " / " and "\n" data are directly sampled by a general-purpose measuring device, and the original data format is defined by the general-purpose measuring device. The algorithm implemented in R language in the project obtains the original test data according to this definition (data within a channel is separated by " / "; data between channels is separated by "\n" (newline); 3. There are a total of 4 channels of data: torque, observation angle, current, and given angle.

[0087] The data analysis platform uses R language programs to analyze dynamic data. R is free software and is programmable.

[0088] (1) Processing of step response data 1

[0089] 1. The program name in R is dtest1.R.

[0090] 2. Check if the data file to be processed meets the format requirements. If there is other information at the beginning of the file, it needs to be deleted to ensure that the file contains only test data from the beginning. See the data analysis example table in List 1 below for an example:

[0091] Table 1. Examples of Data Analysis

[0092]

[0093] Instructions: 1. Open RStudio.

[0094] 2. Open the R program: dtest2.R (or double-click the dtest2.R file in the working directory to open it directly into RStudio).

[0095] 3. Use the Source command (you can enter it in the command line or click the Source button in the upper right corner of the code window) to load dtest2.R into the current workspace.

[0096] 4. Enter the command: dtest1(“data file name”) in the command line, and finally click “Enter” to obtain the time and given angle in the angle step response and the output angle line graph. See Appendix. Figure 1 The image displays the step response characteristics of the motor's angular position, where the horizontal axis represents the occurrence time of the angle input and output signals, and the vertical axis represents the angle value. Figure 1 The example shows the source of the test data and the test results of this experiment. From Figure 1 It can be seen that the rise phase of the step response at the angular position is relatively rapid, with no overshoot and static following.

[0097] (3) For generating the frequency response curve in the frequency response characteristic test, use the R language program dtest2.R to check whether the data file to be processed meets the format requirements. If there is other information at the beginning of the file, it needs to be deleted to ensure that the file contains only test data from the beginning. Refer to the data analysis example table in Table 2 below for an example:

[0098] Table 2. Examples of Data Analysis

[0099]

[0100] Usage instructions:

[0101] 1. Enter RStudio.

[0102] 2. Open the R program: dtest2.R (or double-click the dtest2.R file in the working directory to open it directly into RStudio).

[0103] 3. Use the Source command (you can enter it in the command line or click the Source button in the upper right corner of the code window) to load dtest2.R into the current workspace.

[0104] 4. Enter the command in the command line: dtest2(“data file name”).

[0105] 5. The R language program name is: dtest2.R.

[0106] 6. Check if the data file to be processed meets the format requirements. If there is other information at the beginning of the file, delete it to ensure that the file contains only test data from the beginning. Finally, click "Enter" to obtain the amplitude-frequency response curve and phase-frequency response curve from the frequency response curve. An example is attached. Figure 2 middle, Figure 2 The amplitude-frequency and phase-frequency characteristics of the motor's angular position response are displayed, where: (1) the upper figure shows the amplitude-frequency characteristic, with the horizontal axis representing frequency and the vertical axis representing amplitude gain. The legend shows the source of the test data and the test results of this experiment; (2) the lower figure shows the phase-frequency characteristic, with the horizontal axis representing frequency and the vertical axis representing amplitude gain. The legend shows the source of the test data and the test results of this experiment. From Figure 2 It can be seen that the cutoff frequency of the angular position response in this experiment is 2.9 Hz. Within this range, the phase shift of the angular position exhibits a linear hysteresis as the frequency increases.

[0107] (4) Generation of frequency response curves for position following characteristic detection

[0108] 1. The R language program name is: dtest3.R.

[0109] 2. Check if the data file to be processed meets the format requirements. If there is other information at the beginning of the file, it needs to be deleted to ensure that the file contains only test data from the beginning. See the data analysis example table in List 3 below for an example:

[0110] Table 3. Examples of Data Analysis of Collected Data

[0111]

[0112] Usage instructions:

[0113] 1. Enter RStudio.

[0114] 2. Open the R program: dtest3.R (or double-click the dtest3.R file in the working directory to open it directly into RStudio).

[0115] 3. Use the Source command (you can enter it in the command line or click the Source button in the upper right corner of the code window) to load dtest1.R into the current workspace.

[0116] 4. Enter the command: dtest3(“data file name”) in the command line, and finally click “Enter” to obtain the angle following error curve and the angle following curve. See the appendix. Figure 3 middle, Figure 3 The graph shows the following characteristics of the motor's angular position relative to the input angle, where: (1) the upper graph shows the angle following trend, with the horizontal axis representing time and the vertical axis representing the input and output angle values. The legend shows the source of the test data and the test results of this experiment; (2) the lower graph shows the trend of the angle following error, with the horizontal axis representing time and the vertical axis representing the relative error between the output angle and the target angle. The legend shows the source of the test data and the test results of this experiment. Figure 3 It can be seen that the following error in this experiment decreased rapidly over time, indicating good angle following characteristics.

[0117] In addition to the preferred embodiments described above, the present invention has other embodiments. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection claimed by the present invention.

Claims

1. A limited rotation motor position small closed loop dynamic test method, characterized in that, The method comprises the following steps: Step one, position step response detection, measure the angle step response data under the condition of position closed loop, analyze and calculate the steady state value, rise time, peak time, overshoot rate and steady state accuracy of angle response; Step two, frequency response characteristic detection, measure the time domain signal of angle response of the limited angle motor under the condition of position closed loop, analyze and calculate the amplitude frequency characteristic and phase frequency characteristic curve of angle; Step three, position following characteristic detection, measure the angle following data under the condition of position closed loop, analyze and calculate the angle following lag time.

2. The limited rotation motor position small closed loop dynamic test method according to claim 1, wherein, The specific steps of the position step response detection are as follows: S1, install the motor on the motor test bench, connect the other end of the motor installed rotary transformer to the encoder and torque sensor through the tooling, connect the two sets of armature windings and the two sets of rotary transformers of the motor to the dual-redundancy motor controller, rotate the motor rotor counterclockwise to the end limit position, and set the encoder angle to zero; S2, power on the motor controller, send the angle step command to the motor controller by the measurement and control system, and store the given angle and measured angle data in real time according to the specified test data name; S3, open the saved test data, pre-process the data, obtain the step signal starting position using the differential method, and cut the data from the step signal starting position in the original data; S4, calculate the step response peak value, peak time, overshoot rate, steady state value, steady state accuracy and rise time, take the step input start as the starting point, calculate the time parameters of the step response, draw the angle step response curve and display the test result data at the same time; S5, use the motor test platform to measure and obtain the data file, and use the R language program to make the corresponding analysis.

3. The limited rotation motor position small closed loop dynamic test method according to claim 2, characterized in that, The calculation of the step response peak value, peak time, overshoot rate, steady state value, steady state accuracy and rise time in S4 is as follows: The step signal starting position is obtained as follows: ； wherein, the is a discrete unit step function, is a discrete unit impulse function, represents an angle value, is a product of an angle and a discrete unit impulse function, and μ(n+1) is a forward translation discrete unit step signal, when using forward differentiation and using a maximum value function, a starting position of an angle step can be determined and acquired; The step-given steady-state value is calculated, and in order to eliminate measurement error, the values at positions of 30% to 80% in the step signal sequence generated by the signal transmitter in the test device are taken to calculate the arithmetic average, and the calculation result is taken as the angle value given by the step ; The response peak position and overshoot rate calculation formula is as follows: ； wherein the response maximum is calculated from the time of the maximum, the value is the response peak, the corresponding time is the delay and the peak time, the delay and the rise time are calculated with 90% of the response peak as the end point; In response to the steady state position acquisition and adjustment time calculation, the rise time is calculated from the steady state position wherein is the angle step response sequence, when the time instant is the rise and adjustment time; Steady state accuracy calculation, from rise and settling time For rise and settling time, For response sequence abort time, then For steady state relative average error, this is used as a measure of steady state accuracy.

4. The limited rotation motor position small closed loop dynamic test method of claim 1, wherein, The specific steps of the frequency response characteristic detection are as follows: S10, install the motor on the motor test bench, connect the other end of the motor installed rotary transformer to the encoder and torque sensor through the tooling, connect the two sets of armature windings and the two sets of rotary transformers of the motor to the dual-redundancy motor controller, rotate the motor rotor counterclockwise to the end limit position, and set the encoder angle to zero; S20, power on the motor controller, send the angle step command to the motor controller by the measurement and control system, and store the given angle and measured angle data in real time according to the specified test data name; S30, open the saved test data, pre-process the data, obtain the step signal starting position using the differential method, and calculate the steady state time, cut the data from the step signal starting position to the end after entering the steady state in the original data; S40, the system is linear time invariant, use the differential method and do normalization, calculate and obtain the time domain unit impulse response data of the system, use the discrete Fourier transform algorithm to calculate and obtain the complex frequency domain system function, calculate and draw the amplitude frequency curve and phase frequency curve respectively, and display the calculation result data of the maximum gain frequency and phase shift, cutoff frequency and phase shift; S50, use the motor test platform to measure and obtain the data file, and use the R language program to make the corresponding analysis.

5. A limited angle motor position small closed loop dynamic test method according to claim 4, characterized in that, The angle step response calculation in S40 uses the angle step response calculation to obtain a unit impact response. When the electric control-motor system is linear, the unit impact response is obtained by knowing, , thus, the derivative of the angle step and the angle step response is obtained and normalized by the step input angle , then the unit impact response of the system can be obtained: , wherein is the angle step response. Correspondingly, the forward differential is used and normalized, and the discrete unit impact response sequence is calculated from the test data of the angle step response: ; The calculation of the amplitude and phase frequency characteristics uses a discrete unit impulse response sequence Performing a Fourier transform: Obtain the system function of the electronic controller-motor system, and denote it as follows: ,but Let be the system's amplitude-frequency response function. Let be the phase frequency response function of the system, and let the sampling period be . seconds, then , Using the FFT algorithm, a length of [length missing] can be obtained. The amplitude frequency response sequence and phase frequency response sequence (in the previous formula) It is a non-negative integer, and the unit is . From the above discrete Fourier transform formula, it can be seen that using... before sequence The term can describe the maximum frequency as The amplitude-frequency and phase-frequency characteristics, at the same time ,Pick ,thereby When calculating the frequency of a specific gain point, a linear interpolation method is used to obtain a more accurate frequency value.

6. The limited rotation motor position small closed loop dynamic test method of claim 1, wherein, The specific steps of the position following characteristic detection are as follows: S11, install the motor on the motor test bench, the other end of the motor installation rotary transformer is connected to the encoder and torque sensor through the tooling, the two sets of armature winding and two sets of rotary transformer are connected to the dual-redundancy motor controller, the motor rotor is rotated counterclockwise to the end limit position, and the encoder angle is zeroed; S22, the motor controller is powered on, the angle step command is sent to the motor controller by the measurement and control system, and the given angle and measured angle data are collected in real time and stored according to the specified test data name; S33, open the saved test data, calculate the relative deviation of the given signal and the measured signal at the same time, and calculate the time required when the average relative deviation is less than 1.5%, draw the angle following curve and the angle following relative deviation curve, and display the following lag result data; S44, use the motor test platform to measure the data file, and use the R language program to make corresponding analysis.

7. A limited angle motor position small closed loop dynamic test method according to claim 6, characterized in that, The pair error calculation with respect to the relative deviation in the step S33 is set as input sequence , and output sequence , then the following relative error sequence is , wherein, The time to follow the upper bound of the relative average error requires computation, let the upper bound of the relative average error be , the length of the test sequence be , compute , when , is the time required to meet the upper bound of the relative average error, where .

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