Data acquisition and processing method for linear motor performance test

Abstract

The invention relates to the technical field of motor testing, in particular to a data acquisition and processing method for linear motor performance testing, and the method comprises the steps: determining the electrical excitation intensity of a sampling point according to the time change rate of a current value of the sampling point and the absolute value of a voltage value; on the basis of the electrical excitation intensity and the mechanical data sequence, electromechanical response hysteresis potential energy of each sampling point is constructed; calculating a global time sequence compensation factor, wherein the global time sequence compensation factor is a weighted average value of the electromechanical response hysteresis potential energy of all sampling points; correcting the timestamp of the electrical data sequence by using the global time sequence compensation factor to obtain a corrected electrical data sequence; and calculating the performance parameters of the linear motor based on the corrected electrical data sequence and mechanical data sequence. The accuracy of the obtained performance test data of the linear motor can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of motor testing technology. More specifically, this invention relates to a data acquisition and processing method for linear motor performance testing. Background Technology

[0002] Linear motors, capable of directly generating linear motion without intermediate transmission mechanisms, offer advantages such as high speed, high acceleration, and high positioning accuracy, making them widely used in high-precision CNC machine tools, semiconductor processing equipment, and rail transportation. To accurately evaluate the performance of linear motors, a specialized testing platform is typically constructed to collect electrical parameters (such as phase current and terminal voltage) and mechanical motion parameters (such as position, speed, acceleration, and end thrust). Specific calculation logic is then used to derive key performance indicators such as thrust constant, motor efficiency, and thrust fluctuation.

[0003] However, in existing testing methods, electrical and mechanical signals are often connected to different data acquisition cards through independent physical channels. Because the two types of signals pass through different signal conditioning circuits, filters, and transmission cables, an unavoidable time delay occurs when the data reaches the processing terminal. Currently, the main approach to solving the performance evaluation problem is to initially align the electrical and mechanical data based on the raw timestamps provided by the data acquisition card, and then directly substitute them into physical formulas to calculate the thrust constant or power efficiency by dividing the real-time thrust by the real-time current.

[0004] The aforementioned direct calculation algorithm based on raw timestamps has significant drawbacks when linear motors perform high-frequency reciprocating variable acceleration motion. Systematic timing deviations caused by differences in hardware transmission paths result in inaccurate timing alignment between the acquired current vector and instantaneous mechanical states such as velocity and acceleration. This asynchrony in electromechanical data directly causes phase deviations in the thrust constant calculation, leading to a disordered mapping between dynamic force and position, severely reducing the accuracy of evaluating the high-frequency dynamic response performance of linear motors.

[0005] Therefore, how to solve the problem that asynchronous electromechanical data can directly cause phase deviation in the calculation of thrust constant, resulting in disordered mapping relationship between dynamic force and position, is a problem that needs to be solved. Summary of the Invention

[0006] To address the technical problem that asynchronous electromechanical data can directly cause phase deviations in thrust constant calculations, leading to a disordered mapping relationship between dynamic force and position, this invention proposes a data acquisition and processing method for linear motor performance testing. This method includes the following steps: Obtain the electrical and mechanical data sequences of the linear motor. The electrical data sequence includes current and voltage values, while the mechanical data sequence includes position, velocity, and thrust values. Based on the electrical data sequences, construct the electrical excitation intensity at each sampling point. The electrical excitation intensity is positively correlated with the time rate of change of the current value and the absolute value of the voltage value. Based on the electrical excitation intensity and the mechanical data sequence, construct the electromechanical response hysteresis potential energy at each sampling point. The electromechanical response hysteresis potential energy is positively correlated with the electrical excitation intensity at that sampling point and the displacement increment within the corresponding sampling interval, and negatively correlated with the ratio of mechanical power to electrical power. Calculate the global timing compensation factor, which is the weighted average of the electromechanical response hysteresis potential energy at all sampling points. Use the global timing compensation factor to correct the timestamps of the electrical data sequences to obtain the corrected electrical data sequences. Calculate the performance parameters of the linear motor based on the corrected electrical and mechanical data sequences.

[0007] This invention provides a data acquisition and processing method for linear motor performance testing, which can effectively improve the accuracy of linear motor performance test results. During the data acquisition process, this invention considers the systematic timing deviations caused by differences in hardware transmission paths, which lead to inaccurate timing alignment between electrical and mechanical data, affecting subsequent motor performance analysis. Based on this, this invention constructs a physical model of electrical excitation intensity and electromechanical response hysteresis potential energy to evaluate the dynamic response delay relationship between the electrical input and mechanical output of the linear motor. Furthermore, it utilizes a global timing compensation factor calculated based on weighted averages to accurately correct the timestamps of the electrical data sequence. This effectively solves the time asynchrony problem caused by differences in transmission links and physical response speeds during the acquisition of high-frequency electrical data and low-frequency mechanical data of linear motors in existing technologies, thereby effectively improving the accuracy and reliability of linear motor performance parameter calculations.

[0008] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided. The method for acquiring electrical data sequences and mechanical data sequences of the linear motor includes: driving the linear motor to execute a preset variable acceleration reciprocating motion test sequence; acquiring the mechanical data sequence of the motor at each sampling point through a grating ruler and a force sensor, and acquiring the electrical data sequence of the motor through a high-frequency data acquisition card to obtain electrical data and mechanical data corresponding to each sampling point; and determining the initial timestamp when acquiring the electrical data sequence.

[0009] This invention, through a preset variable acceleration reciprocating motion test sequence, can cover the performance of linear motors under different acceleration and speed states. Combined with a high-precision grating ruler, force sensor, and high-frequency data acquisition card, it acquires raw data with initial timestamps, providing a high-quality data foundation for subsequent hysteresis potential energy analysis.

[0010] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided, wherein acquiring the electrical data sequence and mechanical data sequence of the linear motor further includes: using an adaptive notch filter to denoise the electrical data sequence; and using a moving average filter to smooth the speed values ​​in the mechanical data sequence.

[0011] This invention employs targeted filtering strategies to address the different noise characteristics of electrical and mechanical data signals. It utilizes an adaptive notch filter to effectively filter out specific frequency interference in electrical signals, while simultaneously using a moving average filter to smooth mechanical velocity values. This approach maximizes the removal of environmental and measurement noise while preserving the dynamic characteristics of the signal.

[0012] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided, wherein constructing the electrical excitation intensity of each sampling point based on the electrical data sequence includes: ; Let be the electrical excitation intensity at the i-th sampling point. and They are respectively the i-th sampling point and the i-th sampling point. Current value at sampling point The sampling interval is... Let be the voltage value at the i-th sampling point. This is the rated voltage of the motor. The thrust constant of the linear motor. For Logarithmic function with base 0. It is a natural constant. It is an absolute value function.

[0013] This invention provides a precise method for calculating electrical excitation intensity, which comprehensively considers the influence of current-time change rate and voltage amplitude on the dynamic characteristics of the motor. By combining the natural logarithmic function and the current change rate, it can capture the strength of electrical energy input of the motor in a timely manner during rapid dynamic changes, providing an input-side basis for accurately evaluating electromechanical response hysteresis, and overcoming the defect that current amplitude alone cannot accurately reflect the degree of dynamic excitation.

[0014] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided, wherein constructing the electromechanical response hysteresis potential energy at each sampling point includes: ; , Let be the electromechanical response hysteresis potential energy and the electrical excitation intensity at the i-th sampling point, respectively. The sampling interval is... The displacement increment within the sampling interval of the i-th sampling point. , , , These represent the end thrust, instantaneous velocity, current value, and voltage value at the i-th sampling point, respectively. To prevent tiny positive numbers with a denominator of zero, It is the mechanical power at the i-th sampling point. It is the electrical power at the i-th sampling point. It is an absolute value function.

[0015] This invention provides an accurate method for calculating the hysteresis potential energy of electromechanical response. It not only correlates the electrical excitation intensity with the displacement increment within the sampling interval, but also introduces the ratio of mechanical power to electrical power as a correction factor. Thus, it can accurately and dynamically reflect the degree of hysteresis of the motor response under different loads and operating conditions from the perspective of energy conversion efficiency.

[0016] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided, wherein the ratio of the displacement increment of the current sampling point to its velocity value is used as the weight of the sampling point.

[0017] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided, wherein the calculation of the global timing compensation factor includes: ; As a global time series compensation factor, The number of sampling points. Let be the electromechanical response hysteresis potential energy at the i-th sampling point. Let be the weight of the i-th sampling point.

[0018] This invention provides a precise global timing compensation factor calculation method. By combining the electromechanical response hysteresis potential energy and its weights at all sampling points, a compensation value reflecting the overall average lag time of the system is statistically obtained. This can effectively reduce the uncertainty caused by measurement noise and random errors, and obtain more universal time correction parameters.

[0019] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided. The step of correcting the timestamps of the electrical data sequence using a global timing compensation factor to obtain a corrected electrical data sequence includes: subtracting the global timing compensation factor from the initial timestamps of each sampling point in the electrical data sequence to obtain the corrected timestamps of each sampling point; forming a time axis of the corrected electrical data sequence based on the corrected timestamps; and aligning the time axis of the corrected electrical data sequence with the time axis of the mechanical data sequence.

[0020] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided. The method for obtaining the corrected electrical data sequence further includes: resampling the electrical data sequence with the corrected timestamp using an interpolation algorithm to obtain a corrected electrical data sequence time axis that corresponds one-to-one with the time axis of the mechanical data sequence.

[0021] According to the present invention, a data acquisition and processing method for linear motor performance testing is provided. The step of calculating the performance parameters of the linear motor based on the corrected electrical data sequence and mechanical data sequence includes: calculating the ratio of each current value in the corrected electrical data sequence to the thrust value at the same sampling point in the mechanical data sequence, thereby obtaining the thrust constant of the linear motor at each sampling point.

[0022] The present invention has the following beneficial effects: Based on the above technical solution, the present invention provides a data acquisition and processing method for linear motor performance testing. When acquiring motor test data, a physical model of electrical excitation intensity and electromechanical response hysteresis potential energy is constructed to evaluate the dynamic response delay relationship between the electrical input and mechanical output of the linear motor. Furthermore, a global timing compensation factor calculated based on weighted average is used to accurately correct the timestamps of the electrical data sequence. This effectively solves the problem of time asynchrony caused by differences in transmission links and physical response speeds during the acquisition of high-frequency electrical data and low-frequency mechanical data of linear motors in the prior art, thereby effectively improving the accuracy and reliability of linear motor performance parameter calculation. Attached Figure Description

[0023] Figure 1 This is a flowchart illustrating the steps of a data acquisition and processing method for linear motor performance testing according to an embodiment of the present invention. Figure 2 This is a schematic diagram of an electrical excitation intensity curve distribution provided in an embodiment of the present invention; Figure 3 This is a schematic diagram of the distribution of electromechanical response hysteresis potential energy curve provided in an embodiment of the present invention; Figure 4 This is a magnified schematic diagram of signal phase alignment details provided in an embodiment of the present invention. Detailed Implementation

[0024] The technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are some embodiments of the present invention, but not all embodiments.

[0025] Please see Figure 1 , Figure 1 This is a flowchart illustrating the steps of a data acquisition and processing method for linear motor performance testing according to an embodiment of the present invention. The method includes the following steps: S1: Obtain the electrical and mechanical data sequences of the linear motor.

[0026] It is important to note that high-precision data acquisition is the physical foundation for evaluating the dynamic performance of linear motors. During the high-dynamic operation of a linear motor, the current response of the electrical system and the thrust output of the mechanical system are strongly coupled instantaneously. If the excitation state of the electrical side and the motion feedback of the mechanical side cannot be acquired synchronously, the subsequent calculation of the thrust constant will have an initial deviation due to the difference in the physical channels of the data source. Since electrical signals pass through a high-frequency sampling card, while mechanical signals often pass through a grating ruler counting card, different hardware transmission links can cause invisible initial misalignments in the data on the time axis. If data with such time delays is directly used for performance evaluation, the mapping relationship between electromagnetic force and position and velocity will be distorted, resulting in a complete distortion of the energy efficiency analysis of the motor under high-frequency reciprocating motion.

[0027] Based on this, embodiments of the present invention can acquire multi-source heterogeneous data through a synchronous triggering mechanism and perform time series alignment by analyzing its lag.

[0028] For example, in an embodiment of the present invention, acquiring the electrical data sequence and mechanical data sequence of a linear motor includes: driving the linear motor to execute a preset variable acceleration reciprocating motion test sequence; acquiring the mechanical data sequence of the motor at each sampling point through a grating ruler and a force sensor, and acquiring the electrical data sequence of the motor through a high-frequency data acquisition card to obtain the electrical data and mechanical data corresponding to each sampling point; and determining the initial timestamp when the electrical data sequence is acquired.

[0029] To further improve data quality, embodiments of the present invention also include a preprocessing step: using an adaptive notch filter to denoise the electrical data sequence; and using a moving average filter to smooth the velocity values ​​in the mechanical data sequence.

[0030] Specifically, the electrical data sequence includes current and voltage values, while the mechanical data sequence includes position, velocity, and thrust values. Therefore, each sampling point has corresponding electrical and mechanical data. Since the grating ruler is a high-precision displacement detection device, it can provide real-time feedback on the spatial position of the motor's mover. It can be understood that by acquiring the position values ​​of two sampling points, the displacement increment between these two points can be obtained, i.e., the actual distance moved by the linear motor's mover. The velocity value can be obtained by differentiating the displacement increment over time. Furthermore, the thrust value can be acquired using a force sensor mounted on the test platform to directly measure the mechanical thrust output by the motor during operation.

[0031] The acquisition frequency for electrical data can be set to 50kHz, and the acquisition frequency for mechanical data can be set to 20kHz. The specific settings can be adjusted according to actual needs.

[0032] Thus, the embodiments of the present invention can effectively eliminate environmental noise interference in the original signal by collecting and smoothing multi-source heterogeneous data based on the above steps.

[0033] It should be understood that the amount of electrical and mechanical data generated during the entire testing process of a linear motor is large. Therefore, the test needs to be conducted in segments. However, the embodiments of the present invention can sample data for any time period to obtain the corresponding electrical and mechanical data sequences. For ease of processing, the number of sampling points in the electrical and mechanical data sequences can be kept consistent. Since the sampling frequency of mechanical data is usually lower than that of electrical data, the number of electrical data points is often much greater than that of mechanical data within the same test period. Therefore, the number of sampling points can be determined based on the mechanical data.

[0034] The sampling points in the electrical and mechanical data sequences are indexed one-to-one; however, the initial timestamps corresponding to each sampling point are not consistent. Therefore, embodiments of the present invention can calculate the degree of asynchrony between the sampling points corresponding to the two data sequences based on the following steps, thereby achieving timestamp correction.

[0035] S2: Based on the electrical data sequence, construct the electrical excitation intensity of each sampling point. The electrical excitation intensity is positively correlated with the time change rate of the current value and the absolute value of the voltage value.

[0036] It should be noted that during the operation of a linear motor, changes in current are the direct cause of thrust fluctuations. Electrical excitation intensity is a key indicator for judging the intention to change the motor's motion state. The thrust output of a linear motor directly depends on the rate of change of the winding current, while the terminal voltage determines the system's ability to maintain current changes. When the current changes drastically and the voltage is high, it indicates that the electrical system is transmitting high-density energy change information to the mechanical system. These points are prominent in the time domain and are key coordinates for judging synchronization.

[0037] Furthermore, in high-speed dynamic testing scenarios, since electrical and mechanical signals are completely independent physical channels, focusing solely on the absolute value of the current cannot reflect abrupt changes in the system's energy level. Without evaluating the intensity of this excitation initiated by the electrical side, the system cannot identify the key feature points most sensitive to timing deviations. By constructing excitation intensity, implicit electrical changes can be transformed into explicit dynamic causes. When the current changes drastically and the voltage is high, observing whether the acceleration and velocity on the mechanical side respond appropriately at the same moment provides a logical basis for solving the problem of asynchronous electromechanical data.

[0038] For example, in an embodiment of the present invention, the electrical excitation intensity of each sampling point is constructed based on the electrical data sequence, and can be expressed by the following relationship: ; Let be the electrical excitation intensity at the i-th sampling point. and They are respectively the i-th sampling point and the i-th sampling point. Current value at sampling point The sampling interval is... Let be the voltage value at the i-th sampling point. This is the rated voltage of the motor. The thrust constant of the linear motor. For Logarithmic function with base 0. It is a natural constant. It is an absolute value function.

[0039] The linear motor thrust constant is used to convert the rate of change of current into the rate of change of force, and its unit is _____. The thrust constant of the linear motor can be set according to the specifications of the linear motor. Optionally, in this embodiment of the invention, the thrust constant of the high-dynamic linear motor can be set to 10, the thrust constant of the medium-sized industrial-grade linear motor can be set to 50, and the thrust constant of the high-thrust linear motor can be set to 200. The specific setting can be determined according to actual needs. The sampling interval is used to determine the time resolution. The rated voltage of the motor is used as the normalization reference.

[0040] In this relation This is the rate of change of the current value at the current sampling point over time, reflecting how quickly the electromagnetic force changes. Because the current fluctuates dramatically during dynamic moments such as motor starting, braking, or commutation, this value increases rapidly, forming a distinct time-domain characteristic point. Therefore, a larger value indicates more intense electrical action and a greater corresponding electrical excitation intensity; the two are positively correlated.

[0041] These are non-linear weighting coefficients. Used to characterize the redundancy of the current voltage value relative to the rated voltage value. Voltage represents the upper limit of energy supply. The higher the absolute value of the voltage, the stronger the electrical system's ability to maintain the thrust change, overcome the back electromotive force, and continuously transmit power. The greater the potential energy of the system in transferring energy to the mechanical side, the more effectively current changes with high energy density can be distinguished after mapping by a logarithmic function, while ensuring that the electrical excitation intensity increases with the increase of voltage.

[0042] Based on the above steps, the electrical excitation intensity of each sampling point can be obtained. The electrical excitation intensity is used to convert electrical parameters into transient indicators that reflect the driving force of the motor's motion. In the high-speed reciprocating motion of the motor, the characteristics of the uniform speed segment are not obvious and difficult to align. However, the electrical excitation intensity can accurately pinpoint the transient burst point of braking or acceleration. Such transient burst points are a reference benchmark for judging whether electrical and mechanical data are synchronized.

[0043] See also Figure 2 As shown, Figure 2 This is a schematic diagram of the electrical excitation intensity curve distribution provided by an embodiment of the present invention, where the horizontal axis represents time and the vertical axis represents the value of the electrical excitation intensity. In the initial stage, at the instant the motor starts, the current builds up from zero, and the electrical excitation intensity rises rapidly, reaching a high level of fluctuation around 0.7 seconds. At this time, the motor is running at a constant speed but there are load fluctuations, and the change in reverse electromotive force causes the current to adjust. Subsequently, it rises again, at which point deceleration begins. Due to the energy feedback during the braking phase, the speed decreases, causing the reverse electromotive force to decrease, and the current is redistributed. Finally, during the start-up and shutdown process, the current gradually decreases and tends to a stable state, gradually decaying to zero. The electrical excitation intensity is continuously proportional to the rate of change of current.

[0044] As shown in the figure, a large number of sharp pulses protruding upwards appear in the electrical excitation intensity curve. These points correspond to the transient state of violent current fluctuations during the reciprocating motion of the linear motor. When the motor accelerates or decelerates, the current derivative increases, leading to a surge in electrical excitation intensity.

[0045] Thus, by calculating the electrical excitation intensity, the embodiments of the present invention can effectively capture the transient characteristics during motor operation, thereby providing a basis for subsequent analysis of the hysteresis effect of electromechanical response.

[0046] S3: Based on the electrical excitation intensity and mechanical data sequence, construct the electromechanical response hysteresis potential energy of each sampling point. The electromechanical response hysteresis potential energy is positively correlated with the electrical excitation intensity of the sampling point and the displacement increment within the corresponding sampling interval, and negatively correlated with the ratio of mechanical power to electrical power.

[0047] It should be noted that, under ideal synchronization, strong electrical excitation should be accompanied by a synchronous response of mechanical power. If a transmission delay exists, the high intensity of electrical excitation will match the lagging mechanical state, acting on the wrong mechanical position, leading to a deviation in the observed energy. Therefore, it is necessary to construct an index to evaluate the degree of electromechanical response hysteresis. Without this index, the control system will be unable to distinguish whether the delay is caused by the inherent transmission characteristics of the hardware or by the motion state itself.

[0048] Based on this, embodiments of the present invention can construct hysteresis potential energy and assign higher weights to high dynamic and high error risk regions, thereby achieving accurate identification of synchronization deviations.

[0049] For example, in an embodiment of the present invention, the electromechanical response hysteresis potential energy of each sampling point is constructed, as shown in the following relationship: ; Let be the electromechanical response hysteresis potential energy at the i-th sampling point. Let be the electrical excitation intensity at the i-th sampling point. The sampling interval is... The displacement increment within the sampling interval of the i-th sampling point. The end thrust at the i-th sampling point, Let be the instantaneous velocity at the i-th sampling point. Let i be the current value at the i-th sampling point. Let be the voltage value at the i-th sampling point. To prevent tiny positive numbers with a denominator of zero, It is an absolute value function.

[0050] Among them, tiny positive numbers that prevent the denominator from being zero can be set as follows: The specific settings can be configured according to actual needs. The displacement increment within the sampling interval of the sampling point is used to characterize the spatial scale of the motion. Hysteresis potential energy is used to characterize the spatial error energy generated after the electromechanical data is misaligned in the time domain.

[0051] In this relation The rate of change of the excitation is reduced to the increment of force, and then multiplied by This yields a numerical value with the dimensions of work or energy. When the motor is moving at high speed, the displacement increment... The larger the time delay, the greater the potential error in spatial position, and therefore the greater the potential energy of the displacement disturbance and the greater the potential energy of the electromechanical response hysteresis.

[0052] It is a power deviation weighted term. It is the mechanical power at the i-th sampling point. It is the electrical power at the i-th sampling point. If the system is perfectly aligned, the efficiency of converting electrical energy into kinetic energy should be within a reasonable range. Therefore, the more the ratio of the two deviates from 1, the worse the synchronization, and the larger the complement of the ratio, indicating that there is a serious lack of observation in energy transfer, which leads to a significant increase in the electromechanical response hysteresis potential energy and a higher instantaneous mismatch degree of electromechanical power. This further verifies that the more serious the observational loss caused by synchronization error, the greater the corresponding electromechanical response hysteresis potential energy.

[0053] Based on the above steps, the electromechanical response hysteresis potential energy at each sampling point can be obtained. See details in [link to documentation]. Figure 3 As shown, Figure 3This is a schematic diagram of the distribution of electromechanical response hysteresis potential energy curve provided in an embodiment of the present invention.

[0054] As shown in the figure, the curve exhibits distinct peaks at the start of motor acceleration and during deceleration. These regions are known as error-sensitive areas. During these times, the electrical side issues strong commands, resulting in high electrical excitation intensity. However, due to time delays, the mechanical side's displacement response is not yet synchronized, leading to power mismatch and a rapid increase in the electromechanical response hysteresis potential energy index. By identifying these peaks, the algorithm ensures that high-dynamic segments receive higher weights when calculating the compensation factor.

[0055] Thus, by evaluating the hysteresis potential energy of the electromechanical response, the embodiments of the present invention can effectively transform the temporal misalignment into the deviation characteristics of the energy domain, thereby providing a physical basis for calculating the global compensation factor.

[0056] S4: Calculate the global timing compensation factor, which is the weighted average of the electromechanical response hysteresis potential energy of all sampling points; use the global timing compensation factor to correct the timestamps of the electrical data sequence to obtain the corrected electrical data sequence; calculate the performance parameters of the linear motor based on the corrected electrical data sequence and the mechanical data sequence.

[0057] It should be noted that sensor transmission delay is typically determined by both hardware circuitry and filtering algorithms, exhibiting a systematic shift throughout the testing period. To obtain statistically significant time differences, a globally consistent compensation amount can be extracted from the instantaneous potential energy of each sampling point. Randomly selecting sampling points for alignment may lead to compensation failure due to interference from local vibrations or noise. Using a weighted averaging method, the algorithm can automatically ignore low-speed, quasi-static segments that are insensitive to delay, concentrating its efforts on correcting phase differences in high-dynamic segments.

[0058] For example, in an embodiment of the present invention, the ratio of the displacement increment of the current sampling point to its velocity value can be used as the weight of the sampling point.

[0059] The ratio of the displacement increment to the velocity value at the current sampling point represents the local time span reconstructed by the motor motion near the current sampling point. By using this value as the weight of the electromechanical response hysteresis potential energy at the sampling point, a mapping from energy misalignment to time deviation can be achieved, thereby accurately obtaining an index reflecting the global hysteresis.

[0060] Understandably, in linear motor testing systems, due to sensor link delays and filter phase shifts, the measured speed and the theoretical speed calculated from the displacement difference will exhibit nonlinear deviations during dynamic processes. Therefore, by setting the weights in this way, the excess potential energy generated by asynchrony can be analyzed into corresponding delay times based on the local speed, thereby preparing to obtain the local dynamic characteristics under variable acceleration conditions.

[0061] For example, in this embodiment of the invention, weights can also be set for each sampling point based on the historical data stability of the sampling points. The specific weights can be set according to actual needs, and this embodiment of the invention does not impose too many restrictions here.

[0062] For example, in an embodiment of the present invention, the global timing compensation factor is calculated, and the specific formula can be found in the following relation: ; As a global time series compensation factor, The number of sampling points. Let be the electromechanical response hysteresis potential energy at the i-th sampling point. Let be the weight of the i-th sampling point.

[0063] In the reciprocating motion of the linear motor, the delay at low speeds is not significant, and the electromechanical response hysteresis potential energy can be used to automatically suppress the influence of such low-quality data on the calculation results.

[0064] Specifically, the higher the electromechanical response hysteresis potential energy of a sampling point, the more likely it is to be in a high-dynamic, high-error-risk region. In the weighted averaging process of the potential energy weights, a higher weight is assigned to such sampling points, ensuring that the final calculated global time-series compensation factor is determined by the instant that best reflects the delay characteristics, rather than being smoothed by noise during smooth operation. By statistically calculating the sampling points throughout the entire sampling period, a stable global offset constant can be extracted from the instantaneous, fluctuating characteristics, thereby achieving a unified shift of the entire data sequence.

[0065] Thus, by using weighted averaging, the embodiments of the present invention can effectively cancel out random sampling noise and lock in microsecond-level fixed delays caused by differences in hardware paths.

[0066] For example, in an embodiment of the present invention, the timestamp of the electrical data sequence is corrected using a global timing compensation factor to obtain a corrected electrical data sequence, including: subtracting the global timing compensation factor from the initial timestamp of each sampling point in the electrical data sequence to obtain the corrected timestamp of each sampling point; forming a time axis of the corrected electrical data sequence based on the corrected timestamps; and aligning the time axis of the corrected electrical data sequence with the time axis of the mechanical data sequence.

[0067] The corrected electrical data sequence can offset the hardware transmission delay caused by the high-frequency current probe, Hall sensor, and signal conditioning circuit, and it is physically aligned with the time axis of the mechanical data. See details... Figure 4 As shown, Figure 4 This is a magnified schematic diagram of signal phase alignment details provided in an embodiment of the present invention, used to demonstrate the microscopic alignment effect after timestamp shifting and resampling.

[0068] As shown in the figure, the original timestamp of the uncorrected electrical data sequence is significantly shifted to the right relative to the mechanical thrust signal, exhibiting a lag. The detected time shift is marked as 100µs in the figure. After compensation by the global timing compensation factor, the timestamp of the corrected electrical data sequence and the mechanical thrust signal achieve a high degree of overlap in waveform fluctuations. This proves that the proposed solution effectively reduces hardware link transmission delay and achieves microsecond-level fusion of electromechanical data.

[0069] Furthermore, while time axis alignment can be achieved based on the above steps, since the sampling clocks on the electrical and mechanical sides are usually independent, the sampling points of the two sets of data may not completely coincide. Therefore, in order to achieve point-to-point calculation, this embodiment of the invention can further employ interpolation resampling.

[0070] For example, in an embodiment of the present invention, obtaining the corrected electrical data sequence further includes: resampling the electrical data sequence with the corrected timestamp using an interpolation algorithm to obtain a corrected electrical data sequence time axis that corresponds one-to-one with the time axis of the mechanical data sequence.

[0071] It is understandable that even a tiny delay in the high-speed reciprocating motion of a linear motor can lead to a serious phase deviation when calculating the thrust constant. After achieving strict timing alignment based on the above steps, the thrust constant can be obtained accurately.

[0072] For example, in an embodiment of the present invention, the performance parameters of the linear motor are calculated based on the corrected electrical data sequence and the mechanical data sequence, including: calculating the ratio of each current value in the corrected electrical data sequence to the thrust value at the same sampling point in the mechanical data sequence, and obtaining the thrust constant of the linear motor at each sampling point.

[0073] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A data acquisition and processing method for linear motor performance testing, characterized in that, include: Obtain the electrical and mechanical data sequences of the linear motor; Electrical data sequences include current and voltage values, while mechanical data sequences include position, velocity, and thrust values. Based on the electrical data sequence, the electrical excitation intensity of each sampling point is constructed. The electrical excitation intensity is positively correlated with the time rate of change of the current value and the absolute value of the voltage value. Based on the electrical excitation intensity and mechanical data sequence, the electromechanical response hysteresis potential energy of each sampling point is constructed. The electromechanical response hysteresis potential energy is positively correlated with the electrical excitation intensity of the sampling point and the displacement increment within the corresponding sampling interval, and negatively correlated with the ratio of mechanical power to electrical power. Calculate the global timing compensation factor, which is the weighted average of the electromechanical response hysteresis potential energy at all sampling points; The timestamps of the electrical data sequence are corrected using a global timing compensation factor to obtain the corrected electrical data sequence; The performance parameters of the linear motor are calculated based on the corrected electrical and mechanical data sequences.

2. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The acquisition of the electrical and mechanical data sequences of the linear motor includes: The linear motor is driven to execute a preset variable acceleration reciprocating motion test sequence; at each sampling point, the mechanical data sequence of the motor is acquired through a grating ruler and a force sensor, and the electrical data sequence of the motor is acquired through a high-frequency data acquisition card, thus obtaining the electrical and mechanical data corresponding to each sampling point; the initial timestamp when the electrical data sequence is acquired is determined.

3. The data acquisition and processing method for linear motor performance testing according to claim 2, characterized in that, The acquisition of the electrical and mechanical data sequences of the linear motor further includes: An adaptive notch filter is used to denoise the electrical data sequence; a moving average filter is used to smooth the velocity values ​​in the mechanical data sequence.

4. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The process of constructing the electrical excitation intensity at each sampling point based on the electrical data sequence includes: ； Let be the electrical excitation intensity at the i-th sampling point. and They are respectively the i-th sampling point and the i-th sampling point. Current value at sampling point The sampling interval is... Let be the voltage value at the i-th sampling point. This is the rated voltage of the motor. The thrust constant of the linear motor. For Logarithmic function with base 0. It is a natural constant. It is an absolute value function.

5. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The construction of the electromechanical response hysteresis potential energy at each sampling point includes: ； , Let be the electromechanical response hysteresis potential energy and the electrical excitation intensity at the i-th sampling point, respectively. The sampling interval is... The displacement increment within the sampling interval of the i-th sampling point. , , , These represent the end thrust, instantaneous velocity, current value, and voltage value at the i-th sampling point, respectively. To prevent tiny positive numbers with a denominator of zero, It is the mechanical power at the i-th sampling point. It is the electrical power at the i-th sampling point. It is an absolute value function.

6. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The ratio of the displacement increment of the current sampling point to its velocity value is used as the weight of that sampling point.

7. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The calculation of the global time-series compensation factor includes: ； As a global time-series compensation factor, The number of sampling points. Let be the electromechanical response hysteresis potential energy at the i-th sampling point. Let be the weight of the i-th sampling point.

8. The data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The step of correcting the timestamps of the electrical data sequence using a global timing compensation factor to obtain the corrected electrical data sequence includes: The global timing compensation factor is subtracted from the initial timestamp of each sampling point in the electrical data sequence to obtain the corrected timestamp of each sampling point. The time axis of the corrected electrical data sequence is formed based on the corrected timestamps. The time axis of the corrected electrical data sequence is then aligned with the time axis of the mechanical data sequence.

9. A data acquisition and processing method for linear motor performance testing according to claim 8, characterized in that, The corrected electrical data sequence further includes: The electrical data sequence with the corrected timestamp is resampled using an interpolation algorithm to obtain a corrected electrical data sequence time axis that corresponds one-to-one with the mechanical data sequence time axis.

10. A data acquisition and processing method for linear motor performance testing according to claim 1, characterized in that, The calculation of the linear motor's performance parameters based on the corrected electrical and mechanical data sequences includes: The ratio of each current value in the corrected electrical data sequence to the thrust value at the same sampling point in the mechanical data sequence is calculated to obtain the thrust constant of the linear motor at each sampling point.

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