Device for testing servo control system and testing system

Abstract

The invention provides a device for testing a servo control system and a testing system. A plurality of motor modules of the device are arranged in a box body. Each motor module comprises a motor body, a brake component and a feedback detection component. The feedback detection component and the brake component are coupled to a rotor of the motor body. The feedback detection component can detect the motion state of the rotor and generate motion state information. A plurality of functional interfaces are coupled to the housing. The plurality of functional interfaces are electrically coupled to corresponding motor modules in the plurality of motor modules, respectively. Each functional interface comprises a first interface, a second interface and a third interface. The first interface is electrically coupled to the corresponding motor body and is suitable for being electrically coupled to a driving unit of the servo control system to be tested to supply power to the motor body. And the second interface is electrically coupled to the corresponding feedback detection component and is suitable for being electrically coupled to a control unit of the servo control system to be tested, so that corresponding motion state information is allowed to be transmitted. The third interface is electrically coupled to a respective braking component.

Description

Technical Field

[0001] This application relates to the field of servo control system testing technology, and in particular to an apparatus and testing system for testing servo control systems. Background Technology

[0002] In the field of automated testing of electromechanical equipment and servo control systems, the functions and performance of the control unit and drive unit of a servo control system need to be tested and verified before it is put into use. This is to obtain relevant parameters and evaluate whether its electrical characteristics and key performance indicators meet the design requirements. In some conventional tests, motor actuators used in actual applications are used to perform closed-loop tests on the control unit and drive unit. However, this testing method has problems such as high cost of test motors and inconvenience in carrying equipment, which affects testing efficiency and application flexibility. Summary of the Invention

[0003] In a first aspect of this application, an apparatus for testing a servo control system is provided. The apparatus includes: a housing; multiple motor modules disposed within and coupled to the housing, each motor module including a motor body, a braking component, and a feedback detection component, the motor body including a rotor, the feedback detection component and the braking component coupled to the rotor, wherein the feedback detection component is configured to detect the motion state of the rotor and generate motion state information; and multiple functional interfaces coupled to the housing on one side and electrically coupled to corresponding motor modules of the multiple motor modules, each functional interface including a first interface, a second interface, and a third interface, wherein the first interface is electrically coupled to the corresponding motor body and adapted to be electrically coupled to a drive unit of the servo control system under test to power the motor body, the second interface is electrically coupled to the corresponding feedback detection component and adapted to be electrically coupled to a control unit of the servo control system under test to allow transmission of corresponding motion state information, and the third interface is electrically coupled to the corresponding braking component.

[0004] In some embodiments, the feedback detection component includes a first rotary transformer and a second rotary transformer that are redundant with each other. The first rotary transformer is configured to detect the motion state of the rotor and generate first motion state information, and the second rotary transformer is configured to detect the motion state of the rotor and generate second motion state information.

[0005] In some embodiments, the device further includes: a speed reducer, including a gear assembly and an output shaft, the gear assembly being coupled to a rotor and the output shaft; and the feedback detection component further includes a third rotary transformer, the third rotary transformer being coupled to the output shaft of the speed reducer, and the third rotary transformer being configured to detect the motion state of the output shaft of the speed reducer and generate third motion state information.

[0006] In some embodiments, each second interface includes a first feedback interface, a second feedback interface, and a third feedback interface, wherein the first feedback interface is electrically coupled to a first rotary transformer, the second feedback interface is electrically coupled to a second rotary transformer, and the third feedback interface is electrically coupled to a third rotary transformer.

[0007] In some embodiments, the speed reducer further includes a harmonic reducer coupled to the output shaft.

[0008] In some embodiments, each first interface includes a first input interface and a second input interface, and each motor body includes a stator, the stator including two stator windings, one set of the two stator windings being electrically coupled to the first input interface of the corresponding first interface, and the other set of the two stator windings being electrically coupled to the second input interface of the corresponding first interface.

[0009] In some embodiments, each stator winding includes an independent neutral point, and there is no phase offset between the two stator windings.

[0010] In some embodiments, motion state information includes at least one of position information and velocity information.

[0011] In some embodiments, the housing further includes an operating section disposed on the side wall.

[0012] In a second aspect of this application, a testing system is provided. The testing system includes: an apparatus according to the first aspect of this application; a servo control system under test, including a control unit and a drive unit, the drive unit being electrically coupled to the control unit and a first interface of a plurality of functional interfaces, the control unit being electrically coupled to a second interface and a third interface of the plurality of functional interfaces; and a test host electrically coupled to the control unit of the servo control system under test.

[0013] As can be seen from the above description, this application provides an apparatus for testing a servo control system. The apparatus includes a housing, multiple motor modules, and multiple functional interfaces. The multiple motor modules are disposed within the housing and coupled to the housing. Each motor module includes a motor body, a braking component, and a feedback detection component. The motor body includes a rotor. The feedback detection component and the braking component are coupled to the rotor. The feedback detection component is configured to detect the motion state of the rotor and generate motion state information. Multiple functional interfaces are coupled to the housing on one side. Each functional interface is electrically coupled to a corresponding motor module among the multiple motor modules. Each functional interface includes a first interface, a second interface, and a third interface. The first interface is electrically coupled to the corresponding motor body and adapted to be electrically coupled to the drive unit of the servo control system under test to power the motor body. The second interface is electrically coupled to the corresponding feedback detection component and adapted to be electrically coupled to the control unit of the servo control system under test to allow the transmission of corresponding motion state information. The third interface is electrically coupled to the corresponding braking component. In this way, when testing the servo control system, the apparatus can be transported to the servo control system under test, and then the servo control system can be connected to the multiple functional interfaces of the apparatus. The multiple motor modules within the device can simulate the actual working state of the motor actuator. They are flexible to move, easy to use, and low in cost. Furthermore, they can be used to test and verify the functions and performance of the control unit and drive unit of the servo control system. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in this application or related technologies, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0015] Figure 1 This is a top view of an apparatus for testing a servo control system according to an embodiment of this application; Figure 2 This is a side view of an apparatus for testing a servo control system according to an embodiment of this application; Figure 3 This is a cross-sectional view of the motor module according to an embodiment of this application; Figure 4 This is a top view of the motor module according to an embodiment of this application; Figure 5 This is a side view of the motor module according to an embodiment of this application; and Figure 6 This is a schematic diagram of the test system according to an embodiment of this application.

[0016] Explanation of reference numerals in the attached figures: 100. Apparatus; 10. Housing; 11. Control unit; 20. Motor module; 21. Motor body; 211. Rotor; 212. Stator; 22. Braking components; 23. Feedback detection components; 231. First rotary transformer; 232. Second rotary transformer; 233. Third rotary transformer; 30. Functional interface; 31. First interface; 32. Second interface; 33. Third interface; 40. Reducer; 41. Gear assembly; 42. Output shaft; 43. Harmonic reducer; 500. Servo control system; 600, Test Host. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with specific embodiments and the accompanying drawings.

[0018] It should be noted that, unless otherwise defined, the technical or scientific terms used in the embodiments of this application should have the ordinary meaning understood by one of ordinary skill in the art to which this application pertains. The terms "first," "second," and similar terms used in the embodiments of this application do not indicate any order, quantity, or importance, but are merely used to distinguish different components. Terms such as "comprising" or "including" mean that the element or object preceding the word encompasses the elements or objects listed after the word and their equivalents, without excluding other elements or objects. Terms such as "connected" or "linked" are not limited to physical or mechanical connections, but can include electrical connections, whether direct or indirect. Terms such as "upper," "lower," "left," and "right" are only used to indicate relative positional relationships; when the absolute position of the described object changes, the relative positional relationship may also change accordingly.

[0019] It is understood that before using the technical solutions disclosed in the various embodiments of this disclosure, users should be informed of the types, scope of use, and usage scenarios of the personal information involved in this disclosure in an appropriate manner in accordance with relevant laws and regulations, and user authorization should be obtained.

[0020] In some conventional tests, real-world motor actuators are used to perform closed-loop testing of the control unit and drive unit. However, this testing method suffers from problems such as high test motor costs and inconvenient equipment portability, affecting testing efficiency and application flexibility. Based on conventional technical solutions, if the dynamic characteristics of the control unit and drive unit are to be tested, closed-loop testing can only be performed using real-world motor actuators. By driving the actual application motor, the actual operating conditions of the system during use are verified. However, setting up the system environment involves a large equipment footprint, low system integration, inconvenience in portability, and excessively high costs for the actual installed motors, leading to an increase in the overall cost of the testing fixtures.

[0021] This application provides an apparatus and a testing system for testing a servo control system. The apparatus includes a housing, multiple motor modules, and multiple functional interfaces. The multiple motor modules are housed within the housing and coupled to it. Each motor module includes a motor body, a braking component, and a feedback detection component. The motor body includes a rotor. The feedback detection component and the braking component are coupled to the rotor. The feedback detection component is configured to detect the rotor's motion state and generate motion state information. Multiple functional interfaces are coupled to the housing on one side. Each functional interface is electrically coupled to a corresponding motor module within the multiple motor modules. Each functional interface includes a first interface, a second interface, and a third interface. The first interface is electrically coupled to the corresponding motor body and adapted to be electrically coupled to the drive unit of the servo control system under test to power the motor body. The second interface is electrically coupled to the corresponding feedback detection component and adapted to be electrically coupled to the control unit of the servo control system under test to allow the transmission of corresponding motion state information. The third interface is electrically coupled to the corresponding braking component. In this way, when testing the servo control system, the apparatus can be transported to the servo control system under test, and then the servo control system can be connected to the multiple functional interfaces of the apparatus. The multiple motor modules within the device can simulate the actual working state of motor actuators, offering flexible transport, ease of use, and low cost. Furthermore, it allows for the testing and verification of the functions and performance of the control and drive units of a servo control system. The following will combine... Figures 1 to 5 The principles of this application are described in detail.

[0022] like Figures 1 to 3As shown, the device 100 includes a housing 10, multiple motor modules 20, and multiple functional interfaces 30, and can be used to verify the performance of the servo control system 500. The housing 10 is the main structure of the device 100, with an internal cavity that provides physical support and protection for the internal motor modules 20. In other implementations, the housing 10 can also be a frame structure. Support legs or casters can be installed at the bottom of the housing 10 to make the device 100 portable and easy to move. The multiple motor modules 20 are housed within the housing 10 and fixed to it via mechanical coupling, ensuring the stability and reliability of the multiple motor modules 20 during testing.

[0023] like Figure 1 and Figure 2 As shown, the function interface 30 is located on one side of the housing 10 and is connected to the motor module 20 via electrical coupling. The function interface 30 can be used to transmit power, signals, and control commands. During use, the device 100 can simulate the actual operating state of the motor actuator in the servo control system 500 to test the functions and performance of the control unit and drive unit.

[0024] like Figure 3 As shown, the motor module 20 can simulate the actual working state of a motor actuator. Each motor module 20 includes a motor body 21, a braking component 22, and a feedback detection component 23. The motor body 21 includes a rotor 211 and a stator 212. The motor body 21 converts electrical energy into mechanical energy through an electromagnetic structure to generate rotational motion. As an example, the motor body 21 can be a high-performance servo motor, which can move in response to external control signals, ensuring that the test simulation is consistent with the actual application.

[0025] like Figure 3 As shown, the braking component 22 is connected to the rotor 211 via mechanical coupling (such as a shaft connection or coupling). The braking component 22 can switch between an unlocked state and a locked state. The braking component 22 is electrically coupled to the control unit of the servo control system 500, and upon receiving a locking signal, the braking component 22 applies a braking torque to limit the rotation of the rotor 211. As an example, the braking component 22 can be an electromagnetic braking component or a mechanical braking component.

[0026] like Figure 3 As shown, the feedback detection component 23 is mechanically coupled to the rotor 211. The feedback detection component 23, the rotor 211, and the braking component can be coaxially connected. In some embodiments, the feedback detection component 23 can employ a high-precision sensor such as an encoder or a rotary transformer to detect the motion state of the rotor 211 (such as speed, position, and angle) and generate motion state information to provide real-time feedback to the servo control system 500.

[0027] like Figure 1 and Figure 2 As shown, multiple functional interfaces 30 are coupled to one side of the housing 10 and electrically coupled to corresponding motor modules 20 for signal and power transmission. Each functional interface 30 includes a first interface 31, a second interface 32, and a third interface 33. The first interface 31 is electrically coupled to the motor body 21 and can be connected to the drive unit of the servo control system 500 under test to supply power to the motor body 21 and realize power output. The second interface 32 is electrically coupled to the feedback detection component 23 and can be connected to the control unit of the servo control system 500 to transmit motion status information. The control unit can adjust the control strategy according to real-time feedback. The third interface 33 is electrically coupled to the braking component 22 for transmitting braking control signals and adjusting braking force.

[0028] In this way, during testing, the device 100 can be transported to the servo control system 500 under test and connected to the drive unit and control unit of the servo control system 500 via the functional interface 30. Multiple motor modules 20 can realistically simulate the operating states of motor actuators under different working conditions, testing the response speed, accuracy, and stability of the servo control system 500. Compared to traditional testing equipment, this device 100 is convenient to transport, simple to use, and low in cost, and can comprehensively verify the functions and performance of the servo control system 500.

[0029] In some embodiments, such as Figure 1 and Figure 2 As shown, the device 100 includes eight motor modules 20 and eight functional interfaces 30. It should be understood that the device 100 may include any number of motor modules 20 and functional interfaces 30; the above figures are merely examples and are not intended to limit the scope of the application.

[0030] In some embodiments, such as Figure 3 As shown, the feedback detection component 23 includes a redundant first rotary transformer 231 and a second rotary transformer 232. The first rotary transformer 231 detects the motion state of the rotor 211 and generates first motion state information, while the second rotary transformer 232 detects the motion state of the rotor 211 and generates second motion state information. In this way, the first rotary transformer 231 and the second rotary transformer 232, through mechanical connection with the rotor 211 (usually mounted on the shaft end of the rotor 211), independently detect the motion state of the rotor 211, such as parameters like rotational speed, position, or angle. The first rotary transformer 231 generates the first motion state information, and the second rotary transformer 232 generates the second motion state information. These two sets of motion state information are transmitted via electrical coupling to the second interface 32 of the functional interface 30, and then to the control unit of the servo control system 500 under test, for adjusting the control strategy.

[0031] In some embodiments, each first interface 31 includes a first input interface and a second input interface. The first input interface and the second input interface can be used to receive electrical signals from the drive unit of the servo control system under test 500, respectively. Figure 3 As shown, the motor body 21 includes a stator 212. The stator 212 has two independent stator windings. Each winding is responsible for converting electrical energy into a magnetic field to drive the rotor 211 to rotate. One set of stator windings is electrically coupled to the first input interface of the first interface 31 to receive the electrical signal provided therein; the other set of stator windings is electrically coupled to the second input interface of the first interface 31 to receive another electrical signal. In this way, the dual input interface and dual windings allow the motor body 21 to receive two independent drive signals, enhancing the simulation of diverse motor drive modes during testing, such as testing the performance of different drive strategies or redundant drive systems.

[0032] In some embodiments, each stator 212 winding has an independent neutral point, ensuring complete electrical isolation between the two sets of windings and thus avoiding signal interference or short-circuit risks. Furthermore, there is no phase shift between the two sets of stator 212 windings, meaning their magnetic fields are synchronized, ensuring smooth motor operation without additional vibration. In this way, the combination of dual windings and dual input interfaces allows the device 100 to simulate complex driving conditions, thereby verifying the performance of the servo control system 500 in multi-drive or fault-redundant scenarios.

[0033] In some embodiments, such as Figure 3 As shown, the motor body 21 can be a dual-redundant three-phase motor. Each dual-redundant three-phase motor rotor adopts a surface-mount structure, with permanent magnet material bonded to the rotor core surface, and has a total of 5 pole pairs. The stator section includes two sets of three-phase stator windings, with the neutral points of the two sets isolated and without phase shift; each set of windings uses a Y-connection. The power input section of each dual-redundant three-phase motor is electrically connected to the corresponding output interface of the motor load test product, and each dual-redundant three-phase motor is connected to an external input power signal through its corresponding input interface. Each braking component brakes the dual-redundant three-phase motor in the power-off state. When power is off, the braking component locks the motor shaft, placing the motor in a locked state. The control signal of each braking component is electrically connected to the corresponding braking output interface of the motor load test product, allowing external control of the braking component's operating state.

[0034] In some embodiments, such as Figure 3As shown, the first rotary transformer 231 of each channel collects the position information of the rotor 211 of the dual-redundant three-phase motor before deceleration. The first rotary transformer 231 is coaxial with the rotor 211 of the dual-redundant three-phase motor before deceleration. The differential excitation signal, differential sine signal, and differential cosine signal of each first rotary transformer 231 are electrically connected to the first rotary transformer 231 sub-interface of the corresponding resolver feedback interface of the motor load test product. The external system provides excitation to the first rotary transformer 231 through the corresponding first rotary transformer 231 sub-interface, and the first rotary transformer 231 also feeds back the differential sine signal and differential cosine signal containing position information to the external system through the corresponding first rotary transformer 231 sub-interface.

[0035] In some embodiments, such as Figure 3 As shown, each second rotary transformer 232 collects the position information of the rotor of the dual-redundant three-phase motor before deceleration. The second rotary transformer 232 is coaxial with the rotor 211 of the dual-redundant three-phase motor before deceleration. The differential excitation signal, differential sine signal, and differential cosine signal of each second rotary transformer 232 are electrically connected to the second rotary transformer 232 sub-interface of the corresponding resolver feedback interface of the motor load test product. The external system provides excitation to the second rotary transformer 232 through the second rotary transformer 232 sub-interface, and the second rotary transformer 232 also feeds back the differential sine signal and differential cosine signal containing position information to the external system through the second rotary transformer 232 sub-interface.

[0036] In some embodiments, one of the first rotary transformer 231 and the second rotary transformer 232 operates. During use, if one rotary transformer fails or experiences a signal abnormality, the other rotary transformer can continue to provide motion status data, reducing the risk of test interruption and ensuring the continuity and reliability of the test process. In other embodiments, the first rotary transformer 231 and the second rotary transformer 232 can also operate simultaneously. The two sets of motion status information can be transmitted separately or in combination, and the two sets of motion status information can be mutually verified. By configuring the first rotary transformer 231 and the second rotary transformer 232 as redundant, the feedback detection component 23 can achieve high reliability and accuracy when monitoring the motion status of the rotor 211.

[0037] The dual three-phase permanent magnet synchronous motor has two independent three-phase windings, each of which can be controlled independently. Compared to traditional three-phase motors, it offers advantages such as high redundancy, high power density, and low torque ripple. The goal of servo control for the dual three-phase permanent magnet synchronous motor is to precisely control the motor's speed, torque, and position. Its basic implementation principle includes current loop control, speed loop control, and position loop control. The two windings can operate in a cooperative control mode, where both windings share power, with the current distribution ratio set through an optimization algorithm. Alternatively, they can operate in an independent control mode, where each winding operates independently, allowing for flexible switching as needed. The first rotary transformer 231, the second rotary transformer 232, and the third rotary transformer 233 serve as position feedback sensors, used to acquire speed and position data to achieve servo closed-loop control.

[0038] In some embodiments, such as Figure 3 , Figure 4 and Figure 5 As shown, the device 100 also includes a speed reducer 40. The speed reducer 40 includes a gear assembly 41 and an output shaft 42. The speed reducer 40 can include a gear assembly 41 and an output shaft 42. The speed reducer 40 reduces the rotational speed of the rotor 211 and increases the output torque through mechanical transmission, which can simulate the structure of a speed reducer 40 commonly found in servo systems. The gear assembly 41 can convert the high-speed, low-torque motion of the rotor 211 of the motor body 21 into a low-speed, high-torque output. As an example, the gear assembly 41 can be a bevel gear. The gear assembly 41 is connected to the rotor 211 of the motor body 21 and the output shaft 42 of the speed reducer 40 through mechanical coupling (such as shaft connection or gear meshing), ensuring that power is transmitted from the rotor 211 to the output shaft 42. In some embodiments, the gear assembly 41, the rotor 211, and the output shaft 42 can be connected by a coupling or direct gear meshing.

[0039] like Figure 3 As shown, the feedback detection component 23 also includes a third rotary transformer 233 for monitoring the output characteristics of the reducer 40. The third rotary transformer 233 is mechanically coupled to the output shaft 42 of the reducer 40, for example, by mounting it at the end of the output shaft 42, thereby monitoring the motion state of the output shaft 42. The third rotary transformer 233 is configured to detect the motion state of the output shaft 42 (such as rotational speed, position, or angle) and generate third motion state information. This third motion state information can be transmitted to the functional interface 30 of the device 100, and then to the control unit of the servo control system 500 under test, for analyzing the motion characteristics of the reducer 40's output.

[0040] In some embodiments, such as Figure 3As shown, each third rotary transformer 233 collects the position information of the rotor 211 of the dual-redundant three-phase motor after deceleration. The rotor of the third rotary transformer 233 is coaxial with the output shaft 42 of the reducer. The differential excitation signal, differential sine signal, and differential cosine signal of each third rotary transformer 233 are electrically connected to the corresponding resolver feedback sub-interface of the motor load test product. The external system provides excitation to the third rotary transformer 233 through the corresponding third rotary transformer 233 sub-interface, and the third rotary transformer 233 also feeds back the differential sine signal and differential cosine signal containing position information to the external system through the corresponding third rotary transformer 233 sub-interface.

[0041] In some embodiments, the position of the output shaft 42 of the reducer 40 can also be verified by using the third rotary transformer 233, thereby checking whether the transmission ratio of the reducer 40 is correct. For example, if the reduction ratio is 150:1, the position of the output shaft 42 detected by the third rotary transformer 233 should be 1 / 150 of the position of the rotor 211 detected by the first rotary transformer 231.

[0042] In some embodiments, each second interface 32 includes a first feedback interface, a second feedback interface, and a third feedback interface. The first feedback interface receives first motion state information generated by the first rotary transformer 231 (detecting the motion state of the rotor 211 of the motor body 21, such as speed and position) via an electrical connection. The second feedback interface receives second motion state information generated by the second rotary transformer 232 (also detecting the movement of the rotor 211, providing redundancy backup), and the third feedback interface receives third motion state information generated by the third rotary transformer 233 (detecting the motion state of the output shaft 42 of the reducer 40). In this way, the motion state information generated by the three rotary transformers can be transmitted to the control unit of the servo control system 500 under test through their respective feedback interfaces, thereby ensuring high reliability and diversity of data. In addition, the control unit can adjust the operating state of the motor body 21 according to this motion state information, such as adjusting the speed or position, to achieve closed-loop control.

[0043] In some embodiments, such as Figure 3 As shown, the reducer 40 also includes a harmonic reducer 43 coupled to the output shaft 42. In this way, the harmonic reducer 43 can achieve a high reduction ratio and precision transmission through flexible gears and a wave generator, and is mechanically coupled to the output shaft 42, thereby efficiently transmitting the motion of the rotor 211 and reducing the speed and increasing the torque.

[0044] In some embodiments, such as Figure 1 and Figure 2As shown, the housing 10 also includes an operating section 11 disposed on the side wall. By providing the operating section 11 on the side wall of the housing 10 in this way, the portability and ease of handling of the device 100 can be improved. The operating section 11 can be mechanically coupled to the side wall of the housing 10 by means of bolts or welding, facilitating user or equipment operation and handling. As an example, the operating section 11 can be a grip-friendly component, such as a handle, allowing the user to easily lift the device 100, suitable for short-distance transport. As another example, the operating section 11 can be a lifting lug, facilitating lifting by lifting machinery (such as a crane), suitable for long-distance movement of large or heavy devices 100. As yet another example, the operating section 11 can be wheels, allowing the device 100 to slide on the ground, reducing the physical effort required for handling.

[0045] This application also provides a testing system. For example... Figure 6 As shown, the test system includes any of the aforementioned devices 100, a servo control system under test 500, and a test host 600. The servo control system under test 500 includes a control unit and a drive unit. The drive unit is electrically coupled to the control unit and a first interface 31 of multiple functional interfaces 30. The control unit is electrically coupled to a second interface 32 and a third interface 33 of the multiple functional interfaces 30. The test host 600 is electrically coupled to the control unit of the servo control system under test 500.

[0046] During testing, the test host 600 can send control commands (such as specifying the rotational speed or position of rotor 211) to the control unit. The control unit can generate drive signals based on these commands, which are transmitted to the motor body 21 via the first interface 31 through the drive unit, driving the rotor 211 to move. Feedback detection components 23 (first and second rotary transformers 232 detect the movement of rotor 211, and the third rotary transformer 233 detects the movement of the output shaft 42 of the reducer 40) generate motion status information, which is fed back to the control unit via the second interface 32. The control unit adjusts the drive signals based on the feedback, forming a closed-loop control.

[0047] The test host 600 acquires the output signals and feedback data of the control unit in real time, analyzing its response speed, accuracy, and stability. For example, if the command requires the rotor 211 to rotate to angle θ, the test host 600 can compare the deviation of the feedback angles from the first and second rotary transformers 232 with θ to evaluate the accuracy of the control unit. The third rotary transformer 233 verifies whether the angle of the output shaft 42 of the reducer 40 is θ / 150 (if the reduction ratio is 150:1), checking the transmission performance. Simultaneously, the test host 600 can also test the power output and stability of the drive unit under different operating conditions.

[0048] In this way, the solution presented in this application addresses the complexity of closed-loop control testing of measurement and control systems used in industrial settings, and its universal interface design meets the needs of closed-loop testing of diverse, multi-motor actuator control and drive signals. Furthermore, the technical solution of this application overcomes the shortcomings of traditional testing products, such as large size, low system integration, and high cost, providing a better design solution for the field of electronic equipment.

[0049] The embodiments of this application are intended to cover all such substitutions, modifications, and variations that fall within the broad scope of the appended claims. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the embodiments of this application should be included within the protection scope of this application.

Claims

1. An apparatus (100) for testing a servo control system, characterized in that, include: Box (10); Multiple motor modules (20) are disposed within and coupled to the housing (10), and each motor module (20) includes a motor body (21), a braking component (22), and a feedback detection component (23). The motor body (21) includes a rotor (211), and the feedback detection component (23) and the braking component (22) are coupled to the rotor (211). The feedback detection component (23) is configured to detect the motion state of the rotor (211) and generate motion state information. as well as Multiple functional interfaces (30) are coupled to one side of the housing (10) and electrically coupled to the corresponding motor module (20) in the multiple motor modules (20). Each functional interface (30) includes a first interface (31), a second interface (32) and a third interface (33). The first interface (31) is electrically coupled to the corresponding motor body (21) and adapted to be electrically coupled to the drive unit of the servo control system (500) under test to supply power to the motor body (21). The second interface (32) is electrically coupled to the corresponding feedback detection component (23) and adapted to be electrically coupled to the control unit of the servo control system (500) under test to allow the transmission of the corresponding motion state information. The third interface (33) is electrically coupled to the corresponding braking component (22).

2. The apparatus (100) according to claim 1, characterized in that, The feedback detection component (23) includes a first rotary transformer (231) and a second rotary transformer (232) that are redundant with each other. The first rotary transformer (231) is configured to detect the motion state of the rotor (211) and generate first motion state information, and the second rotary transformer (232) is configured to detect the motion state of the rotor (211) and generate second motion state information.

3. The apparatus (100) according to claim 2, characterized in that, Also includes: The speed reducer (40) includes a gear assembly (41) and an output shaft (42), the gear assembly (41) being coupled to the rotor (211) and the output shaft (42); and The feedback detection component (23) further includes a third rotary transformer (233) coupled to the output shaft (42) of the reducer (40), and the third rotary transformer (233) is configured to detect the motion state of the output shaft (42) of the reducer (40) and generate third motion state information.

4. The apparatus (100) according to claim 3, characterized in that, Each of the second interfaces (32) includes a first feedback interface, a second feedback interface and a third feedback interface, wherein the first feedback interface is electrically coupled to the first rotary transformer (231), the second feedback interface is electrically coupled to the second rotary transformer (232), and the third feedback interface is electrically coupled to the third rotary transformer (233).

5. The apparatus (100) according to claim 3, characterized in that, The speed reducer (40) also includes a harmonic reducer (43) coupled to the output shaft (42).

6. The apparatus (100) according to claim 1, characterized in that, Each of the first interfaces (31) includes a first input interface and a second input interface, and each of the motor bodies (21) includes a stator (212) including two stator (212) windings, one set of the two stator (212) windings being electrically coupled to the first input interface of the corresponding first interface (31), and the other set of the two stator (212) windings being electrically coupled to the second input interface of the corresponding first interface (31).

7. The apparatus (100) according to claim 6, characterized in that, Each stator (212) winding includes an independent neutral point, and there is no phase shift between the two stator (212) windings.

8. The apparatus (100) according to claim 1, characterized in that, The motion state information includes at least one of position information and velocity information.

9. The apparatus (100) according to claim 1, characterized in that, The housing (10) also includes an operating part (11) disposed on the side wall.

10. A testing system, characterized in that, include: The apparatus (100) according to any one of claims 1 to 9; The servo control system (500) under test includes a control unit and a drive unit, the drive unit being electrically coupled to the control unit and the first interface (31) of the plurality of functional interfaces (30), the control unit being electrically coupled to the second interface (32) and the third interface (33) of the plurality of functional interfaces (30); and The test host (600) is electrically coupled to the control unit of the servo control system (500) under test.

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