High-precision cooperative control method and system for robot linear joint test system

Abstract

This invention discloses a high-precision collaborative control method and system for a robot linear joint testing system. The method includes acquiring test condition parameters set by a host computer; matching corresponding control loop configuration parameters in the PLC register according to the control loop selection instruction and sending them to the driver under test and the accompanying driver; after the driver under test and the accompanying driver complete initialization, triggering the test start by providing an initial timestamp through clock synchronization, and performing clock synchronization at preset time intervals during test operation to calibrate the clock deviation between each driver node; and determining in real time whether the current moment meets the synchronization execution condition or termination condition: in response to the termination condition, performing clock synchronization to control the linear joint under test and the accompanying test equipment to stop synchronously. This invention not only significantly improves the turnaround efficiency of testing tasks but also ensures ease of use and robustness under complex testing conditions.

Description

Technical Field

[0001] This invention belongs to the field of intelligent manufacturing and high-end robot core component testing technology, and more specifically, relates to a high-precision collaborative control method and system for a robot linear joint testing system. Background Technology

[0002] Against the backdrop of rapid development in intelligent manufacturing and high-end robotic equipment, linear joints, as core transmission components for achieving linear motion in robots, directly determine the robot's motion accuracy, speed, and stability through key performance characteristics such as positioning accuracy, repeatability, dynamic response, rigidity, and load characteristics. Therefore, comprehensive performance testing of linear joints is a crucial aspect of R&D and quality control. However, current mainstream testing methods rely on independent test benches and customized programs for single performance indicators, resulting in fragmented and inefficient testing processes. Furthermore, these methods struggle to reproduce real-world multi-axis collaborative working scenarios, becoming a bottleneck for improving joint quality and R&D efficiency.

[0003] Currently, the core technology of high-precision motion control testing systems generally lies in distributed networks. A typical system consists of a host computer, motion controllers, an industrial communication network, and multiple servo drives. During operation, the host computer issues commands to different sub-units of the testing system. The controllers within these sub-units encode these commands to form motion trajectories and execute them immediately, thereby coordinating the start, stop, and trajectory tracking of each axis to complete complex coordinated motion. This existing technology can achieve extremely high synchronous control accuracy in an ideal isomorphic system.

[0004] However, the limitations of the aforementioned existing technologies are also significant. First, the system integration is low; testing different indicators often requires switching between different hardware and software, making operation cumbersome and unable to achieve one-stop comprehensive testing. Second, the system is highly dependent on specific high-performance real-time networks. The high latency and low speed characteristics of traditional protocols such as RS485 have an adverse effect on signal synchronization, and when sub-devices using different communication protocols are used on the same test platform, it is difficult to coordinate and control them, resulting in aliasing of commands. Overall, existing technologies can achieve extremely high synchronization control accuracy in ideal homogeneous systems. However, in complex multi-indicator high-precision testing processes, existing methods still lack a highly integrated operating interface, a unified underlying clock synchronization algorithm, and broad compatibility with multiple communication protocols, making it difficult to meet the needs for efficient, accurate, and complete evaluation of robot linear joint performance. Summary of the Invention

[0005] To address the aforementioned deficiencies or improvement needs of existing technologies, this invention provides a high-precision collaborative control method and system for robot linear joint testing. This method simplifies complex multi-indicator testing processes into a "one-click" operation, significantly improving testing efficiency and ease of use. Simultaneously, it ensures high-precision synchronous motion between different brands of actuators and testing equipment, providing rigorous, consistent, and reliable testing conditions for performance evaluation. This solution breaks down barriers between equipment and protocols, significantly enhancing the versatility and applicability of the testing platform, and enabling comprehensive, accurate, and efficient evaluation of robot linear joint performance.

[0006] To achieve the above objectives, according to one aspect of the present invention, a high-precision collaborative control method for a robot linear joint testing system is provided, comprising: S100: Obtain the test condition parameters set by the host computer, and the PLC parses the test condition parameters to generate control loop selection instructions for the linear joint under test and the accompanying test equipment. S200: According to the control loop selection instruction, the corresponding control loop configuration parameters are matched in the register of the PLC and sent to the driver under test and the driver under test, so that each driver executes the instruction code respectively, realizing control mode mapping and execution signal preparation; S300: After the driver under test and the driver under test have completed initialization, an initial timestamp is given through clock synchronization to trigger the start of the test, and during the test run, clock synchronization is performed at preset time intervals to calibrate the clock deviation between each driver node; S400: Real-time determination of whether the current time meets the synchronization execution condition or the termination condition: If the synchronization execution condition is met but the termination condition is not met, the encoder status of each driver is read and the process jumps to step S300 to continue clock synchronization and test operation; if the termination condition is met, the process proceeds to step S500. S500: In response to the termination condition, execute clock synchronization S300 to control the tested linear joint and the accompanying test equipment to stop synchronously, and decode and summarize the control step signals of the entire test cycle.

[0007] Further, step S300 includes: S301: After receiving the encoded instruction, the driver first performs the INIT action, which includes hardware circuit self-test, communication link handshake and driver layer parameter loading. S303: The system introduces a multi-level clock synchronization mechanism. First, clock synchronization is performed to establish the system's base timestamp, and then the test run state is entered. S303: During the test, the system does not operate in an open loop. Instead, it performs clock synchronization at preset microsecond intervals to calibrate the clock drift between the tested and the co-tested nodes in real time, ensuring that test commands are issued in a coordinated manner at the microsecond level throughout the entire process.

[0008] Further, in step S300, the clock synchronization includes the following steps: S600: The slave node sends a synchronization request message (Sync); S700: The master node sends a virtual delay message Delay_req; S800: The slave node sends a delayed response message Delay_Resp.

[0009] Furthermore, in a distributed network system, each node's local clock is calculated using its own crystal oscillator interrupt counter. At time t, the node... Local clock for:

[0010] in, It is the nominal frequency of the sensor node. At the initial moment, It is the actual frequency of the sensor. It is the clock value of the sensor node at the initial moment; node , The local clocks have the following relationship:

[0011] in, For nodes , The relative frequency shift, For nodes , The initial phase difference.

[0012] Further, step S600 includes: S601: In At any given time, the slave node sends a Sync signal to the master node. This Sync signal signifies that the master node has received the synchronization request from the slave node, and the master node records the time it received the signal. ; S602: The master node adopts a two-step mode, that is... At this point, the slave node will transmit the information to the master node in a subsequent Follow_up message. At this time, the master node possesses... , With two known time points, the first stage of synchronization was completed.

[0013] Further, step S700 includes: the master node sends data periodically, simulating a delay, in... The system continuously sends Delay_req messages to slave nodes to measure network transmission delay, and these messages are sent at... The time arrives at the node; Step S800 includes: S801: After the Delay_req message from step S700 arrives, the slave node replies with a delayed Delay_Resp message. Send to the slave device in real time; S802: This refers to the current state of the master node. , , , Four pieces of information are used to perform clock synchronization calculations; S803: Calculates the time offset to correct the slave node's local clock, achieving microsecond-level clock synchronization between the master and slave nodes. Because there is clock asynchrony between the master and slave nodes, this is necessary for the slave node... Time and for the master node There is always a time offset, which is an assumed value in the simulation test; however, when information is transmitted between the master node and the slave node, it will cause a path delay. , , , The four timestamps can be used to calculate these two quantities simultaneously using the following formulas: .

[0014] Further, step S200 includes: S201: The PLC performs logical judgments in its internal registers based on the instructions generated by S100, and selects and calls the corresponding control loop configuration mapping table from the preset parameter library. S202: The selected configuration parameters are transmitted in real time to the motor driver under test and the driver under test via the industrial communication bus. S203: Driver-side instruction encoding, which uses SWITCH logic to complete the protocol conversion and mode mapping from PLC register values ​​to driver PWM control signals, thus enabling communication between host computer instructions and the hardware execution layer.

[0015] Further, step S400 includes: S401: Synchronization Judgment: The system periodically checks whether the current running time has reached the preset execution threshold. If the interval is reached, it will force execution: read the real-time position / status information of the encoder under test, trigger clock synchronization again, and then enter the CONTINUE instruction to continue testing. S402: Termination Judgment: At the end of each control step, the system performs signal decoding to restore the feedback signal of the encoder or sensor to a physical quantity and determines whether the preset test termination condition is met. If the conditions are met, switch to S500; If the condition is not met, the feedback loop returns to S300 to execute CONTINUE, continuing the synchronous high-precision test of step S200.

[0016] Further, step S500 includes: S501: When the termination condition is met, execute clock synchronization S300. The physical significance of this step is to ensure that the physical movement of the device under test and the device under test are completely in phase at the moment of stopping, and to prevent mechanical shock caused by asynchronous stopping. S502: After stopping, the system executes the END instruction and fully decodes the control step signals stored in the buffer throughout the entire test cycle; S503: Finally, it performs signal aggregation and data processing, uploads the processed high-precision test data to the host computer, and automatically generates the test report.

[0017] According to another aspect of the present invention, a high-precision collaborative control system for a robot linear joint testing system is provided, for implementing the high-precision collaborative control method for the robot linear joint testing system, comprising: The parameter acquisition module is used to acquire the test condition parameters set by the host computer. The PLC parses the test condition parameters and generates control loop selection instructions for the linear joint under test and the accompanying test equipment. The mode mapping module is used to match the corresponding control loop configuration parameters in the PLC register according to the control loop selection instruction and send them to the driver under test and the driver under test, so that each driver executes the instruction encoding respectively, thereby realizing control mode mapping and execution signal preparation. The clock synchronization module is used to trigger the start of the test by giving an initial timestamp through clock synchronization after the driver under test and the driver under test have completed initialization, and to perform clock synchronization at preset time intervals during the test run to calibrate the clock deviation between each driver node. The condition determination module is used to determine in real time whether the synchronization execution condition or the termination condition is met at the current moment: if the synchronization execution condition is met but the termination condition is not met, the encoder status of each driver is read and the clock synchronization and test run is continued; if the termination condition is met, the next step is performed. The termination module is used to respond to the termination condition by performing clock synchronization to control the tested linear joint and the accompanying test equipment to stop synchronously, and to decode and summarize the control step signals of the entire test cycle.

[0018] In summary, compared with the prior art, the above-described technical solutions conceived by this invention can achieve the following beneficial effects: 1. This invention overcomes the interactive redundancy caused by excessive decoupling of hardware and software in traditional testing systems. By constructing a unified working condition analysis and control loop mapping engine at the PLC layer, it achieves atomic flow from high-level abstract working conditions of the host computer to low-level execution signals of the driver. This architecture eliminates the cumbersome logic adaptation process between heterogeneous devices. The "one-click" operation on the user side is supported by protocol conversion, parameter alignment, and mode mapping automatically completed by the system. This not only significantly improves the turnaround efficiency of testing tasks but also fundamentally avoids the risk of parameter inconsistency caused by manual multi-interface switching configuration, ensuring ease of use and robustness in complex testing conditions.

[0019] 2. This invention proposes a testing method based on a unified underlying clock synchronization algorithm. By establishing a universal synchronization semantic layer between the control center (PLC) and the execution end (driver), transparent compatibility with mainstream industrial communication protocols is achieved. This method breaks the constraints of physical layer communication protocols on the testing platform. The system no longer relies on specific bus protocols for synchronization; instead, through an algorithm-level timestamp compensation mechanism, the same testing platform can seamlessly access and precisely control joint samples with different communication interfaces. This "soft-defined" testing platform greatly expands the versatility of the testing system and significantly reduces development costs and maintenance complexity in the integration of heterogeneous devices.

[0020] 3. To address the common issues of "communication jitter" and "heterogeneous response" in heterogeneous device hybrid networks, this invention innovatively introduces a multi-level clock synchronization module based on a delay response mechanism, achieving microsecond-level dynamic determinism: through forced execution and discrimination mechanisms, the system can perceive and correct processing delay differences between different brands of drivers in real time during operation, ensuring that the spatial phase difference of command issuance is under microsecond-level control throughout the entire range. This solves the problem of mechanical inertial shock or original data alignment failure caused by inconsistent shutdown responses of the tested / supporting devices under high-speed motion. This closed-loop synchronization system provides an absolutely consistent physical benchmark for high-precision performance evaluation (such as dynamic tracking error, stiffness analysis, etc.), ensuring the rigor and reproducibility of test data. Attached Figure Description

[0021] Figure 1 This is a schematic diagram of the overall control logic of the high-precision collaborative control algorithm for a robot linear joint testing system based on clock synchronization support, according to an embodiment of the present invention. Figure 2 This is a schematic diagram of the clock synchronization module in an embodiment of the present invention; Figure 3 This is a schematic diagram illustrating the deployment and application process of the clock synchronization module in an embodiment of the present invention; Figure 4 This is a schematic diagram of the slave node clock error correction stage in an embodiment of the present invention; Figure 5 This is a flowchart illustrating the rated thrust test condition in Embodiment 1 of the present invention. Figure 6 This is a flowchart illustrating the maximum current test condition in Embodiment 2 of the present invention. Detailed Implementation

[0022] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention. Furthermore, the technical features involved in the various embodiments of this invention described below can be combined with each other as long as they do not conflict with each other.

[0023] like Figure 1 As shown in the figure, a high-precision collaborative control method for a robot linear joint testing system provided by an embodiment of the present invention includes the following steps: S100: Set the required test conditions.

[0024] S101: On the human-machine interface of the host computer, the operator selects specific test conditions (such as rated load life test, repeatability accuracy test or transient response test) according to the test requirements. S102: After receiving instructions from the host computer, the PLC performs parsing. This process is not a simple pass-through, but rather decomposes the high-level logic instructions from the host computer into low-level configuration data that the PLC can recognize. The PLC automatically converts the operating conditions into "control loop selection instructions" for the linear joint under test and the accompanying test equipment, determining whether subsequent operation will be carried out in position loop, speed loop, or current / torque loop mode.

[0025] S200: Converts the setting command into the device's control ring mode and encodes it.

[0026] S201: The PLC performs logical judgments in its internal registers based on the instructions generated by S100, and selects and calls the corresponding control loop configuration mapping table from the preset parameter library. S202: The selected configuration parameters are transmitted in real time to the motor driver under test and the driver under test via the industrial communication bus. S203: Driver-side execution instruction encoding. For example... Figure 1 As shown in area 102, the protocol conversion and mode mapping from PLC register values ​​to driver PWM control signals are completed through the SWITCH logic, realizing the connection between the host computer instructions and the hardware execution layer.

[0027] S300: Real-time initialization and clock synchronization calibration of the device under test (linear joint) and the device under test (test equipment) (hereinafter referred to as the device under test).

[0028] S301: After receiving the encoded instruction, the driver first performs the INIT (initialization) action, which includes hardware circuit self-test, communication link handshake and driver layer parameter loading. S303: The system introduces a multi-level clock synchronization mechanism. First, clock synchronization is performed to establish the system's base timestamp (initial alignment), and then the test run state is entered. S303: During the test, the system does not operate in an open loop. Instead, it performs clock synchronization at preset microsecond intervals to calibrate the clock drift between the tested and the co-tested nodes in real time, ensuring that test commands are issued in a coordinated manner at the microsecond level throughout the entire process.

[0029] S400: Force signal synchronization and test termination condition judgment at preset time intervals. If the termination condition is met, proceed to the termination clock synchronization instruction in step S500. If the termination condition is not met, repeat step S300.

[0030] S401: Synchronization Judgment: The system periodically checks whether the current running time has reached the preset execution threshold. If the interval is reached, it will force execution: read the real-time position / status information of the encoder under test, trigger clock synchronization again, and then enter the CONTINUE instruction to continue testing. S402: Termination Judgment: At the end of each control step, the system performs signal decoding to restore the feedback signal of the encoder or sensor to a physical quantity and determines whether the preset test termination condition is met. If the conditions are met, switch to S500; If the condition is not met, the feedback loop returns to S300 to execute CONTINUE, continuing the synchronous high-precision test of step S200.

[0031] S500: Clock synchronization of the device under test terminated.

[0032] S501: When the termination condition is met, execute clock synchronization S300. The physical significance of this step is to ensure that the physical movement of the device under test and the device under test at the moment of stopping (such as deceleration and stopping, brake switching) is completely in phase, so as to prevent mechanical shock caused by asynchronous stopping. S502: After stopping, the system executes the END instruction and fully decodes the control step signals stored in the buffer throughout the entire test cycle; S503: Finally, it performs signal aggregation and data processing, uploads the processed high-precision test data to the host computer, and automatically generates the test report.

[0033] The above technical solutions constitute a highly efficient integrated testing solution, simplifying complex multi-indicator testing processes into a "one-click" operation, greatly improving testing efficiency and ease of use. Simultaneously, it ensures high-precision synchronous motion between different brands of actuators and testing equipment, providing rigorous, consistent, and reliable testing conditions for performance evaluation. This solution breaks down barriers between equipment and protocols, significantly enhancing the versatility and applicability of the testing platform, and enabling comprehensive, accurate, and efficient evaluation of robot linear joint performance.

[0034] like Figure 2 As shown in the figure, an embodiment of the present invention provides a clock synchronization module based on a delay response mechanism for use in an industrial network of a linear joint testing system, comprising the following steps: S600: The slave node sends a synchronization request message (Sync); S700: The master node sends a virtual delay message Delay_req; S800: The slave node sends a delayed response message Delay_Resp.

[0035] In a distributed network system, each node's local clock is calculated using its own crystal oscillator interrupt counter. The fundamental frequency signal generated by the crystal oscillator, after frequency characteristic processing and shaping, is converted into the node processor's clock signal, i.e., the sensor node's local clock. However, due to factors such as ambient temperature and supply voltage, the crystal oscillator frequency is usually unstable, therefore the sensor node's local clock is not constant. Assume that at time t, node... Local clock It can be expressed as follows:

[0036] in, It is the nominal frequency of the sensor node. At the initial moment, It is the actual frequency of the sensor. This is the clock value of the sensor node at the initial moment. If we assume that at... During the duration, If can be a constant, then the above equation can be simplified to:

[0037] in, The relative frequency of the nodes. This is the initial frequency of the node.

[0038] Based on equation (2), two nodes can be derived. , The local clocks have the following relationship:

[0039] in, For nodes , The relative frequency shift, For nodes , The initial phase difference. Then, to obtain the node's local clock at two different times, it can be obtained by solving a system of two linear equations. , This, in turn, corrects the node's current local clock.

[0040] Specifically, in the above technical solution, step S600 includes: S601: In At any given time, the slave node sends a Sync signal to the master node. This Sync signal signifies that the master node has received the synchronization request from the slave node, and the master node records the time it received the signal. ; S602: The master node adopts a two-step mode, that is... At this point, the slave node will transmit the information to the master node in a subsequent Follow_up message. At this time, the master node possesses... , With two known time points, the first stage of synchronization was completed.

[0041] Based on step S600, step S700 includes: S701: The master node sends data periodically, simulating a delay. Send Delay_ to slave nodes at all times The req message is used to measure network transmission latency, and this message is sent at... The time arrives at the node.

[0042] Based on step S700, step S800 includes: S801: After the Delay_req message from step S700 arrives, the slave node replies with a delayed Delay_Resp message. Send to the slave device in real time; S802: This refers to the current state of the master node. , , , Four pieces of information are used to perform clock synchronization calculations; S803: Calculates the time offset to correct the slave node's local clock, achieving microsecond-level clock synchronization between the master and slave nodes. Because there is clock asynchrony between the master and slave nodes, this is necessary for the slave node... Time and for the master node There is always a time offset (the inherent phase difference of the node's local clock), which is an assumed value in the simulation test; and when information is transmitted between the master and slave nodes, it causes path delay (the transmission delay of messages on the network link). Based on , , , The four timestamps can be used to calculate these two quantities simultaneously using the following formulas:

[0043] like Figure 3 As shown in the figure, the present invention provides a test system synchronization control deployment and application process based on a clock synchronization module, which includes the following steps: S900: Initialize system settings and parameters; S1000: Local clock acquisition for each node; S1100: Timestamp recognition and sending; S1200: Timestamp retrieval; S1300: Analog time-delay signal transmission; S1400: Timestamp acquisition and clock error calculation; S1500: Clock synchronization result test.

[0044] Steps S1100 to S1500 are parallel steps, sharing a single SWITCH function discrimination framework. For each received message, the step to be executed is determined and selected according to the logical order described in steps S600 to S800.

[0045] Specifically, in the above technical solution, step S900 includes: S901: Initialize all node configurations and parameters. Nodes are divided into four categories: level 0 node0, level 1 node1, level 2 node2, and test node. Generally, node0 is located on the PLC, node1 is located on the device under test, node2 is located on the device under test, and test is an external virtual node. Initialize the parameters of node0, node1, node2, and test first. S902: Initialize the logical relationships between nodes; S903: Initialize timestamp ; S904: Set the frequency, resolution, and initial offset of each node.

[0046] Based on step S900, step S1000 includes: S1001: After initializing its own parameters, node0 receives the clock synchronization request from node1 and records it. Timestamp, then generated with simulated delay. The timestamp is then sent to node1 and the test information is received, thereby obtaining the local clock and outputting it. S1002: After initializing its own parameters, node1 generates a clock synchronization request signal periodically and sends it to node0. Simultaneously, it receives clock synchronization requests from node2 and records them. Timestamp, then generated with simulated delay. The timestamp is then sent to node2, where clock synchronization is completed through calculation. The test node information is received to obtain the local clock and output it. S1003: After initializing its own parameters, node2 generates a clock synchronization request signal periodically and sends it to node1, then simulates a delay to generate... The timestamp is then sent to node1, where clock synchronization is completed through calculation. The test information is received to obtain the local clock and output it. S1004: After initially reading the local clock cycle of each node, test sends test signals to each node periodically to obtain the local clock of each node.

[0047] Based on step S1000, step S1100 includes: S1101: node0 sends a Sync clock synchronization request signal to node1, and then sends a Follow_up signal to node1. It is sent to the latter at any time. If node1 recognizes it as a synchronous self-sending, then it sends a message containing... The timestamp information is collected, and preparation is made to send the next clock synchronization information; if it is not recognized as a synchronization self-transmission, then proceed to step S1200.

[0048] Based on step S1100, step S1200 includes: S1201: After node1 receives the Sync signal, it records the receiving timestamp. If node0 and node1 are identified as node synchronization requests, then obtain... Timestamp; if not identified as a node synchronization request, proceed to step S1300.

[0049] Based on step S1200, step S1300 includes: S1301: Obtaining a timestamp after simulating random delay. And at that moment, send a Delay_req signal to node0. If node0, node1, and node2 are identified as self-delayed requests, then simulate a random delay and... With the generated The timestamp is returned to the sender; if it is not identified as a self-delayed request, proceed to step S1400.

[0050] like Figure 4 As shown, based on step S1300, step S1400 includes: S1401: After node0 receives the signal, it records the reception timestamp. And send the timestamp to node1 via the Delay_resp signal, so that node1 can synchronize its time. S1402: After all Level 1 nodes have completed clock synchronization, the clock synchronization of Level 2 nodes will then proceed sequentially. S1403: During this process, the test node sends test signals periodically, and each node sends its local clock to the test node after receiving the signals. S1404: After obtaining the time offset of all nodes, perform positive compensation correction sequentially. For each node, based on the local clock used during the synchronization operation, add it to the calculated offset. The clock synchronization operation is considered complete once the corrected error is detected to be below a threshold at the test node. If node1 and node2 are identified as requesting a synchronization operation, record the received timestamp. The clock error is calculated according to the formula, and synchronization is completed; if no synchronization operation request is identified, step S1500 is performed.

[0051] Based on step S1400, step S1500 includes: S1501: When the clock synchronization result test request passes, output its own local clock, transmit the result to the test node, and then end the application process; when the request fails, end the application process directly.

[0052] To better demonstrate the technical effects of the embodiments of the present invention, the beneficial effects of the present invention will be specifically illustrated below through two embodiments: Example 1: Please refer to Figure 5 In this embodiment 1, in order to evaluate the thrust output characteristics, displacement accuracy, and steady-state response of the linear joint under rated operating conditions, the method may include: S1600: The host computer acts as a human-machine interface terminal, issuing the "rated thrust test mode" command. The PLC recognizes this and automatically converts it into the control loop selection command to be tested. S1700: The tested motors receive and parse the corresponding initialization parameters to ensure that the communication link and control environment are ready. S1800: Entering the initialization phase, the system executes asymmetric loading preparation logic. The tested device first enters zero-load mode to calibrate its initial position, then switches to torque mode, setting the torque to a balanced value to counteract the effects of its own weight or static friction. The supporting device synchronously switches to torque mode, sets the initial torque and initial direction, and upon receiving the start (BEGIN) command, the system ensures high-precision coordinated control through a multi-level clock synchronization mechanism. After triggering clock synchronization S1, the tested device begins to acquire push-pull force and displacement signals in real time, while the supporting device applies a fixed torque load according to preset logic. During the test, clock synchronization S2 is executed to ensure that the supporting device enters the preset CONTINUE interval; S1900: The system continuously performs signal analysis and termination judgment logic. If the judgment result is N, the system continues to run in a loop and monitors the feedback signal in real time; if the judgment result is Y, the test task is determined to be terminated. At this time, clock synchronization S3 is triggered, forcing the linear joint and the test equipment to stop moving simultaneously, so that the time axis of the test data is completely aligned at the moment of termination. S2000: The system's components complete the execution (END) instruction. The PLC summarizes and processes the data throughout the entire test process; simultaneously, the host computer receives the processed data and displays the waveforms for further analysis of rated thrust-related performance.

[0053] Example 2: Please refer to Figure 6 In this embodiment 2, in order to obtain key performance parameters such as peak current, thrust, and displacement of the linear joint under rated / extreme operating conditions, the method may include: S2100: The host computer acts as a human-machine interface terminal, issuing the "maximum current test mode" command. The PLC recognizes this and automatically converts it into the control loop selection command to be tested. S2200: The tested motors receive and parse the corresponding initialization parameters to ensure that the communication link and control environment are ready; S2300: The system enters the initialization (INIT) phase, setting the opposing motion parameters to ensure zero load at the test site. The test is set to speed mode with a positive motion speed. The companion test is also set to speed mode, but with a negative motion direction. Initialization and clock synchronization S1 are triggered. The test begins real-time acquisition of current and push-pull force signals, while the test synchronously sets a fixed speed and rotation direction. After clock synchronization S1 is triggered, the test begins real-time acquisition of push-pull and displacement signals, while the companion test enters synchronous speed state according to preset logic. During the test, clock synchronization S2 is executed to ensure that the encoder signal of the companion test remains in a high-precision synchronization state under the speed loop, to avoid dynamic load caused by speed difference, which could disrupt the test conditions. S2400: The system continuously analyzes the acquired current and thrust signals to determine if there is a human-input interruption signal in the current step. If the determination result is N, the test is CONTINUE; if the determination result is Y, it is considered that the maximum current characteristic has been captured or the test has been manually interrupted. At this time, clock synchronization S3 is triggered to force the synchronous stop of the test, ensuring that no sudden increase in dynamic load occurs at the moment the test stops. S2500: System components complete execution (END) instructions. The PLC summarizes and processes the data throughout the entire test process; simultaneously, the host computer receives the processed data and displays the waveforms for further analysis of performance under maximum current conditions.

[0054] The technical solutions described in the embodiments of this invention constitute a highly efficient integrated testing solution. This solution simplifies complex multi-index testing processes into a "one-click" operation, greatly improving testing efficiency and ease of use. Simultaneously, it ensures high-precision synchronous motion between different brands of actuators and testing equipment, providing rigorous, consistent, and reliable testing conditions for performance evaluation. This solution breaks down barriers between equipment and protocols, significantly enhancing the versatility and applicability of the testing platform, and enabling comprehensive, accurate, and efficient evaluation of the performance of robot linear joints.

[0055] Those skilled in the art will readily understand that the above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

Claims

1. A high-precision collaborative control method for a robot linear joint testing system, characterized in that, include: S100: Obtain the test condition parameters set by the host computer, and the PLC parses the test condition parameters to generate control loop selection instructions for the linear joint under test and the accompanying test equipment. S200: According to the control loop selection instruction, the corresponding control loop configuration parameters are matched in the register of the PLC and sent to the driver under test and the driver under test, so that each driver executes the instruction code respectively, realizing control mode mapping and execution signal preparation; S300: After the driver under test and the driver under test have completed initialization, an initial timestamp is given through clock synchronization to trigger the start of the test, and during the test run, clock synchronization is performed at preset time intervals to calibrate the clock deviation between each driver node; S400: Real-time determination of whether the current time meets the synchronization execution condition or the termination condition: If the synchronization execution condition is met but the termination condition is not met, the encoder status of each driver is read and the process jumps to step S300 to continue clock synchronization and test operation; if the termination condition is met, the process proceeds to step S500. S5 00: In response to the termination condition, execute clock synchronization S300 to control the tested linear joint and the accompanying test equipment to stop synchronously, and decode and summarize the control step signals of the entire test cycle.

2. The high-precision collaborative control method for a robot linear joint testing system according to claim 1, characterized in that, Step S300 includes: S301: After receiving the encoded instruction, the driver first performs the INIT action, which includes hardware circuit self-test, communication link handshake and driver layer parameter loading. S303: The system introduces a multi-level clock synchronization mechanism. First, clock synchronization is performed to establish the system's base timestamp, and then the test run state is entered. S303: During the test, the system does not operate in an open loop. Instead, it performs clock synchronization at preset microsecond intervals to calibrate the clock drift between the tested and the co-tested nodes in real time, ensuring that test commands are issued in a coordinated manner at the microsecond level throughout the entire process.

3. The high-precision collaborative control method for a robot linear joint testing system according to claim 2, characterized in that, In step S300, the clock synchronization includes the following steps: S600: The slave node sends a synchronization request message (Sync); S700: The master node sends a virtual delay message Delay_req; S800: The slave node sends a delayed response message Delay_Resp.

4. The high-precision collaborative control method for a robot linear joint testing system according to claim 3, characterized in that, In a distributed network system, each node's local clock is calculated using its own crystal oscillator interrupt counter. At time t, the node... Local clock for: ; in, It is the nominal frequency of the sensor node. At the initial moment, It is the actual frequency of the sensor. It is the clock value of the sensor node at the initial moment; node , The local clocks have the following relationship: ; in, For nodes , The relative frequency shift, For nodes , The initial phase difference.

5. A high-precision collaborative control method for a robot linear joint testing system according to claim 4, characterized in that, Step S600 includes: S601: In At any given time, the slave node sends a Sync signal to the master node. This Sync signal signifies that the master node has received the synchronization request from the slave node, and the master node records the time it received the signal. ; S602: The master node adopts a two-step mode, that is... At that time, the slave node will transmit it to the master node in a subsequent Follow_up message; At this point, the master node possesses , With two known time points, the first stage of synchronization was completed.

6. A high-precision collaborative control method for a robot linear joint testing system according to claim 5, characterized in that, Step S700 includes: the master node sends data periodically, simulating a delay, in... The system continuously sends Delay_req messages to slave nodes to measure network transmission delay, and these messages are sent at... The time arrives at the node; Step S800 includes: S801: After the Delay_req message from step S700 arrives, the slave node replies with a delayed Delay_Resp message. Send to the slave device in real time; S802: This refers to the current state of the master node. , , , Four pieces of information are used to perform clock synchronization calculations; S803: Calculates the time offset to correct the local clock of the slave node, thereby achieving microsecond-level clock synchronization between the master and slave nodes; Because there is a clock asynchrony between the master and slave nodes, therefore, for the slave node... Time and for the master node There is always a time offset, which is an assumed value in the simulation test; however, when information is transmitted between the master node and the slave node, it will cause a path delay. , , , The four timestamps can be used to calculate these two quantities simultaneously using the following formulas: 。 7. A high-precision collaborative control method for a robot linear joint testing system according to any one of claims 1-6, characterized in that, Step S200 includes: S201: The PLC performs logical judgments in its internal registers based on the instructions generated by S100, and selects and calls the corresponding control loop configuration mapping table from the preset parameter library. S202: The selected configuration parameters are transmitted in real time to the motor driver under test and the driver under test via the industrial communication bus. S203: Driver-side instruction encoding, which uses SWITCH logic to complete the protocol conversion and mode mapping from PLC register values ​​to driver PWM control signals, thus enabling communication between host computer instructions and the hardware execution layer.

8. A high-precision collaborative control method for a robot linear joint testing system according to any one of claims 1-6, characterized in that, Step S400 includes: S401: Synchronization Judgment: The system periodically checks whether the current running time has reached the preset execution threshold. If the interval is reached, it will force execution: read the real-time position / status information of the encoder under test, trigger clock synchronization again, and then enter the CONTINUE instruction to continue testing. S402: Termination Judgment: At the end of each control step, the system performs signal decoding to restore the feedback signal of the encoder or sensor to a physical quantity and determines whether the preset test termination condition is met. If the conditions are met, switch to S500; If the condition is not met, the feedback loop returns to S300 to execute CONTINUE, continuing the synchronous high-precision test of step S200.

9. A high-precision collaborative control method for a robot linear joint testing system according to any one of claims 1-6, characterized in that, Step S500 includes: S501: When the termination condition is met, execute clock synchronization S300. The physical significance of this step is to ensure that the physical movement of the device under test and the device under test is completely consistent at the moment of stopping, and to prevent mechanical impact caused by asynchronous stopping. S502: After stopping, the system executes the END instruction and fully decodes the control step signals stored in the buffer throughout the entire test cycle; S503: Finally, it performs signal aggregation and data processing, uploads the processed high-precision test data to the host computer, and automatically generates the test report.

10. A high-precision collaborative control system for a robot linear joint testing system, characterized in that, A high-precision collaborative control method for implementing the robot linear joint testing system according to any one of claims 1-9 includes: The parameter acquisition module is used to acquire the test condition parameters set by the host computer. The PLC parses the test condition parameters and generates control loop selection instructions for the linear joint under test and the accompanying test equipment. The mode mapping module is used to match the corresponding control loop configuration parameters in the PLC register according to the control loop selection instruction and send them to the driver under test and the driver under test, so that each driver executes the instruction encoding respectively, thereby realizing control mode mapping and execution signal preparation. The clock synchronization module is used to trigger the start of the test by giving an initial timestamp through clock synchronization after the driver under test and the driver under test have completed initialization, and to perform clock synchronization at preset time intervals during the test run to calibrate the clock deviation between each driver node. The condition determination module is used to determine in real time whether the synchronization execution condition or the termination condition is met at the current moment: if the synchronization execution condition is met but the termination condition is not met, the encoder status of each driver is read and the clock synchronization and test run is continued; if the termination condition is met, the next step is performed. The termination module is used to respond to the termination condition by performing clock synchronization to control the tested linear joint and the accompanying test equipment to stop synchronously, and to decode and summarize the control step signals of the entire test cycle.

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