CN104808654A - Servo drive device frequency response test system and method - Google Patents
Servo drive device frequency response test system and method Download PDFInfo
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- CN104808654A CN104808654A CN201510208328.7A CN201510208328A CN104808654A CN 104808654 A CN104808654 A CN 104808654A CN 201510208328 A CN201510208328 A CN 201510208328A CN 104808654 A CN104808654 A CN 104808654A
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- 238000012360 testing method Methods 0.000 title claims abstract description 91
- 238000000034 method Methods 0.000 title abstract description 9
- 238000010998 test method Methods 0.000 claims abstract description 7
- 238000005259 measurement Methods 0.000 claims description 33
- 238000001208 nuclear magnetic resonance pulse sequence Methods 0.000 claims description 22
- 230000011664 signaling Effects 0.000 claims description 10
- 238000011160 research Methods 0.000 abstract description 6
- 238000012545 processing Methods 0.000 abstract description 4
- 238000007142 ring opening reaction Methods 0.000 abstract 1
- 230000009286 beneficial effect Effects 0.000 description 5
- 238000012544 monitoring process Methods 0.000 description 4
- 238000005516 engineering process Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 238000004891 communication Methods 0.000 description 2
- 238000011217 control strategy Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 230000009347 mechanical transmission Effects 0.000 description 2
- 238000012937 correction Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0259—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the response to fault detection
- G05B23/0262—Confirmation of fault detection, e.g. extra checks to confirm that a failure has indeed occurred
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0218—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults
- G05B23/0256—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterised by the fault detection method dealing with either existing or incipient faults injecting test signals and analyzing monitored process response, e.g. injecting the test signal while interrupting the normal operation of the monitored system; superimposing the test signal onto a control signal during normal operation of the monitored system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25314—Modular structure, modules
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The invention relates to a servo drive device frequency response test system comprising a servo navigation module, a quantifying module, a servo drive module, an executing module, a following quantity module and waveform generation module; the invention further relates to a servo drive device frequency response test method. The method includes adopting the internal waveform sequence as a test signal to inject into a test ring, acquiring the ring opening and closing frequency response of the servo drive system directly by data processing, and transmitting the relevant data to an upper computer to monitor the waveform to facilitate analysis and research. Compared with the traditional frequency response test method, the method has the advantages that the cost is saved, and size is reduced; special requirements on the test environment are omitted, and the system frequency response test can be performed on various sites anywhere and anytime; the change of various parameters of the servo drive system can be monitored in real time to analyze the system frequency response; meanwhile, parameters relevant to the frequency can be modified online according to the analysis result, and the system frequency response can be optimized.
Description
Technical field
The present invention relates to a kind of test macro for servo-driver frequency response, also relate to the method for testing for servo-driver frequency response.
Background technology
In servo-control system, the open-loop frequency response and the closed loop frequency response that obtain system have very great significance for the understanding performance of system, the control strategy tool of certainty annuity.For servo drive system, closed loop frequency response can obtain the characteristic information of the reflection servo performances such as the resonance frequency of the bandwidth of system, closed loop amplitude versus frequency characte peak value and mechanical transmission mechanism.The bandwidth of system reflects the tracking performance of servo-drive system for set-point, is an important evaluation index of servo-drive system; Closed loop amplitude versus frequency characte peak value reflects the relative stability of system; Usually, when carrying out servo-drive system debugging and controling parameters adjustment, the rear effect of adjustment can be evaluated by bandwidth sum closed loop amplitude versus frequency characte peak value; The resonance frequency of mechanical transmission mechanism also can be obtained by frequency response test, conveniently in servo-driver, adopts corresponding control strategy to adjust.Open-loop frequency response can obtain the internal system such as shearing frequency, stability margin information, is convenient to the reason analyzing restriction system performance boost, has certain directive significance for the exploitation of servo-drive system and correction parameter adjustment thereof.
The instrument of the frequency response of existing test macro mainly contains the equipment such as frequency analyzer and special servo analyser.These equipment usually can only the closed loop frequency response of measuring system, cannot the open-loop frequency response of direct measuring system, and we more wish the open-loop frequency response that accurately can obtain system in the performance history of system, and comparatively speaking, equipment cost is all too high.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of test macro for servo-driver frequency response and method, use inner wave sequence as test signal, be injected in test wrapper, open loop and the closed loop frequency response of servo drive system directly can be obtained by data processing, the step response characteristic of servo-driver can also be tested by the mode of inner Setting signal simultaneously, and by serial ports or other communication modes, related data transmission can be monitored waveform to host computer, be convenient to analysis and research.
The technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of test macro for servo-driver frequency response, comprises servo navigation module, specified rate module, servo-driven module, execution module, the amount of following module and waveform generating module,
Described servo navigation module, for selecting test pattern and content measurement, is sent to the parameter of initial waveform in described waveform generating module, controls it and produces initial waveform; Specified rate waveform also for generating waveform generating module shows with the amount of following waveform; And record the parameters that described specified rate module, servo-driven module and the amount of following module send;
Described specified rate module, for test pattern selectively and content measurement determination specified rate parameter, and sends to waveform generating module by described servo navigation module, controls it and produces specified rate waveform;
Described servo-driven module, for generation of pulse sequence signal, and is sent to described execution module by pulse sequence signal, and is sent in servo navigation module by described pulse sequence signal and preserves;
Described execution module, it comprises power-equipment, and described power-equipment drives according to described pulse sequence signal; Described power-equipment can be motor;
The described amount of following module, sending to waveform generating module for obtaining during power-equipment runs the amount of the following parameter produced by described servo navigation module, controlling it and producing the amount of following waveform;
Described waveform generating module, generates initial waveform for the parameter according to described initial waveform sequence, generates specified rate waveform when receiving described specified rate parameter, generates the amount of following waveform when receiving the amount of following parameter.
The invention has the beneficial effects as follows: use inner wave sequence as test signal, be injected in test wrapper, open loop and the closed loop frequency response of servo drive system directly can be obtained by data processing, and by serial ports or other communication modes, related data transmission can be monitored waveform to host computer, be convenient to analysis and research; Compared with traditional frequency response method of testing, save the cost that number is larger, volume has also reduced a lot, only need a portable dull and stereotyped PC that can install native system; Particular/special requirement is not had for test environment, only has a dull and stereotyped PC, frequency response test can be carried out to system anywhere or anytime in various working site, carry very convenient; Can the various Parameters variation situations of Real-Time Monitoring servo motion system, produce the waveform of specified rate parameter and the amount of following parameter, so that the frequency response situation of analytic system; Simultaneously relevant to frequency response according to analysis result online modification parameter, improves the frequency response situation of system, and is easily understood, be convenient to left-hand seat.
On the basis of technique scheme, the present invention can also do following improvement.
Further, described servo navigation module also for sending the data extremely described waveform generating module of amplitude and the frequency adjusting waveform, controls its adjustment waveform.Waveform after adjustment is shown by servo navigation module again.
Adopt the beneficial effect of above-mentioned further scheme to be: adjustment waveform being carried out to amplitude and frequency, better can observe waveform, be convenient to research experiment result.
Further, described in the amount of following module also for the described amount of following parameter is sent in servo-driven module, formed closed loop.
Adopt the beneficial effect of above-mentioned further scheme to be: adjustable pulse sequence signal, stability is strengthened to the closed-loop system formed.
Further, described servo-driven module comprises the servo-driver for driving described power-equipment, described servo-driver produces pulse sequence signal, and the driving components and parts of described servo-driver are IGBT insulated gate bipolar transistor or IPM intelligent power components and parts.
Further, described content measurement comprises current signal, rate signal and position signalling.
Further, when described content measurement is current signal, the test loop of test macro is electric current loop, and the assignment of wave sequence is given value of current amount parameter; When described content measurement is rate signal, test system and test loop is speed ring, and the assignment of wave sequence is speed preset amount parameter; When described content measurement is position signalling, the test loop of test macro is position ring, and the assignment of wave sequence is position specified rate parameter.
Further, described test pattern comprises sweep check pattern and step response test pattern, and when selecting sweep check pattern, the waveform of generation is sinusoidal waveform; When selecting step response test pattern, the waveform of generation is step response waveform.
Further, under sweep check pattern, specified rate sinusoidal waveform is generated or the sine-shaped concrete grammar of the amount of following is generated by formula
Vref＝Amp.sin(Fre.t)
Wherein, Vref is the input parameter of specified rate or the amount of following; Amp is sinusoidal sequence amplitude size; Fre sinusoidal sequence frequency size; T is the time generating sinusoidal waveform sequence, in a program with the time base of a general purpose timer as generation sinusoidal waveform sequence time t.
Another technical scheme that the present invention solves the problems of the technologies described above is as follows: a kind of method of testing for servo-driver frequency response, comprises the steps:
Step S1: test pattern and content measurement are selected, and send the parameter of initial waveform;
Step S2: the parameter according to described initial waveform generates initial waveform;
Step S3: test pattern selectively and content measurement determination specified rate parameter;
Step S4: the waveform generating specified rate parameter according to described specified rate parameter;
Step S5: produce pulse sequence signal;
Step S6: driving power-equipment is driven according to described pulse sequence signal;
Step S7: obtain during power-equipment runs the amount of the following parameter produced;
Step S8: the waveform generating the amount of following parameter according to the described amount of following parameter;
Step S9: be shown to quantitative waveform and the amount of following waveform.
On the basis of technique scheme, the present invention can also do following improvement.
Further, also comprise and send the adjustment amplitude of waveform and the data of frequency, to the step that waveform adjusts, and the waveform after display adjustment.
Adopt the beneficial effect of above-mentioned further scheme to be: adjustment waveform being carried out to amplitude and frequency, better can observe waveform, be convenient to research experiment result.
Further, described content measurement comprises current signal, rate signal and position signalling.
Further, when described content measurement is current signal, the test loop of test macro is electric current loop, and the assignment of wave sequence is given value of current amount parameter; When described content measurement is rate signal, test system and test loop is speed ring, and the assignment of wave sequence is speed preset amount parameter; When described content measurement is position signalling, the test loop of test macro is position ring, and the assignment of wave sequence is position specified rate parameter.
Further, described test pattern comprises sweep check pattern and step response test pattern, and when selecting sweep check pattern, the waveform of generation is sinusoidal waveform; When selecting step response test pattern, the waveform of generation is step response waveform.
The beneficial effect of above-mentioned further scheme is adopted to be: to use internal sine sequence as test signal, be injected in the test wrapper of servo drive system, directly can be obtained open loop and the closed loop frequency response of servo drive system by data processing, the step response characteristic of servo-driver can also be tested by the mode of inner Setting signal.
Further, under sweep check pattern, specified rate sinusoidal waveform is generated or the sine-shaped concrete grammar of the amount of following is generated by formula
Vref＝Amp.sin(Fre.t)
Wherein, Vref is the input parameter of specified rate or the amount of following; Amp is sinusoidal sequence amplitude size; Fre sinusoidal sequence frequency size; T is the time generating sinusoidal waveform sequence, in a program with the time base of a general purpose timer as generation sinusoidal waveform sequence time t.
Accompanying drawing explanation
Fig. 1 is module frame chart of the present invention;
Fig. 2 is method flow diagram of the present invention;
Fig. 3 is the oscillogram of sweep check pattern of the present invention;
Fig. 4 is the oscillogram of step response test pattern of the present invention.
In accompanying drawing, the list of parts representated by each label is as follows:
1, servo navigation module, 2, specified rate module, 3, servo-driven module, 4, execution module, 5, the amount of following module, 6, waveform generating module.
Embodiment
Be described principle of the present invention and feature below in conjunction with accompanying drawing, example, only for explaining the present invention, is not intended to limit scope of the present invention.
As shown in Figure 1, a kind of test macro for servo-driver frequency response, comprises servo navigation module 1, specified rate module 2, servo-driven module 3, execution module 4, the amount of following module 5 and waveform generating module 6,
Described servo navigation module 1, for selecting test pattern and content measurement, is sent to the parameter of initial waveform in described waveform generating module 6, controls it and produces initial waveform; Specified rate waveform also for generating waveform generating module 6 shows with the amount of following waveform; And record the parameters that described specified rate module 2, servo-driven module 3 and the amount of following module 5 send;
Described specified rate module 2, for test pattern selectively and content measurement determination specified rate parameter, and sends to waveform generating module 6 by described servo navigation module 1, controls it and produces specified rate waveform;
Described servo-driven module 3, for generation of pulse sequence signal, and is sent to described execution module 4 by pulse sequence signal, and is sent in servo navigation module 1 by described pulse sequence signal and preserves;
Described execution module 4, it comprises power-equipment, and described power-equipment drives according to described pulse sequence signal; Described power-equipment can be motor;
The described amount of following module 5, sending to waveform generating module 6 for obtaining during power-equipment runs the amount of the following parameter produced by described servo navigation module 1, controlling it and producing the amount of following waveform;
Described waveform generating module 6, generates initial waveform for the parameter according to described initial waveform sequence, generates specified rate waveform when receiving described specified rate parameter, generates the amount of following waveform when receiving the amount of following parameter.
Described servo navigation module 1 also for sending the data extremely described waveform generating module 6 of amplitude and the frequency adjusting waveform, controls its adjustment waveform.Waveform after adjustment is shown by servo navigation module again.
The described amount of following module 5, also for being sent in servo-driven module 3 by the described amount of following parameter, forms closed loop.
Described servo-driven module 3 comprises the servo-driver for driving described power-equipment, and described servo-driver produces pulse sequence signal, and the driving components and parts of described servo-driver are IGBT insulated gate bipolar transistor or IPM intelligent power components and parts.
Described content measurement comprises current signal, rate signal and position signalling.
When described content measurement is current signal, the test loop of test macro is electric current loop, and the assignment of wave sequence is given value of current amount parameter; When described content measurement is rate signal, test system and test loop is speed ring, and the assignment of wave sequence is speed preset amount parameter; When described content measurement is position signalling, the test loop of test macro is position ring, and the assignment of wave sequence is position specified rate parameter.
Described test pattern comprises sweep check pattern and step response test pattern, and when selecting sweep check pattern, the waveform of generation is sinusoidal waveform; When selecting step response test pattern, the waveform of generation is step response waveform.
Specified rate sinusoidal waveform is generated or the sine-shaped concrete grammar of the amount of following is generated by formula under sweep check pattern
Vref＝Amp.sin(Fre.t)
Wherein, Vref is the input parameter of specified rate or the amount of following; Amp is sinusoidal sequence amplitude size; Fre sinusoidal sequence frequency size; T is the time generating sinusoidal waveform sequence, in a program with the time base of a general purpose timer as generation sinusoidal waveform sequence time t.
As shown in Figure 2, a kind of method of testing for servo-driver frequency response, comprises the steps:
Step S1: test pattern and content measurement are selected, and send the parameter of initial waveform;
Step S2: the parameter according to described initial waveform generates initial waveform;
Step S3: test pattern selectively and content measurement determination specified rate parameter;
Step S4: the waveform generating specified rate parameter according to described specified rate parameter;
Step S5: produce pulse sequence signal;
Step S6: driving power-equipment is driven according to described pulse sequence signal;
Step S7: obtain during power-equipment runs the amount of the following parameter produced;
Step S8: the waveform generating the amount of following parameter according to the described amount of following parameter;
Step S9: be shown to quantitative waveform and the amount of following waveform.
Also comprise and send the adjustment amplitude of waveform and the data of frequency, to the step that waveform adjusts, and the waveform after display adjustment.。
Described content measurement comprises current signal, rate signal and position signalling.
When described content measurement is current signal, the test loop of test macro is electric current loop, and the assignment of wave sequence is given value of current amount parameter; When described content measurement is rate signal, test system and test loop is speed ring, and the assignment of wave sequence is speed preset amount parameter; When described content measurement is position signalling, the test loop of test macro is position ring, and the assignment of wave sequence is position specified rate parameter.
Another method of testing is, content measurement is position ring, speed ring and electric current loop connecting test successively, and the wave sequence assignment of position ring is exactly position set-point, and the output of position ring is as the speed preset value of speed ring, and the output of speed ring is as given value of current value.
Described test pattern comprises sweep check pattern and step response test pattern, and when selecting sweep check pattern, the waveform of generation is sinusoidal waveform; When selecting step response test pattern, the waveform of generation is step response waveform.
Fig. 3 is the monitoring waveform obtained under sweep check pattern.
Fig. 4 is the monitoring waveform obtained under step response test pattern.
Specified rate sinusoidal waveform is generated or the sine-shaped concrete grammar of the amount of following is generated by formula under sweep check pattern
Vref＝Amp.sin(Fre.t)
Wherein, Vref is the input parameter of specified rate or the amount of following; Amp is sinusoidal sequence amplitude size; Fre sinusoidal sequence frequency size; T is the time generating sinusoidal waveform sequence, in a program with the time base of a general purpose timer as generation sinusoidal waveform sequence time t.
In native system, servo navigation module is arranged on PC, operated by control inerface, can the various Parameters variation situations of Real-Time Monitoring servo motion system, and can analyze and research, so that the frequency response situation of analytic system to Setting signal and the waveform of following signal.
The foregoing is only preferred embodiment of the present invention, not in order to limit the present invention, within the spirit and principles in the present invention all, any amendment done, equivalent replacement, improvement etc., all should be included within protection scope of the present invention.
Claims (10)
1. the test macro for servo-driver frequency response, it is characterized in that, comprise servo navigation module (1), specified rate module (2), servo-driven module (3), execution module (4), the amount of following module (5) and waveform generating module (6)
Described servo navigation module (1), for selecting test pattern and content measurement, is sent to the parameter of initial waveform in described waveform generating module (6), controls it and produces initial waveform; Specified rate waveform also for generating waveform generating module (6) shows with the amount of following waveform; And record the parameters that described specified rate module (2), servo-driven module (3) and the amount of following module (5) send;
Described specified rate module (2), for test pattern selectively and content measurement determination specified rate parameter, and sends to waveform generating module (6) by described servo navigation module (1), controls it and produces specified rate waveform;
Described servo-driven module (3), for generation of pulse sequence signal, and is sent to described execution module (4) by pulse sequence signal, and is sent in servo navigation module (1) by described pulse sequence signal and preserves;
Described execution module (4), it comprises power-equipment, and described power-equipment drives according to described pulse sequence signal;
The described amount of following module (5), sending to waveform generating module (6) for obtaining during power-equipment runs the amount of the following parameter produced by described servo navigation module (1), controlling it and producing the amount of following waveform;
Described waveform generating module (6), generates initial waveform for the parameter according to described initial waveform sequence, generates specified rate waveform when receiving described specified rate parameter, generates the amount of following waveform when receiving the amount of following parameter.
2. the test macro for servo-driver frequency response according to claim 1, it is characterized in that, described servo navigation module (1) also for sending the data extremely described waveform generating module (6) of amplitude and the frequency adjusting waveform, controls its adjustment waveform.
3. the test macro for servo-driver frequency response according to claim 1, is characterized in that, described in the amount of following module (5) also for the described amount of following parameter is sent in servo-driven module (3), formed closed loop.
4. the test macro for servo-driver frequency response according to claim 1, it is characterized in that, described servo-driven module (3) comprises the servo-driver for driving described power-equipment, described servo-driver produces pulse sequence signal, and the driving components and parts of described servo-driver are IGBT insulated gate bipolar transistor or IPM intelligent power components and parts.
5. for a method of testing for servo-driver frequency response, it is characterized in that, comprise the steps:
Step S1: test pattern and content measurement are selected, and send the parameter of initial waveform;
Step S2: the parameter according to described initial waveform generates initial waveform;
Step S3: test pattern selectively and content measurement determination specified rate parameter;
Step S4: the waveform generating specified rate parameter according to described specified rate parameter;
Step S5: produce pulse sequence signal;
Step S6: driving power-equipment is driven according to described pulse sequence signal;
Step S7: obtain during power-equipment runs the amount of the following parameter produced;
Step S8: the waveform generating the amount of following parameter according to the described amount of following parameter;
Step S9: be shown to quantitative waveform and the amount of following waveform.
6. the test macro for servo-driver frequency response according to claim 5, is characterized in that, also comprises and sends the adjustment amplitude of waveform and the data of frequency, to the step that waveform adjusts.
7. the test macro for servo-driver frequency response according to claim 5, is characterized in that, described content measurement comprises current signal, rate signal and position signalling.
8. the test macro for servo-driver frequency response according to claim 7, is characterized in that, when described content measurement is current signal, the test loop of test macro is electric current loop, and the assignment of wave sequence is given value of current amount parameter; When described content measurement is rate signal, test system and test loop is speed ring, and the assignment of wave sequence is speed preset amount parameter; When described content measurement is position signalling, the test loop of test macro is position ring, and the assignment of wave sequence is position specified rate parameter.
9. the test macro for servo-driver frequency response according to claim 5, is characterized in that, described test pattern comprises sweep check pattern and step response test pattern, and when selecting sweep check pattern, the waveform of generation is sinusoidal waveform; When selecting step response test pattern, the waveform of generation is step response waveform.
10. the test macro for servo-driver frequency response according to claim 9, is characterized in that, generates specified rate sinusoidal waveform or the sine-shaped concrete grammar of the amount of following is generated by formula under sweep check pattern
Vref＝Amp.sin(Fre.t)
Wherein, Vref is the input parameter of specified rate or the amount of following; Amp is sinusoidal sequence amplitude size; Fre sinusoidal sequence frequency size; T is the time generating sinusoidal waveform sequence, in a program with the time base of a general purpose timer as generation sinusoidal waveform sequence time t.
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| CN104808654B (en) | 2017-06-16 |
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