CN114279481A - Encoder rotating speed fluctuation testing system and method - Google Patents
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Abstract
The invention relates to the technical field of encoder testing, and discloses a system and a method for testing the fluctuation of the rotating speed of an encoder. The system comprises: the device comprises a servo driver, a servo motor, a coder to be tested, a differential-to-single-end conversion module, a data acquisition card and a testing device; the encoder to be tested is arranged on the servo motor; the encoder to be tested is in signal connection with the differential-to-single-ended module; the data acquisition card is respectively in signal connection with the differential-to-single-ended module and the testing device; the testing device is used for testing the rotation speed volatility of the encoder to be tested based on the pulse signals generated by the encoder to be tested. The encoder rotating speed volatility test system provided by the invention is simple in structure and convenient to operate, and the cost of the encoder rotating speed volatility test is obviously reduced.
Description
Technical Field
The invention relates to the field of encoder testing, in particular to a system and a method for testing the rotational speed fluctuation of an encoder.
Background
Encoders are devices that encode and convert signals or data into a form of signals that can be used for communication, transmission, and storage, and are widely used in the fields of defense, industry, and technology. In the servo system, a servo driver regulates and controls a servo motor according to the pulse number output by an encoder, so that the rotating speed of the servo motor has fluctuation, which is also called as the rotating speed fluctuation of the encoder.
In the prior art, motor manufacturers usually increase the testing function of the fluctuation of the rotating speed of the encoder in a numerical control system, and realize the testing of the fluctuation of the rotating speed of the encoder through the function, and for the manufacturers of the encoder, the cost for purchasing the numerical control system of the manufacturers of the motor to test the fluctuation of the rotating speed of the encoder is obviously too high, and meanwhile, the numerical control system of the manufacturers of the motor does not disclose the specific structure of the testing of the fluctuation of the rotating speed of the encoder, therefore, it is very necessary to design a testing tool with simple structure, convenient testing and low manufacturing and testing costs for the fluctuation of the rotating speed of the encoder.
Disclosure of Invention
The invention mainly aims to provide a system and a method for testing the rotational speed volatility of an encoder, and aims to solve the technical problems that the existing tool for testing the rotational speed volatility of the encoder is complex in design structure and high in test cost.
The invention provides a system for testing the fluctuation of the rotating speed of an encoder, which comprises:
the device comprises a servo driver, a servo motor, a coder to be tested, a differential-to-single-end conversion module, a data acquisition card and a testing device; the encoder to be tested is arranged on the servo motor; the encoder to be tested is in signal connection with the differential-to-single-ended module; the data acquisition card is respectively in signal connection with the differential-to-single-ended module and the testing device; the testing device is used for testing the rotation speed volatility of the encoder to be tested based on the pulse signals generated by the encoder to be tested.
Optionally, in a first implementation manner of the first aspect of the present invention, the servo driver is configured to drive the servo motor to rotate based on a set rotation speed; the encoder to be tested is used for generating a path of pulse signal when the encoder to be tested rotates along with the servo motor.
Optionally, in a second implementation manner of the first aspect of the present invention, the pulse signal includes an ABZ pulse signal.
Optionally, in a third implementation manner of the first aspect of the present invention, the differential-to-single-ended module is configured to perform signal differentiation on a path of pulse signals generated by the encoder to be tested, so as to obtain single-ended digital signals, and output the single-ended digital signals to the data acquisition card.
Optionally, in a fourth implementation manner of the first aspect of the present invention, the data acquisition card is configured to acquire and store the single-ended digital signal output by the differential-to-single-ended module based on a set acquisition frequency.
Optionally, in a fifth implementation manner of the first aspect of the present invention, the testing apparatus includes:
the reading module is used for reading the single-ended digital signal stored by the data acquisition card;
the counting module is used for counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
and the calculation module is used for calculating and outputting the rotating speed of the encoder to be detected in each preset unit interval time and the average rotating speed of the encoder to be detected in a preset time length according to the number of pulses in each preset unit interval time, wherein the preset time length is equal to the sum of each preset unit interval time.
Optionally, in a sixth implementation manner of the first aspect of the invention,
in the preset unit interval time, the calculation formula of the rotating speed v of the servo motor is as follows:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
Optionally, in a seventh implementation manner of the first aspect of the present invention, the encoder to be tested is further in signal connection with the servo driver, the encoder to be tested generates two paths of pulse signals, and the servo driver is further configured to receive another path of pulse signal output by the encoder to be tested, and adjust the rotation speed of the servo motor according to the another path of pulse signal.
The second aspect of the present invention provides a method for testing rotational speed fluctuation of an encoder, which is implemented by using any one of the above systems for testing rotational speed fluctuation of an encoder, and includes:
reading single-end digital signals stored by a data acquisition card;
counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
and calculating and outputting the rotating speed of the encoder to be detected in each preset unit interval time and the average rotating speed of the encoder to be detected in a preset time length according to the number of pulses in each preset unit interval time, wherein the preset time length is equal to the sum of each preset unit interval time.
In the preset unit interval time, the calculation formula of the rotating speed v of the encoder to be tested is as follows:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
In the technical scheme provided by the invention, the whole test system comprises a servo driver, a servo motor, a to-be-tested encoder, a differential-to-single-ended module, a data acquisition card and a test device; the encoder to be tested is arranged on the servo motor; the encoder to be tested is in signal connection with the differential-to-single-ended module; the data acquisition card is respectively in signal connection with the differential-to-single end module and the testing device. The testing device is used for testing the rotation speed volatility of the encoder to be tested based on the pulse signals generated by the encoder to be tested. The testing system has the advantages of independent design of all parts, simple structure, convenient production, maintenance and reuse, low manufacturing cost and convenient testing, and obviously reduces the testing cost of the rotational speed fluctuation test of the encoder.
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FIG. 1 is a schematic diagram of an embodiment of a system for testing the rotational speed fluctuation of an encoder according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of an embodiment of a testing apparatus in an encoder rotational speed fluctuation testing system according to an embodiment of the present invention;
FIG. 3 is a schematic diagram of a first embodiment of a method for testing the fluctuation of the rotating speed of an encoder according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a second embodiment of a method for testing the fluctuation of the rotating speed of the encoder according to the embodiment of the invention.
Detailed Description
The embodiment of the invention provides a system and a method for testing the fluctuation of the rotating speed of an encoder.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It will be appreciated that the data so used may be interchanged under appropriate circumstances such that the embodiments described herein may be practiced otherwise than as specifically illustrated or described herein. Furthermore, the terms "comprises," "comprising," or "having," and any variations thereof, are intended to cover non-exclusive inclusions, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
For the sake of understanding, the following describes the components of the testing system according to an embodiment of the present invention, and referring to fig. 1, an embodiment of the testing system for the rotational speed fluctuation of the encoder according to an embodiment of the present invention includes:
the device comprises a servo driver 101, a servo motor 102, a to-be-tested encoder 103, a differential-to-single-ended module 104, a data acquisition card 105 and a testing device 106; the encoder 103 to be tested is arranged on the servo motor 102; the encoder to be tested 103 is in signal connection with the differential-to-single-ended module 104; the data acquisition card 105 is respectively in signal connection with the differential-to-single-ended module 104 and the testing device 106; the testing device 106 is used for testing the rotation speed fluctuation of the encoder 103 to be tested based on the pulse signal generated by the encoder 103 to be tested.
In this embodiment, the encoder 103 to be tested is a device that compiles and converts signals or data into a signal format that can be used for communication, transmission, and storage, and generates pulse signals when the encoder rotates.
Optionally, in an embodiment, the servo driver 101 is configured to drive the servo motor 102 to rotate based on a set rotation speed; the encoder 103 to be tested is used for generating a path of pulse signal when rotating along with the servo motor 102, and the encoder 103 to be tested and the servo motor 102 rotate coaxially, and the rotating speeds of the encoder 103 to be tested and the servo motor 102 are the same.
In this embodiment, the servo driver 101 is also called a servo controller and a servo amplifier, and controls the servo motor through three modes of position, speed and torque, so as to realize high-precision positioning of the transmission system.
In this embodiment, the servo motor 102 is an engine that controls the operation of mechanical elements in a servo system, and is an indirect transmission device of a supplementary motor.
In this embodiment, the rotation speed of the servo motor 102 of the servo driver 101 is not limited, and the number of lines of the encoder 103 to be tested is not limited.
Optionally, in an embodiment, the pulse signal includes an ABZ pulse signal.
In this embodiment, the ABZ pulse signal refers to an a pulse signal, a B pulse signal and a Z pulse signal output by the encoder to be tested, three phases of pulses are independent, the phase difference between the a phase and the B phase is 90 °, the encoder to be tested rotates one circle to generate one Z pulse, and the number of the a pulse and the number of the B pulse generated by the encoder to be tested rotating one circle are the same as the number of lines of the encoder to be tested.
In this embodiment, the encoder 103 to be tested is an incremental rotary encoder, the pulse signals include one or more pairs of a +/a-, B +/B-, and Z +/Z-, where a + and a-are a set of complementary differential pulse signals, B + and B-are a set of complementary differential pulse signals having a phase difference of 90 ° from a phase, and Z + and Z-are a set of output differential pulse signals of a zero reference bit.
Optionally, in an embodiment, the encoder 103 to be tested is further in signal connection with the servo driver 101, the encoder 103 to be tested generates two paths of pulse signals, and the servo driver 101 is further configured to receive another path of pulse signal output by the encoder 103 to be tested, and adjust the rotation speed of the servo motor 102 according to the path of pulse signal.
Optionally, in an embodiment, the differential-to-single-ended module 104 performs signal differentiation on one path of pulse signals generated by the encoder 103 to be tested to obtain single-ended digital signals, and outputs the single-ended digital signals to the data acquisition card 105.
In this embodiment, the differential-to-single-ended module 104 is a module for performing signal differentiation, and converts two differential signals into readable single-ended ground reference output signals, so as to suppress common-mode signals and reduce interference.
In this embodiment, the specific circuit implementation method of the differential-to-single-ended module 104 is not limited.
Optionally, in an embodiment, when the differential to single-ended conversion module 104 is normally turned on for use, a signal that works normally is output, the indicator light sends out a corresponding flashing signal, and whether the differential to single-ended conversion module works normally can be determined according to the indicator light.
In this embodiment, the data acquisition is to automatically acquire the analog or digital signals to be measured of the device and send the signals to the upper computer for analysis and processing, and the data acquisition card 105 is a computer expansion card for realizing the data acquisition function.
Optionally, in an embodiment, the data acquisition card 105 performs pulse digital signal acquisition at a preset frequency, the acquired pulse digital signals are sent to the first-in first-out queue, and when the number of data stored in the first-in first-out queue reaches a certain number, the data are read from the first-in first-out queue and are transmitted to the testing device 106, and the testing device 106 reads the acquired digital signals through the high-speed USB interface.
Optionally, in an embodiment, when the data acquisition card 105 is normally turned on for use, a signal that works normally is output, the indicator light sends out a corresponding flashing signal, and whether the data acquisition card works normally can be determined according to the indicator light.
Optionally, in an embodiment, the data acquisition card 105 is configured to acquire and store the single-ended digital signal output by the differential-to-single-ended module 104 based on a set acquisition frequency and an acquisition time.
In this embodiment, the collection frequency is greater than or equal to 10 MHz.
In this embodiment, the testing device 106 reads the single-ended digital signal stored and output by the data acquisition card 105, performs real-time analysis processing on the single-ended digital signal, and tests and calculates the rotation speed fluctuation of the encoder 103 to be tested.
In this embodiment, the testing device 106 is not limited, and may be various terminal devices with data processing functions, such as a computer, a mobile phone, a tablet, and the like, or a server.
In the embodiment of the invention, the whole test system comprises a servo driver, a servo motor, a coder to be tested, a differential-to-single-ended module, a data acquisition card and a test device; the encoder to be tested is arranged on the servo motor; the encoder to be tested is in signal connection with the differential-to-single-ended module; the data acquisition card is respectively in signal connection with the differential-to-single end module and the testing device. The testing device is used for testing the rotation speed volatility of the encoder to be tested based on the pulse signals generated by the encoder to be tested. The testing system has the advantages of independent design of all parts, simple structure, convenient production, maintenance and reuse, low manufacturing cost and convenient testing, and obviously reduces the testing cost of the rotational speed fluctuation test of the encoder. .
Referring to fig. 2, an embodiment of a testing apparatus in a system for testing fluctuation of a rotational speed of an encoder according to the embodiment of the present invention includes:
the reading module 1061 is configured to read a single-ended digital signal stored by the data acquisition card;
the counting module 1062 is configured to count the number of pulses of the single-ended digital signal in each preset unit interval time according to a time sequence;
the calculating module 1063 is configured to calculate and output the rotation speed of the encoder to be detected in each preset unit interval time and the average rotation speed of the encoder to be detected in a preset time duration according to the number of pulses in each preset unit interval time, where the preset time duration is equal to the sum of each preset unit interval time.
Optionally, in an embodiment, in the preset unit interval time, a calculation formula of the rotation speed v of the encoder to be measured is as follows:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
In this embodiment, the unit interval time is obtained, for example: and counting the pulse number in unit interval time for 1ms, thereby calculating the rotating speed of the encoder to be measured in the unit interval time and simultaneously calculating the average rotating speed of the encoder to be measured in a long time period (such as 10 s).
In this embodiment, a calculation method of the rotation speed of the encoder to be measured is described by way of example:
assuming that the unit interval time is Δ t and the preset duration is t, where t is 3 × Δ t, n is generated in the first unit interval time1A pulse, n being generated during the second unit interval2A pulse, n is generated in the third unit interval3Pulse, the subdivision multiple of the encoder to be tested is m, the rotating speed v of the encoder to be tested in the first unit interval time1The rotating speed v of the encoder to be measured in the second unit interval time2The rotating speed v of the encoder to be measured in the second unit interval time3Respectively as follows:
the average rotation speed v within the preset time period is:
optionally, in an embodiment, the testing apparatus 106 further includes:
the acquisition parameter setting module is used for setting the acquisition frequency of the data acquisition card based on the acquisition frequency input by a user;
and the statistical parameter setting module is used for setting the statistical parameters of the testing device based on the statistical parameter values input by the user.
In this embodiment, the statistical parameters include acquisition time and unit interval time.
In this embodiment, the acquisition time is the total time required to be acquired, the test device 106 counts the acquisition time, and stops reading data from the data acquisition card 105 when the preset acquisition time is reached.
In this embodiment, the unit interval time is the length of a short period of time, and is used to calculate the short-period average rotation speed of the encoder to be measured.
In this embodiment, the single-ended digital signal read by the test device 106 from the data acquisition card 105 is a pulse sequence composed of 0 and 1, and when counting the number of pulses, if two consecutive digital values in the pulse sequence are respectively 0 and 1, that is, corresponding to a rising edge of a pulse, the number of corresponding pulses is increased by 1.
Optionally, in an embodiment, the calculation result is processed and output in a form of a number or a graph. In this embodiment, different unit interval times Δ t can be set according to requirements, so as to meet different precision requirements of the rotation speed calculation.
In the embodiment of the invention, the test device acquires and sets the acquisition frequency, the acquisition time and the unit interval time, and counts and calculates the acquired single-ended digital signal to obtain the rotation speed volatility of the encoder. The testing device can carry out data acquisition according to the accuracy demand according to the preset acquisition frequency to carry out analysis processing in real time to the data of gathering and satisfy the demand that high sampling rate duration period was gathered and data storage, can calculate the rotational speed volatility of encoder according to the accuracy demand simultaneously, the pulse sequence waveform data of gathering still can be used to the unusual reason of analysis encoder rotational speed volatility.
Optionally, in an embodiment, the testing apparatus 106 further includes:
and the interference detection module is used for reading and displaying the single-ended digital signals acquired by the data acquisition card 105 so as to perform signal interference detection.
In this embodiment, the method for detecting signal interference is not limited, and the interference signal may be detected by an interference detection circuit or software.
Optionally, in an embodiment, the testing device 106 reads the acquired single-ended digital signal, and outputs the signal to a terminal capable of displaying waveforms, such as an oscilloscope, to artificially observe the pulse waveform and determine whether there is an interference signal.
In this embodiment, when there is an interference signal, it is detected whether the differential-to-single-ended module 104, the data acquisition card 105 and the power supply are grounded.
In this embodiment, the power supply is a dc power supply, and the differential-to-single-ended module 104, the data acquisition card 105 and the power supply are grounded to eliminate interference caused by the power supply.
In this embodiment, the common ground detection method is not limited, and the common ground detection circuit may be used for detection, or the common ground detection circuit may be used for manual detection.
In the embodiment of the invention, the pulse signal output by the encoder to be tested is acquired, the pulse signal is converted into the single-ended digital signal through the differential-to-single-ended module, the single-ended digital signal acquired by the data acquisition card is utilized, whether the interference exists in the output single-ended digital signal is detected, and the acquired data is analyzed and processed. The embodiment of the invention detects the interference signal, eliminates the interference signal of the power supply and improves the data accuracy.
With reference to fig. 3, the system for testing the fluctuation of the rotating speed of the encoder in the embodiment of the present invention is described above, and the method for testing the fluctuation of the rotating speed of the encoder in the embodiment of the present invention is described below, where the first embodiment of the method for testing the fluctuation of the rotating speed of the encoder in the embodiment of the present invention includes:
201. reading single-end digital signals stored by a data acquisition card;
it is understood that the main implementation of the present invention is an encoder rotation speed fluctuation testing apparatus, which may be a terminal with a display, such as a computer, or a server, and is not limited herein. The embodiment of the present invention is described by taking a terminal as an execution subject.
In this embodiment, the single-ended digital signal stored and output by the data acquisition card is continuously read when the signal is acquired, where the single-ended digital signal is a pulse sequence composed of 0 and 1.
202. Counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
in this embodiment, the single-ended digital signal is a pulse sequence composed of 0 and 1, and when the number of pulses is counted, if two consecutive digital quantities in the pulse sequence are respectively 0 and 1, that is, corresponding to a rising edge of a pulse, the number of corresponding pulses is increased by one.
203. And calculating and outputting the rotating speed of the encoder to be tested in each preset unit interval time and the average rotating speed of the encoder to be tested in a preset duration according to the number of pulses in each preset unit interval time.
In this embodiment, the preset duration is equal to the sum of the preset unit interval times.
In this embodiment, the rotation speed fluctuation characteristics in different unit interval times can be obtained by setting different unit interval times, so as to meet different use requirements.
In the embodiment of the invention, the collected single-ended digital signals are read, the collected single-ended digital signals are counted, and the rotation speed volatility of the encoder is calculated according to the preset unit interval time. The embodiment of the invention can acquire data according to the accuracy requirement and the preset acquisition frequency, analyze and process the acquired data in real time, meet the requirements of high sampling rate and long time period acquisition and data storage, and simultaneously calculate the rotation speed fluctuation of the encoder according to the accuracy requirement.
Referring to fig. 4, a second embodiment of the method for testing the rotational speed fluctuation of an encoder according to the embodiment of the present invention includes:
301. acquiring acquisition frequency, acquisition time and unit interval time;
in this embodiment, the acquisition frequency is the acquisition frequency of the data acquisition card, and is greater than or equal to 10 MHz; the acquisition time is the total time length of acquisition; the unit interval time is a time period of different sizes set according to different requirements.
In this embodiment, when the time for performing the acquisition reaches the set acquisition time, the reading of the single-ended digital signal stored by the data acquisition card is stopped.
In this embodiment, the unit interval time with different sizes is set as required, so that the rotation speed fluctuation characteristics in different time intervals can be obtained.
302. Setting the acquisition frequency of the data acquisition card according to the acquired acquisition frequency;
in this embodiment, the acquisition frequency of the data acquisition card is set, so that the data acquisition card performs data acquisition at the set acquisition frequency.
303. Reading single-end digital signals stored by a data acquisition card;
in this embodiment, the data acquisition card continuously stores and transmits the acquired single-ended digital signal, and performs data reading when the data acquisition card starts to collect the single-ended digital signal acquired by the data acquisition card, and stops reading when the preset acquisition time is reached.
304. Counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
305. and calculating and outputting the rotating speed of the encoder to be tested in each preset unit interval time and the average rotating speed of the encoder to be tested in a preset duration according to the number of pulses in each preset unit interval time.
Alternatively, in one embodiment,
in the preset unit interval time, the calculation formula of the rotating speed v of the encoder to be tested is as follows:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
Optionally, in an embodiment, the calculation result is processed and output in a form of a number or a graph, and the rotational speed fluctuation of the encoder is analyzed according to the output.
Optionally, in an embodiment, the collected pulse waveform data is used to analyze a time period when the rotational speed fluctuation of the encoder to be detected is abnormal.
In the embodiment of the invention, the acquisition frequency, the acquisition time and the unit interval time are obtained and set, and the acquired single-ended digital signals are counted and calculated to obtain the rotation speed volatility of the encoder. The embodiment of the invention can acquire data according to the accuracy requirement and the preset acquisition frequency, analyze and process the acquired data in real time, meet the requirements of high sampling rate and long time period acquisition and data storage, simultaneously calculate the rotation speed volatility of the encoder according to the accuracy requirement, and analyze the abnormal reason of the rotation speed volatility of the encoder according to the acquired pulse sequence waveform data.
It is clear to those skilled in the art that, for convenience and brevity of description, the specific working processes of the above-described systems, apparatuses and units may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.
The integrated unit, if implemented in the form of a software functional unit and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a read-only memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; and such modifications or substitutions do not depart from the spirit and scope of the corresponding technical solutions of the embodiments of the present invention.
Claims (10)
1. An encoder rotational speed volatility test system, characterized in that encoder rotational speed volatility test system includes: the device comprises a servo driver, a servo motor, a coder to be tested, a differential-to-single-end conversion module, a data acquisition card and a testing device; the encoder to be tested is arranged on the servo motor; the encoder to be tested is in signal connection with the differential-to-single-ended module; the data acquisition card is respectively in signal connection with the differential-to-single-ended module and the testing device; the testing device is used for testing the rotation speed volatility of the encoder to be tested based on the pulse signals generated by the encoder to be tested.
2. The encoder rotation speed fluctuation testing system of claim 1, wherein the servo driver is configured to drive the servo motor to rotate based on a set rotation speed; the encoder to be tested is used for generating a path of pulse signal when the encoder to be tested rotates along with the servo motor.
3. The encoder rotational speed volatility test system of claim 2, wherein said pulse signal comprises an ABZ pulse signal.
4. The system for testing the fluctuation of the rotating speed of the encoder according to claim 2 or 3, wherein the differential-to-single-ended module is configured to perform signal differentiation on one path of pulse signals generated by the encoder to be tested to obtain a single-ended digital signal and output the single-ended digital signal to the data acquisition card.
5. The system for testing the fluctuation of the rotating speed of the encoder according to claim 4, wherein the data acquisition card is configured to acquire and store the single-ended digital signal output by the differential-to-single-ended module based on a set acquisition frequency and acquisition time.
6. The encoder rotational speed volatility test system of claim 5, wherein said testing means comprises:
the reading module is used for reading the single-ended digital signal stored by the data acquisition card;
the counting module is used for counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
and the calculation module is used for calculating and outputting the rotating speed of the encoder to be detected in each preset unit interval time and the average rotating speed of the encoder to be detected in a preset time length according to the number of pulses in each preset unit interval time, wherein the preset time length is equal to the sum of each preset unit interval time.
7. The encoder rotation speed fluctuation property test system according to claim 6, wherein within the preset unit interval time, the calculation formula of the rotation speed v of the encoder to be tested is as follows:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
8. The encoder rotation speed fluctuation property testing system of claim 2, wherein the encoder to be tested is further in signal connection with the servo driver, the encoder to be tested generates two paths of pulse signals, and the servo driver is further configured to receive another path of pulse signals output by the encoder to be tested and adjust the rotation speed of the servo motor according to the other path of pulse signals.
9. An encoder rotation speed fluctuation testing method is realized by adopting the encoder rotation speed fluctuation testing system of any one of claims 1 to 8, and the testing method comprises the following steps:
reading single-end digital signals stored by a data acquisition card;
counting the number of pulses of the single-ended digital signal within each preset unit interval time according to a time sequence;
and calculating and outputting the rotating speed of the encoder to be detected in each preset unit interval time and the average rotating speed of the encoder to be detected in a preset time length according to the number of pulses in each preset unit interval time, wherein the preset time length is equal to the sum of each preset unit interval time.
10. The method for testing the fluctuation of the rotating speed of the encoder according to claim 9, wherein the rotating speed v of the encoder to be tested in the preset unit interval time is calculated according to the following formula:
wherein m is the subdivision multiple of the encoder to be tested, delta t is unit interval time, n is the pulse number of the single-ended digital signal in the unit interval time, and the unit of the rotating speed is revolution/minute.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111417615.0A CN114279481B (en) | 2021-11-25 | 2021-11-25 | System and method for testing fluctuation of rotating speed of encoder |
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