CN112051830B - Servo driver aging test method, system, device and storage medium - Google Patents
Servo driver aging test method, system, device and storage medium Download PDFInfo
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Abstract
The invention discloses a method, a system, a device and a storage medium for testing the aging of a servo driver, wherein the method comprises the steps of adjusting the temperature of the environment where the servo driver is located to a set temperature; controlling a servo driver according to a motor rotating speed curve; collecting test parameters; if the test parameters are determined to be within the range of the set threshold value, the servo driver is qualified; the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage. The embodiment of the invention changes the torque of the servo driver under the set environmental temperature, collects the test parameters of the servo driver in real time and realizes the aging test of the servo driver through the test parameters. Compared with the traditional aging test mode of the variable-load servo driver, the aging test of the servo driver by variable torque is more in line with the running state of the servo driver, and the accuracy is higher. The invention can be widely applied to the field of servo driver test.
Description
Technical Field
The invention relates to the technical field of servo driver testing, in particular to a servo driver aging testing method, a servo driver aging testing system, a servo driver aging testing device and a servo driver aging testing storage medium.
Background
With the development of industrial technology, the status of automation equipment is more and more important, which also drives the development of each component thereof, and a servo motor is used as an important execution component of the automation equipment, and a servo driver for controlling the servo motor is in great demand in the industry. The servo driver needs to maintain reliability in the long-term use process, and can not be frequently broken down to influence the use. Under the relatively harsh use environment condition, the servo driver is easy to malfunction after long-time operation due to individual power devices of the servo driver. If the ventilation and heat dissipation conditions of the power distribution cabinet provided with the servo driver are poor, the servo driver is in a limit operating temperature environment, certain power devices of the servo driver generate heat by themselves at the moment, and the devices can operate at a very high temperature due to the poor heat dissipation conditions, and the devices can determine the operating reliability of the whole servo driver. Therefore, after the servo driver passes the on-line assembly test, the aging test needs to be performed by sampling inspection, and the reliability of the servo driver in the use process is ensured.
At present, the aging test method of the servo driver mainly uses a dual-drive servo driver, and realizes variable load through the dual-drive servo driver, thereby realizing the aging test of the servo driver. However, the load is generally kept constant in the actual production process, so that the measurement result of the aging test mode with variable load is not accurate.
Disclosure of Invention
In view of the above, an object of the present invention is to provide a method, a system, an apparatus and a storage medium for testing servo driver aging, so as to improve the accuracy of the servo driver aging test.
The first technical scheme adopted by the invention is as follows:
a servo driver aging test method comprises the following steps:
acquiring a set temperature according to a first input, and adjusting the ambient temperature of the servo driver to the set temperature;
controlling the servo driver according to a motor rotating speed curve;
collecting test parameters, wherein the test parameters comprise the temperature of a servo driver, the bus voltage of the servo driver, the torque output of a servo motor, the output current of the servo driver and the rotating speed of the servo motor;
determining that the test parameters are within a set threshold range, and determining that the servo driver is qualified;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
Further, before the step of controlling the servo driver according to the motor speed curve, the method further comprises:
controlling the servo driver to be switched on in a first time period;
and if the servo motor rotates and the servo driver does not alarm in the first time period, executing the step of controlling the servo driver according to the motor rotating speed curve.
Further, before the step of controlling the servo driver according to the motor speed curve, the method further comprises:
controlling the servo driver to be switched on in a second time period;
acquiring a rotation speed curve of the motor to be determined according to a second input, and controlling the servo driver according to the rotation speed curve of the motor to be determined;
and determining that the torque of the servo driver in the second time period is matched with the torque of the rotating speed curve of the undetermined motor, and taking the rotating speed curve of the undetermined motor as the rotating speed curve of the motor.
Further, the second input includes an acceleration time of the one-time torque output stage, a pulse frequency of the one-time torque output stage, a pulse number of the one-time torque output stage, a deceleration time of the one-time torque output stage, an acceleration time of the two-time torque output stage, a pulse frequency of the two-time torque output stage, a pulse number of the two-time torque output stage, a deceleration time of the two-time torque output stage, an acceleration time of the three-time torque output stage, a pulse frequency of the three-time torque output stage, a pulse number of the three-time torque output stage, and a deceleration time of the three-time torque output stage.
Further, the servo driver controls a servo motor, and an inertia disk is mounted on the servo motor.
Further, the operating cycle further includes a dwell period, the dwell period preceding the one-time torque output period.
Further, the operation cycle further comprises a first constant speed transition stage and a second constant speed transition stage, wherein the first constant speed transition stage is located between the first-time torque output stage and the second-time torque output stage, and the second constant speed transition stage is located between the second-time torque output stage and the third-time torque output stage.
The second technical scheme adopted by the invention is as follows:
a servo drive burn-in test system comprising:
the temperature control module is used for acquiring a set temperature according to a first input and adjusting the ambient temperature of the servo driver to the set temperature;
the electric control module is used for controlling the servo driver according to a motor rotating speed curve;
the acquisition module is used for acquiring test parameters, wherein the test parameters comprise the temperature of the servo driver, the bus voltage of the servo driver, the torque output of the servo motor, the output current of the servo driver and the rotating speed of the servo motor;
the checking module is used for determining that the servo driver is qualified if the test parameters are within a set threshold range;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
The third technical scheme adopted by the invention is as follows:
a servo driver burn-in test apparatus, comprising:
a servo driver burn-in test apparatus, comprising:
the touch screen is used for acquiring a set temperature according to a first input;
the thermostat is used for adjusting the ambient temperature of the servo driver to the set temperature;
the programmable logic controller is used for controlling the servo driver according to a motor rotating speed curve, and determining that the servo driver is qualified if the test parameter is within a set threshold range;
the temperature sensor is used for acquiring the temperature of the servo driver;
the servo driver is used for acquiring bus voltage, torque output and output current of the servo driver;
the encoder is used for acquiring the rotating speed of the servo motor;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
The fourth technical scheme adopted by the invention is as follows:
a computer-readable storage medium, on which a computer program is stored which, when executed by a processor, implements the servo driver burn-in test method.
The embodiment of the invention changes the torque of the servo driver under the set environmental temperature, collects the test parameters of the servo driver in real time and realizes the aging test of the servo driver through the test parameters. Compared with the traditional aging test mode of the variable-load servo driver, the aging test of the servo driver by variable torque is more in line with the running state of the servo driver, and the accuracy is higher.
Drawings
FIG. 1 is a flow chart of a servo driver aging test method according to an embodiment of the present invention;
FIG. 2 is a graph of a motor speed curve of a servo driver aging test method according to an embodiment of the present invention;
FIG. 3 is a GUI diagram illustrating a motor speed curve for a servo driver aging test method according to an embodiment of the present invention;
FIG. 4 is a block diagram of a servo driver burn-in test system according to an embodiment of the present invention;
FIG. 5 is a GUI diagram of a jog mode of a servo driver aging test method according to an embodiment of the present invention.
Detailed Description
The conception, the specific structure and the technical effects of the present invention will be clearly and completely described in conjunction with the embodiments and the accompanying drawings to fully understand the objects, the schemes and the effects of the present invention.
The invention is described in further detail below with reference to the figures and the specific embodiments. The step numbers in the following embodiments are provided only for convenience of illustration, the order between the steps is not limited at all, and the execution order of each step in the embodiments can be adapted according to the understanding of those skilled in the art. Further, for several described in the following embodiments, it is denoted as at least one.
The embodiment of the invention provides a servo driver aging test method, and with reference to fig. 1, the method comprises the following steps:
s100, acquiring a set temperature according to a first input, and adjusting the ambient temperature of the servo driver to the set temperature;
s200, controlling the servo driver according to a motor rotating speed curve;
s300, collecting test parameters, wherein the test parameters comprise the temperature of a servo driver, the bus voltage of the servo driver, the torque output of a servo motor, the output current of the servo driver and the rotating speed of the servo motor;
s400, determining that the test parameters are within a set threshold range, and enabling the servo driver to be qualified;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
Specifically, the temperature of the environment where the servo driver is located is controlled to realize temperature simulation of the working environment of the servo driver, the aging simulation of the servo driver is realized by changing the torque of the servo driver, the collection of test parameters of the servo driver is realized by collecting the temperature, the bus voltage and the output current of the servo driver, and the collection of the test parameters of the servo motor is realized by collecting the torque output and the rotating speed of the servo motor. And judging whether the test parameters meet the requirements or not so as to realize the aging test of the servo driver.
When the load operates at a constant speed, the rotational inertia of the load is small, the output of the servo driver is small, and the current is small, so that the aging test effect cannot be achieved; when the load is in the process of acceleration and deceleration, the larger the generated moment of inertia is, the larger the output of the servo driver is, and the larger the output current is, as the acceleration and deceleration are increased or decreased. For the above reasons, by changing the acceleration time during which the servo motor is accelerated from rest to the rated rotational speed and the deceleration time during which the servo motor is decelerated from the rated rotational speed to rest during the aging test of the servo driver, the torque output, i.e., the current output, of the servo motor can be changed.
The servo driver is also called servo controller and servo amplifier, and is a controller for controlling servo motor, and its action is similar to that of frequency converter acting on general AC motor, belonging to a part of servo system. Generally, a servo motor is controlled through three modes of position, speed and moment, and high-precision positioning of a transmission system is realized.
The aging test refers to a process of carrying out corresponding condition reinforcement experiments on the condition that the product is aged by simulating various factors involved in the actual using conditions of the product. And partial unqualified products can be screened out through the aging test.
The first input is a temperature value which can be input through a display screen, and the first input is used for setting the ambient temperature of the servo driver.
Motor speed curve referring to fig. 2, the motor speed curve includes a plurality of operation cycles, and each operation cycle includes a one-time torque output phase, a two-time torque output phase, and a three-time torque output phase. The servo driver can be controlled to periodically change from one-time torque to two-time torque and then from two-time torque to three-time torque through a motor rotating speed curve, and continuous circulation is realized, so that the aging test of the servo driver is realized. Compared with the aging test through load conversion, the aging test through torque conversion is more in line with the actual production situation, and the obtained aging test result is more accurate.
The test parameters comprise the temperature of the servo driver, the bus voltage of the servo driver, the torque output of the servo motor, the output current of the servo driver and the rotating speed of the servo motor; the temperature of the servo driver can be acquired by arranging a temperature sensor on the servo driver, the bus voltage of the servo driver, the torque output of the servo motor and the output current of the servo driver can be acquired by the servo driver, and the rotating speed of the servo motor can be acquired by an encoder.
In some embodiments, before the step of controlling the servo driver according to the motor speed curve, the method further includes:
controlling the servo driver to be switched on in a first time period;
and if the servo motor rotates and the servo driver does not alarm in the first time period, executing the step of controlling the servo driver according to the motor rotating speed curve.
Specifically, before the aging test is performed, whether the servo driver is connected correctly or not needs to be confirmed, and whether the servo driver is connected correctly or not can be judged by judging whether the servo motor rotates normally or not; meanwhile, the servo driver is required to be confirmed to have no fault, and whether the servo driver has the fault or not can be confirmed through the alarm information of the servo driver.
The first time period is generally a short time period, and whether the servo driver has a condition for entering the burn-in test is determined by judging that the servo driver can normally operate in the short time period. Generally, if some components of the servo drive exceed set limit settings, the servo drive will alarm and stop operating. The servo driver is not alarmed, which indicates that the components of the servo driver are not over-limited.
Referring to fig. 5, basic parameters of the servo driver, including motor type, control mode, internal and external enable switching, and single-turn pulse input, may also be used as the check condition.
The motor type is the type of a servo motor.
The control mode comprises a JOG mode and a position mode, wherein the JOG mode is also called a JOG trial operation mode, trial operation can be carried out in the JOG mode, and the servo driver can be switched on under the condition of pressing and switched off under the condition of releasing by controlling switching on in the JOG mode. The effect achieved is equivalent to controlling the servo driver to switch on during the first time period. A preliminary check of the system in which the servo drive is located can be made by the pointing mode. The position mode is a control mode under normal conditions, and after the servo driver is set to be the position mode, the control of the servo driver can be realized through the programmable logic controller.
The internal and external enable switching comprises internal enable and external enable, wherein the internal enable is used for enabling the servo driver through a program inside the servo driver, and the external enable is used for enabling the servo driver through a signal of the programmable logic controller.
The single-turn pulse input is the number of pulse inputs of the programmable logic controller required for a servo electronics turn.
In some embodiments, before the step of controlling the servo driver according to the motor speed curve, the method further includes:
controlling the servo driver to be switched on in a second time period;
acquiring a rotation speed curve of the motor to be determined according to a second input, and controlling the servo driver according to the rotation speed curve of the motor to be determined;
and determining that the torque of the servo driver in the second time period is matched with the torque of the rotating speed curve of the undetermined motor, and taking the rotating speed curve of the undetermined motor as the rotating speed curve of the motor.
In particular, it is also necessary to confirm that the servo driver can achieve multiple cycles of torque transformation before performing the burn-in test. The servo driver is controlled to operate according to the undetermined motor rotating speed curve, primary judgment can be conducted before the aging test, the situation that the equipment cannot conduct the aging test, the electric quantity is consumed, and the test time is wasted is prevented.
The second time period generally lasts for a plurality of cycles and can be set as desired.
The motor rotating speed curve to be determined is an untested motor rotating speed curve, and the servo driver can take the motor rotating speed curve to be determined as a motor rotating speed curve only if corresponding torque is correspondingly output under the motor rotating speed curve to be determined, so that the subsequent aging test step is carried out.
Since the output of the servo drive cannot follow the input completely, the torque matching relationship is as follows:
in a one-time torque output stage, reasonable acceleration and deceleration needs to be set, so that the output of the servo driver is 0.5-1.0 time of rated torque or current, the stage is a normal output stage of the servo driver, the output does not exceed the rated torque, and the operation time is longest;
in the double-torque output stage, reasonable acceleration and deceleration needs to be set, so that the output of the servo driver is 1.5-2.0 times of rated torque or current, and the stage is a double-overload output stage of the servo driver and cannot be too long;
in the triple torque output stage, reasonable acceleration and deceleration needs to be set, so that the output of the servo driver is the running stage of 2.5-3.0 times of rated torque or current, the running stage is the triple overload output stage of the servo driver, and the time needs to be set to be the shortest.
Under the condition of the same power type servo driver, the parameters can be saved after the motor rotating speed curve is finished, and the parameters can be directly called in the follow-up test of the same type servo driver.
In some embodiments, the second input comprises an acceleration time of the one-time torque output phase, a pulse frequency of the one-time torque output phase, a pulse number of the one-time torque output phase, a deceleration time of the one-time torque output phase, an acceleration time of the two-time torque output phase, a pulse frequency of the two-time torque output phase, a pulse number of the two-time torque output phase, a deceleration time of the two-time torque output phase, an acceleration time of the three-time torque output phase, a pulse frequency of the three-time torque output phase, a pulse number of the three-time torque output phase, and a deceleration time of the three-time torque output phase.
Specifically, referring to fig. 3, in the process of determining the rotational speed curve of the motor to be determined, corresponding acceleration time, pulse frequency, pulse number, and deceleration time need to be set for each torque output stage, and the corresponding rotational speed curve of the motor can be obtained by setting the acceleration time, pulse frequency, pulse number, and deceleration time of each torque output stage.
The acceleration time is the time taken by the servo driver to accelerate to the maximum speed, the deceleration time is the time taken by the servo accelerator to accelerate from the maximum speed to 0, and the pulse frequency is the number of pulses output to the servo driver by the programmable logic controller per second, if the driver sets the number of single-circle pulses to 4000, that is, the motor needs to receive 4000 pulses once a circle, and the final rotating speed of the motor corresponding to the pulse frequency of 200000Hz is 200000/4000-50 r/s-3000 r/min. The number of pulses corresponds to the number of revolutions of the servomotor and the total running time, e.g. 200000/200000 ═ 1s, i.e. the number of pulses/pulse frequency, which is exactly equal to the sum of the acceleration and deceleration times of the corresponding phases.
In some embodiments, the servo driver controls a servo motor on which an inertia disc is mounted.
Specifically, referring to fig. 4, the servo driver is used to control the servo motor, and a constant load, i.e., a constant disk, is disposed on the servo motor, and the load is kept constant by measuring the disk, and the torque of the servo driver is changed, so as to achieve the effect of the aging test of the servo driver. The load is simulated by using an inertia disc acceleration and deceleration rotation method, so that the servo driver can output 1 time, 2 times and 3 times of torque in the acceleration and deceleration process of the inertia disc, and the purpose of aging test is achieved.
In some embodiments, the operating cycle further includes a dwell period, the dwell period preceding the one-time torque output period.
Specifically, referring to fig. 2, each operating cycle is preceded by a pause period, which is the time interval between each operating cycle and the next operating cycle, and which has no specific quantitative relationship between time and load, and is generally set as desired. However, if the dwell time is short, the effective run time of the servo driver is longer than it is in one cycle, making it easier to approach the limit burn-in test of the servo driver. The dwell time is too short, and after the servo driver continuously runs for a period of time, the servo driver alarms and cannot achieve the aging test effect because certain devices of the servo driver exceed the set limit set value; if the pause time is too long, the effective running time of the servo driver is too small, and the requirement of the aging test cannot be met. It is therefore necessary to set the dwell time reasonably according to the quality requirements for the servo drive.
In some embodiments, the operating cycle further comprises a first constant speed transition phase between the first torque output phase and the double torque output phase and a second constant speed transition phase between the double torque output phase and the triple torque output phase.
Specifically, referring to fig. 2, there is a constant speed transition stage in the middle of each torque conversion stage, which, if not set, would make the duty ratio of the effective output of the servo driver too large and the load too large, and would probably cause the servo driver to alarm. The constant speed transition stage can be 30r/min, and the duration can be set to be 1-6 s.
The embodiment of the invention also provides a servo driver aging test system, which comprises:
the temperature control module is used for acquiring a set temperature according to a first input and adjusting the ambient temperature of the servo driver to the set temperature;
the electric control module is used for controlling the servo driver according to a motor rotating speed curve;
the acquisition module is used for acquiring test parameters, wherein the test parameters comprise the temperature of the servo driver, the bus voltage of the servo driver, the torque output of the servo motor, the output current of the servo driver and the rotating speed of the servo motor;
the checking module is used for determining that the servo driver is qualified if the test parameters are within a set threshold range;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
Specifically, the contents in the above method embodiments are all applicable to the present system embodiment, the functions specifically implemented by the present system embodiment are the same as those in the above method embodiment, and the beneficial effects achieved by the present system embodiment are also the same as those achieved by the above method embodiment.
The layers, modules, units, platforms, and/or the like included in the system may be implemented or embodied by computer hardware, a combination of hardware and software, or by computer instructions stored in a non-transitory computer readable memory. The methods may be implemented in a computer program using standard programming techniques, including a non-transitory computer-readable storage medium configured with the computer program, where the storage medium so configured causes a computer to operate in a specific and predefined manner, according to the methods and figures described in the detailed description. Each program may be implemented in a high level procedural or object oriented programming language to communicate with a computer system. However, the program(s) can be implemented in assembly or machine language, if desired. In any case, the language may be a compiled or interpreted language. Furthermore, the program can be run on a programmed application specific integrated circuit for this purpose.
The data processing flows performed by the layers, modules, units, and/or platforms included in the system may be performed in any suitable order unless otherwise indicated herein or otherwise clearly contradicted by context. The data processing flows correspondingly performed by the layers, modules, units and/or platforms included in the system of embodiments of the invention may be performed under the control of one or more computer systems configured with executable instructions, and may be implemented as code (e.g., executable instructions, one or more computer programs, or one or more applications) collectively executed on one or more processors, by hardware, or a combination thereof. The computer program includes a plurality of instructions executable by one or more processors.
The system may be implemented in any type of computing platform operatively connected to a suitable connection, including but not limited to a personal computer, mini computer, mainframe, workstation, networked or distributed computing environment, separate or integrated computer platform, or in communication with a charged particle tool or other imaging device, and the like. The data processing flows correspondingly executed by the layers, modules, units and/or platforms included in the inventive system may be implemented in machine readable code stored on a non-transitory storage medium or device, whether removable or integrated into a computing platform, such as a hard disk, an optical read and/or write storage medium, a RAM, a ROM, etc., such that it may be read by a programmable computer, and when the storage medium or device is read by the computer, may be used to configure and operate the computer to perform the procedures described herein. Further, the machine-readable code, or portions thereof, may be transmitted over a wired or wireless network. The invention described herein includes these and other different types of non-transitory computer-readable storage media when such media include instructions or programs that implement the steps described above in conjunction with a microprocessor or other data processor. The invention also includes the computer itself when programmed according to the methods and techniques described herein.
An embodiment of the present invention further provides a servo driver aging test apparatus, referring to fig. 4, including:
a servo driver burn-in test apparatus, comprising:
the touch screen is used for acquiring a set temperature according to a first input;
the thermostat is used for adjusting the ambient temperature of the servo driver to the set temperature;
the programmable logic controller is used for controlling the servo driver according to a motor rotating speed curve, and determining that the servo driver is qualified if the test parameter is within a set threshold range;
the temperature sensor is used for acquiring the temperature of the servo driver;
the servo driver is used for acquiring bus voltage, torque output and output current of the servo driver;
the encoder is used for acquiring the rotating speed of the servo motor;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
Specifically, the contents in the above method embodiments are all applicable to the present apparatus embodiment, the functions specifically implemented by the present apparatus embodiment are the same as those in the above method embodiments, and the advantageous effects achieved by the present apparatus embodiment are also the same as those achieved by the above method embodiments.
The touch screen can use an HMI touch screen, and a user can read and write parameters of the servo driver through the upper HMI touch screen and acquire related data, such as temperature, bus voltage, pulse count, output current, motor torque output, motor rotating speed and the like; the HMI touch screen can also implement parameter control for the programmable logic controller. The control mode and other parameters of the servo driver can be set through parameter setting of the upper HMI touch screen, the running state of the motor can be changed through planning of the rotating speed curve of the motor through the HMI touch screen, and the output torque of the motor can be ensured to meet 0.5-1.0 times of rated torque output, 1.5-2.0 times of rated torque output and 2.5-3.0 times of rated torque output in a test period.
The programmable logic controller mainly outputs a motion control command to control the rotating speed, acceleration and deceleration, motor start and stop and motor forward and backward rotation of the servo motor.
The thermostat mainly ensures that the environment where the servo driver to be tested is located is controllable and stable.
The inertia disc is mainly used for simulating load, and the size of the inertia disc can be replaced according to drivers with different powers.
The servo driver and servo motor can be powered using a 220V power supply, and the programmable logic controller and touch screen can be powered using a 24V power supply.
The embodiment of the invention also provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and when the computer program is executed by a processor, the aging test method of the servo driver is realized.
In particular, the storage medium stores processor-executable instructions, which when executed by the processor, are configured to perform the steps of the method for processing mutual information according to any one of the above-mentioned method embodiments. For the storage medium, it may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. It can be seen that the contents in the foregoing method embodiments are all applicable to this storage medium embodiment, the functions specifically implemented by this storage medium embodiment are the same as those in the foregoing method embodiments, and the advantageous effects achieved by this storage medium embodiment are also the same as those achieved by the foregoing method embodiments.
It will be understood that, although the terms first, second, third, etc. may be used herein to describe various elements, these elements should not be limited by these terms. These terms are only used to distinguish one element of the same type from another. For example, a first element could be termed a second element, and, similarly, a second element could be termed a first element, without departing from the scope of the present disclosure. The use of any and all examples, or exemplary language ("e.g.," such as "or the like") provided herein, is intended merely to better illuminate embodiments of the invention and does not pose a limitation on the scope of the invention unless otherwise claimed.
The above description is only a preferred embodiment of the present invention, and the present invention is not limited to the above embodiment, and any modifications, equivalent substitutions, improvements, etc. within the spirit and principle of the present invention should be included in the protection scope of the present invention as long as the technical effects of the present invention are achieved by the same means. The invention is capable of other modifications and variations in its technical solution and/or its implementation, within the scope of protection of the invention.
Claims (10)
1. A servo driver aging test method is characterized by comprising the following steps:
acquiring a set temperature according to a first input, and adjusting the ambient temperature of the servo driver to the set temperature;
controlling the servo driver according to a motor rotating speed curve;
collecting test parameters, wherein the test parameters comprise the temperature of a servo driver, the bus voltage of the servo driver, the torque output of a servo motor, the output current of the servo driver and the rotating speed of the servo motor;
determining that the test parameters are within a set threshold range, and determining that the servo driver is qualified;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
2. The servo driver aging test method according to claim 1, wherein before the step of controlling the servo driver according to the motor speed profile, further comprising:
controlling the servo driver to be switched on in a first time period;
and if the servo motor rotates and the servo driver does not alarm in the first time period, executing the step of controlling the servo driver according to the motor rotating speed curve.
3. The servo driver aging test method according to claim 1, wherein before the step of controlling the servo driver according to the motor speed profile, further comprising:
controlling the servo driver to be switched on in a second time period;
acquiring a rotation speed curve of the motor to be determined according to a second input, and controlling the servo driver according to the rotation speed curve of the motor to be determined;
and determining that the torque of the servo driver in the second time period is matched with the torque of the rotating speed curve of the undetermined motor, and taking the rotating speed curve of the undetermined motor as the rotating speed curve of the motor.
4. The servo driver aging test method according to claim 3, wherein the second input includes an acceleration time of a one-time torque output stage, a pulse frequency of the one-time torque output stage, a pulse number of the one-time torque output stage, a deceleration time of the one-time torque output stage, an acceleration time of a two-time torque output stage, a pulse frequency of the two-time torque output stage, a pulse number of the two-time torque output stage, a deceleration time of the two-time torque output stage, an acceleration time of the three-time torque output stage, a pulse frequency of the three-time torque output stage, a pulse number of the three-time torque output stage, and a deceleration time of the three-time torque output stage.
5. The servo driver aging test method according to claim 1, wherein the servo driver controls a servo motor, and an inertia disk is mounted on the servo motor.
6. The servo driver aging test method of claim 1, wherein the run cycle further comprises a dwell period, the dwell period preceding the double torque output period.
7. The aging test method for the servo driver as claimed in claim 1, wherein the operation cycle further includes a first constant speed transition stage and a second constant speed transition stage, the first constant speed transition stage is located between the one-time torque output stage and the two-times torque output stage, and the second constant speed transition stage is located between the two-times torque output stage and the three-times torque output stage.
8. A servo driver burn-in test system, comprising:
the temperature control module is used for acquiring a set temperature according to a first input and adjusting the ambient temperature of the servo driver to the set temperature;
the electric control module is used for controlling the servo driver according to a motor rotating speed curve;
the acquisition module is used for acquiring test parameters, wherein the test parameters comprise the temperature of the servo driver, the bus voltage of the servo driver, the torque output of the servo motor, the output current of the servo driver and the rotating speed of the servo motor;
the checking module is used for determining that the servo driver is qualified if the test parameters are within a set threshold range;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
9. A servo driver burn-in test apparatus, comprising:
the touch screen is used for acquiring a set temperature according to a first input;
the thermostat is used for adjusting the ambient temperature of the servo driver to the set temperature;
the programmable logic controller is used for controlling the servo driver according to a motor rotating speed curve, and determining that the servo driver is qualified if the test parameter is within a set threshold range;
the temperature sensor is used for acquiring the temperature of the servo driver;
the servo driver is used for acquiring bus voltage, torque output and output current of the servo driver;
the encoder is used for acquiring the rotating speed of the servo motor;
the motor speed curve comprises a plurality of operation cycles, and the operation cycles comprise a one-time torque output stage, a two-time torque output stage and a three-time torque output stage.
10. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the method for servo drive aging testing according to any one of claims 1 to 7.
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| CN112630579A (en) * | 2021-01-07 | 2021-04-09 | 武汉纽姆数控机电设备有限公司 | Aging test method and system for servo driver |
| CN116400145B (en) * | 2023-01-05 | 2024-10-01 | 宁德时代新能源科技股份有限公司 | Test method, system, device and storage medium |
| WO2024243741A1 (en) * | 2023-05-26 | 2024-12-05 | Siemens Aktiengesellschaft | Method, apparatus, device, and medium for determining dynamic balance quality of servo motor |
| CN117665574B (en) * | 2024-02-01 | 2024-04-09 | 深圳市思科诺达科技有限公司 | A constant temperature servo motor testing system and method based on data recognition |
| CN118858818A (en) * | 2024-08-07 | 2024-10-29 | 深圳行动元智能科技有限公司 | A servo drive differential misalignment aging method and system |
| CN120353217B (en) * | 2025-06-20 | 2025-09-02 | 冠佳技术股份有限公司 | Aging method, system, equipment and medium for driving motor controller |
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