CN109976300B - Performance index detection method of servo system and computer storage medium - Google Patents
Performance index detection method of servo system and computer storage medium Download PDFInfo
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Abstract
The invention discloses a performance index detection method of a servo system and a computer storage medium. The servo system comprises at least one servo motor, and the performance index detection method comprises the following steps: when a detection instruction is received, at least two of the following tests are sequentially carried out on each servo motor: step response test, parabolic response test, closed loop frequency response test and roundness response test. The invention realizes the automatic performance index test of each servo motor in the servo system, reduces the burden of testers and greatly improves the test efficiency.
Description
Technical Field
The invention relates to the technical field of detection and maintenance of numerical control systems, in particular to a performance index detection method of a servo system and a computer storage medium.
Background
The numerical control machine tool is widely applied to high and new technology industries such as aerospace, automobiles, consumer electronics and the like, greatly improves the production efficiency and the processing precision, and becomes an important basis for technological progress and technical development. However, according to statistics, the production loss caused by the fault of the numerical control system reaches hundreds of billions of RMB every year, so that the stability, performance evaluation and other aspects of the numerical control machine tool attract extensive attention and research at home and abroad.
At present, each performance index of a servo parameter of each servo motor in a servo system can only be tested and adjusted in a single mode, and a professional debugging person is needed to debug, so that the debugging time is too long, and the efficiency is low. And the performance index expression output by the test result is single and not visual, and non-professional debugging personnel can not evaluate the servo performance according to the performance index obtained by the test, thereby being not beneficial to the maintenance and fault diagnosis of the system.
Disclosure of Invention
The technical problem to be solved by the invention is to provide a performance index detection method of a servo system and a computer storage medium, aiming at overcoming the defect that each performance index of servo parameters can only be tested in a single way and the efficiency is low in the prior art.
The invention solves the technical problems through the following technical scheme:
a performance index detection method of a servo system comprises at least one servo motor, and is characterized in that when a detection instruction is received, at least two of the following tests are sequentially carried out on each servo motor:
step response test, parabolic response test, closed loop frequency response test and roundness response test.
Preferably, when performing a step response test, the performance index detection method includes the following steps:
sending a step response instruction to the servo system and controlling the servo motor to operate according to the step response instruction;
detecting the running track of the servo motor and extracting a first characteristic parameter;
and judging whether the numerical value of each first characteristic parameter is in the range of the respective threshold value.
Preferably, the first characteristic parameter includes at least one of the following parameters:
rise time, overshoot, and settling time.
Preferably, after the step of extracting the first characteristic parameter, the performance index detection method further includes:
calculating and outputting the scores of the rise time and/or the overshoot and/or the stable time according to the following scoring formula:
wherein SetpFatureScore is the score of the first characteristic parameter, and x is the actually measured value of the first characteristic parameter; x _ ref, x _ max characterize the threshold value of the first characteristic parameter.
In the scheme, x _ ref and x _ max can be set according to actual requirements. x _ ref is the value of each characteristic parameter obtained by testing when the performance of the step response test is qualified, and the value of the characteristic parameter is 100 points if the actual test is less than the value; x _ max is the value of each characteristic parameter when the servo performance is extremely poor (unavailable state), and the value obtained by actual test exceeds the value, and the value of the characteristic parameter is 0; wherein, x _ ref and x _ max are required to be set in advance before the formal use stage according to the requirements of application occasions on servo performance and the characteristics of a servo system. And when the system is in formal use, automatically calculating the scores of all the items according to the extracted characteristic parameter values and outputting the scores.
It should be noted that the above formula is a simple linear scoring method, which is convenient and intuitive. However, the present invention is not limited to this fixed scoring method, and variations generated by this linear scoring method or other non-linear scoring methods are within the scope of the present invention.
Preferably, the performance index detection method further includes the following steps:
acquiring a weight coefficient of each first characteristic parameter;
and generating a score for representing the step response performance of the servo motor according to the weight coefficient and the score of the first characteristic parameter.
Preferably, when a parabolic response test is performed, the performance index detection method includes the following steps:
sending a parabola detection instruction to the servo system and controlling the servo motor to operate according to the parabola detection instruction;
detecting the running track of the servo motor and extracting a second characteristic parameter;
and judging whether the numerical value of each second characteristic parameter is in the range of the respective threshold value.
Preferably, the second characteristic parameter includes at least one of the following parameters:
the maximum following error, a first correlation coefficient of a following error curve and a command speed curve, and a second correlation coefficient of the following error curve and a command acceleration curve;
the parabola detection instructions comprise a parabola response curve;
the commanded speed profile and the commanded acceleration profile are generated from the parabolic detection command.
Preferably, after the step of extracting the second characteristic parameter, the performance index detection method further includes:
calculating and outputting the score of the first correlation coefficient and/or the second correlation coefficient according to the following scoring formula:
wherein CorrScore is the score of the first correlation coefficient or the second correlation coefficient, and w is the numerical value of the first correlation coefficient or the second correlation coefficient; w _ ref is a coefficient threshold.
In the scheme, w is a numerical value of a first correlation coefficient (or a second correlation coefficient) actually obtained in a parabolic response test; w _ ref is the correlation coefficient score obtained when the parabolic response performance meets the requirement.
And/or calculating the score of the maximum following error according to the following scoring formula and outputting the score:
wherein, MaxFe is the score of the maximum following error, and R is the numerical value of the maximum following error. R _ max and R _ ref are follow error thresholds.
R is the value of the maximum following error actually obtained in the parabolic response test; r _ max is the maximum following error allowable value when the response performance of the parabola is extremely poor (in an unavailable state), and if the actual test is greater than the value, the score of the characteristic parameter is 0; and R _ ref is a maximum following error value obtained by testing when the response performance of the parabola is qualified, and the score of the characteristic parameter is 100 when the actual test is smaller than the value.
Preferably, the performance index detection method further includes the following steps:
acquiring a weight coefficient of each second characteristic parameter;
and generating a score for representing the parabolic response performance of the servo motor according to the weight coefficient and the second characteristic parameter.
Preferably, when performing a closed loop frequency response test, the performance index detection method includes the following steps:
sending a closed loop frequency response instruction to the servo system and controlling the servo motor to operate according to the closed loop frequency response instruction;
detecting the response current and the response position of the servo motor, and extracting a third characteristic parameter;
and judging whether the numerical value of each third characteristic parameter is in the range of the respective threshold value.
Preferably, the third characteristic parameter includes at least one of the following parameters:
current loop bandwidth, current loop harmonic amplitude value, position loop bandwidth and position loop harmonic amplitude value.
Preferably, after the step of extracting the third characteristic parameter, the performance index detection method further includes:
calculating and outputting the score of the current loop bandwidth and/or the position loop bandwidth according to the following scoring formula:
wherein, the bandWidScore is the value of the current loop bandwidth or the position loop bandwidth, and g is the numerical value of the current loop bandwidth or the position loop bandwidth; g _ ref and g _ min are loop bandwidth thresholds;
and/or calculating the score of the current loop harmonic amplitude value or the position loop harmonic amplitude value according to the following scoring formula and outputting the score:
wherein ResPeaScore is the value of the harmonic amplitude value of the current loop or the harmonic amplitude value of the position loop, and h is the harmonic amplitude value of the current loop or the harmonic amplitude value of the position loop; h _ ref and h _ max are resonance amplitude thresholds.
Specifically, g is a numerical value of a current loop bandwidth or a position loop bandwidth which is actually obtained when a closed loop frequency response test is carried out; g _ min is a value of current loop bandwidth or position loop bandwidth obtained when the closed loop frequency response performance is extremely poor (in an unavailable state), and the value of the characteristic parameter is 0 score when the actual test is smaller than the value; and g _ ref is a numerical value of current loop bandwidth or position loop bandwidth obtained by testing when the closed loop frequency response performance is qualified, and the value of the characteristic parameter is 100 points when the actual test is larger than the numerical value.
h is a current loop harmonic amplitude value or a position loop harmonic amplitude value obtained by actual detection; h _ max is the value of the maximum allowable current loop harmonic amplitude value or position loop harmonic amplitude value, and if the actual test is greater than the value, the score of the characteristic parameter is 0; h _ ref is a reference value of the current loop harmonic amplitude value or the position loop harmonic amplitude value obtained by testing when the closed loop frequency response performance is qualified, and the value of the characteristic parameter is 100 points when the actual test is less than the value
Preferably, the performance index detection method further includes the following steps:
acquiring a weight coefficient of each third characteristic parameter;
and generating a score for representing the closed-loop frequency response performance of the servo motor according to the weight coefficient and the third characteristic parameter.
Preferably, when performing the roundness response test, the performance index detection method includes the following steps:
sending a roundness detection motion instruction to a servo system and controlling a first servo motor and a second servo motor to operate according to the roundness detection motion instruction;
acquiring circular tracks of the first servo motor and the second servo motor, and extracting the roundness of the circular tracks;
judging whether the roundness is within a roundness threshold range or not;
the first servo motor and the second servo motor are used for driving two shafts of the machine tool to be linked.
Preferably, after the step of extracting the roundness of the circular trajectory, the performance index detection method further includes:
and calculating and outputting the score of the roundness according to the following scoring formula:
wherein circleScore is the score of roundness, ca is roundness; ca _ ref and ca _ max are roundness thresholds.
Specifically, ca is an actually detected roundness value; ca _ max is the maximum allowable roundness value, and when the actual test is larger than the maximum allowable roundness value, the score of the characteristic parameter is 0; and ca _ ref is a reference value obtained by testing when the roundness performance is qualified, and the score of the characteristic parameter is 100 when the actual tested roundness is smaller than the reference value.
The present invention also provides a computer storage medium having a computer program stored thereon, which, when executed by a processor, performs the steps of the performance index detection method described above.
The positive progress effects of the invention are as follows: the invention realizes the automatic performance index test of each servo motor in the servo system, reduces the burden of testers and greatly improves the test efficiency.
Drawings
FIG. 1 is a flowchart illustrating a step response test performed by a method for detecting a performance index of a servo system according to a preferred embodiment of the invention.
FIG. 2 is a schematic diagram of a step response curve of the step response test of FIG. 1.
FIG. 3 is a flowchart illustrating a parabolic response test performed by the method for detecting performance index of a servo system according to a preferred embodiment of the invention.
Fig. 4 is a diagram illustrating a parabolic response curve of fig. 3 subjected to a parabolic response test.
FIG. 5 is a flowchart illustrating a closed loop frequency response test performed by the method for detecting a performance index of a servo system according to a preferred embodiment of the present invention.
FIG. 6 is a schematic diagram of a closed loop frequency response curve of the closed loop frequency response test of FIG. 5.
Fig. 7 is a flowchart illustrating a roundness response test performed by the performance index detection method of the servo system according to a preferred embodiment of the invention.
Detailed Description
The invention is further illustrated by the following examples, which are not intended to limit the scope of the invention.
The performance index detection method of the embodiment realizes automatic testing of the servo system, the servo system comprises at least one servo motor, and the performance index detection method comprises the following steps: and when a detection instruction is received, at least two tests of a step response test, a parabolic response test, a closed loop frequency response test and a roundness response test are sequentially carried out on each servo motor. The test items, the number of the test items and the sequence of the test items can be set according to actual requirements. The detection instruction can be generated manually, for example, by a key pressing mode, that is, each test item of each motor in the servo system is completed by one key; the detection instruction can also be automatically generated, for example, by means of a script, the period of generating the test instruction is set, and the servo system is periodically tested.
The detection method of the embodiment can realize detection of servo systems adopting various control modes, take PID (proportion integration differentiation) control (a control mode with strong robustness) as an example, and can set PID controller parameters for the servo motor in debugging of the PID controller. When the PID is debugged, certain characteristic instructions (a step response instruction, a parabola detection instruction, a closed-loop frequency response instruction and a roundness detection motion instruction) are operated, a response data curve (namely the operation track of the servo motor) is automatically drawn, and whether the PID control performance meets the user requirement or not can be judged through the response curve. If the PID control performance of a certain motor does not meet the requirement of a user, the user needs to change the PID setting parameters, and the steps are repeated to observe the response characteristic of the motor until the requirement of the user is met.
Introduction of PID parameters:
(1) proportional gain: the position loop has a proportional gain representing the control stiffness of the axis.
The larger the set value, the faster the responsiveness. However, if the setting is too large in a machine tool with poor rigidity, vibration and overshoot will be caused.
(2) Differential gain: the position loop differential gain, which represents the damping of the shaft, has the effect of suppressing vibration, and when the proportional gain is high and vibration is caused, the parameter can be increased appropriately.
(3) Integral gain: position loop integral gain. For eliminating steady state errors.
Specifically, in this embodiment, when performing the step response test, as shown in fig. 1, the performance index detection method includes the following steps:
and 101a, sending a step response instruction to a servo system and controlling a servo motor to operate according to the step response instruction.
Wherein the step response instructions include step response curve information.
Wherein the first characteristic parameter comprises at least one of the following parameters: rise time, overshoot, and settling time.
Referring to FIG. 2, the settling time ts: the minimum time required for the step response to reach and remain within ± 5% of the error band of the final value; the settling time is also sometimes defined by a ± 2% error band of the final value. The present embodiment is defined by using a ± 5% error band.
Overshoot σpPeak value h (t)p) The percentage of the final value h (∞) exceeded, i.e.:
step curve rise time trThe time required for the step response to rise from 10% of the final value to 90% of the final value.
And 103a, judging whether the numerical value of each first characteristic parameter is in the range of the respective threshold value.
If the judgment result is yes, the first characteristic parameter is shown to meet the requirement of the user, and then the next test item or the next servo motor is tested; if the judgment result is no, the first characteristic parameter is not satisfied with the requirements of the user, and the servo motor is adjusted until the numerical value of the first characteristic parameter is within the threshold range.
It should be noted that the reference threshold range of the first characteristic parameter may be obtained by:
before the machine tool is put into the market, the servo performance of each motion axis of the machine tool is debugged until the servo performance reaches an expected index, and the threshold value range of each first characteristic parameter is obtained and used as a reference parameter. For example, relevant parameters of step response in an optimal state after a servo motor of a numerical control system is debugged are as follows: the rise time of the step curve is 6ms, the overshoot is 20%, and the step stabilization time is 35 ms. The parameters of the worst acceptable step for the servo system are: the rise time was 12ms, the overshoot 80%, and the settling time 100 ms.
In this embodiment, after the step of extracting the first characteristic parameter, the performance index detection method further includes:
and 104a, calculating and outputting the scores of the first characteristic parameters according to a scoring formula.
Wherein the first characteristic parameter includes: rise time, overshoot, and settling time. The score SetpFeatureScore of the first feature parameter includes: rise time score, RiseTimeScore, overshoot score, overtshootscore, and settling time score, SettlingScore.
When the score RiseTimeScore of the rise time is calculated, since the rise time in the optimum state of the servo system is 6ms and the worst acceptable rise time is 12ms, x _ max is 12 and x _ ref is 6. Thus, the scoring formula for calculating the score of the rise time is as follows:
where x1 is the actual measured rise time value.
When the overshoot score is calculated, the overshoot amount at the optimum state of the servo system is 20%, and the worst acceptable rise time is 80%, so that x _ max is 0.8 and x _ ref is 0.2. Thus, the scoring formula for calculating the score of the overshoot is as follows:
where x2 is the actual measured overshoot value.
When the stationary time score SettlingScore is calculated, since the stationary time in the optimum state of the servo system is 35ms and the worst acceptable stationary time is 100ms, x _ max is 100 and x _ ref is 35. Thus, the scoring formula for calculating the score for the settling time is as follows:
where x3 is the actual measured value of the settling time.
In this embodiment, the performance index detection method further includes the following steps:
and 105a, acquiring a weight coefficient of each first characteristic parameter.
And 106a, generating a score for representing the step response performance of the servo motor according to the weight coefficient and the score of the first characteristic parameter.
For example, if the weighting coefficients are all set to 0.25, the calculation formula of the step response performance score stepcore is as follows:
in this embodiment, when performing a parabola response test, as shown in fig. 3, the performance index detection method includes the following steps:
and step 101b, sending a parabola detection instruction to a servo system and controlling a servo motor to operate according to the parabola detection instruction.
Wherein the parabolic detection instructions include a parabolic response curve.
And 102b, detecting the running track of the servo motor, and extracting a second characteristic parameter.
Wherein the second characteristic parameter comprises at least one of the following parameters:
the maximum following error reflects the rigidity of the servo system, and the following error is smaller when the rigidity is larger.
The first correlation coefficient follows the error curve and the command speed curve, reflects the compensation degree of speed feedforward, and has the value range of [ -1, 1], when the first correlation coefficient is closer to 1, the following error is positively correlated with the speed, and the speed feedforward compensation is insufficient; when the first correlation coefficient is closer to-1, the following error is more negatively correlated with the speed, which represents that the speed feedforward compensation degree is excessive; when the first correlation coefficient is closer to 0 and represents more uncorrelated, the velocity feedforward compensation is more moderate, and the servo system can well eliminate the following error caused by velocity change. The first correlation coefficient is calculated as follows:
wherein N is the number of collection points, EiError, V, representing the ith acquisition PointiIs the commanded speed for the ith acquisition point,
is the average of the following errors and is,
representing the average of the commanded speeds.
The second correlation coefficient of the following error curve and the command acceleration curve reflects the compensation degree of acceleration feedforward, the value range is [ -1, 1], and when the second correlation coefficient is closer to 1, the following error is positively correlated with the acceleration speed, which represents that the acceleration speed feedforward compensation is insufficient; when the second correlation coefficient is closer to-1, the following error is more negatively correlated with the acceleration, and the acceleration feedforward compensation degree is excessive; when the second phase relation number is closer to 0 and represents more irrelevant, the acceleration feedforward compensation is more moderate, and the servo system can well eliminate the following error caused by acceleration change.
Referring to fig. 4, curve a is the actual speed curve and the commanded speed curve, and only one curve is made because the two lines coincide, curve b is the following error curve, and curve c is the acceleration curve. By using the path planning method, the performance of speed feedforward compensation and acceleration feedforward compensation of the motor servo can be intuitively reflected. And generating a command speed curve and a command acceleration curve according to the parabola detection command.
And 103b, judging whether the numerical value of each second characteristic parameter is in the range of the respective threshold value.
If the judgment result is yes, the second characteristic parameter is shown to meet the requirements of the user, and then the next test item or the next servo motor is tested; if the judgment result is no, the second characteristic parameter is not satisfied with the requirements of the user, and the servo motor is adjusted until the numerical value of the second characteristic parameter is within the threshold range.
It should be noted that the parameter threshold range of the second characteristic parameter may be obtained by:
before the machine tool is put into the market, the servo performance of each motion axis of the machine tool is debugged until the servo performance reaches an expected index, and the threshold value range of each second characteristic parameter is obtained and used as a reference parameter. For example, the relevant parameters of the parabolic response in the optimal state after the servo motor of a certain numerical control system is debugged are as follows: the velocity correlation coefficient is 0.2, the acceleration correlation coefficient is 0.2, and the maximum following error is 5 μm.
In this embodiment, after the step of extracting the second characteristic parameter, the performance index detection method further includes:
and 104b, calculating and outputting the scores of the second characteristic parameters according to a scoring formula.
Specifically, the scoring formula for calculating the score of the first correlation coefficient or the second correlation coefficient is as follows:
wherein, CorrScore is the score of the first correlation coefficient or the second correlation coefficient, and w is the value of the actually measured first correlation coefficient or the second correlation coefficient; w _ ref is a coefficient threshold.
The scoring formula for calculating the score of the maximum following error is as follows:
wherein MaxFe is the score of the maximum following error, R is the actually measured numerical value of the maximum following error, and R _ max and R _ ref are following error threshold values.
In this embodiment, the performance index detection method further includes the following steps:
and 105b, acquiring a weight coefficient of each second characteristic parameter.
And 106b, generating a score for representing the parabolic response performance of the servo motor according to the weight coefficient and the second characteristic parameter.
For example, setting the weighting coefficients to 1/3, the parabolic response performance score, ParabolicScore, is calculated as follows:
wherein, VelCorrScore is the first correlation coefficient, and AccCorrScore is the second correlation coefficient.
In this embodiment, when performing a closed-loop frequency response test, as shown in fig. 5, the performance index detection method includes the following steps:
and step 101c, sending a closed-loop frequency response instruction to a servo system and controlling a servo motor to operate according to the closed-loop frequency response detection instruction.
Wherein the closed loop frequency response command includes closed loop frequency response curve information.
Closed loop frequency response testing is a common evaluation and analysis method for servo systems. The results of closed loop frequency response testing are typically shown in the form of a bode plot, which typically includes an amplitude plot and a phase angle plot. The present embodiment focuses only on the amplitude diagram, as shown in fig. 6, where the abscissa is plotted in logarithmic scales of frequency and the ordinate is a linear coordinate and the unit is decibel.
And 102c, detecting the actual response current and the response position of the servo motor, and extracting a third characteristic parameter.
For a conventional PID control mode, a frequency response test can be respectively carried out on a current loop and a position loop of a servo system to obtain a current loop bode diagram and a position loop bode diagram. In other types of control modes, the current loop is not necessary, but a position loop in a broad sense is necessary for position servo control, so that a frequency response test can be performed on the position loop (for a servo system which only performs velocity control, a velocity loop closed-loop frequency response test can be performed on the servo system). Two of the characteristic parameters of the bode plot are of interest for this embodiment:
bandwidth. The frequency values corresponding to-3 db on the bode plot, see fc in fig. 6. Reflecting the rapidity of the response. If the control is PID cascade control, the bandwidth of the inner ring is required to be larger than that of the outer ring, for example, the bandwidth of the current ring is larger than that of the position ring.
Harmonic amplitude values. The ordinate on the bode plot is a positive peak point, and if there is no peak point, the harmonic amplitude value is 0. Referring to Mr in fig. 6, the oscillation characteristic of the response is reflected.
In this embodiment, the current loop and the position loop are respectively subjected to closed loop frequency response test by using PID control.
The index (third characteristic parameter) of the closed-loop frequency response test mainly includes at least one of the following parameters:
current loop bandwidth, current loop harmonic amplitude value, position loop bandwidth and position loop harmonic amplitude value.
And 103c, judging whether the numerical value of each third characteristic parameter is in the range of the respective threshold value.
If the judgment result is yes, the third characteristic parameter is shown to meet the requirements of the user, and then the next test item or the next servo motor is tested; if the judgment result is no, the third characteristic parameter is not satisfied with the requirements of the user, and the servo motor is adjusted until the numerical value of the third characteristic parameter is within the threshold range.
It should be noted that the parameter threshold range of the third characteristic parameter may be obtained by:
before the machine tool is put into the market, the servo performance of each motion axis of the machine tool is debugged until the servo performance reaches an expected index, and the threshold value range of each third characteristic parameter is obtained and used as a reference parameter. For example, relevant parameters of bode response in the optimal state after debugging a servo motor of a certain numerical control system are as follows: the current loop bandwidth is 500Hz, the current loop harmonic amplitude value is 1dB, the position loop bandwidth is 50Hz, and the position loop harmonic amplitude value is 3 dB.
In this embodiment, after the step of extracting the third characteristic parameter, the performance index detection method further includes: and 104c, calculating and outputting the scores of the third characteristic parameters according to a scoring formula.
When the score of the current loop bandwidth is calculated, the current loop bandwidth in the optimal state of the servo system is 500Hz, and the worst acceptable current loop bandwidth is 100Hz, so that g _ ref is 500, and g _ min is 100. Thus, the scoring formula for calculating the score of the current loop bandwidth curbandwordore is as follows:
where 1 is the value of the actual measured current loop bandwidth.
When the score currespeas _ as core of the current loop harmonic amplitude value is calculated, since the current loop harmonic amplitude value at the time of the optimum state of the servo system is 1 and the worst acceptable current loop harmonic amplitude value is 6, h _ ref is 1 and h _ max is 6. Thus, the scoring formula for calculating the score of the current loop harmonic amplitude value is as follows:
where h1 is the actual measured current loop harmonic amplitude value.
When the score PosbandWidScore of the position loop bandwidth is calculated, since the position loop bandwidth at the best state of the servo system is 50Hz and the worst acceptable position loop bandwidth is 10Hz, g _ ref is 50 and g _ min is 10. Thus, the scoring formula for calculating the score of the position loop bandwidth PosbandWidScore is as follows:
where g2 is the value of the actual measured position loop bandwidth.
When the score posrespeas _ frequency of the position loop harmonic amplitude value is calculated, since the position loop harmonic amplitude value at the time of the optimum state of the servo system is 3 and the worst acceptable position loop harmonic amplitude value is 8, h _ ref is 3 and h _ max is 8. Thus, the scoring formula for calculating the score of the position loop harmonic amplitude value is as follows:
where h2 is the actual measured position loop resonance amplitude.
In this embodiment, the performance index detection method further includes the following steps:
and 105c, acquiring a weight coefficient of each third characteristic parameter.
And 106c, generating a score for representing the closed-loop frequency response performance of the servo motor according to the weight coefficient and the third characteristic parameter.
For example, setting the weighting coefficients to all 0.25, the closed loop frequency response performance score BodeScore is calculated as follows:
in this embodiment, not only can the servo performance of a single motor on the numerical control machine be evaluated, but also the servo matching degree among a plurality of motors can be evaluated. As in the foregoing method, before the user sets the optimal matching reference value, the servo performance of each related motor should be debugged to the optimal state, and after the detection is passed through by the third-party detection instrument, two motors to be detected are selected to perform servo matching detection, that is, roundness response test. And the roundness response test is to evaluate the servo matching of the two motors by analyzing and acquiring the actual position of the two-axis linkage circular track of the machine tool and comparing the actual position with the standard circle of the instruction to obtain corresponding characteristic parameters. The roundness detection result contains abundant information, and is an important method for evaluating the overall servo performance of the machine tool.
Specifically, in this embodiment, when performing the roundness response test, as shown in fig. 7, the performance index detection method includes the following steps:
and 101d, sending a roundness detection motion instruction to a servo system and controlling the first servo motor and the second servo motor to operate according to the roundness detection motion instruction.
The first servo motor and the second servo motor are used for driving two shafts of the machine tool to be linked. The roundness detection motion command includes roundness response curve information.
And 102d, acquiring circular tracks of the first servo motor and the second servo motor, and extracting the roundness of the circular tracks.
And step 103d, judging whether the roundness is in the roundness threshold range.
If the judgment result is yes, the linkage parameters of the two motors meet the requirements of the user, and then the next test item is carried out or the two servo motors are reselected for testing; if the linkage parameters do not meet the requirements of the user, the two servo motors are adjusted until the roundness is within the roundness threshold range.
One rough calculation method of the roundness threshold range is provided below:
circle_accuracy＝maX_R-min_R；
wherein max _ R represents the radius of a minimum circle which can contain the circle locus of actual motion by taking the center of the command circle as a reference, namely the radius of a circumscribed circle;
min _ R represents the radius of the largest circle within the actual motion circle trajectory that is not intersected by the actual trajectory, i.e., the radius of the inscribed circle, based on the center of the command circle.
For example, the roundness detection result is 5 μm in the optimum state after the servo motor of a numerical control system is debugged.
In this embodiment, after the step of extracting the roundness of the circular trajectory, the performance index detection method further includes:
and step 104d, calculating and outputting the score of the roundness according to a scoring formula.
When the score circleScore of the circularity is calculated, since the circularity at the optimum state of the servo system is 5 and the worst acceptable circularity is 10, ca _ max is 10 and ca _ ref is 5. Thus, the scoring formula for calculating the score of roundness is as follows:
where ca is the actually measured roundness.
In this embodiment, the total physical examination score motorServoScore of the servo motor may be evaluated according to the step response score, the parabolic response score, the closed-loop frequency response score and the roundness score, for example, using the following formula:
in the embodiment, each performance index of the servo performance is presented in a score value mode, and the comprehensive performance index of the servo motor is presented through proper weight distribution, so that the servo performance evaluation method is simple and visual, and is convenient for non-professional debugging personnel to evaluate the servo performance so as to take preventive or improvement measures, for example, contacting with professional personnel to carry out servo parameter debugging and improve the servo performance. In addition, the comprehensive servo performance is presented in a scoring mode, the method is convenient and efficient, the state analysis and the evaluation of a servo system are conveniently and regularly carried out, the change trend of the machine tool state is predicted according to historical data, the machine tool is timely maintained, and the loss is reduced to the minimum degree.
Embodiments of the present invention further provide a computer storage medium, on which a computer program is stored, where the computer program, when executed by a processor, implements the steps of the performance index detection method of the embodiments.
While specific embodiments of the invention have been described above, it will be appreciated by those skilled in the art that this is by way of example only, and that the scope of the invention is defined by the appended claims. Various changes and modifications to these embodiments may be made by those skilled in the art without departing from the spirit and scope of the invention, and these changes and modifications are within the scope of the invention.
Claims (14)
1. A performance index detection method of a servo system comprises at least one servo motor, and is characterized in that when a detection instruction is received, at least two of the following tests are sequentially carried out on each servo motor:
step response test, parabola response test, closed loop frequency response test and roundness response test;
when a parabola response test is carried out, the performance index detection method comprises the following steps:
sending a parabola detection instruction to the servo system and controlling the servo motor to operate according to the parabola detection instruction;
detecting the running track of the servo motor and extracting a second characteristic parameter;
judging whether the numerical value of each second characteristic parameter is in the range of the respective threshold value;
the second characteristic parameter includes at least one of the following parameters:
the maximum following error, a first correlation coefficient of a following error curve and a command speed curve, and a second correlation coefficient of the following error curve and a command acceleration curve;
the parabola detection instructions comprise a parabola response curve;
the command speed curve and the command acceleration curve are generated according to the parabolic response curve;
the first correlation coefficient is calculated as follows:
wherein N is the number of collection points, EiError, V, representing the ith acquisition PointiIs the commanded speed for the ith acquisition point,
is the average of the following errors and is,
an average value representing a commanded speed;
after the step of extracting the second characteristic parameter, the performance index detection method further includes:
calculating and outputting the score of the first correlation coefficient and/or the second correlation coefficient according to the following scoring formula:
wherein CorrScore is the score of the first correlation coefficient or the second correlation coefficient, and w is the numerical value of the first correlation coefficient or the second correlation coefficient; w _ ref is a coefficient threshold.
2. The method of claim 1, wherein the performance index detection method comprises the following steps in performing a step response test:
sending a step response instruction to the servo system and controlling the servo motor to operate according to the step response instruction;
detecting the running track of the servo motor and extracting a first characteristic parameter;
and judging whether the numerical value of each first characteristic parameter is in the range of the respective threshold value.
3. The method as claimed in claim 2, wherein the first characteristic parameter comprises at least one of the following parameters:
rise time, overshoot, and settling time.
4. The method of claim 3, wherein after the step of extracting the first characteristic parameter, the method further comprises:
calculating and outputting the scores of the rise time and/or the overshoot and/or the stable time according to the following scoring formula:
wherein SetpFatureScore is the score of the first characteristic parameter, and x is the numerical value of the first characteristic parameter; x _ ref, x _ max characterize the threshold value of the first characteristic parameter.
5. The method of claim 4, wherein the performance level detection method further comprises the steps of:
acquiring a weight coefficient of each first characteristic parameter;
and generating a score for representing the step response performance of the servo motor according to the weight coefficient and the score of the first characteristic parameter.
6. The method of claim 1, wherein after the step of extracting the second characteristic parameter, the method further comprises:
calculating and outputting the score of the maximum following error according to the following scoring formula:
wherein MaxFe is the score of the maximum following error, R is the numerical value of the maximum following error, and R _ max and R _ ref are following error threshold values.
7. The method of claim 6, wherein the performance level detection method further comprises the steps of:
acquiring a weight coefficient of each second characteristic parameter;
and generating a score for representing the parabolic response performance of the servo motor according to the weight coefficient and the second characteristic parameter.
8. The method of claim 1, wherein the performance index detection method comprises the steps of, when performing a closed loop frequency response test:
sending a closed loop frequency response instruction to the servo system and controlling the servo motor to operate according to the closed loop frequency response instruction;
detecting the response current and the response position of the servo motor, and extracting a third characteristic parameter;
and judging whether the numerical value of each third characteristic parameter is in the range of the respective threshold value.
9. The method according to claim 8, wherein the third characteristic parameter comprises at least one of the following parameters:
current loop bandwidth, current loop harmonic amplitude value, position loop bandwidth and position loop harmonic amplitude value.
10. The method of claim 9, wherein after the step of extracting the third characteristic parameter, the method further comprises:
calculating and outputting the score of the current loop bandwidth and/or the position loop bandwidth according to the following scoring formula:
wherein, bandWidScore is the value of the current loop bandwidth or the position loop bandwidth, g is the numerical value of the current loop bandwidth or the position loop bandwidth, and g _ ref and g _ min are loop bandwidth threshold values;
and/or calculating the scores of the current loop harmonic amplitude value and/or the position loop harmonic amplitude value according to the following scoring formula and outputting the scores:
wherein ResPeaScore is the value of the harmonic amplitude value of the current loop or the harmonic amplitude value of the position loop, and h is the harmonic amplitude value of the current loop or the harmonic amplitude value of the position loop; h _ ref and h _ max are resonance amplitude thresholds.
11. The method of claim 10, wherein the performance level detection method further comprises the steps of:
acquiring a weight coefficient of each third characteristic parameter;
and generating a score for representing the closed-loop frequency response performance of the servo motor according to the weight coefficient and the third characteristic parameter.
12. The method of claim 1, wherein the performance index detection method comprises the following steps in performing a roundness response test:
sending a roundness detection motion instruction to a servo system and controlling a first servo motor and a second servo motor to operate according to the roundness detection motion instruction;
acquiring circular tracks of the first servo motor and the second servo motor, and extracting the roundness of the circular tracks;
judging whether the roundness is within a roundness threshold range or not;
the first servo motor and the second servo motor are used for driving two shafts of the machine tool to be linked.
13. The method of claim 12, wherein after the step of extracting the roundness of the circular trajectory, the method further comprises:
and calculating and outputting the score of the roundness according to the following scoring formula:
wherein circleScore is the score of roundness, ca is roundness, and ca _ ref and ca _ max are roundness thresholds.
14. A computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, performs the steps of the performance indicator detection method of any of claims 1 to 13.
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| CN112666986B (en) * | 2020-11-25 | 2022-09-23 | 北京无线电测量研究所 | Antenna servo track planning method and system |
| CN112799348A (en) * | 2020-12-16 | 2021-05-14 | 北京无线电测量研究所 | Digital test method and servo system for human-computer interface of driver |
| CN115494723A (en) * | 2022-09-06 | 2022-12-20 | 聚辰半导体股份有限公司 | Control tooling, production station and method for configuring PID parameters of camera motor |
| CN119002395B (en) * | 2024-08-13 | 2025-06-10 | 上海铼钠克数控科技有限公司 | Multi-axis matching detection method, system, equipment and readable storage medium |
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