CN113901610A - Type selection method and device for servo motor - Google Patents
Type selection method and device for servo motor Download PDFInfo
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Abstract
The embodiment of the disclosure relates to a type selection method and a type selection device for a servo motor, wherein the method comprises the following steps: s1: preselecting a servo motor according to preparation parameters; s2: constructing a three-dimensional model according to a preselected servo motor; s3: importing the three-dimensional model into multi-body dynamics software, setting preset parameters, and solving the output torque required under the current angular acceleration of the servo motor; s4: calculating the effective value of the motor torque according to the required output torque; s5: and judging whether the effective value of the motor torque accords with a preset parameter, if not, re-selecting the type of the servo motor, and if so, ending the type selection. According to the method, the type selection of the servo motor is simulated by using the digital prototype at the design stage, whether the servo motor meets the actual working condition or not is accurately verified, the too large type selection torque of the servo motor can be avoided, waste is caused, the too small type selection torque of the servo motor can be prevented, and the accelerated speed which cannot meet the design requirement can be prevented.
Description
Technical Field
The disclosure relates to the field of numerical control machine tools, in particular to a type selection method and device of a servo motor.
Background
The servo motor is used as a main component of the numerical control machine tool, and the overall performance of the machine tool is influenced by the model selection result. The existing model selection method of the servo motor of the numerical control laser cutting machine is mainly based on the principle of motor inertia matching, and the problem of inaccurate calculation of load inertia exists because the load inertia is extracted from three-dimensional modeling software or is calculated manually. And the designer considers that the servo motor is suitable as long as the calculated result meets the motor inertia matching principle when the servo motor is in model selection, and the influence of acceleration is rarely considered when in calculation, so that whether the selected servo motor meets the actual use effect can only be verified in a prototype test stage.
Based on the above, the existing servo motor model selection has the problem that the servo motor model selection is not suitable for practical use.
The above drawbacks are expected to be overcome by those skilled in the art.
Disclosure of Invention
Technical problem to be solved
In order to solve the above problems in the prior art, the present disclosure provides a method and an apparatus for selecting a type of a servo motor, so as to overcome, at least to a certain extent, a problem that the existing type selection of the servo motor may not be suitable for practical use.
Additional features and advantages of the disclosure will be set forth in the detailed description which follows, or may be learned by practice of the disclosure.
(II) technical scheme
In order to achieve the above purpose, the present disclosure adopts a main technical solution including:
according to a first aspect of the embodiments of the present disclosure, there is provided a method for selecting a type of a servo motor, including:
s1: preselecting a servo motor according to preparation parameters;
s2: constructing a three-dimensional model according to a preselected servo motor;
s3: importing the three-dimensional model into multi-body dynamics software, setting preset parameters, and solving the output torque required under the current angular acceleration of the servo motor;
s4: calculating the effective value of the motor torque according to the required output torque;
s5: and judging whether the effective value of the motor torque accords with a preset parameter, if not, re-selecting the type of the servo motor, and if so, ending the type selection.
In an embodiment of the present disclosure, the preliminary parameter is a load inertia, and the step S1 includes:
determining load inertia;
preselecting the servo motor according to the load inertia by using a motor inertia matching principle, wherein the motor inertia matching principle is as follows: load inertia JLLess than or equal to a preselected motor inertia J of the servomotorM3 to 5 times of.
In an embodiment of the present disclosure, step S2 includes:
determining the type of a load mechanism according to a preselected servo motor, wherein the type of the load mechanism is a gear rack transmission mechanism;
and determining a three-dimensional model containing the servo motor and the load according to the type of the load mechanism and the parameters.
In an embodiment of the present disclosure, the three-dimensional model is stored as a file in a preset format, and step S3 includes:
importing the file with the preset format into the multi-body dynamics model;
setting a translational friction coefficient between the guide rail and the slide block;
setting parameters between a gear and a rack of the speed reducer, wherein the parameters comprise translational speed, rotation angular speed and gear pitch circle radius;
setting the angular acceleration of the servo motor as a STEP function, wherein the initial displacement and the initial speed of the STEP function are 0, and describing the acceleration parameter of the servo motor by using the STEP function to reduce the gradient of the load acceleration;
and solving the required output torque under the current angular acceleration of the servo motor in the multi-body dynamic model according to preset parameters.
In an embodiment of the present disclosure, the translational friction coefficient is 0.2.
In an embodiment of the present disclosure, after step S3, the method further includes:
obtaining a servo motor torque curve according to the output torques of the acceleration section, the constant speed section and the deceleration section;
motor torque T in acceleration sectionPTorque T required to overcome frictional forcesfPlus a torque T corresponding to the moment of inertia at acceleration or decelerationJ；
T of motor torque at uniform speed sectionTOT is evenTorque T required to overcome frictional forcesf；
Motor torque T in deceleration sectionSTorque T corresponding to moment of inertia at acceleration and decelerationJSubtracting the torque T required to overcome the frictionf。
In an embodiment of the present disclosure, step S4 includes:
calculating the effective value of the motor torque according to a formula, wherein the calculation formula is as follows:
wherein T isrmsEffective value of motor torque, taTo accelerate the period of time, tcAt a constant speed period of time, tdFor the deceleration segment time, t is the single cycle time.
In an embodiment of the present disclosure, step S5 includes:
when the effective value of the motor torque is smaller than or equal to the rated torque of the servo motor, the result is in line;
when the effective value of the motor torque is larger than the rated torque of the servo motor, the result is non-compliance.
In an embodiment of the present disclosure, the reselecting the servo motor includes:
a model is selected in which the output torque and moment of inertia are greater than a preselected servo motor.
According to a second aspect of the embodiments of the present disclosure, there is also provided a type selection device for a servo motor, including:
the preselection module is used for preselecting the servo motor according to the preparation parameters;
the model building module is used for building a three-dimensional model according to a preselected servo motor;
the importing module is used for importing the three-dimensional model into multi-body dynamics software, setting preset parameters and solving the output torque required under the current angular acceleration of the servo motor;
the calculating module is used for calculating the effective value of the motor torque according to the required output torque;
and the judging module is used for judging whether the effective value of the motor torque accords with preset parameters, if not, the type selection is carried out on the servo motor again, and if so, the type selection is finished.
According to a third aspect of the embodiments of the present disclosure, there is provided a computer readable medium, on which a computer program is stored, which program, when being executed by a processor, realizes the steps of the above-mentioned method of model selection of a servo motor.
According to a fourth aspect of the embodiments of the present disclosure, there is provided an electronic apparatus including:
one or more processors;
a storage device for storing one or more programs which, when executed by the one or more processors, cause the one or more processors to implement the above-described method of model selection for a servo motor.
(III) advantageous effects
The beneficial effects of this disclosure are: according to the method and the device for selecting the type of the servo motor, provided by the embodiment of the disclosure, the type selection of the servo motor is simulated by using a digital prototype at the design stage, whether the servo motor meets the actual working condition is accurately verified, the too large type selection torque of the servo motor can be avoided, the waste is avoided, the too small type selection torque of the servo motor can be prevented, and the acceleration required by the design can not be reached.
Drawings
Fig. 1 is a flowchart of a type selection method for a servo motor according to an embodiment of the present disclosure;
FIG. 2 is a graph illustrating acceleration changes during a load movement cycle in accordance with an embodiment of the present invention;
FIG. 3 is a graph of velocity variation according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a type selection apparatus for a servo motor according to another embodiment of the present disclosure;
fig. 5 is a schematic structural diagram illustrating a computer system of an electronic device according to an embodiment of the present disclosure.
Detailed Description
For the purpose of better explaining the present disclosure, and to facilitate understanding thereof, the present disclosure will be described in detail below by way of specific embodiments with reference to the accompanying drawings.
All technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this disclosure belongs. The terminology used herein in the description of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the disclosure. As used herein, the term "and/or" includes any and all combinations of one or more of the associated listed items.
The relationship between torque, moment of inertia and angular acceleration is as follows:
T＝J×α
where T is a torque, J is a moment of inertia, and α is an angular acceleration, it can be seen from the above equation that the output torque of the servo motor is related to the moment of inertia and also related to the angular acceleration output by the servo motor. In the design, the moment of inertia is a fixed value after the design is determined, and does not change along with time; on the numerical control laser cutting machine, the high angular acceleration of the servo motor can shorten the time from 0 to the maximum load speed so as to save time, and the angular acceleration of the servo motor can meet the requirement of design parameters through type selection.
Based on the above, the invention provides a model selection method for a servo motor of a numerical control laser cutting machine, which can enable the calculation of the output torque of the servo motor to be more accurate and closer to the actual working condition in the design stage, and prevent the too large model selection torque of the servo motor from causing waste; and secondly, the acceleration that the model selection torque of the servo motor is too small to meet the design requirement is prevented.
Fig. 1 is a flowchart of a type selection method for a servo motor according to an embodiment of the present disclosure, as shown in fig. 1, the method includes the following steps:
as shown in fig. 1, in step S1, the servo motor is preselected according to the preliminary parameters;
as shown in fig. 1, in step S2, a three-dimensional model is constructed from preselected servo motors;
as shown in fig. 1, in step S3, importing the three-dimensional model into multi-body dynamics software and setting preset parameters, and solving an output torque required under the current angular acceleration of the servo motor;
as shown in fig. 1, in step S4, a motor torque effective value is calculated from the required output torque;
as shown in fig. 1, in step S5, it is determined whether the effective value of the motor torque meets a preset parameter, if not, the servo motor is re-type-selected, and if so, the type selection is ended.
According to the model selection method for the servo motor, provided by the embodiment of the disclosure, the model selection of the servo motor is simulated by using a digital prototype at the design stage, the servo motor can not be verified until the prototype test stage, but whether the servo motor meets the actual working condition can be accurately verified at the design stage, so that the problem that the model selection torque of the servo motor is too large to cause waste can be avoided, and the problem that the model selection torque of the servo motor is too small to reach the acceleration required by the design can be prevented.
The specific implementation of the steps of the embodiment shown in fig. 1 is described in detail below:
in an embodiment of the present disclosure, step S1 preselects the servo motors according to the preliminary parameters, and in this step, a type of servo motors needs to be preselected in advance in order to establish a three-dimensional model for performing kinetic analysis in order to establish a multi-body kinetic analysis model in the subsequent step. When the preliminary parameter is the load inertia, step S1 specifically includes: firstly, determining load inertia; and secondly, preselecting a servo motor according to the load inertia by a motor inertia matching principle. Wherein saidThe principle of matching the inertia of the motor is as follows: load inertia JLLess than or equal to a preselected motor inertia J of the servomotorM3 to 5 times of the total weight of the raw materials, and can be selected according to actual needs.
In an embodiment of the present disclosure, the step S2 is to construct a three-dimensional model according to a preselected servo motor, which specifically includes: firstly, determining the type of a load mechanism according to a preselected servo motor; and secondly, determining a three-dimensional model containing the servo motor and the load according to the type of the load mechanism and the parameters. The load mechanism type can be a gear rack transmission mechanism, a belt transmission mechanism or a ball screw, and in the embodiment, the three-dimensional model is constructed by taking the load mechanism type of the gear rack transmission mechanism as an example. All moving parts driven by the motor, whether rotating or linear, are referred to as the load inertia of the motor. The total inertia of the load on the motor shaft can be obtained by calculating the inertia of each driven part and adding the inertia according to a certain rule.
Through step S2, a three-dimensional model for analysis of all loads including the preselected servo motor is established, in this step, simple analysis only requires accurate shape, mass, and centroid position, and complex analysis requires establishment of a motor model according to practical problems, for example, which details of the motor model need to be retained according to practical problems, and which details do not need to be retained to make a judgment.
In an embodiment of the present disclosure, the three-dimensional model is stored as a file in a preset format, where the preset format includes: *. xt, stp, or other format.
In an embodiment of the present disclosure, step S3 includes importing the three-dimensional model into multi-body dynamics software, setting preset parameters, and solving an output torque required under a current angular acceleration of a servo motor, which specifically includes:
31) and importing the three-dimensional model stored in the preset format file into the multi-body dynamic model.
32) And setting a translation friction coefficient between the guide rail and the slide block, wherein the translation friction coefficient is 0.2.
33) Setting parameters between a gear and a rack of the speed reducer, wherein the parameters comprise translational speed, rotation angular speed and gear pitch circle radius;
34) setting the angular acceleration of the servo motor as a STEP function, wherein the initial displacement and the initial speed of the STEP function are 0, and the STEP function adopts a cubic polynomial to approximate a sea plug STEP function.
X in the STEP function is an argument and can be TIME or any function of TIME; x is the number of0The initial value of the STEP function which is an independent variable can be a constant, a functional expression or a design variable; x is the number of1The STEP function end value of the independent variable can be a constant, a function expression or a design variable; h is0The initial value of the STEP function can be a constant, a design variable or other function expressions; h is1The final value of the STEP function may be a constant, a design variable, or other functional expression. The acceleration parameters of the servo motor are described by using the STEP function, so that the gradient of the load acceleration is reduced, and the change of the load is slowed down.
Fig. 2 is a graph of acceleration change during a load movement cycle according to an embodiment of the present invention, and the STEP function is described as follows in conjunction with fig. 2:
STEP(TIME，0，0，A1，B1)+STEP(TIME，A1，0，2*A1，-B1)+STEP(TIME，2*A1+A2，0，3*A1+A2，-B1)+STEP(TIME，3*A1+A2，0，4*A1+A2，B1)
wherein A1 is the minimum time required for the acceleration to reach the maximum value B1 from 0 in the motion period, B1 is the maximum value of the acceleration in the motion period, and A2 is the time period corresponding to the uniform motion segment in the motion period.
35) And solving the required output torque under the current angular acceleration of the servo motor in the multi-body dynamic model according to preset parameters.
By the step S3, after the three-dimensional model is introduced into the multi-body dynamic model, the relations of the friction force between the guide rail and slide block joint surfaces, the density of the material of each part, the mutual fixation, translation, rotation and the like of the parts are set according to the analysis requirement; the parameters are set by the above contents, but not limited to the above contents. The STEP function has the advantage that the change of the acceleration and the change of the direction are not violent at the inflection point of the change of the acceleration, which is beneficial to controlling the motion precision.
In an embodiment of the present disclosure, after step S3, the method further includes:
obtaining a torque curve of the servo motor according to the output torques of the acceleration section, the constant speed section and the deceleration section, and finding out the maximum torque T of the acceleration sectionPTorque T at uniform speedTOT is evenAnd the maximum torque T of the deceleration sectionS；
During the acceleration phase, the servomotor is gradually increased to the set value for the load speed and the friction is overcome, so that during the acceleration phase the torque maximum (motor torque T) is reachedP) Torque T required to overcome frictional forcesfPlus a torque T corresponding to the moment of inertia at acceleration or decelerationJ；
In the constant speed section, the servo motor mainly overcomes the friction force to make the load move at a constant speed, so the torque (motor torque T) in the constant speed sectionTOT is even) Torque T required to overcome frictional forcesf；
In the deceleration section, the servomotor is gradually lowered to the set value of the load speed, and the friction is favorable for speed reduction, so that the torque maximum (motor torque T) in the deceleration sectionS) Torque T corresponding to moment of inertia at acceleration and decelerationJSubtracting the torque T required to overcome the frictionf。
Fig. 3 is a graph illustrating a speed variation according to an embodiment of the present invention, and as shown in fig. 3, a load movement cycle may be divided into 4 segments, including an acceleration segment, a constant speed segment, a deceleration segment and a stationary segment. The torque output by the servo motor (i.e. the torque of the servo motor) can be divided into two parts, wherein the first part is the torque required for overcoming the friction force and exists in an acceleration section, a constant speed section and a deceleration section, and the second part is the torque required for changing the speed and exists in the acceleration section and the deceleration section.
Torque T of servo motorTOTIncluding "torque required to overcome frictional force TfTorque T corresponding to moment of inertia at acceleration and decelerationJ". "required to overcome frictional forceTorque T off"unfavorable for acceleration but favorable for deceleration, TJInvolving a load converted to a torque T of the motorLThe torque T converted from the speed reducer to the motorGTorque T corresponding to rotational inertia of motorM。
Therefore, the output torque of the servo motor in the acceleration motion section is as follows:
TP＝TTOT plus＝Tf+TJ＝Tf+TL+TG+TM；
The output torque of the servo motor at the uniform motion section is as follows:
TTOT is even＝Tf；
The output torque of the servo motor in the deceleration motion section is as follows:
TS＝TTOT reduction＝-Tf+TJ＝-Tf+TL+TG+TM。
In an embodiment of the present disclosure, the step S4 of calculating the effective value of the motor torque according to the required output torque includes:
calculating the effective value of the motor torque according to a formula, wherein the calculation formula is as follows:
wherein T isrmsEffective value of motor torque, taTo accelerate the period of time, tcAt a constant speed period of time, tdFor the deceleration segment time, t is the single cycle time.
When a stationary segment is not included in a single cycle, t is ta+tc+td(ii) a When a single cycle contains a stationary segment, t is ta+tc+td+tzWherein t iszIs a quiescent period of time.
In an embodiment of the present disclosure, in step S5, it is determined whether the effective value of the motor torque meets a preset parameter, and when the effective value of the motor torque is smaller than or equal to a rated torque of the servo motor, the result is met, and the type selection is ended; and when the effective value of the motor torque is larger than the rated torque of the servo motor, if the result is that the effective value of the motor torque is not consistent with the rated torque of the servo motor, the servo motor is selected again.
In an embodiment of the present disclosure, the re-selecting the type of the servo motor may specifically be: a model is selected in which the output torque and moment of inertia are greater than a preselected servo motor. For example, after the previous steps, the output torque and the moment of inertia of the servomotor to be selected need to be compared with the output torque and the moment of inertia of the preselected servomotor respectively in the re-selection process, and when both are greater than the preselected servomotor, it is determined that the servomotor is a new servomotor.
The following takes a certain type of plate laser cutting machine as an example, and introduces the specific process of the type selection method of the servo motor of the plate laser cutting machine:
the control system is assumed to set a maximum value of the idle running acceleration of 30m/s2Preselecting a servo motor according to the motor inertia matching principle, and then actually setting the density of each part, wherein the moment of inertia J ═ Σimiri 2The calculation is related to the mass (density x volume) and the shape and size of the part, so the density value must be accurate, and the shape and size of the part should be in accordance with the reality (volume and r)iBoth associated with shape and size). Importing a model into a multi-body dynamics model (i.e., multi-body dynamics software) the three-dimensional model is stored as a file in x _ t, stp, or other format and then imported by the multi-body dynamics software.
Setting preset parameters, and setting the translational friction coefficient between the guide rail and the sliding block to be 0.2; the gear and the rack of the speed reducer are arranged to rotate, and parameters are arranged between the gear and the rack.
v＝ω×r
Wherein v is a translation velocity, ω is a rotation angular velocity, and r is a pitch circle radius of the gear, which is mainly set in this embodiment, and once the pitch circle radius of the gear is determined, the motion relationship between the gear and the rack can be determined.
The maximum acceleration of the system during idle running is 30m/s2The pitch circle diameter of the X-axis driving gear is 60mm, and the angular acceleration of the gear is 1000rad/s2＝30×1000mm/s260mm × 2. The time required for acceleration to reach a maximum value from 0 in a single period is 0.1s, and the function of the gear angular acceleration simulating one cycle period can be set as:
STEP(TIME，0，0，0.1，1000)+STEP(TIME，0.1，0，0.2，-1000)+STEP(TIME，0.2，0，0.3，-1000)+STEP(TIME，0.3，0，0.4，1000)。
the above formula has no constant-speed motion section to simulate the limit working condition. From the calculation results, the angular acceleration curve is fitted to the most approximate actual value.
In this embodiment, to simplify the analysis difficulty, the servo motor and the speed reducer adopt simplified models, a gear is mounted on an output shaft of the speed reducer, the gear rotates on a shaft, and the gear and the rack are engaged to translate to drive the load to translate. The speed reducer has the functions of reducing speed and improving output torque, and the speed reducer adjusts the output rotating speed and the output torque of the motor to meet the requirements. After calculation, the maximum value of the torque acceleration section of the common output gear of the two side speed reducers is 508345N mm, and the minimum value of the torque deceleration section of the common output gear of the two side speed reducers is-438868N mm. The reduction ratio of the speed reducer is 1: 5, so the torque converted to the motor from one side is as follows: the maximum value is 50.83N · m ═ 508345N · mm ÷ 5 ÷ 2, and the minimum value is-43.88N · m ÷ -438868N · mm ÷ 5 ÷ 2. The difference between the absolute values of the maximum and minimum values is derived from the frictional resistance (before setting the over-friction coefficient between the slider rails).
The rotational inertia of the motor rotor is 62.5kg cm2When the acceleration along the X-axis is 30m/s2When the angular acceleration of the motor rotor is 5000rad/s2Torque of TMComprises the following steps: 31.25N · m ═ 62.5kg · cm2×5000rad/s2. The rated torque of the motor is 18.9 N.m, and the maximum torque is 92.5 N.m.
The rotational inertia of the speed reducer is 6.7kg cm2The angular acceleration of the speed reducer is set to 4630rad/s2Torque of TGComprises the following steps: 6.7kg cm2×4630rad/s2×5＝3.1N·m。
The torque value output by the motor is:
motor torque in the acceleration section: t isP＝TTOT plus＝Tf+TJ＝Tf+TL+TG+TM
＝50.83N·m+3.1N·m+31.25N·m
＝85.18N·m；
Motor torque at the constant speed section: t isTOT is even＝Tf＝(50.83N·m-43.88N·m)÷2
＝3.475N·m；
The motor torque of the speed reduction section is as follows: t isS＝TTOT reduction＝-Tf+TJ＝-Tf+TL+TG+TM
＝43.88N·m+3.1N·m+31.25N·m
＝78.23N·m；
The acceleration section torque 85.18N m is smaller than the maximum motor torque 92.5N m.
According to the effective value of the torque, the formula is
Wherein T isrmsEffective value of motor torque, taTo accelerate the period of time, tcAt a constant speed period of time, tdFor the deceleration segment time, t is the single cycle time.
The calculation was performed with two sets of data, the first set of data being:
acceleration period time ta0.1s, since there is no constant velocity segment, the constant velocity segment time t c0, deceleration period time tdThe calculated effective value of the torque is 0.2 s:
the effective value of the torque is 81.77 N.m, which is far larger than the rated torque of the motor by 18.9 N.m, but smaller than the maximum output torque of the servo motor by 92.5 N.m. In an acceleration experiment, the motor is immediately locked after the motor displaces 400mm, and the calculation result is consistent with the locking.
The second set of data is:
acceleration period time ta0.1s, since there is no constant velocity segment, the constant velocity segment time t c0, deceleration period time td0.1s, rest period tzThe total time t is 10.2s, and the effective value of the calculated torque is as follows:
in the above formula, when the modification stationary period is 10s, the commutation is performed, the effective value of the torque is 11.45 N.m, which is smaller than the rated torque of the motor by 18.9 N.m, the motor is not locked in the acceleration experiment, and the calculated result is consistent with the calculated result.
In summary, according to the model selection method for the servo motor provided by the embodiment of the disclosure, simulation and calculation approval are performed on the model selection of the servo motor by using a digital prototype at the design stage, and whether the servo motor meets the actual working condition is accurately verified, so that not only can waste caused by too large model selection torque of the servo motor be avoided, but also the situation that the acceleration required by the design cannot be reached due to too small model selection torque of the servo motor can be prevented.
Corresponding to the above-mentioned type selection method for the servo motor, fig. 4 is a schematic diagram of a type selection apparatus for the servo motor according to another embodiment of the present disclosure, and referring to fig. 4, the apparatus 400 includes: a preselection module 410, a model build module 420, an import module 430, a calculation module 440, and a decision module 450.
The preselection module 410 is used for preselecting the servo motor according to the preparation parameters; the model construction module 420 is used for constructing a three-dimensional model according to a preselected servo motor; the importing module 430 is configured to import the three-dimensional model into multi-body dynamics software, set preset parameters, and solve an output torque required under a current angular acceleration of the servo motor; the calculating module 440 is used for calculating an effective value of the motor torque according to the required output torque; the judging module 450 is configured to judge whether the effective value of the motor torque meets a preset parameter, and if not, re-type the servo motor, and if so, ending the type selection.
Since the functional modules of the device according to the exemplary embodiment of the present disclosure correspond to the steps of the exemplary embodiment of the method for selecting a type of a servo motor shown in fig. 1, for details that are not disclosed in the embodiment of the device according to the present disclosure, please refer to the embodiment of the method for selecting a type of a servo motor according to the present disclosure.
In summary, the technical effects of the type selection device using the servo motor provided by the embodiment of the present disclosure refer to the technical effects of the above method, and are not described herein again.
Referring now to FIG. 5, shown is a block diagram of a computer system 500 suitable for use in implementing an electronic device of an embodiment of the present invention. The computer system 500 of the electronic device shown in fig. 5 is only an example, and should not bring any limitation to the function and the scope of the use of the embodiments of the present invention.
As shown in fig. 5, the computer system 500 includes a Central Processing Unit (CPU)501 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM)502 or a program loaded from a storage section 508 into a Random Access Memory (RAM) 503. In the RAM 503, various programs and data necessary for system operation are also stored. The CPU 501, ROM 502, and RAM 503 are connected to each other via a bus 504. An input/output (I/O) interface 505 is also connected to bus 504.
The following components are connected to the I/O interface 505: an input portion 506 including a keyboard, a mouse, and the like; an output portion 507 including a display such as a Cathode Ray Tube (CRT), a Liquid Crystal Display (LCD), and the like, and a speaker; a storage portion 508 including a hard disk and the like; and a communication section 509 including a network interface card such as a LAN card, a modem, or the like. The communication section 509 performs communication processing via a network such as the internet. The driver 510 is also connected to the I/O interface 505 as necessary. A removable medium 511 such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, or the like is mounted on the drive 510 as necessary, so that a computer program read out therefrom is mounted into the storage section 508 as necessary.
In particular, according to an embodiment of the present invention, the processes described above with reference to the flowcharts may be implemented as computer software programs. For example, embodiments of the invention include a computer program product comprising a computer program embodied on a computer-readable medium, the computer program comprising program code for performing the method illustrated in the flow chart. In such an embodiment, the computer program may be downloaded and installed from a network through the communication section 509, and/or installed from the removable medium 511. The computer program executes the above-described functions defined in the system of the present application when executed by the Central Processing Unit (CPU) 701.
It should be noted that the computer readable medium shown in the present invention can be a computer readable signal medium or a computer readable storage medium or any combination of the two. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples of the computer readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the present invention, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present invention, however, a computer readable signal medium may include a propagated data signal with computer readable program code embodied therein, for example, in baseband or as part of a carrier wave. Such a propagated data signal may take many forms, including, but not limited to, electro-magnetic, optical, or any suitable combination thereof. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
The flowchart and block diagrams in the figures illustrate the architecture, functionality, and operation of possible implementations of systems, methods and computer program products according to various embodiments of the present invention. In this regard, each block in the flowchart or block diagrams may represent a module, segment, or portion of code, which comprises one or more executable instructions for implementing the specified logical function(s). It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown in succession may, in fact, be executed substantially concurrently, or the blocks may sometimes be executed in the reverse order, depending upon the functionality involved. It will also be noted that each block of the block diagrams or flowchart illustration, and combinations of blocks in the block diagrams or flowchart illustration, can be implemented by special purpose hardware-based systems which perform the specified functions or acts, or combinations of special purpose hardware and computer instructions.
The units described in the embodiments of the present invention may be implemented by software, or may be implemented by hardware, and the described units may also be disposed in a processor. Wherein the names of the elements do not in some way constitute a limitation on the elements themselves.
As another aspect, the present application also provides a computer-readable medium, which may be contained in the electronic device described in the above embodiments; or may exist separately without being assembled into the electronic device. The computer readable medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device is enabled to implement the online platform data transmission method in the embodiment.
For example, the electronic device may implement the following as shown in fig. 1: step S1: preselecting a servo motor according to preparation parameters; step S2: constructing a three-dimensional model according to a preselected servo motor; step S3: importing the three-dimensional model into multi-body dynamics software, setting preset parameters, and solving the output torque required under the current angular acceleration of the servo motor; step S4: calculating the effective value of the motor torque according to the required output torque; step S5: and judging whether the effective value of the motor torque accords with a preset parameter, if not, re-selecting the type of the servo motor, and if so, ending the type selection.
It should be noted that although in the above detailed description several modules or units of the device for action execution are mentioned, such a division is not mandatory. Indeed, the features and functionality of two or more modules or units described above may be embodied in one module or unit, according to embodiments of the present disclosure. Conversely, the features and functions of one module or unit described above may be further divided into embodiments by a plurality of modules or units.
Through the above description of the embodiments, those skilled in the art will readily understand that the exemplary embodiments described herein may be implemented by software, or by software in combination with necessary hardware. Therefore, the technical solution according to the embodiments of the present disclosure may be embodied in the form of a software product, which may be stored in a non-volatile storage medium (which may be a CD-ROM, a usb disk, a removable hard disk, etc.) or on a network, and includes several instructions to enable a computing device (which may be a personal computer, a server, a touch terminal, or a network device, etc.) to execute the method according to the embodiments of the present disclosure.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure disclosed herein. This application is intended to cover any variations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It will be understood that the present disclosure is not limited to the precise arrangements described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (10)
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