| With the introduction of Industry 4.0,the automation product line has higher and higher control requirements for the servo system.Modern AC servo drive systems are also becoming faster,more intelligent,and more integrated.Designing a safe,reliable,and superior performance AC servo system often requires long-term reliability verification and detailed performance evaluation.Therefore,it is especially necessary to develop a servo performance test platform with good versatility,high precision,good real-time performance and high reliability.The paper introduces the experimental platform of AC permanent magnet synchronous servo system.The test platform uses two servo drives and matching motors to realize the loading and unloading of the servo system by means of dragging.This method is easy to set up and disassemble,and has good versatility.It can simulate the static performance of the AC servo system and can also observe the dynamic AC servo system operation.The high-precision torque speed sensor is used to detect the connecting system of the tow system.Torque and speed signals.In order to facilitate the online control of the servo drive and the acquisition of the speed torque signal,this paper designs a data acquisition and logic control card based on the EtherCAT slave.The solution uses the LAN9252 chip produced by Microchip as the EtherCAT slave communication chip,the STM32F407V6 chip produced by ST to realize the peripheral function expansion;the hardware schematic drawing and PCB drawing of the EtherCAT slave acquisition and control card are realized by ORCAD software.And realize the pulse detection,analog sampling function and reserve various communication interfaces,such as RS485,RS232,CAN bus,USB function,to facilitate the subsequent communication protocol conversion and expansion.The Beckhoff company's TwinCAT3.1 software was used as the host computer for servo performance testing.The interface of the AC servo performance test platform was designed by using the TwinCAT_HMI module.The control logic and data acquisition method were written by the TwinCAT_PLC module,and the real-time dynamic curve was monitored by the TwinCAT_Scope virtual oscilloscope.The performance index test in three modes of synchronous position control mode CSP,synchronous speed control mode CSV and synchronous torque control mode CST is realized by ST language programming using TwinCAT3.1 software.The stability of position error tracking,static stiffness,speed fluctuations under different loads and speeds,and torque fluctuations at different torques and speeds are studied.The experimental results show that the performance test platform of permanent magnet synchronous AC servo system based on EtherCAT bus has good convenience,good real-time performance and stable test results.The test platform realizes real-time data update of 1ms position,speed and torque.In this paper,the demonstration experiment of performance test is realized in position mode,speed mode and torque mode,and the experimental data and test curve are analyzed in detail,which verifies the feasibility of the test platform proposed in this paper. |
