CN110554677B - Processing method, device and system for monitoring data of servo motor and storage medium - Google Patents
Processing method, device and system for monitoring data of servo motor and storage medium Download PDFInfo
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- CN110554677B CN110554677B CN201810555510.3A CN201810555510A CN110554677B CN 110554677 B CN110554677 B CN 110554677B CN 201810555510 A CN201810555510 A CN 201810555510A CN 110554677 B CN110554677 B CN 110554677B
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B23/00—Testing or monitoring of control systems or parts thereof
- G05B23/02—Electric testing or monitoring
- G05B23/0205—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults
- G05B23/0208—Electric testing or monitoring by means of a monitoring system capable of detecting and responding to faults characterized by the configuration of the monitoring system
- G05B23/0213—Modular or universal configuration of the monitoring system, e.g. monitoring system having modules that may be combined to build monitoring program; monitoring system that can be applied to legacy systems; adaptable monitoring system; using different communication protocols
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24065—Real time diagnostics
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Abstract
The embodiment of the invention discloses a method, a device and a system for processing monitoring data of a servo motor and a storage medium, wherein the method comprises the following steps: acquiring running state data of a servo motor, wherein the running state data is analog quantity; converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity; modulating the monitoring data information into a carrier wave and loading the carrier wave on a brake line, wherein two ends of the brake line are respectively connected with the servo motor and the driver; and sending the monitoring data information to the driver through the brake line so that the driver receives the monitoring data information and then detects the monitoring data information. By the method, the technical problem that the system cost is increased because the monitoring data of the traditional servo motor needs to be transmitted by a wire or a communication module is solved.
Description
Technical Field
The invention relates to the field of servo systems, in particular to a method, a device and a system for processing monitoring data of a servo motor and a storage medium.
Background
A servo system (also called a servo system) is a feedback control system for accurately following or reproducing a process. The servo system enables the output physical quantity of the position, the direction, the state and the like of the object to be arbitrarily changed along with the input target (or the set value). The main task of the device is to amplify power and convert and regulate the control command according to the requirement of the control command, so that the control of the torque, the speed and the position output by the driving device is very flexible.
In many cases, a servo system refers to a feedback control system in which a controlled variable (an output quantity of the system) is a mechanical displacement or a displacement speed or an acceleration, and the function of the feedback control system is to make an output mechanical displacement (or a rotation angle) accurately track an input displacement (or a rotation angle). The structural composition of the servo system is not fundamentally different from other forms of feedback control systems. The servo system is widely applied to the fields of national defense and military industry, automatic machine tools, wireless tracking control and the like.
Disclosure of Invention
The invention provides a method, a device and a system for processing servo motor monitoring data and a storage medium, which are used for solving the technical problem that the system cost is increased because the monitoring data of the traditional servo motor needs to be transmitted by a wired or communication module.
The embodiment provides a processing method of monitoring data of a servo motor, which comprises the following steps:
acquiring running state data of a servo motor, wherein the running state data is analog quantity;
converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity;
modulating the monitoring data information into a carrier wave and loading the carrier wave on a brake line, wherein two ends of the brake line are respectively connected with the servo motor and the driver;
and sending the monitoring data information to the driver through the brake line so that the driver receives the monitoring data information and then detects the monitoring data information.
Therefore, in the step, the monitoring data information is modulated and then the carrier wave is carried out on the brake line, and a signal transmission line of the monitoring data information can be omitted in the carrier wave process. Meanwhile, the servo system does not need to be additionally provided with communication modules like WIFI, Bluetooth and the like, and the manufacturing cost is greatly reduced.
In another optional embodiment, the converting the operation state data into the monitoring data information includes:
filtering the operating state data;
extracting monitoring data from the filtered running state data, wherein the monitoring data are analog quantities;
and converting the monitoring data into the monitoring data information.
In this embodiment, the interference signal in the monitoring data information is first eliminated, and a precondition is provided for the subsequent data extraction and digital-to-analog conversion. After filtering, specific data such as the temperature, the rotating speed, the current, the voltage and the like of the servo motor can be extracted from the running state data, the data is the monitoring data, and the monitoring data is still analog quantity at the moment. And finally, converting the monitoring data information into digital quantity, namely the monitoring data information, by adopting a digital-to-analog conversion mode.
In another optional embodiment, after converting the monitoring data into the monitoring data information, the method further comprises:
receiving a demand instruction of the driver for the monitoring data information;
classifying the monitoring data information according to different data types according to the demand instruction;
and modulating the carrier wave of the monitoring data information according to the classified monitoring data information and a communication protocol and then loading the carrier wave on a brake line.
In this embodiment, an information interaction manner between the driver and the servo motor is mainly described, and the digitized monitoring data information is further classified. Finally, the data of the monitoring data information is still very messy and numerous. The brake cable can be loaded on the brake cable after being packaged according to a communication protocol.
In another alternative embodiment, the method further comprises:
receiving monitoring data information sent by a brake line on a driver side, wherein two ends of the brake line are respectively connected with the servo motor and the driver;
demodulating the monitoring data information received via the brake line;
generating a corresponding control instruction according to the demodulated monitoring data information;
and controlling the driver to adjust the control strategy of the servo motor according to the control command.
In this embodiment, the data interaction process on the drive side is mainly explained in this step. And demodulating the monitoring data information transmitted by the brake line. And finally, the driver detects the state of the servo motor according to the monitoring data information. In actual detection, when the servo motor is found to be in fault, a fault alarm and a fault code are given. The fault alarm and the fault code are information which needs to be acquired by the driver and are used as a basis for generating the control command. Finally, in this step, the control command adjusts the servo motor through the driver.
In another optional embodiment, the generating a corresponding control instruction according to the demodulated monitoring data information includes:
analyzing the demodulated monitoring data information through a communication protocol;
the analyzed monitoring data information is detected according to different data types to generate a detection result;
and generating a corresponding control instruction according to the detection result.
In the present embodiment, the monitoring data information is first analyzed, and detection is performed based on the specific monitoring data information to generate a detection result. And when the detection result is obtained, generating the control instruction according to the result.
In another optional embodiment, before the step of receiving, at the driver side, the monitoring data information sent via the braking line, the method further comprises:
generating a demand instruction according to the preset;
and sending the demand instruction to the servo motor so that the servo motor sends the classified monitoring data information to the driver according to the demand instruction after receiving the demand instruction.
In this embodiment, the driver may obtain some of the monitoring data information according to the preset setting. The monitoring data information that the driver needs to obtain forms the demand instruction. And sending the classified monitoring data information to the driver according to the demand instruction.
The application also provides an intelligent device based on the servo motor monitoring data processing method, which comprises the following steps:
the acquisition module is used for acquiring the running state data of the servo motor, wherein the running state data is analog quantity;
the conditioning module is used for converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity;
the carrier modulation module is used for modulating the monitoring data information into a carrier and loading the carrier on a brake line, wherein two ends of the brake line are respectively connected with the servo motor and the driver;
and the first sending module is used for sending the monitoring data information to the driver through the brake line so that the driver can detect after receiving the monitoring data information.
Therefore, in the step, the monitoring data information is modulated and then the carrier wave is carried out on the brake line, and a signal transmission line of the monitoring data information can be omitted in the carrier wave process. Meanwhile, the servo system does not need to be additionally provided with communication modules like WIFI, Bluetooth and the like, and the manufacturing cost is greatly reduced.
In another optional embodiment, the conditioning module further comprises:
the filtering module is used for filtering the running state data;
the extraction module is used for extracting monitoring data from the filtered running state data, wherein the monitoring data are analog quantities;
and the digital-to-analog conversion module is used for converting the monitoring data into the monitoring data information.
In this embodiment, the interference signal in the monitoring data information is first eliminated, and a precondition is provided for the subsequent data extraction and digital-to-analog conversion. After filtering, specific data such as the temperature, the rotating speed, the current, the voltage and the like of the servo motor can be extracted from the running state data, the data is the monitoring data, and the monitoring data is still analog quantity at the moment. And finally, converting the monitoring data information into digital quantity, namely the monitoring data information, by adopting a digital-to-analog conversion mode.
In another alternative embodiment, the apparatus further comprises:
the first receiving module is used for receiving a demand instruction of the driver for the monitoring data information;
the data processing module is used for classifying the monitoring data information according to different data types according to the demand instruction;
the first sending module is further configured to modulate the carrier wave with the monitoring data information according to the classified monitoring data information and a communication protocol, and then load the modulated carrier wave on a brake line.
In this embodiment, an information interaction manner between the driver and the servo motor is mainly described, and the digitized monitoring data information is further classified. Finally, the data of the monitoring data information is still very messy and numerous. The brake cable can be loaded on the brake cable after being packaged according to a communication protocol.
In another alternative embodiment, the apparatus further comprises:
the second receiving module is used for receiving monitoring data information sent by a brake line on the driver side, wherein two ends of the brake line are respectively connected with the servo motor and the driver;
the carrier demodulation module is used for demodulating the monitoring data information received by the brake wire;
the generating module is used for generating a corresponding control instruction according to the demodulated monitoring data information;
and the adjusting module is used for controlling the driver to adjust the control strategy of the servo motor according to the control instruction.
In this embodiment, the data interaction process on the drive side is mainly explained in this step. And demodulating the monitoring data information transmitted by the brake line. And finally, the driver detects the state of the servo motor according to the monitoring data information. In actual detection, when the servo motor is found to be in fault, a fault alarm and a fault code are given. The fault alarm and the fault code are information which needs to be acquired by the driver and are used as a basis for generating the control command. Finally, in this step, the control command adjusts the servo motor through the driver.
In another alternative embodiment, the apparatus further comprises:
the processing module is used for analyzing the demodulated monitoring data information through a communication protocol;
the generation module is further used for detecting the analyzed monitoring data information according to different data types to generate a detection result; and generating a corresponding control instruction according to the detection result.
In the present embodiment, the monitoring data information is first analyzed, and detection is performed based on the specific monitoring data information to generate a detection result. And when the detection result is obtained, generating the control instruction according to the result.
In another alternative embodiment, the apparatus further comprises:
the generating module is also used for generating a demand instruction according to the preset;
and the second sending module is further used for sending the demand instruction to the servo motor so that the servo motor sends the classified monitoring data information to the driver according to the demand instruction after receiving the demand instruction.
In this embodiment, the driver may obtain some of the monitoring data information according to the preset setting. The monitoring data information that the driver needs to obtain forms the demand instruction. And sending the classified monitoring data information to the driver according to the demand instruction.
In another optional embodiment, this embodiment further provides a processing system of servo motor monitoring data, including: at least one servo motor, a driver and a brake wire;
two ends of the brake wire are respectively connected with the servo motor and the driver;
the servo motor is further provided with: a first module;
the first module is used for acquiring running state data of the servo motor, wherein the running state data is analog quantity, and the running state data is converted into monitoring data information, and the monitoring data information is digital quantity; modulating the monitoring data information carrier and loading the modulated monitoring data information carrier on a brake line of the servo motor, wherein two ends of the brake line are respectively connected with the servo motor and the driver; sending the monitoring data to the driver through the brake line;
the driver is further provided with: a second module;
the second module is used for receiving the monitoring data information sent by a brake line; demodulating the monitoring data information received via the brake line; generating a corresponding control instruction according to the demodulated monitoring data information; and controlling the driver to adjust the control strategy of the servo motor according to the control command.
Therefore, in the step, the monitoring data information is modulated and then the carrier wave is carried out on the brake line, and a signal transmission line of the monitoring data information can be omitted in the carrier wave process. Meanwhile, the servo system does not need to be additionally provided with communication modules like WIFI, Bluetooth and the like, and the manufacturing cost is greatly reduced.
In another embodiment, the control host includes: the intelligent device based on the servo motor monitoring data processing method as described in any one of the above.
The application also provides an intelligent device based on the servo motor monitoring data processing method, and the device comprises: a processor and a memory;
the memory stores an application program executable by the processor, and the application program is used for enabling the processor to execute the processing method steps of the servo motor monitoring data.
Therefore, the embodiment of the invention also realizes an intelligent device based on the servo motor monitoring data processing method based on the processor and the memory architecture, and the processor can execute the steps of any one of the servo motor monitoring data processing methods.
The present application further provides a computer readable storage medium for executing the steps of the method for processing servo motor monitoring data as described in any one of the above.
Therefore, the embodiment of the invention also realizes a computer readable storage medium, and computer readable instructions stored in the computer readable storage medium can execute the steps of the processing method of the monitoring data of the servo motor.
Drawings
The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:
fig. 1 is an exemplary flowchart of a processing method of servo motor monitoring data according to an embodiment of the present invention.
Fig. 2 is an exemplary flowchart of a processing method of servo motor monitoring data according to another embodiment of the present invention.
Fig. 3 is an exemplary configuration diagram of a processing device for servo motor monitoring data according to an embodiment of the present invention.
Fig. 4 is an exemplary block diagram of a processing device for servo motor monitoring data according to another embodiment of the present invention.
FIG. 5 is an exemplary block diagram illustrating the processing system of the servo motor monitoring data according to an embodiment of the present invention.
Fig. 6 is an exemplary block diagram of a processing device for servo motor monitoring data according to another embodiment of the present invention.
Wherein the reference numbers are as follows:
Detailed Description
The applicant found that in the prior art, the servo motor 701 in the ac servo system is an execution unit of the system, and the operating state of the servo motor 701 determines the performance of the whole system. In general, the servo system should require real-time monitoring of important parameters such as the operating temperature, current and voltage, and vibration and rotational speed of the servo motor 701. However, the servo system of the prior art generally controls the servo motor 701 through a driver 702, and the servo motor 701 and the driver 702 are connected through a driving wire, a transmission wire for coding signals, and a braking wire 703 of the servo motor 701. Therefore, there is no additional channel in the servo system to transmit the monitoring data of the servo motor 701. Since the driver 702 cannot receive real-time monitoring data, the driver 702 cannot adjust the servo motor 701 according to the detection result of the monitoring data by the monitoring data. Therefore, in the prior art, in order to enable the servo system to have the functions of real-time monitoring and corresponding adjustment, an acquisition module 704 (the acquisition module 704 generally refers to sensors of temperature, current, voltage, acceleration, etc.) is generally installed on one side of the servo motor 701 for acquiring various monitoring data of the servo motor 701, and the monitoring data is processed in a processor 717 arranged on the servo motor 701 and then transmitted to a PC end or a mobile end in a wired or wireless manner. And then, special software on the PC terminal or the mobile terminal detects the monitoring data to generate a detection result, and a corresponding response is made according to the detection result. However, no matter the wired or wireless method is adopted for signal transmission, the matched communication module is added correspondingly, and no matter the wired or wireless method is adopted for signal transmission, the cost is increased. In order to solve the above problem, the present application provides a method for processing monitoring data of the servo motor 701, and first, real-time operation state data (such as current, voltage, rotation speed, temperature, and the like) of the servo motor 701 is acquired. Since the operation state data collected by the collection module 704 is an analog quantity, the operation state data needs to be converted into a digital quantity, i.e., monitoring data information. After the servo motor 701 and the driver 702 are connected by the brake line 703, carrier transmission is performed on the brake line 703 to transmit real-time monitoring data information of the servo motor 701 to the driver 702, so that the driver 702 detects the real-time monitoring data information. By adopting the processing method, the signal transmission can be carried out under the condition that other communication modules and signal transmission lines are not added (actually, the signal transmission lines are simplified through carriers), and the cost of the prior art is greatly reduced.
In order to make the technical scheme and advantages of the present invention more apparent, the present invention is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the detailed description and specific examples, while indicating the scope of the invention, are intended for purposes of illustration only and are not intended to limit the scope of the invention.
For simplicity and clarity of description, the invention will be described below by describing several representative embodiments. Numerous details of the embodiments are set forth to provide an understanding of the principles of the invention. It will be apparent, however, that the invention may be practiced without these specific details. Some embodiments are not described in detail, but rather are merely provided as frameworks, in order to avoid unnecessarily obscuring aspects of the invention. Hereinafter, "including" means "including but not limited to", "according to … …" means "at least according to … …, but not limited to … … only". In view of the language convention of chinese, the following description, when it does not specifically state the number of a component, means that the component may be one or more, or may be understood as at least one.
Fig. 1 is an exemplary flowchart of a processing method of monitoring data of a servo motor 701 according to an embodiment of the present invention. As shown in fig. 1, in an alternative embodiment, the present application provides a method for processing monitoring data of a servo motor 701, including:
In this step, data is collected on the temperature, current, voltage, even acceleration and vibration conditions of the servo motor 701, and the collected data is the motion state data. The motion state data is a physical analog quantity collected by a sensor (such as a temperature sensor, a current sensor, an accelerometer, and the like).
And 104, converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity.
In this step, the main purpose is to convert the collected operating state data into digital quantities. Since the subsequent carrier operation can be performed only by converting the operation state data into digital quantity (i.e. the monitoring data information). In addition, the monitoring data information and the operation state data are the same content, and only digital-to-analog conversion is carried out.
In this step, the monitoring data information is modulated and then a carrier is carried on the brake line 703, and a signal transmission line of the monitoring data information can be omitted in the carrier process. Meanwhile, the servo system does not need to be additionally provided with communication modules like WIFI, Bluetooth and the like, and the manufacturing cost is greatly reduced. In addition, the present embodiment is different from the prior art in the technical architecture, specifically, the prior art transmits the monitoring data information to the PC or the mobile terminal in a wired or wireless manner. However, in the present application, data is transmitted to the driver 702, which means that the conventional technology cannot adopt a carrier technology, because neither the PC terminal nor the mobile terminal can receive a carrier signal by using the method of the present application, specifically, the conventional PC terminal or the mobile terminal adopts signal transmission without power transmission with the servo motor 701, and only when the power transmission and the signal transmission exist at the same time, the carrier technology is based on.
In this step, the monitoring data of the servo motor 701 is transmitted to the driver 702 by the brake line 703, and the driver 702 receives and processes the monitoring data information. Since the main body of processing the monitoring data information is converted into the driver 702 by a conventional PC side or a mobile side, the inside of the driver 702 can be directly copied to the processing program. The problem that the PC end or the mobile end uses special software is solved, because the special software needs special operators to operate on one hand, and on the other hand, the development cost of the human-computer interaction function of the special software is high. The technical architecture of the application can save operators and is actively controlled by a program. The training of operators is omitted, the development of human-computer interaction functions is omitted, and the manufacturing cost is reduced.
In another optional embodiment, the converting the operation state data into the monitoring data information includes:
step 202, filtering the operation state data.
In this step, the present application is different from the conventional digital-to-analog conversion (the digital-to-analog conversion refers to converting an analog quantity and a digital quantity). Since the monitoring data information is transmitted in the form of a carrier wave. And before the transmission of the monitoring data information, filtering the monitoring data information, eliminating interference signals in the monitoring data information, and providing a precondition for the subsequent data extraction and digital-to-analog conversion.
And 204, extracting monitoring data from the filtered running state data, wherein the monitoring data is analog quantity.
In this step, the monitoring data is extracted from the operation state data acquired after filtering, and because there is much interference in the operation state data, filtering the operation state data can greatly shield the interference signals doped in the operation state data. After filtering, specific data such as the temperature, the rotating speed, the current, the voltage and the like of the servo motor 701 can be extracted from the running state data, the data is the monitoring data, and the monitoring data is still analog quantity at the moment.
Step 206, converting the monitoring data into the monitoring data information.
Finally, the monitoring data information is converted into digital quantity by means of digital-to-analog conversion, because only after the conversion of the digital quantity is completed can the monitoring data information be further transmitted to the driver 702 in the form of carrier wave. It should be noted that, in the technical framework of the present application, it is actually a closed technical environment, and the information transmission only occurs between the driver 702 and the servo motor 701, and the driver 702 and the servo motor 701 are connected by a wire (i.e. the brake wire 703), so that the safety of the system can be guaranteed to the greatest extent. However, under the conventional technical system, data is first transmitted to the PC side or the mobile side. The PC side or the mobile side may receive other data in many cases, so insecurity in the servo system may be caused (because the PC side and the mobile side are development environments). In addition, the brake line 703 is a hardware connection line which is necessary in the prior art, so that additional hardware cost is not increased, and a signal transmission line between the driver 702 and the servo motor 701 is eliminated through a carrier wave (signal transmission) of the brake line 703, and the cost is saved.
In another optional embodiment, after converting the monitoring data into the monitoring data information, the method further comprises:
step 302, receiving a demand instruction of the driver 702 for the monitoring data information;
in this step, the information interaction between the driver 702 and the servo motor 701 is mainly explained. Specifically, the driver 702 first sends a demand command, because the driver 702 is the active control end and the servo motor 701 is the controlled end under normal conditions. The specific role of the demand instruction is to determine the type of monitoring data information that is specifically needed, because in practical applications, technical data such as the rotation speed, temperature, current, and voltage of the servo motor 701 may be acquired, but under specific working conditions, the driver 702 may actually need to transmit only two technical parameters, i.e., the rotation speed and the temperature. The driver 702 is required to first send one of the demand instructions.
And step 304, classifying the monitoring data information according to different data types according to the demand instruction.
In this step, the digitized monitoring data information is further classified. Such as sorting the information of the rotation speed, temperature, current and voltage in the monitoring data information. So as to further process different monitoring data information later. As described in step 302, the collected data is not equivalent to the information that the drive 702 actually needs to process. In short, the servo motor 701 generally does not transmit all the monitoring data information, because the technical solution of the present application generally employs a real-time transmission manner, if all the monitoring data information is transmitted simultaneously in real time, the information amount is too large, and this manner can reduce the pressure of data transmission and make the control of the servo motor 701 by the driver 702 more targeted.
And step 306, modulating the monitoring data information according to the classified monitoring data information and a communication protocol, and then loading the monitoring data information on a brake line.
In this step, the data of the monitoring data information is still very messy and numerous. It needs to be packed according to the communication protocol before it can be sent to the driver 702. Communication protocols and packaging are conventional in the art and will not be described in detail herein.
Fig. 2 is an exemplary flowchart of a processing method of monitoring data of the servo motor 701 according to another embodiment of the present invention. As shown in fig. 2, in another alternative embodiment, the present application further provides another processing method for monitoring data of a servo motor 701, where the method includes:
The data interaction process on the driver 702 side is mainly set forth in this step. Specifically, the driver 702 first receives the monitoring data information transmitted through the brake line 703. The monitoring data information is a digital quantity transmitted by a carrier technology.
In this step, the monitoring data information transmitted from the brake line 703 is demodulated. And the demodulated monitoring data information becomes information data which can be identified. In the present application, since the carrier data received by the driver 702 is a modulated packet, the demodulation process is performed first.
And 406, generating a corresponding control instruction according to the demodulated monitoring data information.
In this step, the driver 702 detects the state of the servo motor 701 based on the monitoring data information. In actual detection, when a failure of the servo motor 701 is found, a failure alarm and a failure code are given. The fault alarm and fault code are the information that the driver 702 needs to obtain as the basis for generating the control instructions.
And step 408, controlling the driver 702 to adjust the control strategy of the servo motor 701 according to the control command.
In this step, the control command adjusts the servo motor 701 through the driver 702, specifically, the control strategy of the driver 702 for the servo motor 701 is changed. The control strategy specifically means that the driver 702 can change the rotation speed, current or voltage, etc. of the servo motor 701, so that the servo motor 701 generates changes in working parameters, and the monitoring data information is corrected.
In an optional implementation manner, the generating a corresponding control instruction according to the demodulated monitoring data information includes:
and 502, analyzing the demodulated monitoring data information through a communication protocol.
In this step, the monitoring data information is first analyzed, so that the modulated monitoring data information is converted into content recognizable by the driver 702 according to the communication protocol.
And 504, detecting the analyzed monitoring data information according to different data types to generate a detection result.
In this step, the monitoring data information may be analytically determined as specific monitoring data information according to different data types thereof, such as current, voltage or rotation speed of the servo motor 701, temperature, and the like. And detecting according to the specific monitoring data information and generating a detection result.
And step 506, generating a corresponding control instruction according to the detection result.
In this step, the control command is generated according to the result after the detection result is obtained. The driver 702 is preset with the control command for the servo motor 701 in different states. The control commands regulate the driver 702 to control the temperature, speed, and other motion of the servo motor 701.
In an optional embodiment, the receiving the monitoring data information sent by the braking line 703, wherein before the step of receiving the monitoring data information sent by the braking line on the driver side, the method further comprises:
step 602, generating a demand instruction according to the preset.
Under actual conditions, the driver 702 generally does not acquire all the acquisition states of the servo motor 701, and the specific reasons have been described above and are not described herein again. Then some of the monitored data information is obtained as a function of the preset as a driver 702. The monitoring data information that the driver 702 needs to obtain forms the demand instruction.
In step 604, the driver 702 sends the demand instruction to the servo motor 701, so that after receiving the demand instruction, the servo motor 701 sends the classified monitoring data information to the driver 702 according to the demand instruction.
In this step, after the servo motor 701 receives the demand instruction, the servo motor 701 may determine that the monitoring data information needs to be sent, so as to accept or reject the collected operation state data, and provide a basis and a foundation for the subsequent classification step.
Basic principle and working process:
first, the operating state data of the servo motor 701 (the operating state data generally refers to the temperature, current, voltage, and rotation speed of the servo motor 701) is collected. The operation state data just collected is an analog parameter and can not be directly used for modulating a carrier wave, so the operation state data needs further digital-to-analog conversion. The monitoring data information is obtained after the operation state data are converted, and the operation state data are filtered before conversion. And shielding the interference signals in the operation state data, wherein the shielding of the interference signals also provides a basis for the subsequent modulation carrier transmission. At the moment, the monitoring data information is converted into digital quantity, and before the carrier wave is modulated, the monitoring data information is classified according to different data types. Because the collected signals are very complicated, all the monitoring data information does not need to be transmitted in real time in the actual process. The driver 702 will send a demand command according to the preset setting, so that the servo motor 701 obtains the information of the monitoring data after obtaining the information of the monitoring data. And modulating a carrier wave to the monitoring data information, transmitting a signal through a brake line 703 connected between the servo motor 701 and the driver 702, and detecting the monitoring data information after the driver 702 receives the monitoring data information.
The differences between the present application and the prior art will be clear from the above brief description of the processing method of the present application. First, data in the conventional prior art is conventionally performed by a wired or wireless communication module, so that the manufacturing cost of the servo system is high. In addition, as will be readily appreciated from the above description of the prior art, after the data of the servo motor 701 is transmitted to the PC or the mobile terminal, specialized software and related personnel are required for processing the monitoring data. That is to say, after the monitoring data is obtained, a person is required to perform processing, so the conventional servo system is a non-automatic monitoring mode and response mechanism, and the monitoring data received by the servo system is very complicated and too complex for general operators, and there is a problem of safety in the signal transmission process.
The method for processing the data of the monitoring number of the servo motor 701 according to the embodiment of the present invention is described in detail above, and a method for processing the monitoring data of the servo motor 701 to which the above method is applied is described in detail below.
Fig. 3 is an exemplary configuration diagram of a processing device for monitoring data by the servo motor 701 according to the embodiment of the present invention. As shown in fig. 3, the present application provides an intelligent device based on a monitoring data processing method of a servo motor 701, including: an acquisition module 704, a conditioning module 705, a carrier modulation module 706, and a first transmit module 707.
The acquisition module 704 is configured to acquire operating state data of the servo motor 701, where the operating state data is an analog quantity.
The conditioning module 705 is configured to convert the operating state data into monitoring data information, where the monitoring data information is a digital quantity.
The carrier modulation module 706 is configured to modulate the monitoring data information with a carrier and load the modulated monitoring data information on a brake line 703, where two ends of the brake line 703 are respectively connected to the servo motor 701 and the driver 702.
The first sending module 707 is configured to send the monitoring data information to the driver 702 through the braking line 703, so that the driver 702 receives the monitoring data information and then performs detection.
In another optional embodiment, the conditioning module 705 further includes a filtering module 708 and an extracting module 709, and a digital-to-analog converting module 710.
The filtering module 708 is configured to filter the operation status data.
The extracting module 709 is configured to extract monitoring data from the filtered operating state data, where the monitoring data is an analog quantity.
The digital-to-analog conversion module 710 is configured to convert the monitoring data into the monitoring data information.
In another alternative embodiment, the apparatus further comprises: a first receiving module and a data processing module;
the first receiving module is used for receiving a demand instruction of the driver 702 for the monitoring data information.
And the data processing module is used for classifying the monitoring data information according to different data types according to the demand instruction.
The first sending module 707 is further configured to modulate a carrier wave of the monitoring data information according to the classified monitoring data information and a communication protocol, and then load the carrier wave onto a brake line.
Fig. 4 is an exemplary configuration diagram of a processing device for monitoring data by the servo motor 701 according to another embodiment of the present invention. As shown in fig. 4, the present application further provides another intelligent device based on a monitoring data processing method of a servo motor 701, including: a second receiving module 711, a carrier demodulation module 712 and a generation module 713, and an adjustment module.
The second receiving module 711 is configured to receive, on the driver side, monitoring data information sent via a brake line 703, where two ends of the brake line 703 are respectively connected to the servo motor 701 and the driver 702.
The carrier demodulation module 712 is configured to demodulate the monitoring data information received via the brake line 703;
the generating module 713 is configured to generate a corresponding control instruction according to the demodulated monitoring data information;
the adjusting module is configured to control the driver 702 to adjust the control strategy for the servo motor 701 according to the control instruction.
In another alternative embodiment, the apparatus further comprises: a processing module;
and the processing module is used for analyzing the demodulated monitoring data information through a communication protocol.
The generating module 713 is further configured to detect the analyzed monitoring data information according to different data types to generate a detection result; and generating a corresponding control instruction according to the detection result.
In another alternative embodiment, the apparatus further comprises: a second sending module;
the generating module 713 is further configured to generate a demand instruction according to a preset setting.
The second sending module is further configured to send the demand instruction to the servo motor 701, so that after the servo motor 701 receives the demand instruction, the classified monitoring data information is sent to the driver 702 according to the demand instruction.
Those skilled in the art will appreciate that the modules in the devices in the above examples can be distributed in the devices according to the description of the embodiments, and can be correspondingly changed in one or more devices different from the embodiments. The modules of the above embodiments may be combined into one module, or further split into multiple sub-modules.
It should be noted that not all steps and modules in the above flows and structures are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., special purpose processor 717 such as an FPGA or ASIC) for performing specific operations. Hardware modules may also include programmable logic devices or circuits temporarily configured by software (e.g., including a general purpose processor 717 or other programmable processor 717) for performing certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.
Fig. 5 is an exemplary block diagram illustrating a processing system for monitoring data by the servo motor 701 according to an embodiment of the present invention.
As shown in fig. 5, the present application further provides a system for processing monitoring data of a servo motor 701, including: the brake system comprises at least one servo motor 701, a driver 702 and a brake wire 703, wherein two ends of the brake wire 703 are respectively connected with the servo motor 701 and the driver 702;
the servo motor 701 is further provided with: a first module 715;
the servo motor control system comprises a first module 715, a second module and a third module, wherein the first module 715 is used for acquiring running state data of the servo motor 701, the running state data is analog quantity, and the running state data is converted into monitoring data information, and the monitoring data information is digital quantity; modulating the monitoring data information carrier and loading the modulated monitoring data information carrier on a brake wire 703 of the servo motor 701, wherein two ends of the brake wire 703 are respectively connected with the servo motor 701 and a driver 702; sending the monitoring data to the driver 702 through the brake line 703;
the driver 702 is further provided with: a second module 716;
a second module 716, configured to receive the monitoring data information sent via the braking line 703; demodulating the monitoring data information received via the brake line 703; generating a corresponding control instruction according to the demodulated monitoring data information; and controlling the driver 702 to adjust a control strategy of the servo motor 701 according to the control instruction.
Fig. 6 is an exemplary configuration diagram of a processing device for monitoring data by the servo motor 701 according to another embodiment of the present invention. As shown in fig. 6, the apparatus includes: a processor 717 and a memory 718;
the memory 718 stores therein an application program executable by the processor 717, and is configured to enable the processor 717 to execute the steps of the processing method for monitoring data of the servo motor 701 according to any one of the above descriptions.
Through the above description of the embodiments, those skilled in the art can clearly understand that the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly, the embodiments can also be implemented by hardware, but the former is a better implementation mode in many cases. Based on such understanding, the technical solution of the present invention can be wholly or partially embodied in the form of a software product, which is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute the method described in the foregoing embodiments.
The present invention also provides a machine-readable storage medium storing instructions for causing a machine to perform a method as described herein. Specifically, a system or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program code stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments may also be implemented by writing the program code read out from the storage medium to a memory 718 provided in an expansion board inserted into the computer or to a memory 718 provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code.
Examples of the storage medium for supplying the program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (15)
1. The processing method of the monitoring data of the servo motor is characterized by comprising the following steps:
acquiring running state data of a servo motor, wherein the running state data is analog quantity;
converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity;
modulating the digital monitoring data information into a carrier wave and loading the carrier wave on a brake wire, wherein two ends of the brake wire are respectively connected with the servo motor and the driver;
and sending the digital monitoring data information to the driver in a carrier wave form through the brake wire so that the driver receives the digital monitoring data information and then detects the digital monitoring data information, wherein the driver and the servo motor exist simultaneously in power supply transmission and signal transmission.
2. The method for processing servo motor monitoring data according to claim 1, wherein the converting the operation status data into monitoring data information comprises:
filtering the operating state data;
extracting monitoring data from the filtered running state data, wherein the monitoring data are analog quantities;
and converting the monitoring data into the monitoring data information.
3. The method for processing servo motor monitoring data according to claim 1, wherein after converting the monitoring data into the monitoring data information, the method further comprises:
receiving a demand instruction of the driver for the monitoring data information;
classifying the monitoring data information according to different data types according to the demand instruction;
and modulating the carrier wave of the monitoring data information according to the classified monitoring data information and a communication protocol and then loading the carrier wave on a brake line.
4. The processing method of the monitoring data of the servo motor is characterized by comprising the following steps:
receiving digital monitoring data information sent in a carrier wave mode through a brake wire on a driver side, wherein two ends of the brake wire are respectively connected with the servo motor and a driver, and the driver and power supply transmission and signal transmission of the servo motor exist at the same time;
demodulating the monitoring data information received via the brake line;
generating a corresponding control instruction according to the demodulated monitoring data information;
and controlling the driver to adjust the control strategy of the servo motor according to the control command.
5. The method for processing servo motor monitoring data according to claim 4, wherein the generating corresponding control commands according to the demodulated monitoring data information comprises:
analyzing the demodulated monitoring data information through a communication protocol;
the analyzed monitoring data information is detected according to different data types to generate a detection result;
and generating a corresponding control instruction according to the detection result.
6. The servo motor monitoring data processing method according to claim 5, wherein before the step of receiving monitoring data information sent via the brake line at the driver side, the method further comprises:
generating a demand instruction according to the preset;
and sending the demand instruction to the servo motor so that the servo motor sends the classified monitoring data information to the driver according to the demand instruction after receiving the demand instruction.
7. An intelligent device based on a servo motor monitoring data processing method is characterized by comprising the following steps:
the acquisition module is used for acquiring the running state data of the servo motor, wherein the running state data is analog quantity;
the conditioning module is used for converting the running state data into monitoring data information, wherein the monitoring data information is a digital quantity;
the carrier modulation module is used for modulating the digital monitoring data information into a carrier and loading the carrier on a brake line, wherein two ends of the brake line are respectively connected with the servo motor and the driver;
and the first sending module is used for sending the monitoring data information of the digital quantity to the driver in a carrier wave form through the brake wire so that the driver can detect after receiving the monitoring data information, wherein the driver and the servo motor exist simultaneously in power supply transmission and signal transmission.
8. The intelligent device based on the servo motor monitoring data processing method according to claim 7, wherein the conditioning module further comprises:
the filtering module is used for filtering the running state data;
the extraction module is used for extracting monitoring data from the filtered running state data, wherein the monitoring data are analog quantities;
and the digital-to-analog conversion module is used for converting the monitoring data into the monitoring data information.
9. The intelligent device based on the servo motor monitoring data processing method as claimed in claim 7, wherein the device further comprises:
the first receiving module is used for receiving a demand instruction of the driver for the monitoring data information;
the data processing module is used for classifying the monitoring data information according to different data types according to the demand instruction;
the first sending module is further configured to modulate the carrier wave with the monitoring data information according to the classified monitoring data information and a communication protocol, and then load the modulated carrier wave on a brake line.
10. An intelligent device based on a servo motor monitoring data processing method is characterized by comprising the following steps:
the second receiving module is used for receiving digital monitoring data information which is sent in a carrier wave mode through a brake wire on a driver side, wherein two ends of the brake wire are respectively connected with the servo motor and the driver, and the driver and power supply transmission and signal transmission of the servo motor exist at the same time;
the carrier demodulation module is used for demodulating the monitoring data information received by the brake wire;
the generating module is used for generating a corresponding control instruction according to the demodulated monitoring data information;
and the adjusting module is used for controlling the driver to adjust the control strategy of the servo motor according to the control instruction.
11. The intelligent device based on the servo motor monitoring data processing method as claimed in claim 10, wherein the device further comprises:
the processing module is used for analyzing the demodulated monitoring data information through a communication protocol;
the generation module is further used for detecting the analyzed monitoring data information according to different data types to generate a detection result; and generating a corresponding control instruction according to the detection result.
12. The intelligent device based on the servo motor monitoring data processing method as claimed in claim 10, wherein the device further comprises:
the generating module is also used for generating a demand instruction according to the preset;
and the second sending module is further used for sending the demand instruction to the servo motor so that the servo motor sends the classified monitoring data information to the driver according to the demand instruction after receiving the demand instruction.
13. Servo motor monitoring data's processing system, its characterized in that includes: at least one servo motor, a driver and a brake wire;
two ends of the brake wire are respectively connected with the servo motor and the driver;
the servo motor is further provided with: a first module;
the first module is used for acquiring running state data of the servo motor, wherein the running state data is analog quantity, and the running state data is converted into monitoring data information, and the monitoring data information is digital quantity; modulating the monitoring data information carrier of the digital quantity and loading the modulated monitoring data information carrier on a brake wire of the servo motor, wherein two ends of the brake wire are respectively connected with the servo motor and a driver; sending the monitoring data to the driver through the brake line;
the driver is further provided with: a second module;
the second module is used for receiving the monitoring data information of the digital quantity transmitted in the form of carrier waves through the brake line; demodulating the monitoring data information received via the brake line; generating a corresponding control instruction according to the demodulated monitoring data information; and controlling the driver to adjust the control strategy of the servo motor according to the control instruction, wherein the driver and the power supply transmission and the signal transmission of the servo motor exist simultaneously.
14. An intelligent device based on a servo motor monitoring data processing method is characterized by comprising the following steps: a processor and a memory;
the memory stores an application program executable by the processor, and the application program is used for causing the processor to execute the steps of the processing method of the servo motor monitoring data according to any one of claims 1 to 5.
15. Computer-readable storage medium, characterized in that computer-readable instructions are stored therein for performing the steps of the method for processing servo motor monitoring data according to any of claims 1 to 6.
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