| Industrial Robot Servo System(IRSS)is the execution unit used to complete the specific trajectory movement of Industrial Robots.It directly affects the movement speed,positioning accuracy,operation performance and reliability of Industrial Robots,and is the core component of Industrial Robots.Currently,the conventional servo system test platform is insufficient in the integration level and comprehensive depth when it applied to IRSS testing.It fails to meet the full coverage of IRSS test content,is low efficiency due to the multiple performance indicators and complicated testing process,and lacks of effectively design of service performance test and reliability evaluation methods and modules as well.As a result,the performance research of domestic IRSS lacks enough test data to support,and it is difficult to improve the IRSS design and development level,which restricts the development of industrial robot industry in China.Therefore,improving the integration of IRSS test equipment,and performing further research to achieve efficient and comprehensive testing and evaluation of IRSS performance and reliability are urgent problems to improve the market competitiveness of the domestic IRSS,and to promote the long-term healthy development and application promotion of industrial robots.Firstly,this paper summarized the comprehensive testing content of IRSS.By analyzing the research progress of IRSS testing technology,a IRSS performance and reliability comprehensive test platform was developed to achieve high integration of IRSS test equipment.Besides,the IRSS multi-performance index test intelligent scheduling method was studied to solve the problem of low efficiency of IRSS performance test of the platform;the IRSS workload real-time computing technology was studied to fulfill the design and develop of IRSS service performance in the platform;the IRSS pseudo-failure life distribution reliability evaluation method was studied to make the platform gain the ability of IRSS performance degradation reliability evaluation.The specific research work and contents of the paper were as following.(1)The IRSS multi-performance index test intelligent scheduling method was systematically studied to comprehensively improve the efficiency of IRS S performance testing.The sequence description method of IRSS test items was studied unified description of the execution process of each IRSS performance index on the test platform,and the optimization relationship of the execution sequence of each IRSS performance index was characterized.Adjusting to the problem of multiple quantity and long testing time of IRSS test items testing on one single IRSS comprehensive test platform,the IRSS single-station multi-performance index test scheduling method was studied.In the study,the ATSP model of IRSS single-station multi-performance indicator test scheduling was established,and the SA solution algorithm of the test scheduling was designed.The practical examples analysis showed that compared with the original serial execution sequence,the test efficiency was improved by nearly 50%after scheduling optimization.Adjusting to the application scenario of large number of IRSS test items and therefore longer testing time cost,the IRSS multi-station multi-performance indicator test scheduling method was studied.In the study,the IRSS multi-station test scheduling parameters were defined,the IRSS multi-station multi-performance indicator test scheduling model with the scheduling goal of minimization testing complete time Tcompiete and maximization capacity utilization Ucapacity were established respectively,and the two-step solution algorithm for IRSS multi-station multi-performance indicator test scheduling was designed.The practical examples analysis showed that after the application of IRSS multistation test scheduling method,Tcompiete shortened 56.11%at most and Ucapaaty improved 68.24%at most.(2)The IRSS workload real-time computing technology was studied to realize the service performance simulation function in the IRSS performance and reliability comprehensive test platform.The study of the mechanism of IRSS workload simulation calculation was performed.The service performance test module of IRSS performance and reliability comprehensive test platform was designed,and the restriction relationship between IRSS workload τiW-load simulation calculation and IRSS control cycle Tcontrol was discussed.The IRSS workload realtime calculation technology with general applicability and good real-time performance was studied,the content of the technology was as following.with low delay and high precision was proposed to further improve the τiW-load output performance.A practical example based on Huicchuan IRS-300-60TS5 industrial robot showed that the calculation error and calculation time of IRSS workload simulation using the proposed method meet the requirements of dynamic loading application accuracy and real-time control.Compared with the numerical calculation method,the simulation calculation accuracy is similar,but the calculation time is reduced by 66.78%.(3)The IRSS pseudo-failure life distribution reliability evaluation method was systematically studied to break through the problem of IRSS reliability evaluation effectively when the test subsample is small and the test time is limited.The ratio of the IRSS negative sequence current amplitude and the mean of the three-phase current amplitude was proposed to be a IRSS comprehensive performance degradation index,and the IRSS pseudo-failure life distribution reliability evaluation method based on GLD distribution system method was proposed.The process of the proposed method was as followings.The dynamic threshold wavelet denoising method was studied and applied to preprocess the IRSS degraded data,which overcome the problem that Sqtwolog threshold is easy to lose the effective information of data,and achieves better denoising effect.The "RBFNN+Bootstrap" method was proposed and applied to expand the IRSS pseudo-failure data,making the expanded IRSS pseudo-failure data had the closer distribution character to original data,and it would be of convenient for reliability modeling.The IRSS pseudo-failure life distribution model based on GLD distribution system method was established.With the help of GLD distribution system method,the specific distribution morphology was not required,and the accuracy of IRSS pseudo-failure reliability modeling was improved.At last,the GLD distribution parameters under IRSS failure threshold wth were extrapolated to obtain IRSS life distribution.The numerical example analysis showed that the failure life of 108-GSTF-NZ024C-A02 IRSS was evaluated to be 16532.83 h based on the reliability evaluation result of the proposed method,which was close to the classical accelerated life estimate result of 15097.69 h,indicating the effectiveness of the method.The construction and implementation effect analysis of IRSS performance and reliability comprehensive test platform were carried out.And the implementation results showed that the key technologies could be effective implemented in the IRSS performance and reliability comprehensive test platform,and the scheduled goals was achieved.Related functions of the key technologies had been tested and verified by South China National Metrology Test Center. |
