Development Of Servo Adjustment Software Based On Mobile Terminal

Due to the time-varying,nonlinear,and strong coupling characteristics of the servo system,the adjustment of servo parameters has always been a research hotspot in the industry.The current mainstream servo adjustment software is generally based on the PC side.But the ease of use is subject to certain restrictions.Based on the application trend of industrial software for mobile terminals,a servo adjustment software based on the Android operating system is developed.The software can realize rapid adjustment of servo drive parameters through mobile terminals such as mobile phones.Aiming at the application characteristics of servo adjustment platform wireless communication,human-computer interaction and rapid parameter adjustment,the Wi-Fi wireless communication technology based on the MQTT protocol is introduced.Combining the parameter identification based on the frequency domain characteristic response,the overall plan of servo adjustment software development is proposed.Wi-Fi technology is adopted as the physical layer of wireless communication to realize wireless data interaction between servo adjustment software and servo drive.By analyzing the data types transmitted in the servo adjustment process,combining the characteristics of the MQTT protocol message publishing service quality,the storage structure and read-write interface format of periodic and aperiodic parameters are designed.And stable and reliable wireless communication of data is realized.Aiming at the problem that the servo parameter debugging process is complex and depends on engineering experience,two data sampling methods are designed.Command signal uses real-time sampling.And the feedback signal uses trigger sampling.Different data types use different sampling methods.Based on the mathematical model of the current loop and speed loop of the servo system,a parameter self-tuning algorithm based on the frequency domain characteristic index is proposed.Fast and accurate auto-tuning of servo parameters is realized.On the Qt software platform,the interface framework of the mobile servo adjustment software is designed.Based on the parameter management structure of the hash table mapping,the parameter reading and writing module with the functions of rapid parameter search,reading and writing,display,is realized.The operation requirements of zooming,panning,and cursor display of the waveform curve are analyzed.And an oscilloscope module with curve attribute configuration and display functions is designed.The file management module and alarm module with real-time monitoring servo alarm function are designed.On the basis of the servo adjustment software,a servo adjustment experiment platform is built.Servo system performs parameter reading and writing,data sampling and parameter self-tuning functions are tested.Experimental results show that adjusting the software and the driver can establish wireless data communication and run stably for at least five hours.The software can accurately display and modify the target parameters.And the result of data sampling with an intuitive waveform curve is expressed.The minimum period of trigger sampling is 0.1ms.The performance of the servo system after PI parameter self-tuning has been significantly improved,which verifies the practicability and stability of the servo adjustment platform.