CN110907823A - Servo motor test data real-time acquisition system and method - Google Patents

Abstract

The invention discloses a real-time acquisition system and method for servo motor test data. The system comprises: acquisition control module, software operation module, environmental test box, vibration table, vibration table and environmental test box control module, load motor, tested Servo motor, test instrument and sensor; wherein, the test instrument and the sensor are respectively used to detect the servo motor under test, and send the detected test data to the acquisition control module; the acquisition control module is used to control the test instrument and the sensor for testing , receive the test data, and transmit the received test data to the software operation module; the software operation module is used to perform operation analysis and processing on the received test data, obtain the third test data based on the operation result, and store and display it in real time. The invention can realize real-time, comprehensive and high accuracy of servo motor test data collection.

Description

Servo motor test data real-time acquisition system and method

technical field

The invention relates to the technical field of servo motor testing, in particular to a real-time acquisition system and method for testing data of a servo motor.

Background technique

Servo motor, as a key executive component in industrial automation equipment, has the main features of high reliability, high precision, and high power density, and is widely used in automation equipment such as industrial robots and CNC machine tools. In recent years, with the rapid development of my country's industrial automation industry, the industrial scale and market space have continued to grow. In order to accelerate the innovative development and industrialization of intelligent manufacturing equipment and drive the transformation and upgrading of the manufacturing industry, there is an urgent domestic demand for servo motor testing technology. , and put forward higher requirements.

At present, my country's servo motor performance test standards are equivalent to the international standards. At the same time, the corresponding testing equipment also mainly relies on imported foreign equipment. There are obvious deficiencies in localized testing equipment and testing capabilities; traditional servo motor testing equipment is often limited to measuring conventional speed, Torque and other parameters are used to measure its performance indicators. Such parameters cannot fully grasp the performance characteristics of the servo motor, and cannot realize the collection of test data under multi-stress conditions. Therefore, a real-time acquisition system and method of test data in the vibration test of servo motor is designed to accurately evaluate the comprehensive performance of servo motor, realize real-time data acquisition under multi-stress, comprehensively improve the test technology of servo motor, and improve the performance of servo motor products. Quality matters.

An existing multi-functional comprehensive performance test platform system for a servo motor mainly includes a motor to be tested, a sensor, a rotation angle measurement device, an inertia device, and a loading motor. The system can complete the measurement of parameters such as maximum current, maximum rated load power, rated speed, maximum speed, minimum speed, and torque. The test platform system has a fast response speed; the shaft center of each device on the test platform can be automatically aligned; the motor mounting bracket of the test platform is universal and interchangeable, and can quickly install different specifications of the mouth-type and foot-type motors , After the mouth-stop motor is installed on the motor bracket, it can automatically adjust the concentricity of the sensor of the platform and the shaft of the loading device. However, the test platform system has shortcomings such as single test conditions, incomplete test functions, and lag in data acquisition.

SUMMARY OF THE INVENTION

The purpose of the present invention is to provide a real-time acquisition system and method for servo motor test data, so as to overcome the shortcomings of the prior art such as single test function, incomplete data, and lag in data acquisition.

In order to achieve the above purpose, the present invention provides a real-time acquisition system for servo motor test data, including: acquisition control module, software operation module, environmental test box, vibration table, vibration table and environmental test box control module, load motor, tested Servo motors, test instruments, and sensors; of which,

The load motor is connected to the measured servo motor, and is used to provide an external force load for the measured servo motor; the environmental test box is used to provide environmental stress for the measured servo motor; the vibration table is used for Provide vibration stress for the servo motor; the vibration table and the environmental test chamber control module are used to control the environmental test chamber and the vibration table;

The test instrument is connected to the servo motor under test, and is used to detect the first test content of the servo motor under test, and send the first test data obtained by detection to the acquisition control module;

The sensor is connected to the servo motor under test, and is used for detecting the second test content of the servo motor under test, and sends the second test data obtained by detection to the acquisition control module;

The acquisition control module is used to control the test instrument and the sensor to test the first test content and the second test content, receive the first test data and the second test data, and The received test data is transmitted to the software computing module;

The software operation module is used to perform operation analysis and processing on the received test data, obtain third test data based on the operation result, and store and display it in real time.

Preferably, the acquisition system further includes a first servo driver, the first servo driver is connected to the measured servo motor, and controls and drives the measured servo motor.

Preferably, the acquisition system further includes a second servo driver, and the second servo driver is connected to the load motor for controlling and driving the load motor.

Preferably, the acquisition system further includes a coupling, and the load motor is connected to the measured servo motor through the coupling rod.

Preferably, the acquisition control module includes a chassis, a controller and a data acquisition card, the controller is integrated in the chassis, and is used to control the data acquisition card to acquire the data sent by the test instrument and the sensor. the first test data and the second test data.

Preferably, the software operation module includes a storage unit, an analysis unit, a display unit and a man-machine operation unit.

Preferably, the first test content includes no-load current, no-load voltage, no-load power, continuous locked-rotor torque, peak locked-rotor torque, rated power, rated voltage, PWM power, insulation dielectric strength, insulation resistance , DC resistance, stator wire resistance, inter-turn, inductance, high temperature operation test, low temperature operation test, temperature cycle test, vibration test, constant damp heat test, comprehensive test, constant damp heat test, low temperature operation, high temperature operation, low temperature storage, high temperature storage , Damp heat test.

Preferably, the second test content includes no-load speed, friction torque, cogging torque, minimum starting torque, minimum braking torque, temperature change, angle response, speed response, time response to torque change, Position response, fault identification and early warning.

Preferably, the third test content includes overspeed test, rated torque, maximum speed, maximum working speed, T-N curve, efficiency, rotor inertia moment, electrical time constant, static friction torque, rated torque, torque fluctuation coefficient, acceleration characteristics And deceleration characteristics, friction characteristics, speed fluctuation, forward and reverse rotation and slip, back EMF constant, torque constant, temperature rise test, thermal resistance and thermal time constant, durability test.

The present invention also provides a real-time collection method for servo motor test data, which utilizes the above-mentioned real-time collection system for servo motor test data to carry out real-time collection of servo motor test data, and is characterized in that the method includes the following data collection methods:

Test instrument collection, collect the first test data of the servo motor under test through the measurement instrument, and collect and summarize the data in the software operation module in real time;

Sensor acquisition, collect the second test data of the servo motor under test through the sensor, and collect and summarize the data in the software operation module in real time;

The operation result is collected, and the collected real-time data is operated and analyzed through the software operation module, and the third test data is obtained and stored and displayed in real time.

The real-time acquisition system and method of the servo motor test data of the present invention solves the problems of single function and incomplete data of the existing servo motor performance test platform, and realizes instrument acquisition by combining the acquisition control module, the software operation module, the test instrument and the sensor. , sensor acquisition, operation result acquisition three acquisition methods, effectively realize the real-time, comprehensive and high accuracy of servo motor performance test data acquisition.

Description of drawings

Below, the preferred embodiments of the present invention will be described in further detail in conjunction with the accompanying drawings, wherein:

FIG. 1 is a block diagram of a real-time acquisition system for servo motor test data according to an embodiment of the present invention.

[Symbol Description]

1. Acquisition control module; 2. Software operation module; 3. Environmental test chamber; 4. Vibrating table; 5. Vibrating table and environmental test chamber control module; 6. The first servo driver; 7. Servo motor under test; 8. Load motor; 9. Second servo driver; 10. Testing instrument; 11. Sensor; 12. Coupling.

Detailed ways

In order to make those skilled in the art better understand the technical solutions of the present invention, the present invention will be further described in detail below with reference to the accompanying drawings.

A real-time collection system for servo motor test data according to an embodiment of the present invention includes a collection control module 1, a software operation module 2, an environmental test box 3, a vibration table 4, a vibration table and an environmental test box control module 5, a servo motor under test 7, Load motor 8 , various testing instruments (for various safety tests, performance tests, etc.) 10 and various sensors (for detecting temperature, vibration, noise, torque, rotational speed, etc.) 11 .

The acquisition system may further include a first servo driver 6, the first servo driver 6 is connected to the measured servo motor 7 through a control line, and can control and drive the measured servo motor 7 to rotate. The servo motor 7 under test is a test prototype, and both the first servo driver 6 and the servo motor 7 under test are placed in the environmental test box 3 .

The environmental test chamber 3 is used to simulate changes in the external environment, and can apply environmental stress of temperature and humidity. The environmental test chamber 3 includes a high temperature test chamber, a low temperature test chamber, a high and low temperature alternating cycle test chamber, a high and low temperature damp heat test chamber, a high and low temperature alternating damp heat chamber, and the like. The bottom of the environmental test box 3 is equipped with a vibration table 4, and the measured servo motor 7 is located above the table top of the vibration table 4. The vibration table 4 is used to simulate the vibration environment, and can apply vibration stress to the measured servo motor 7 above; the environmental test box 3 and the shaking table 4 are controlled by the external independent shaking table and the environmental test chamber control module 5 .

The test instrument 10 is connected to the servo motor 7 under test, and is used to detect the first test content of the servo motor 7 under test (described in detail below), and send the detected first test data (described in detail below) to the acquisition control module 1 .

Various types of sensors 11 are distributed in the environmental test box 3 and around the servo motor 7 under test. These sensors 11 can read the relevant data parameters of the servo motor 7 under test in real time, and send these data to the acquisition control module 1 in real time.

The acquisition system may also include a coupling 12, through which the load motor 8 is connected to the measured servo motor 7, and its function is to simulate external force loads in some test contents, such as a stall test, a deceleration test, and the like. In addition, the acquisition system may further include a second servo driver 9 , and the second servo driver 9 is connected to the load motor 8 for controlling and driving the load motor 8 .

The acquisition control module includes chassis, controller and various data acquisition cards.

The chassis can be an NI PXIe-1078 integrated instrument chassis. The NI PXIe-1078 integrated instrument chassis has a backplane that can integrate PCI Express (PCI (Peripheral Component Interconnection)) connections into each slot to meet the needs of various test and measurement applications. It accepts PXIExpress modules (PXI (PCI extensions for Instrumentation, PCI extensions for instrumentation systems)) in each slot, and supports modules compatible with standard PXI hybrid buses through up to 5 slots. The chassis incorporates built-in timing and synchronization features, including: 10MHz and 100MHz reference clocks and a PXI trigger bus.

The controller can be a PXIe-8821 controller. The PXIe-8821 controller can be integrated into the NI PXIe-1078 chassis, which can eliminate the cumbersome and complicated operation of using an industrial computer, while achieving better data connection and synchronization. The PXIe-8821 controller is specially designed for test and measurement applications. Equipped with a 2.6GHz Intel Core i3-4110E dual-core processor, it can provide a maximum system bandwidth of 2GB/s. Because the embedded controller has the advantages of industry-rated performance, small size and perfect life cycle management, it is suitable for long-term operation in harsh working environments. Ideal for deploying PXI systems.

The data acquisition card can use NI PXIe-6363 X series data acquisition card, NI PXIe-435324bit, 32-channel data acquisition card, NI PXI-4462 4 data acquisition card and other models and specifications, and some data acquisition cards can be used with different sensors. 11 for the data signals sent out, and another part of the data acquisition card can be used to collect data signals sent out from different test instruments 10 .

The software operation module 2 can be a computer system with a storage unit, an analysis unit, a display unit, and a man-machine operation unit, which can store and display the collected data in real time, analyze and calculate the data through the built-in algorithm, and display it on the man-machine in real time. On the interactive interface, the tester can also control the first servo driver 6 and the second servo driver 9 through the software operating system to accomplish various test objectives.

The real-time acquisition system for servo motor test data according to the above embodiment of the present invention forms a closed-loop connection, and can collect up to 44 items of performance data, 12 items of environmental test data, 3 items of performance data, and Fault identification and early warning.

1. Collection of test equipment

In this type of acquisition mode, various types of testing instruments 10 are used to test the servo motor 7 under test, and the test data (corresponding to the first test data) are fed back to the acquisition control module 1 . The test instrument 10 includes a three-phase/single-phase electrical parameter measuring instrument, a power meter, an insulation resistance tester, an LCR measuring instrument, and the like.

The test content (corresponding to the first test content) for data collection through this type of collection method includes no-load current, no-load voltage, no-load power, continuous stall torque, peak stall torque, rated power, rated voltage, PWM (Pulse Width Modulation) power, dielectric strength, insulation resistance, DC resistance, stator wire resistance, inter-turn, inductance, high temperature operation test, low temperature operation test, temperature cycle test, vibration test, constant damp heat test, Comprehensive test, constant damp heat test, low temperature work, high temperature work, low temperature storage, high temperature storage, damp heat test, a total of 26 test contents.

Select three typical test contents using the test instrument collection method to describe in detail.

1. No-load power: Disconnect the coupling 12 of the load motor 8, so that the measured servo motor 7 runs independently with no load. After the measured servo motor 7 runs stably, turn on the Yokogawa WT333 power meter. Servo motor 7 has different output currents. In order to meet the test of more power motors, Yokogawa CT60 and CT100 current transformers can be used together. After the test is completed, the power data is transmitted to the data acquisition card of acquisition control module 1, and then The acquisition control module 1 sends the data to the software operation module 2 for storage and display.

2. Insulation resistance: It is required to use an insulation resistance tester to test under the low temperature test conditions specified in the normal or special technical conditions. The insulation resistance between the conductive part of the motor and the casing should not be less than 50MΩ; the insulation resistance should be under the corresponding high temperature conditions. Not less than 10MΩ; insulation resistance should not be less than 1MΩ during constant damp heat test. This method can open the temperature box, so that the measured servo motor 7 is in the above-mentioned temperature and humidity environment. After stable operation, turn on the AC and DC withstand voltage insulation tester-Tonghui TH9110, which can short-circuit the measured servo motor 7. The UVW three-phase line passes the high voltage for a certain period of time relative to the motor casing, tests its current, and calculates the insulation resistance; after the test is completed, the power data is transmitted to the data acquisition card of the acquisition control module 1, and then the acquisition control module 1 sends the data to the The software operation module 2 stores and displays.

3. Constant damp heat test: use a high and low temperature damp heat test box for the test, and the servo motor 7 to be tested is required to withstand a constant damp heat test with a severe level of temperature (40±2)°C, relative humidity of 90%-95%, and a duration of 4d. After the test, the insulation resistance measured in the box should not be less than 1MΩ, and there should be no obvious quality deterioration and rust affecting the work. Module 1, the acquisition control module 1 sends the data to the software operation module 2 for storage and display.

2. Sensor collection

This type of acquisition method monitors the performance data of the servo motor 7 by arranging sensors 11 around it. Different sensors 11 are matched with data acquisition cards of different types and specifications for data acquisition, and the final real-time data (corresponding to the second test data) is collected. Sent to the acquisition control module 1. The sensor 11 includes a temperature sensor, a vibration sensor, a noise sensor, a torque sensor, a thermocouple sensor, an acceleration sensor, and the like. The test contents (corresponding to the second test contents) of data collection by this method include no-load speed, friction torque, cogging torque, minimum starting torque, minimum braking torque, temperature change, angle response, speed Response, time response of torque change, position response, fault identification and early warning (vibration identification and early warning, noise identification and early warning, temperature identification and early warning), a total of 13 test contents.

Select three typical test contents using the sensor acquisition method to elaborate.

1. Minimum starting torque: first disconnect the coupling 12 of the load motor 8, make the measured servo motor 7 work in the torque mode and the speed limit is not 0, and slowly increase the torque to make the measured servo motor 7 start to rotate. It is the minimum starting torque. The data is collected by the torque sensor. The Burster 8661 series torque sensor is paired with the NI PXIe-6363 X series data acquisition card to send the torque data to the acquisition control module 1 in real time, and the acquisition control module 1 sends the data to the software calculation. Module 2 stores, analyzes and displays.

2. Temperature change: use a high and low temperature damp heat test box for testing, and monitor the surface temperature change by arranging thermocouple sensors in the key parts of the surface of the servo motor 7 under test, and the motor is required to withstand (-55℃-85℃) temperature changes During the test, the bearing grease shall not overflow, and the parts shall not have harmful deformation. The thermocouple sensor monitors the temperature change data of the measured servo motor 7 in real time, and with the thermocouple acquisition card, the real-time data can be sent to the acquisition control module 1, and the acquisition control module 1 sends the data to the software operation module 2 for storage, analysis, and display.

3. Fault identification and early warning: divided into vibration identification and early warning, noise identification and early warning, temperature identification and early warning. Use high-temperature accelerometers, microphones, thermocouples, and data acquisition cards. The acquisition control module 1 sends the data to the software operation module 2 for analysis. The corresponding fault and alarm thresholds of vibration, noise and temperature are set in the software operation module 2. Once the threshold is exceeded or a fault signal is generated, operations such as alarm and system stop are started .

3. Collection of operation results

This type of acquisition method uses various real-time data provided by the acquisition control module 1, and uses the inherent algorithm program written in the software operation module 2 to realize formula and graph calculation, and calculate the result data (corresponding to the third test data) in real time. Store and display. The test content (corresponding to the third test content) of data collection by this method includes overspeed test, rated torque, maximum speed, maximum working speed, T-N curve, efficiency, rotor moment of inertia, electrical time constant, static friction torque, rated Torque, torque fluctuation coefficient, acceleration characteristics and deceleration characteristics, friction characteristics, rotational speed fluctuation, forward and reverse rotation and slip, back EMF constant, torque constant, temperature rise test, thermal resistance and thermal time constant, durability test, total 20 test items.

Select three typical test contents using the operation result collection method to describe in detail.

1. Maximum speed: According to the requirements of the test standard, the test principle is to fix the measured servo motor 7 on the standard bracket and form a servo device with the servo driver. The test environment should not be affected by external radiation and airflow. Input the rated value in the servo driver. Speed command, and then gradually increase the load to the rated value. Under the condition that the thermal classification of the motor is F-class insulation structure winding temperature rise (measured by resistance method) does not exceed 105K (B-class insulation structure winding does not exceed 80K), the motor is measured at this time. The speed value is the maximum speed, and its value should comply with the special technical standard (or design) regulations. Make the measured servo motor 7 output a higher speed power than the rated speed of the motor, make the motor work in an overspeed state, and change its driving frequency until the motor speed no longer rises, which is the highest speed (rated speed).

Test method: use the CAN (Controller Area Network) communication function in the software operation module 2 to control the working mode of the servo motor 7 under test, cooperate with the data acquisition card to realize the data acquisition function, and finally feed the collected data to the software The operation module 2 performs data analysis and curve fitting.

1) Use the CAN communication function to control the driver output torque of the load motor 8 to be 0N, and cancel the speed limit, overload limit and bus overvoltage limit of the second servo driver 9 at the same time.

2) Use the CAN communication function to control the measured servo motor 7 to continuously output high-speed commands, and judge whether the measured servo motor 7 stops speeding up through the feedback information, which is the maximum speed.

3) Through the acquisition function of the data acquisition card, test to obtain each parameter data of the overspeed state of the servo motor 7 under test, send these data to the software operation module 2, the software operation module 2 fits the parameter curve, and analyzes the curve data to obtain the maximum speed, And each parameter value at the highest speed.

2. Acceleration characteristics and deceleration characteristics: control the load motor 8 to work in torque mode to output a certain torque, the speed of the measured servo motor 7 starts to accelerate from 0 to the rated speed, and the acquisition control module 1 sends the data of the acceleration process to the software operation module 2 , the software operation module 2 records the speed processing analysis from the beginning to the end to obtain the acceleration characteristic curve; controls the load motor 8 to output a certain torque, the measured servo motor 7 works in the speed mode and rotates at the rated speed, and stops the measured servo motor 7 from rotating , when the speed of the measured servo motor 7 stops from the rated speed to 0 speed, the data of the whole process is collected, and these data are sent to the software operation module 2, and the software operation module 2 obtains the speed change curve through operation analysis and processing, which is formed after fitting. Deceleration characteristic curve.

3. Temperature rise test: It is required that the test environment should not be affected by external radiation and airflow. The installation surface of the tested servo motor 7 should be as far away as possible from the heat conduction surface, ventilation device and other additional cooling devices. The tested servo motor 7 should be at room temperature. Place and reach a stable temperature without power. Measure the stator winding resistance R1 of the servo motor 7 under test in the cold state with a resistance testing instrument, and use the acquisition control module 1 to send the resistance R1 to the software operation module 2 for recording. At the same time, the software operation module 2 records the room temperature t1 at this time. Run the rated power point to a stable working temperature, measure the stator winding resistance R2 again, and record the temperature t2 of the winding at this time through the software operation module 2. Finally, the software operation module 2 calculates the temperature rise θ (unit is K) through the formula program:

To sum up, the present invention can combine a number of national standards, such as GB/T 30549-2014, GB 755-2008, GB/T7345-2008, GJB 899-90, etc., to provide a real-time acquisition system for servo motor test data and The method can realize that under the condition of the simultaneous existence of various environmental stresses, through the three collection methods of test instrument collection, sensor collection, and operation result collection, up to 44 items of performance data, 12 items of environmental test data, and 3 items of fault identification can be achieved. With the test function of early warning, the collected data is sent and summarized to the software operation module 2 in real time, and displayed on the human-computer interaction interface in real time, which is convenient for the recording and analysis of real-time data, and realizes the test function simply and effectively, and has promotion value.

Certain exemplary embodiments of the present invention have been described above by way of illustration only, and it is needless to say that those skilled in the art may The described embodiments are modified. Accordingly, the above drawings and descriptions are illustrative in nature and should not be construed as limiting the scope of the claims of the present invention.

Claims (10)

1. a real-time acquisition system of servo motor test data, is characterized in that, comprises: acquisition control module, software operation module, environmental test box, shaking table, shaking table and environmental test box control module, load motor, measured servo motor, Test instruments and sensors; of which, The load motor is connected to the measured servo motor, and is used to provide an external force load for the measured servo motor; the environmental test box is used to provide environmental stress for the measured servo motor; the vibration table is used for Provide vibration stress for the servo motor; the vibration table and the environmental test chamber control module are used to control the environmental test chamber and the vibration table; The test instrument is connected to the servo motor under test, and is used to detect the first test content of the servo motor under test, and send the first test data obtained by detection to the acquisition control module; The sensor is connected to the servo motor under test, and is used for detecting the second test content of the servo motor under test, and sends the second test data obtained by detection to the acquisition control module; The acquisition control module is used to control the test instrument and the sensor to test the first test content and the second test content, receive the first test data and the second test data, and The received test data is transmitted to the software computing module; The software operation module is used to perform operation analysis and processing on the received test data, obtain third test data based on the operation result, and store and display it in real time. 2 . The real-time acquisition system for servo motor test data according to claim 1 , further comprising a first servo driver, the first servo driver is connected with the measured servo motor, and the measured servo motor Control the drive. 3. The real-time acquisition system for servo motor test data according to claim 1 or 2, further comprising a second servo driver, the second servo driver is connected to the load motor, and is used for monitoring the load motor Control the drive. 4. The real-time acquisition system of servo motor test data according to any one of claims 1-3, characterized in that, further comprising a coupling, and the load motor is connected to the measured servo motor through the coupling rod. connect. 5. The real-time acquisition system for servo motor test data according to any one of claims 1-4, wherein the acquisition control module comprises a chassis, a controller and a data acquisition card, and the controller is integrated in the Inside the chassis, it is used to control the data acquisition card to collect the first test data and the second test data sent by the test instrument and the sensor. 6 . The real-time acquisition system for servo motor test data according to claim 1 , wherein the software operation module comprises a storage unit, an analysis unit, a display unit and a man-machine operation unit. 7 . 7. The real-time acquisition system for servo motor test data according to any one of claims 1-6, wherein the first test content includes no-load current, no-load voltage, no-load power, and continuous locked rotor Torque, peak locked-rotor torque, rated power, rated voltage, PWM power, dielectric strength of insulation, insulation resistance, DC resistance, stator wire resistance, inter-turn, inductance, high temperature operation test, low temperature operation test, temperature cycle test, vibration Test, constant damp heat test, comprehensive test, constant damp heat test, low temperature work, high temperature work, low temperature storage, high temperature storage, damp heat test. 8. The real-time acquisition system for servo motor test data according to any one of claims 1 to 7, wherein the second test content includes no-load rotational speed, friction torque, cogging torque, minimum starting speed Torque, minimum braking torque, temperature change, angle response, speed response, time response to torque change, position response, fault identification and early warning. 9. The real-time acquisition system for servo motor test data according to any one of claims 1-8, wherein the third test content includes an overspeed test, rated torque, maximum rotational speed, maximum working rotational speed, and T-N curve , efficiency, rotor moment of inertia, electrical time constant, static friction torque, rated torque, torque fluctuation coefficient, acceleration and deceleration characteristics, friction characteristics, speed fluctuation, forward and reverse rotation and slip, back EMF constant, torque constant, temperature liter test, thermal resistance and thermal time constant, durability test. 10. A real-time collection method of servo motor test data, utilizing the servo motor test data real-time collection system as claimed in any one of claims 1-9 to carry out real-time collection of servo motor test data, it is characterized in that, described method comprises The following data collection methods: Test instrument collection, collect the first test data of the servo motor under test through the measurement instrument, and collect and summarize the data in the software operation module in real time; Sensor acquisition, collect the second test data of the servo motor under test through the sensor, and collect and summarize the data in the software operation module in real time; The operation result is collected, and the collected real-time data is operated and analyzed through the software operation module, and the third test data is obtained and stored and displayed in real time.

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