CN103048071B - Device and method for monitoring dynamic torque of frameless torque motor in suspension state - Google Patents
Device and method for monitoring dynamic torque of frameless torque motor in suspension state Download PDFInfo
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- CN103048071B CN103048071B CN201210531787.5A CN201210531787A CN103048071B CN 103048071 B CN103048071 B CN 103048071B CN 201210531787 A CN201210531787 A CN 201210531787A CN 103048071 B CN103048071 B CN 103048071B
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Abstract
The invention relates to a device for monitoring dynamic torque of a frameless torque motor in a suspension state, which comprises a non-contact photoelectric encoder arranged on the frameless torque motor, a signal conversion and preprocessing circuit, a high-speed data acquisition card and a calculation and analysis data unit, wherein the signal conversion and preprocessing circuit, the high-speed data acquisition card and the calculation and analysis data unit are arranged in an upper computer; the non-contact photoelectric encoder comprises a circular grating disc and a reading head; the circular grating disc is fixedly connected with a rotating part of the frameless torque motor in a coaxial line manner, and the reading head is fixedly connected to the fixed seat; the reading head can acquire dynamic angular displacement data of a rotating part of the frameless torque motor in real time, and the dynamic torque output value and the rotating speed of the frameless torque motor are displayed in real time through signal processing and data analysis.
Description
Technical field
The present invention relates to a kind of under suspended state to the measurement mechanism carrying out Real-Time Monitoring without frame torque motor dynamic torque.
Background technology
The features such as torque motor has the slow-speed of revolution, high pulling torque, overload capacity is strong, response is fast, characteristics linearity degree is good, torque fluctuations is little, Direct driver load can save intermediate transmission mechanism, thus improve the running precision of system.Therefore the industrial circles such as weaving, electric wire, intermetallic composite coating, papermaking, rubber, plastics and printing machinery are widely used in.
Moment output valve is as a canonical parameter of the performance and duty that characterize torque motor transmission, and its measurement has great significance.But the method for existing ergometry torque motor output torque, is only applicable to measure locked rotor torque, i.e. enable survey dynamic force moment, owing to accurately measured angular acceleration and moment of friction cannot also there is the inaccurate defect of measurement.Contact and contactless two kinds are generally divided into according to the metering system of sensor.The sensor of contact, to strain chip torque sensor, is contactlessly mainly divided into the large class of magneto-electric, photo-electric two.Strain-type torque sensor is measured moment of torsion and is namely carried out gauged torque by the distortion of foil gauge measurement flexible member, this metering system affects larger by the material of elastic shaft, shape, in principle, resolution is difficult to continue to improve, and when this kind of method of testing and device are only applicable to static strength, analyze and measure the static torque suffered by material.Non-contacting sensor is measured to the situation of moment of torsion, magnetoelectric sensor affects by environment temperature, external magnetic field, sensitivity will change and produce measuring error, even cannot measure comparatively greatly for the usual error of micro-moment of torsion, above two kinds of modes, due to cannot accurately measured angular acceleration and moment of friction, so there is dynamic force moment to measure inaccurate defect, and existing technology cannot the accurate real-time dynamic force moment that exports of ergometry torque motor.Also there is no a kind of device and method being applicable to monitor dynamic torque of frame-free torque motor under suspension state at present, and these data of dynamic torque are for having very important meaning without frame torque motor performance under demarcation suspended state, thus requirement must adopt new principle to realize the real-time measurement of dynamic torque.
Summary of the invention
Technical matters to be solved by this invention avoids the deficiencies in the prior art, there is provided a kind of high precision, contactless employing optical-electricity encoder to monitor the device of dynamic torque of frame-free torque motor under suspension state, for under suspended state without for frame torque motor, because its rotatable parts are in suspended state, friction is very little, negligible, this device can be monitored and be shown the real-time output state of dynamic torque of frame-free torque motor under suspension state.
The principle of institute of the present invention foundation is as shown in formula (1):
T
k=J
alwaysε
k+ T
f(1)
In formula, J
alwaysfor total moment of inertia of article for rotation on air-floating main shaft, ε
kfor angular acceleration values when kth time is sampled, T
ffor the moment of friction caused by friction force.
ε
kcomputing formula as follows:
In formula, ω
kfor angular velocity when kth time is sampled, ω
k-1for angular velocity during kth-1 sampling, T is the sampling period
ω
kcomputing formula is as follows:
In formula, θ
kfor angle changing value during kth sampling period, θ
k-1for angle changing value during high-precision optical angle displacement measurement sensor-1 sampling period of kth.
Can be released by formula (2), (3):
T
ffor the moment of torsion caused by friction force, because this device adopts contactless photoelectric encoder to measure the dynamic torque without frame torque motor under suspended state, therefore T
fbe worth very little, negligible, therefore motor output torque computing formula is converted into
By data analysis and software for calculation, the angular displacement signal that scrambler reads is converted into torque value and exports on interface in real time, and there is high precision.
For solving the problems of the technologies described above, the present invention realizes as follows: a kind of device for monitoring dynamic torque of frame-free torque motor under suspension state of the present invention comprises being installed on to be changed and pre-process circuit, high-speed data acquisition card, computational analysis data cell without the contactless photoelectric encoder on frame torque motor and the signal being installed on host computer inside; Describedly be fixed on motor base without frame torque motor; Described contactless photoelectric encoder comprises Circular gratings dish and read head; Described Circular gratings dish is fixedly connected with the rotatable parts coaxial cable without frame torque motor, and follows the rotatable parts synchronous axial system without frame torque motor; Described read head is fixedly connected on holder; Grating scale on described read head and Circular gratings dish aligns, and guarantees the dynamic angle displacement data of correct Real-time Collection without frame torque motor rotatable parts; Described read head is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic angle displacement data of the rotatable parts without frame torque motor that described read head Real-time Collection arrives, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, real-time demonstrate dynamic torque output valve without frame torque motor and rotating speed.
The spacing of described read head and Circular gratings dish is 0.8mm.
Described read head Real-time Collection to the dynamic angle displacement data of the rotatable parts without frame torque motor be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
The device of monitoring dynamic torque of frame-free torque motor under suspension state is used to carry out the method for dynamic torque test: to it is characterized in that, comprise the steps:
1) by host computer setting real-time data acquisition cycle T;
2) the dynamic angle displacement delta data θ without the rotatable parts of frame torque motor in three consecutive periods is gathered by contactless photoelectric encoder
k-2, θ
k-1, θ
k;
3) by computational analysis data cell, formula is utilized
with
to above-mentioned steps 2) image data carries out analyzing and processing, obtains angular acceleration values
By formula T
k=J
alwaysε
k+ T
f, wherein T
fvery little, negligible without value for frame torque motor for what work under this suspended state, the torque output T in the kth cycle can be calculated
k, thus the real-time dynamic torque without frame torque motor can be recorded;
4) dynamic torque output valve without frame torque motor and rotating speed is demonstrated by host computer.
Good effect of the present invention: a kind of device for monitoring dynamic torque of frame-free torque motor under suspension state of the present invention adopts high precision, contactless optical-electricity encoder, by signal transacting and data analysis, to the dynamic torque Real-Time Monitoring without frame torque motor under suspended state, this Monitoring Data has great significance without frame torque motor performance under demarcation suspended state, and along with further developing of science and technology, and the further raising of computing power, this device can by further for the scale of Circular gratings dish refinement, and shorten sampling period value T greatly, thus greatly can improve the monitoring accuracy of this device, can also according to different model without frame torque motor, adopt different motor bases, there is good adaptability.
Accompanying drawing explanation
Below in conjunction with the drawings and specific embodiments, the present invention is further detailed explanation.
Fig. 1 is the present invention for monitoring the structural representation without frame torque motor dynamic torque under air supporting state
In figure, 1 read head 2 Circular gratings dish 3 air-bearing
4 air-floating main shafts 5 are without frame torque motor 6 motor base
Embodiment
As shown in Figure 1, for the present invention is for monitoring under air supporting state without mounting structure schematic diagram during frame torque motor dynamic torque, tested without frame torque motor (5) Direct driver air-floating main shaft (4), air-floating main shaft (4) realizes approximate friction free suspended state by the support of air-bearing (3), Circular gratings dish (2) is fixedly connected with air-floating main shaft (4) coaxial cable, and follows air-floating main shaft (4) synchronous axial system; Grating scale on read head (1) and Circular gratings dish (2) aligns, guarantee correct Real-time Collection to drive without frame torque motor (5) the dynamic angle displacement data of air-floating main shaft (4); Read head (1) is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic angle displacement data of the air-floating main shaft (4) that read head (1) Real-time Collection arrives, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, without the dynamic torque output valve of frame torque motor and rotating speed under the real-time air supporting state that demonstrates; Described read head (1) Real-time Collection to the dynamic angle displacement data of air-floating main shaft (4) be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit, and is passed to high-speed data acquisition card.
The present invention is used to carry out monitoring method without frame torque motor dynamic torque under air supporting state: to it is characterized in that, comprise the steps:
1) by host computer setting real-time data acquisition cycle T;
2) the dynamic angular position delta data θ of air-floating main shaft (4) in continuous three cycles is gathered by Circular gratings dish (5) and read head (6)
k-2, θ
k-1, θ
k;
3) by computational analysis data cell, following formula is utilized
To above-mentioned steps 2) image data carries out analyzing and processing, obtains the angular acceleration ε in a kth cycle
kvalue, and then pass through computing formula
T
k=J
alwaysε
k+ T
f
Calculate the torque output T in the kth cycle
k, wherein T
ffor very little, negligible without value for the rotatable parts of frame torque motor under this air supporting state, thus the real-time dynamic torque without frame torque motor can be recorded.
4) dynamic torque output valve without frame torque motor and rotating speed is demonstrated by host computer.
Under air supporting state in the present embodiment without frame torque motor dynamic torque monitoring device in use, different motor bases (6) can be selected according to different model without frame torque motor, thus there is good applicability.The contactless grating scrambler of different accuracy can also be selected, to meet different accuracy requirements.
A kind of embody rule example of the device and method for monitoring dynamic torque of frame-free torque motor under suspension state that the present invention that just explains through diagrams recited above is correlated with, be easy to carry out some amendments on this basis due to the technician concerning constructed field, therefore this instructions does not really want the device and method for monitoring dynamic torque of frame-free torque motor under suspension state of the present invention to be confined in shown or described concrete mechanism and the scope of application, therefore every corresponding modify that may be utilized and equivalent, all belong to the protection domain of patent of the present invention.
Claims (3)
1. one kind for monitoring the method for dynamic torque of frame-free torque motor under suspension state, it is characterized in that: the method is realized by a kind of device for monitoring dynamic torque of frame-free torque motor under suspension state, this device comprises being installed on to be changed and pre-process circuit, high-speed data acquisition card, computational analysis data cell without the contactless photoelectric encoder on frame torque motor and the signal being installed on host computer inside; Describedly be fixed on motor base without frame torque motor; Described contactless photoelectric encoder comprises Circular gratings dish and read head; Described Circular gratings dish is fixedly connected with the rotatable parts coaxial cable without frame torque motor, and follows the rotatable parts synchronous axial system without frame torque motor; Described read head is fixedly connected on holder; Grating scale on described read head and Circular gratings dish aligns, and guarantees the dynamic angle displacement data of correct Real-time Collection without frame torque motor rotatable parts; Described read head is changed by data line and signal and pre-process circuit forms and electrically connects; The dynamic angle displacement data of the rotatable parts without frame torque motor that described read head Real-time Collection arrives, high-speed data acquisition card is transferred to after signal conversion and pre-process circuit process, and analyze data cell as calculated to after the data analysis in high-speed data acquisition card and controlling calculation, real-time demonstrate dynamic torque output valve without frame torque motor and rotating speed;
Described method comprises the steps:
1) by host computer setting real-time data acquisition cycle T;
2) the dynamic angle displacement delta data θ without the rotatable parts of frame torque motor in three consecutive periods is gathered by contactless photoelectric encoder
k-2, θ
k-1, θ
k;
3) by computational analysis data cell, formula is utilized
with
to above-mentioned steps 2) image data carries out analyzing and processing, obtains angular acceleration values
By formula T
k=J
alwaysε
k+ T
f, wherein J
alwaysfor total moment of inertia of article for rotation on air-floating main shaft, ω
kfor angular velocity when kth time is sampled, ε
kfor angular acceleration values when kth time is sampled, T
ffor the moment of friction caused by friction force, T
fvery little without value for frame torque motor for what work under this suspended state, namely calculate the torque output T in the kth cycle
k, thus record the real-time dynamic torque without frame torque motor;
4) dynamic torque output valve without frame torque motor and rotating speed is demonstrated by host computer.
2. the method for monitoring dynamic torque of frame-free torque motor under suspension state according to claim 1, is characterized in that: the spacing of described read head and Circular gratings dish is 0.8mm.
3. the method for monitoring dynamic torque of frame-free torque motor under suspension state according to claim 1, it is characterized in that: described read head Real-time Collection to the dynamic angle displacement data of the rotatable parts without frame torque motor be pulse signal, it is converted into analog signals by signal conversion and pre-process circuit.
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| CN201210531787.5A CN103048071B (en) | 2012-12-12 | 2012-12-12 | Device and method for monitoring dynamic torque of frameless torque motor in suspension state |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210531787.5A CN103048071B (en) | 2012-12-12 | 2012-12-12 | Device and method for monitoring dynamic torque of frameless torque motor in suspension state |
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| CN103048071B true CN103048071B (en) | 2015-08-26 |
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Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN103383293B (en) * | 2013-06-14 | 2015-08-26 | 西安工程大学 | Photo-electric torque measuring device and measuring method |
| CN103292956A (en) * | 2013-06-24 | 2013-09-11 | 中国航空工业集团公司北京长城计量测试技术研究所 | Device and method for calibrating rotational inertia |
| CN106323547B (en) * | 2016-06-20 | 2018-11-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Rotary axis rotary inertia in-situ measurement device |
| CN106768618B (en) * | 2016-06-20 | 2019-01-25 | 中国航空工业集团公司北京长城计量测试技术研究所 | A kind of dynamic torque calibration method |
| CN106989868B (en) * | 2017-03-02 | 2022-11-18 | 天津大学 | Method for calibrating output torque of speed reducer detector |
| CN106931998A (en) * | 2017-04-26 | 2017-07-07 | 苏州睿牛机器人技术有限公司 | A kind of novel photoelectric code sensor |
| CN106989853B (en) * | 2017-05-05 | 2019-05-03 | 北京航空航天大学 | A kind of micro- torque tester |
| AT522354B1 (en) * | 2019-08-12 | 2020-10-15 | Avl List Gmbh | Procedure for operating a test bench |
| CN110501328A (en) * | 2019-09-30 | 2019-11-26 | 江苏天瑞仪器股份有限公司 | Grating drive module and control method for single-channel scanning ICP spectrometer |
| CN110987293B (en) * | 2019-12-13 | 2022-01-28 | 贵州航天计量测试技术研究所 | Device and method for dynamically calibrating torque sensor by using braking natural frequency method |
| CN113390558B (en) * | 2021-06-30 | 2022-02-15 | 中国铁路郑州局集团有限公司科学技术研究所 | Impact wrench accumulated torque on-line measurement and calibration device |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851428A (en) * | 2006-04-30 | 2006-10-25 | 北京航空航天大学 | Torque test air support rotating platform for control torque gyro |
| CN1945467A (en) * | 2006-10-24 | 2007-04-11 | 北京航空航天大学 | Servo control system for quick response magnetic suspension control torque gyroscope frame |
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Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1851428A (en) * | 2006-04-30 | 2006-10-25 | 北京航空航天大学 | Torque test air support rotating platform for control torque gyro |
| CN1945467A (en) * | 2006-10-24 | 2007-04-11 | 北京航空航天大学 | Servo control system for quick response magnetic suspension control torque gyroscope frame |
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