CN103344424A - Ventilating disc type brake electric inertia simulator stand and electric inertia simulating control method thereof - Google Patents

Abstract

The invention belongs to a mechanical and electrical integrated system and relates to electric drive simulation of a mechanical rotation inertia system, measurement of braking torques of brakes except the tested brake and synchronous measurement of a combination braking torque and a mechanical friction braking torque under a simulated composite braking state, in particular to a ventilating disc type brake electric inertia simulator stand and an electric inertia simulating control method of the ventilating disc type brake electric inertia simulator stand. The method includes the steps of synchronously collecting the rotating speed of a flywheel and the output torque of a motor, calculating total energy which needs to be compensated by the motor according to a mathematic model, calculating total energy which has been compensated by the motor at the same time, obtaining the difference between the two types of total energy, and calculating and setting a torque output value of the motor according to the difference so that the simulator stand runs under the situation where the simulator stand approaches an ideal flywheel and no system inherent resistance exists. The mechanical and electrical integrated system has an automatic compensation function for an energy compensation error, controls the total errors within a very small range, achieves accurate matching of rotation inertia and saves investment and running cost, wherein the control precision can meet high-precision test requirements.

Description

Ventilated disc detent electric inertia simulation testing table and electric inertia simulation control method thereof

Technical field

The invention belongs to electro-mechanical system, relate to the Electrified Transmission simulation of machinery rotation inertia system, the Electrified Transmission simulation of composite braking and mensuration, particularly ventilated disc detent electric inertia simulation testing table and the electric inertia simulation control method thereof of ventilated disc detent combination braking moment and mechanical friction braking moment.

Background technology

In the bench test of ventilated disc detent, need the braking ability of detent under the test different condition, its essence is the energy that detent consumption is set under specific operation.Therefore, brake tester should possess the function that is provided at particular energy under the different operating modes.

The mechanical analogue of load realizes by flywheel and since the moment of inertia of flywheel or flywheel group be fix or fixedly classification, thereby can't be all the time simulation load accurately, can address this problem well by electric inertia simulation.

In view of the braking moment of ventilated disc detent is to be combined by mechanical friction and venting plate windage, therefore this testing table provides the torque sensor of measuring the combination braking moment, provides the special measurement mechanical of mechanical friction braking torque measurement mechanism fricative braking moment simultaneously.

Testing table mechanical flywheel system because the influence of mechanical friction and windage can produce system's proper drag square, influences test accuracy when operation.Therefore in control procedure, should get rid of the interference of experimental bench system proper drag square.

No matter be train or automobile, actual braking all is that detent and windage, vehicle revolution are (the high ferro motor train unit has electric braking, magnetic rail braking etc.) coefficient results such as mechanical friction, high-precision test should be taken into account the effect of other resistances except detent, but the actual applying working condition of simulating brake device.

Summary of the invention

The purpose of this invention is to provide ventilated disc detent electric inertia simulation testing table and electric inertia simulation control method thereof, to realize the accurate coupling of moment of inertia, improve test accuracy.Simultaneously can be optimized configuration to the main dynamo-electric parameter of testing table.Measure combination braking moment and the mechanical friction braking moment of ventilated disc detent, realize the analysis to the detent brake efficiency.Eliminate the interference of experimental bench system proper drag square.Consider the influence of other resistances (or detent) except being tried detent in the process of the test, can realize that the simulation run that is tried detent tests.

The object of the present invention is achieved like this, a kind of ventilated disc detent electric inertia simulation testing table, it is characterized in that: comprise mechanical friction braking torque measurement mechanism at least, the combination brake torque sensor, flywheel or flywheel group, motor output torque sensor, dragging motor, tachogenerator, electric inertia simulation control module and Electrified Transmission control module, motor output torque sensor is installed between dragging motor and the flywheel group, axle head is equipped with tachogenerator, tried between detent and flywheel or the flywheel group combination brake torque sensor to be installed, tried to be equipped with on the detent mechanical friction braking torque measurement mechanism, tachogenerator, motor output torque sensor is electrically connected with the electric inertia simulation control module respectively, driven by the Electrified Transmission control module that dragging motor drags flywheel or the flywheel group runs to the setting rotating speed, the beginning braking procedure; Obtain motor output torque sensor and synchronous flywheel rotating speed, the motor output torque of gathering of tachogenerator by the electric inertia simulation control module, the electric inertia simulation control module goes out the gross energy that motor should compensate according to calculated with mathematical model, calculate the gross energy that motor compensated simultaneously and draw the poor of the two, calculate the moment of torsion output valve of dragging motor and given then, make testing table move under the state of system's proper drag approaching desirable flywheel and do not have; Dispose mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, can measure mechanical friction braking moment and the combination braking moment of ventilated disc detent, realize the analysis to the detent brake efficiency.

Describedly go out the gross energy E that motor should compensate according to calculated with mathematical model _mBe according to the mathematical model formula:

$E_m=\frac{1-K}{K}\·E_f-E_s^{\′}+E_R$

In the formula, E _fBe total drop-out value of flywheel its kinetic energy when relatively braking is initial, E _RBe the energy that system's proper drag consumes in braking procedure, E ' _sBe the energy that other braking consumes except being tried detent of simulation,

I _fBe the moment of inertia of flywheel, I is the moment of inertia of desirable flywheel, E _F0Be the kinetic energy of flywheel when braking is initial, E is the kinetic energy of desirable flywheel.

The electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table:

1) the braking moment T ' that other braking except being tried detent produces to composite braking _s, stipulate that it is the function of angular velocity, given according to testing requirements, namely

T′ _s＝T′ _s(ω)

2) to experimental bench system proper drag T _RDemarcate, stipulate that it is the function of angular velocity, namely

T _R＝T _R(ω)

3) order: control cycle Δ t=t _I+1-t _i=const, t _i=i Δ t, i=0,1,2 ... n;

In the formula: t _I+1And t _iAll expression constantly.

The braking initial velocity is ω ₀

The braking end speed is [ω];

Following parameter is carried out initialization:

E ' _S0The=0th, t ₀Other brake gross energy=0 of current consumption except being tried detent constantly;

E _R0=0, be t ₀The time etching system proper drag gross energy=0 that consumes;

E _M0=0, be t ₀Gross energy=0 that moment motor should compensate;

E ' _M0=0, be t ₀Gross energy=0 that moment motor has compensated;

i＝0。

4) motor drags flywheel and runs to given initial speed ω ₀Tried detent behind the velocity-stabilization and begin braking procedure, motor drags the Torque Control state that switches to, and be t this moment ₀Constantly.At t ₀Constantly gather motor speed signal, motor output torque signal synchronously by sensor; T according to the calculated signals of gathering ₀The angular velocity omega of moment motor ₀, motor actual output torque T _M0

5) according to step 1) and step 2) calculate respectively

T′ _s0＝T′ _s(ω ₀)

T _R0＝T _R(ω ₀)

i＝i+1

6) at t _iConstantly gather motor speed signal, motor output torque signal synchronously by sensor;

7) calculated signals according to the step 6) collection goes out t _iThe angular velocity omega of moment motor _i, motor actual output torque T _Mi

8) angular velocity omega when front motor that obtains according to step 7) _iWith the braking end speed [ω] of step 3) regulation, judge ω _iWhether＞[ω] sets up, and then carries out step 9) if set up, otherwise carry out step 18);

9) total drop-out value of the current flywheel energy of calculating;

10) other brake the gross energy of current consumption except being tried detent in calculating;

11) gross energy of the current consumption of computing system proper drag;

12) calculated with mathematical model by electric inertia simulation goes out the current gross energy that should compensate of motor;

13) calculate the current gross energy that has compensated of motor;

14) calculate the poor of gross energy that gross energy that motor should compensate and motor compensated;

15) calculate Motor torque and calculate output valve;

16) control motor output torque approaches Motor torque and calculates output valve;

17) make i=i+1, carry out step 6);

18) withdraw from electric inertia simulation.

Total drop-out value that described step 9) is calculated current flywheel energy is according to following formula:

$E_{\mathrm{fi}}=\frac{1}{2}\·I_f\·({\mathrm{\ω}}_0^2-{\mathrm{\ω}}_i^2)$

In the formula: E _FiBe t _iTotal drop-out value of moment flywheel energy, I _fBe the moment of inertia of flywheel, ω _iBe t _iThe motor angular velocity that constantly records.

Described step 10) calculating other gross energies of braking current consumption except being tried detent are according to following formula:

$E_{\mathrm{si}}^{\′}=E_{\mathrm{si}-1}^{\′}+\frac{T_{\mathrm{si}-1}^{\′}+T_{\mathrm{si}}^{\′}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E ' _SiBe t _iOther brake the gross energy of current consumption, E ' except being tried detent constantly _Si-1Be t _I-1Other brake the gross energy of current consumption, T ' except being tried detent constantly _Si-1Be t _I-1The braking moment of other brakings except being tried detent constantly, T ' _SiBe t _iThe braking moment of other brakings except being tried detent constantly, ω _I-1Be t _I-1The motor angular velocity that constantly records.Have according to step 1):

T′ _Si-1＝T′ _s(ω _i-1)

T′ _si＝T′ _s(ω _i)

The gross energy of the current consumption of described step 11) computing system proper drag is according to following formula:

$E_{\mathrm{Ri}}=E_{\mathrm{Ri}-1}+\frac{T_{\mathrm{Ri}-1}+T_{\mathrm{Ri}}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E _RiBe t _iThe time etching system proper drag gross energy that consumes, E _Ri-1Be t _I-1The time etching system proper drag gross energy that consumes, T _Ri-1Be t _I-1The time etching system proper drag square, T _SiBe t _iThe time etching system proper drag square.According to step 2) have:

T _Ri-1＝T _R(ω _i-1)

T _Ri＝T _R(ω _i)

It is according to following formula that described step 12) goes out the current gross energy that should compensate of motor by the calculated with mathematical model of electric inertia simulation:

$E_{\mathrm{mi}}=\frac{1-K}{K}\·E_{\mathrm{fi}}-E_{\mathrm{si}}^{\′}+E_{\mathrm{Ri}}$

In the formula: E _MiBe t _iThe gross energy that moment motor should compensate.

It is according to following formula that described step 13) calculates the current gross energy that has compensated of motor:

$E_{\mathrm{mi}}^{\′}=E_{\mathrm{mi}-1}^{\′}+\frac{T_{\mathrm{mi}-1}+T_{\mathrm{mi}}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E ' _MiBe t _iThe gross energy that moment motor has compensated, E ' _Mi-1Be t _I-1The gross energy that moment motor has compensated, T _Mi-1Be t _I-1The motor actual output torque that constantly records, T _MiBe t _iThe motor actual output torque that constantly records.

The difference of the gross energy that the gross energy that described step 14) calculating motor should compensate and motor have compensated is according to following formula:

ΔE _mi＝E _mi-E′ _mi

In the formula: Δ E _MiBe t _iConstantly the gross energy that compensated of the motor gross energy that should compensate and motor is poor.

It is according to following formula that described step 15) calculates Motor torque calculating output valve:

$T_m=\frac{\mathrm{\Δ}{E}_{\mathrm{mi}}}{{\mathrm{\ω}}_i\·\mathrm{\Δt}}$

In the formula: T _mBe t _iMotor torque calculates output valve constantly.

Advantage is: by synchronous collection flywheel rotating speed, motor output torque, total drop-out value when calculating flywheel energy with respect to the given initial speed of test, the gross energy of other mode of braking consumption except being tried detent, the gross energy that system's proper drag consumes in braking procedure, go out the gross energy that motor should compensate by calculated with mathematical model, calculate the gross energy that motor compensated simultaneously and draw the poor of the two, calculate the moment of torsion output valve of motor and given accordingly, make testing table move under the state of system's proper drag approaching desirable flywheel and do not have.It possesses the automatic compensation function of energy compensating error, thereby total error is controlled in very little scope; Realize the accurate coupling of moment of inertia, control accuracy can satisfy the high precision testing requirements; Reduce investment outlay and operating cost.

The invention will be further described below in conjunction with the embodiment accompanying drawing:

Description of drawings

Fig. 1 is embodiment of the invention schematic diagram.

Among the figure: 1, mechanical friction braking torque measurement mechanism; 2, combination brake torque sensor; 3, flywheel or flywheel group; 4, motor output torque sensor; 5, dragging motor; 6, tachogenerator; 7, electric inertia simulation control module; 8, Electrified Transmission control module; 9, tried detent.

Embodiment

As shown in Figure 1, a kind of ventilated disc brake tester electric inertia simulation control device, it is characterized in that: comprise mechanical friction braking torque measurement mechanism 1 at least, combination brake torque sensor 2, flywheel or flywheel group 3, motor output torque sensor 4, dragging motor 5, tachogenerator 6, electric inertia simulation control module 7 and Electrified Transmission control module 8, motor output torque sensor 4 is installed between dragging motor 5 and the flywheel group 3, axle head is equipped with tachogenerator 6, tried to be equipped with between detent 9 and flywheel or the flywheel group 3 combination brake torque sensor 2, tried to be equipped with on the detent 9 mechanical friction braking torque measurement mechanism 1, tachogenerator 6, motor output torque sensor 4 is electrically connected with electric inertia simulation control module 7 respectively, driven by Electrified Transmission control module 8 that dragging motors 5 drag flywheel or flywheel group 3 runs to the setting rotating speed, the beginning braking procedure; Obtain motor output torque sensor 4 and tachogenerator 6 synchronous flywheel rotating speed, the motor output torques of gathering by electric inertia simulation control module 7, electric inertia simulation control module 7 goes out the gross energy that motor should compensate according to calculated with mathematical model, calculate the gross energy that motor compensated simultaneously and draw the poor of the two, calculate the moment of torsion output valve of dragging motor 5 and given then, make testing table move under the state of system's proper drag approaching desirable flywheel and do not have; Dispose mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, can measure mechanical friction braking moment and the combination braking moment of ventilated disc detent, realize the analysis to the detent brake efficiency.

Electric inertia simulation control module 7 adopts dedicated computer system, and Electrified Transmission control module 8 adopts technology well known in the art, just is not described in detail here.Mechanical friction braking torque measurement mechanism 1 is exactly pendulum-type arm bar and force cell combination, or torque sensor, and the connected mode between them belongs to known technology and do not describe one by one here.

The energy that testing table consumes when utilizing the energy simulating brake device braking of the kinetic energy of flywheel and motor real-Time Compensation, the performance of test detent.The problem that needs to solve is that motor will be with the energy compensation in real time on request of needs in braking procedure.

Describedly go out the gross energy E that motor should compensate according to calculated with mathematical model _mBe according to the mathematical model formula:

$E_m=\frac{1-K}{K}\·E_f-E_s^{\′}+E_R$

In the formula, E _fBe total drop-out value of flywheel its kinetic energy when relatively braking is initial, E ' _sBe the energy of other brake system consumes except being tried detent of simulation, E _RBe the energy that system's proper drag consumes in braking procedure,

I _fBe the moment of inertia of flywheel, I is the moment of inertia of desirable flywheel, E _F0Be the kinetic energy of flywheel when braking is initial, E is the kinetic energy of desirable flywheel.

The electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table:

1) the braking moment T ' that other braking except being tried detent produces to composite braking _s, stipulate that it is the function of angular velocity, given according to testing requirements, namely

T′ _s＝T′ _s(ω)

2) to experimental bench system proper drag T _RDemarcate, stipulate that it is the function of angular velocity, namely

T _R＝T _R(ω)

3) order: control cycle Δ t=t _I+1-t _i=const, t _i=i Δ t, i=0,1,2 ... n;

In the formula: t _I+1And t _iAll expression constantly.

The braking initial velocity is ω ₀

The braking end speed is [ω];

Following parameter is carried out initialization:

E ' _S0=0, be t ₀Other brake gross energy=0 of current consumption except being tried detent constantly;

E _R0=0, be t ₀The time etching system proper drag gross energy=0 that consumes;

E _M0=0, be t ₀Gross energy=0 that moment motor should compensate;

E ' _M0=0, be t ₀Gross energy=0 that moment motor has compensated;

i＝0。

4) motor drags flywheel and runs to given initial speed ω ₀Tried detent behind the velocity-stabilization and begin braking procedure, motor drags the Torque Control state that switches to, and be t this moment ₀Constantly.At t ₀Constantly gather motor speed signal, motor output torque signal synchronously by sensor; T according to the calculated signals of gathering ₀The angular velocity omega of moment motor ₀, motor actual output torque T _M0

5) according to step 1) and step 2) calculate respectively

T′ _s0=T′ _s(ω ₀)

T _R0＝T _R(ω ₀)

i＝i+1

6) at t _iConstantly gather motor speed signal, motor output torque signal synchronously by sensor;

7) calculated signals according to the step 6) collection goes out t _iThe angular velocity omega of moment motor _i, motor actual output torque T _Mi

8) angular velocity omega when front motor that obtains according to step 7) _iWith the braking end speed [ω] of step 3) regulation, judge ω _iWhether＞[ω] sets up, and then carries out step 9) if set up, otherwise carry out step 18);

9) total drop-out value of the current flywheel energy of calculating;

10) other brake the gross energy of current consumption except being tried detent in calculating;

11) gross energy of the current consumption of computing system proper drag;

12) calculated with mathematical model by electric inertia simulation goes out the current gross energy that should compensate of motor;

13) calculate the current gross energy that has compensated of motor;

14) calculate the poor of gross energy that gross energy that motor should compensate and motor compensated;

15) calculate Motor torque and calculate output valve;

16) control motor output torque approaches Motor torque and calculates output valve;

17) make i=i+1, carry out step 6);

18) withdraw from electric inertia simulation.

Total drop-out value that described step 9) is calculated current flywheel energy is according to following formula:

$E_{\mathrm{fi}}=\frac{1}{2}\·I_f\·({\mathrm{\ω}}_0^2-{\mathrm{\ω}}_i^2)$

In the formula: E _FiBe t _iTotal drop-out value of moment flywheel energy, I _fBe the moment of inertia of flywheel, ω _iBe t _iThe motor angular velocity that constantly records.

Described step 10) calculating other gross energies of braking current consumption except being tried detent are according to following formula:

$E_{\mathrm{si}}^{\′}=E_{\mathrm{si}-1}^{\′}+\frac{T_{\mathrm{si}-1}^{\′}+T_{\mathrm{si}}^{\′}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E ' _SiBe t _iOther brake the gross energy of current consumption, E ' except being tried detent constantly _Si-1Be t _I-1Other brake the gross energy of current consumption, T ' except being tried detent constantly _Si-1Be t _I-1The braking moment of other brakings except being tried detent constantly, T ' _SiBe t _iThe braking moment of other brakings except being tried detent constantly, ω _I-1Be t _I-1The motor angular velocity that constantly records.Have according to step 1):

T′ _si-1＝T′ _s(ω _i-1)

T′ _si=T′ _s(ω _i)

The gross energy of the current consumption of described step 11) computing system proper drag is according to following formula:

$E_{\mathrm{Ri}}=E_{\mathrm{Ri}-1}+\frac{T_{\mathrm{Ri}-1}+T_{\mathrm{Ri}}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E _RiBe t _iThe time etching system proper drag gross energy that consumes, E _Ri-1Be t _I-1The time etching system proper drag gross energy that consumes, T _Ri-1Be t _I-1The time etching system proper drag square, T _SiBe t _iThe time etching system proper drag square.According to step 2) have:

T _Ri-1＝T _R(ω _i-1)

T _Ri＝T _R(ω _i)

It is according to following formula that described step 12) goes out the current gross energy that should compensate of motor by the calculated with mathematical model of electric inertia simulation:

$E_{\mathrm{mi}}=\frac{1-K}{K}\·E_{\mathrm{fi}}-E_{\mathrm{si}}^{\′}+E_{\mathrm{Ri}}$

In the formula: E _MiBe t _iThe gross energy that moment motor should compensate.

It is according to following formula that described step 13) calculates the current gross energy that has compensated of motor:

$E_{\mathrm{mi}}^{\′}=E_{\mathrm{mi}-1}^{\′}+\frac{T_{\mathrm{mi}-1}+T_{\mathrm{mi}}}{2}\·\frac{{\mathrm{\ω}}_{i-1}+{\mathrm{\ω}}_i}{2}\·\mathrm{\Δt}$

In the formula: E ' _MiBe t _iThe gross energy that moment motor has compensated, E ' _Mi-1Be t _I-1The gross energy that moment motor has compensated, T _Mi-1Be t _I-1The motor actual output torque that constantly records, T _MiBe t _iThe motor actual output torque that constantly records.

The difference of the gross energy that the gross energy that described step 14) calculating motor should compensate and motor have compensated is according to following formula:

ΔE _mi＝E _mi-E′ _mi

In the formula: Δ E _MiBe t _iConstantly the gross energy that compensated of the motor gross energy that should compensate and motor is poor.

It is according to following formula that described step 15) calculates Motor torque calculating output valve:

$T_m=\frac{{\mathrm{\ΔE}}_{\mathrm{mi}}}{{\mathrm{\ω}}_i\·\mathrm{\Δt}}$

In the formula: T _mBe t _iMotor torque calculates output valve constantly.

Basic thought is: gather rotating speed, motor output torque (by being installed in the torque sensor collection of motor side) synchronously at a certain sampled point, calculate flywheel energy with respect to the gross energy of total drop-out value of the given initial speed of test, other braking consumption except being tried detent and the gross energy that system's proper drag consumes, go out gross energy that motor should compensate by the calculated with mathematical model of electric inertia simulation and calculate the gross energy that motor compensated simultaneously and draw the poor of the two, calculate the moment of torsion output valve of motor and given accordingly.

By above-mentioned mathematical model and control method establishment computer-controlled program thereof, read motor output torque and the flywheel shaft rotating speed that torque sensor and tachogenerator record at each control cycle, calculate motor output torque set-point, make electric drive system control motor output torque on request, finish until braking procedure.

The parts that present embodiment is not described in detail and structure belong to well-known components and common structure or the conventional means of the industry, here not narration one by one.

Claims (10)

1. ventilated disc detent electric inertia simulation testing table, it is characterized in that: comprise mechanical friction braking torque measurement mechanism (1) at least, combination brake torque sensor (2), flywheel or flywheel group (3), motor output torque sensor (4), dragging motor (5), tachogenerator (6), electric inertia simulation control module (7) and Electrified Transmission control module (8), between dragging motor (5) and the flywheel group (3) motor output torque sensor (4) is installed, axle head is equipped with tachogenerator (6), tried to be equipped with between detent (9) and flywheel or the flywheel group (3) combination brake torque sensor (2), tried to be equipped with on the detent (9) mechanical friction braking torque measurement mechanism (1), tachogenerator (6), motor output torque sensor (4) is electrically connected with electric inertia simulation control module (7) respectively, driven by Electrified Transmission control module (8) that dragging motor (5) drags flywheel or flywheel group (3) runs to the setting rotating speed, the beginning braking procedure; Obtain motor output torque sensor (4) and synchronous flywheel rotating speed, the motor output torque of gathering of tachogenerator (6) by electric inertia simulation control module (7), electric inertia simulation control module (7) goes out the gross energy that motor should compensate according to calculated with mathematical model, calculate the gross energy that motor compensated simultaneously and draw the poor of the two, calculate the moment of torsion output valve of dragging motor (5) and given then, make testing table move under the state of system's proper drag approaching desirable flywheel and do not have; Dispose mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, can measure mechanical friction braking moment and the combination braking moment of ventilated disc detent, realize the analysis to the detent brake efficiency.

2. ventilated disc detent electric inertia simulation testing table according to claim 1 is characterized in that: describedly go out the gross energy E that motor should compensate according to calculated with mathematical model _mBe according to the mathematical model formula:

In the formula, E _fBe total drop-out value of flywheel its kinetic energy when relatively braking is initial, E ' _sBe the energy that other braking consumes except being tried detent of simulation, E _RBe the energy that system's proper drag consumes in braking procedure,

I _fBe the moment of inertia of flywheel, I is the moment of inertia of desirable flywheel, E _F0Be the kinetic energy of flywheel when braking is initial, E is the kinetic energy of desirable flywheel.

3. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table comprises at least:

1) the braking moment T ' that other braking except being tried detent produces to composite braking _s, stipulate that it is the function of angular velocity, given according to testing requirements, namely

T′ _s＝T′ _s(ω)

2) to experimental bench system proper drag T _RDemarcate, stipulate that it is the function of angular velocity, namely

T _R＝T _R(ω)

3) order: control cycle Δ t=t _I+1-t _i=const, t _i=i Δ t, i=0,1,2 ... n;

In the formula: t _I+1And t _iAll expression constantly;

The braking initial velocity is ω ₀

The braking end speed is [ω];

Following parameter is carried out initialization:

E ' _S0=0, be t ₀Other brake gross energy=0 of current consumption except being tried detent constantly;

E _R0=0, be t ₀The time etching system proper drag gross energy=0 that consumes;

E _M0=0, be t ₀Gross energy=0 that moment motor should compensate;

E ' _M0=0, be t ₀Gross energy=0 that moment motor has compensated;

i＝0;

4) motor drags flywheel and runs to given initial speed ω ₀Tried detent behind the velocity-stabilization and begin braking procedure, motor drags the Torque Control state that switches to, and be t this moment ₀Constantly; At t ₀Constantly gather motor speed signal, motor output torque signal synchronously by sensor; T according to the calculated signals of gathering ₀The angular velocity omega of moment motor ₀, motor actual output torque T _M0

5) according to step 1) and step 2) calculate respectively

T′ _s0＝T′ _s(ω ₀)

T _R0＝T _R(ω ₀)

i＝i+1

6) at t _iConstantly gather motor speed signal, motor output torque signal synchronously by sensor;

7) calculated signals according to the step 6) collection goes out t _iThe angular velocity omega of moment motor _i, motor actual output torque T _Mi

8) angular velocity omega when front motor that obtains according to step 7) _iWith the braking end speed [ω] of step 3) regulation, judge ω _iWhether＞[ω] sets up, and then carries out step 9) if set up, otherwise carry out step 18);

9) total drop-out value of the current flywheel energy of calculating;

10) other brake the gross energy of current consumption except being tried detent in calculating;

11) gross energy of the current consumption of computing system proper drag;

12) calculated with mathematical model by electric inertia simulation goes out the current gross energy that should compensate of motor;

13) calculate the current gross energy that has compensated of motor;

14) calculate the poor of gross energy that gross energy that motor should compensate and motor compensated;

15) calculate Motor torque and calculate output valve;

16) control motor output torque approaches Motor torque and calculates output valve;

17) make i=i+1, carry out step 6);

18) withdraw from electric inertia simulation.

4. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3, it is characterized in that: total drop-out value that described step 9) is calculated current flywheel energy is according to following formula:

In the formula: E _FiBe t _iTotal drop-out value of moment flywheel energy, I _fBe the moment of inertia of flywheel, ω _iBe t _iThe motor angular velocity that constantly records.

5. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3 is characterized in that: described step 10) calculates that other gross energies of braking current consumption are according to following formula except being tried detent:

In the formula: E ' _SiBe t _iOther brake the gross energy of current consumption, E ' except being tried detent constantly _Si-1Be t _I-1Other brake the gross energy of current consumption, T ' except being tried detent constantly _Si-1Be t _I-1The braking moment of other brakings except being tried detent constantly, T ' _SiBe t _iThe braking moment of other brakings except being tried detent constantly, ω _I-1Be t _I-1The motor angular velocity that constantly records; Have according to step 1):

T′ _si-1＝T′ _s(ω _i-1)

T′ _si＝T′ _s(ω _i)。

6. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3, it is characterized in that: the gross energy of the current consumption of described step 11) computing system proper drag is according to following formula:

In the formula: E _RiBe t _iThe time etching system proper drag gross energy that consumes, E _Ri-1Be t _I-1The time etching system proper drag gross energy that consumes, T _Ri-1Be t _I-1The time etching system proper drag square, T _SiBe t _iThe time etching system proper drag square.According to step 2) have:

T _Ri-1＝T _R(ω _i-1)

T _Ri＝T _R(ω _i)?。

7. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3 is characterized in that: it is according to following formula that described step 12) goes out the current gross energy that should compensate of motor by the calculated with mathematical model of electric inertia simulation:

In the formula: E _MiBe t _iThe gross energy that moment motor should compensate.

8. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3, it is characterized in that: it is according to following formula that described step 13) calculates the current gross energy that has compensated of motor:

In the formula: E ' _MiBe t _iThe gross energy that moment motor has compensated, E ' _Mi-1Be t _I-1The gross energy that moment motor has compensated, T _Mi-1Be t _I-1The motor actual output torque that constantly records, T _MiBe t _iThe motor actual output torque that constantly records.

9. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3 is characterized in that: the difference that described step 14) is calculated the gross energy that gross energy that motor should compensate and motor compensated is according to following formula:

ΔE _mi＝E _mi-E′ _mi

In the formula: Δ E _MiBe t _iConstantly the gross energy that compensated of the motor gross energy that should compensate and motor is poor.

10. the electric inertia simulation control method of ventilated disc detent electric inertia simulation testing table according to claim 3 is characterized in that: described step 15) calculates Motor torque, and to calculate output valve be according to following formula:

In the formula: T _mBe t _iMotor torque calculates output valve constantly.

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