CN103344424B  Ventilation disk brake electric inertia simulation testing stand and electric inertia simulation control method thereof  Google Patents
Ventilation disk brake electric inertia simulation testing stand and electric inertia simulation control method thereof Download PDFInfo
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 CN103344424B CN103344424B CN201310262986.5A CN201310262986A CN103344424B CN 103344424 B CN103344424 B CN 103344424B CN 201310262986 A CN201310262986 A CN 201310262986A CN 103344424 B CN103344424 B CN 103344424B
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Abstract
The invention belongs to electromechanical system, the Electrified Transmission relating to machinery rotation inertia system is simulated and braking moment of the braking of other in addition to tested brake, synchro measure combination braking moment and mechanical friction braking moment, particularly Ventilation disk brake electric inertia simulation testing stand and electric inertia simulation control method thereof under analog composite onposition.By synchronous acquisition Speed of Reaction Wheels, motor output torque, the gross energy that motor should compensate is calculated by mathematical model, calculate gross energy that motor has been compensated for simultaneously and draw the difference between the two, calculate the torque output of motor accordingly and give so that testing stand runs when approaching preferable flywheel and not having system proper drag.It possesses the automatic compensation function of energy compensating error, thus total error is controlled in the least scope；Realizing the accurate coupling of rotary inertia, control accuracy can meet high accuracy test requirements document；Reduce investment outlay and operating cost.
Description
Technical field
The invention belongs to electromechanical system, relate to the Electrified Transmission simulation of machinery rotation inertia system, composite braking
Electrified Transmission simulation and Ventilation disk brake combination braking moment and the mensuration of mechanical friction braking moment, the most logical
Wind disk brake electric inertia simulation testing stand and electric inertia simulation control method thereof.
Background technology
In the bench test of Ventilation disk brake, need to test the braking ability of brake under different condition, its
Matter is the energy that brake consumption sets under specific operation.Therefore, brake tester should possess offer spy under different operating modes
Function surely.
The mechanical analogue of load is realized by flywheel, owing to the rotary inertia of flywheel or flywheel group is fixing or solid
Determine classification, thus cannot simulation load the most accurately, this problem can be solved well by electric inertia simulation.
In view of the braking moment of Ventilation disk brake is to be combined by mechanical friction and venting plate windage, therefore this examination
Test platform and provide the torque sensor measuring combination braking moment, provide mechanical friction braking torque measurement apparatus to survey specially simultaneously
The braking moment that amount mechanical friction produces.
Testing stand mechanical flywheel system operationally due to mechanical friction and the impact of windage, can produce system proper drag
Square, affects test accuracy.Therefore the interference of experimental bench system proper drag square should be got rid of during controlling.
Either train or automobile, actual braking be all brake and windage, vehicle revolution be the (high ferros such as mechanical friction
EMUs have electric braking, magnetic rail braking etc.) coefficient result, highprecision test should be taken into account in addition to brake other
The effect of resistance, can the actually used operating mode of simulating brake device.
Summary of the invention
It is an object of the invention to provide Ventilation disk brake electric inertia simulation testing stand and electric inertia simulation controlling party thereof
Method, to realize the accurate coupling of rotary inertia, improves test accuracy.The dominant electromechanical parameter of testing stand can be optimized simultaneously
Configuration.Measure combination braking moment and the mechanical friction braking moment of Ventilation disk brake, it is achieved to brake usefulness
Analysis.Eliminate the interference of experimental bench system proper drag square.Process of the test considers other resistances in addition to tested brake
The impact of (or brake), can realize the simulation run test of tested brake.
The object of the present invention is achieved like this, a kind of Ventilation disk brake electric inertia simulation testing stand, it is characterized in that:
At least include mechanical friction braking torque measurement apparatus, combination brake torque sensor, flywheel or flywheel group, motor output torque
Sensor, dragging motor, tachogenerator, electric inertia simulation control unit and electrical drive control system unit, dragging motor and flying
Being provided with motor output torque sensor between wheels, axle head is provided with tachogenerator, tested brake and flywheel or flywheel
Combination brake torque sensor is installed between group, tested brake is provided with mechanical friction braking torque measurement apparatus, survey
Speed sensor, motor output torque sensor electrically connect with electric inertia simulation control unit, respectively by electrical drive control system unit
Drive dragging motor to drag flywheel or flywheel group runs to setting speed, start braking procedure；By electric inertia simulation control unit
Obtain motor output torque sensor and the Speed of Reaction Wheels of tachogenerator synchronous acquisition, motor output torque, electrical inertia mould
Intend control unit and calculate the gross energy that motor should compensate according to mathematical model, calculate gross energy that motor has been compensated for must simultaneously
Go out the difference between the two, then calculate the torque output of dragging motor and give so that testing stand is approaching preferable flywheel and do not having
Run under the state having system proper drag；Configuration machinery frictional damping torquemeasuring apparatus and combination braking torque sensing simultaneously
Device, can measure mechanical friction braking moment and the combination braking moment of Ventilation disk brake, it is achieved to brake usefulness
Analysis.
Described calculates, according to mathematical model, the gross energy E that motor should compensate_{m}It is based on mathematical model formula:
In formula, E_{f}Be flywheel relative brake initial time its kinetic energy total dropout value, E_{R}It is that system proper drag is at braking procedure
The energy of middle consumption, E '_{s}It is the energy that other braking consumes in addition to tested brake of simulation,I_{f}It it is flywheel
Rotary inertia, I is the rotary inertia of preferable flywheel, E_{f0}Being the flywheel kinetic energy when braking initial, E is the kinetic energy of preferable flywheel.
The electric inertia simulation control method of Ventilation disk brake electric inertia simulation testing stand:
1) to composite braking in addition to tested brake other braking produce braking moment T '_{s}, it is stipulated that it is angle speed
The function of degree, gives according to test requirements document, i.e.
T′_{s}=T '_{s}(ω)
2) to experimental bench system proper drag T_{R}Demarcate, it is stipulated that it is the function of angular velocity, i.e.
T_{R}=T_{R}(ω)
3) order: control period Δ t=t_{i+1}t_{i}=const, t_{i}=i Δ t, i=0,1,2 ... n;
In formula: t_{i+1}And t_{i}All represent the moment.
Braking initial velocity is ω_{0}；
Braking end speed is [ω]；
Parameters described below is initialized:
E′_{s0}=0 is t_{0}Moment is current gross energy=0 consumed of other brakings in addition to tested brake；
E_{R0}=0, it is t_{0}Time etching system proper drag consume gross energy=0；
E_{m0}=0, it is t_{0}Gross energy=0 that moment motor should compensate；
E′_{m0}=0, it is t_{0}Gross energy=0 that moment motor has been compensated for；
I=0.
4) motor drag flywheel runs to the initial speed ω given_{0}.After velocitystabilization, tested brake starts to brake
Journey, motor drag is switched to Torque Control state, is now t_{0}Moment.At t_{0}Moment passes through sensor synchronous acquisition motor speed
Signal, motor output torque signal；Signal according to gathering calculates t_{0}The angular velocity omega of moment motor_{0}, the actual output of motor
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_{i}Moment passes through sensor synchronous acquisition motor speed signal, motor output torque signal；
7) t is calculated according to the signal of step 6) collection_{i}The angular velocity omega of moment motor_{i}, the actual output moment of torsion of motor
T_{mi}；
8) angular velocity omega of the current motor obtained according to step 7)_{i}The braking end speed [ω] specified with step 3), sentences
Determine ω_{i}Whether ＞ [ω] sets up, if setting up, carrying out step 9), otherwise carrying out step 18)；
9) total dropout value of current flywheel energy is calculated；
10) the current gross energy consumed of other brakings in addition to tested brake is calculated；
11) gross energy that system proper drag currently consumes is calculated；
12) calculate, by the mathematical model of electric inertia simulation, the gross energy that motor currently should compensate；
13) gross energy that motor currently has been compensated for is calculated；
14) gross energy that should compensate of motor is calculated and the difference of gross energy that motor has been compensated for；
15) calculate Motor torque and calculate output valve；
16) control motor output torque and approach Motor torque calculating output valve；
17) make i=i+1, carry out step 6)；
18) electric inertia simulation is exited.
It is according to following formula that described step 9) calculates total dropout value of current flywheel energy:
In formula: E_{fi}It is t_{i}Total dropout value of moment flywheel energy, I_{f}It is the rotary inertia of flywheel, ω_{i}It is t_{i}Moment records
Motor angular velocity.
It is according to following formula that described step 10) calculates the current gross energy consumed of other brakings in addition to tested brake:
In formula: E '_{si}It is t_{i}Moment is the current gross energy consumed of other brakings, E ' in addition to tested brake_{si1}It is t_{i1}Moment
The current gross energy consumed of other brakings, T ' in addition to tested brake_{si1}It is t_{i1}Moment is other brakings in addition to tested brake
Braking moment, T '_{si}It is t_{i}Moment is the braking moment of other brakings, ω in addition to tested brake_{i1}It is t_{i1}The motor that moment records
Angular velocity.Have according to step 1):
T′_{Si1}=T '_{s}(ω_{i1})
T′_{si}=T '_{s}(ω_{i})
The gross energy that described step 11) calculating system proper drag currently consumes is according to following formula:
In formula: E_{Ri}It is t_{i}Time etching system proper drag consume gross energy, E_{Ri1}It is t_{i1}Time etching system proper drag consume
Gross energy, T_{Ri1}It is t_{i1}Time etching system proper drag square, T_{si}It is t_{i}Time etching system proper drag square.According to step 2) have:
T_{Ri1}=T_{R}(ω_{i1})
T_{Ri}=T_{R}(ω_{i})
It is basis that described step 12) calculates, by the mathematical model of electric inertia simulation, the gross energy that motor currently should compensate
Following formula:
In formula: E_{mi}It is t_{i}The gross energy that moment motor should compensate.
It is according to following formula that described step 13) calculates the gross energy that motor currently has been compensated for:
In formula: E '_{mi}It is t_{i}The gross energy that moment motor has been compensated for, E '_{mi1}It is t_{i1}The gross energy that moment motor has been compensated for,
T_{mi1}It is t_{i1}The motor actual output torque that moment records, T_{mi}It is t_{i}The motor actual output torque that moment records.
Described step 14) calculate the difference of gross energy that motor should compensate and the gross energy that motor has been compensated for be according under
Formula:
ΔE_{mi}=E_{mi}E′_{mi}
In formula: Δ E_{mi}It is t_{i}Gross energy that moment motor should compensate and the difference of the gross energy that motor has been compensated for.
Described step 15) calculates Motor torque and calculates output valve is according to following formula:
In formula: T_{m}It is t_{i}Moment Motor torque calculates output valve.
Advantage is: by synchronous acquisition Speed of Reaction Wheels, motor output torque, calculate flywheel energy relative to test to
Total dropout value when determining initial speed, gross energy, system proper drag that in addition to tested brake, other mode of braking consumes exist
The gross energy consumed in braking procedure, calculates, by mathematical model, the gross energy that motor should compensate, calculates motor simultaneously and have been compensated for
Gross energy and draw the difference between the two, calculate the torque output of motor accordingly and give so that testing stand is approaching reason
Think flywheel and there is no system proper drag state under run.It possesses the automatic compensation function of energy compensating error, thus will
Total error controls in the least scope；Realizing the accurate coupling of rotary inertia, control accuracy can meet high accuracy test requirements document；
Reduce investment outlay and operating cost.
Below in conjunction with embodiment accompanying drawing, the invention will be further described:
Accompanying drawing explanation
Fig. 1 is embodiment of the present invention schematic diagram.
In figure: 1, mechanical friction braking torque measurement apparatus；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 unit；8, Electrified Transmission
Control unit；9, tested brake.
Detailed description of the invention
As it is shown in figure 1, a kind of Ventilation disk brake testing stand electric inertia simulation controls device, it is characterized in that: at least wrap
Include mechanical friction braking torque measurement apparatus 1, combination brake torque sensor 2, flywheel or flywheel group 3, motor output torque passes
Sensor 4, dragging motor 5, tachogenerator 6, electric inertia simulation control unit 7 and electrical drive control system unit 8, dragging motor 5
And motor output torque sensor 4 is installed between flywheel group 3, axle head is provided with tachogenerator 6, tested brake 9 and flying
Combination brake torque sensor 2 is installed between wheel or flywheel group 3, tested brake 9 is provided with mechanical friction braking torque
Measurement apparatus 1, tachogenerator 6, motor output torque sensor 4 electrically connect with electric inertia simulation control unit 7, respectively by electricity
Gas motion control unit 8 drives dragging motor 5 to drag flywheel or flywheel group 3 runs to setting speed, starts braking procedure；By electricity
Inertia simulation control unit 7 obtains motor output torque sensor 4 and the Speed of Reaction Wheels of tachogenerator 6 synchronous acquisition, electronic
Machine output moment of torsion, electric inertia simulation control unit 7 calculates, according to mathematical model, the gross energy that motor should compensate, calculates electricity simultaneously
Gross energy that machine has been compensated for also draws the difference between the two, then calculates the torque output of dragging motor 5 and gives so that test
Platform runs when approaching preferable flywheel and not having system proper drag；Configuration machinery frictional damping torque measurement dress simultaneously
Put and combine brake torque sensor, mechanical friction braking moment and the combination braking moment of Ventilation disk brake can be measured,
Realize the analysis to brake usefulness.
Electric inertia simulation control unit 7 uses dedicated computer system, electrical drive control system unit 8 to use known in this field
Technology, be the most just not described in detail.Mechanical friction braking torque measurement apparatus 1 is exactly pendulumtype arm bar and force cell
Combination, or torque sensor, the connected mode between them belongs to known technology and describes the most one by one.
The energy that testing stand consumes when utilizing the Energy Simulation brake of the kinetic energy of flywheel and motor realTime Compensation,
The performance of test brake.Needing the problem solved is that motor will by the energy of needs the most in real time in braking procedure
Compensate.
Described calculates, according to mathematical model, the gross energy E that motor should compensate_{m}It is based on mathematical model formula:
In formula, E_{f}Be flywheel relative brake initial time its kinetic energy total dropout value, E '_{s}Be simulation in addition to tested brake
The energy that other brakes consumes, E_{R}It is the energy that consumes in braking procedure of system proper drag,I_{f}It is
The rotary inertia of flywheel, I is the rotary inertia of preferable flywheel, E_{f0}Being the flywheel kinetic energy when braking initial, E is preferable flywheel
Kinetic energy.
The electric inertia simulation control method of Ventilation disk brake electric inertia simulation testing stand:
1) to composite braking in addition to tested brake other braking produce braking moment T '_{s}, it is stipulated that it is angle speed
The function of degree, gives according to test requirements document, i.e.
T′_{s}=T '_{s}(ω)
2) to experimental bench system proper drag T_{R}Demarcate, it is stipulated that it is the function of angular velocity, i.e.
T_{R}=T_{R}(ω)
3) order: control period Δ t=t_{i+1}t_{i}=const, t_{i}=i Δ t, i=0,1,2 ... n;
In formula: t_{i+1}And t_{i}All represent the moment.
Braking initial velocity is ω_{0}；
Braking end speed is [ω]；
Parameters described below is initialized:
E′_{s0}=0, it is t_{0}Moment is current gross energy=0 consumed of other brakings in addition to tested brake；
E_{R0}=0, it is t_{0}Time etching system proper drag consume gross energy=0；
E_{m0}=0, it is t_{0}Gross energy=0 that moment motor should compensate；
E′_{m0}=0, it is t_{0}Gross energy=0 that moment motor has been compensated for；
I=0.
4) motor drag flywheel runs to the initial speed ω given_{0}.After velocitystabilization, tested brake starts to brake
Journey, motor drag is switched to Torque Control state, is now t_{0}Moment.At t_{0}Moment passes through sensor synchronous acquisition motor speed
Signal, motor output torque signal；Signal according to gathering calculates t_{0}The angular velocity omega of moment motor_{0}, the actual output of motor
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_{i}Moment passes through sensor synchronous acquisition motor speed signal, motor output torque signal；
7) t is calculated according to the signal of step 6) collection_{i}The angular velocity omega of moment motor_{i}, the actual output moment of torsion of motor
T_{mi}；
8) angular velocity omega of the current motor obtained according to step 7)_{i}The braking end speed [ω] specified with step 3), sentences
Determine ω_{i}Whether ＞ [ω] sets up, if setting up, carrying out step 9), otherwise carrying out step 18)；
9) total dropout value of current flywheel energy is calculated；
10) the current gross energy consumed of other brakings in addition to tested brake is calculated；
11) gross energy that system proper drag currently consumes is calculated；
12) calculate, by the mathematical model of electric inertia simulation, the gross energy that motor currently should compensate；
13) gross energy that motor currently has been compensated for is calculated；
14) gross energy that should compensate of motor is calculated and the difference of gross energy that motor has been compensated for；
15) calculate Motor torque and calculate output valve；
16) control motor output torque and approach Motor torque calculating output valve；
17) make i=i+1, carry out step 6)；
18) electric inertia simulation is exited.
It is according to following formula that described step 9) calculates total dropout value of current flywheel energy:
In formula: E_{fi}It is t_{i}Total dropout value of moment flywheel energy, I_{f}It is the rotary inertia of flywheel, ω_{i}It is t_{i}Moment records
Motor angular velocity.
It is according to following formula that described step 10) calculates the current gross energy consumed of other brakings in addition to tested brake:
In formula: E '_{si}It is t_{i}Moment is the current gross energy consumed of other brakings, E ' in addition to tested brake_{si1}It is t_{i1}Moment
The current gross energy consumed of other brakings, T ' in addition to tested brake_{si1}It is t_{i1}Moment is other brakings in addition to tested brake
Braking moment, T '_{si}It is t_{i}Moment is the braking moment of other brakings, ω in addition to tested brake_{i1}It is t_{i1}The motor that moment records
Angular velocity.Have according to step 1):
T′_{si1}=T '_{s}(ω_{i1})
T′_{si}=T′_{s}(ω_{i})
The gross energy that described step 11) calculating system proper drag currently consumes is according to following formula:
In formula: E_{Ri}It is t_{i}Time etching system proper drag consume gross energy, E_{Ri1}It is t_{i1}Time etching system proper drag consume
Gross energy, T_{Ri1}It is t_{i1}Time etching system proper drag square, T_{si}It is t_{i}Time etching system proper drag square.According to step 2) have:
T_{Ri1}=T_{R}(ω_{i1})
T_{Ri}=T_{R}(ω_{i})
It is basis that described step 12) calculates, by the mathematical model of electric inertia simulation, the gross energy that motor currently should compensate
Following formula:
In formula: E_{mi}It is t_{i}The gross energy that moment motor should compensate.
It is according to following formula that described step 13) calculates the gross energy that motor currently has been compensated for:
In formula: E '_{mi}It is t_{i}The gross energy that moment motor has been compensated for, E '_{mi1}It is t_{i1}The gross energy that moment motor has been compensated for,
T_{mi1}It is t_{i1}The motor actual output torque that moment records, T_{mi}It is t_{i}The motor actual output torque that moment records.
Described step 14) calculate the difference of gross energy that motor should compensate and the gross energy that motor has been compensated for be according under
Formula:
ΔE_{mi}=E_{mi}E′_{mi}
In formula: Δ E_{mi}It is t_{i}Gross energy that moment motor should compensate and the difference of the gross energy that motor has been compensated for.
Described step 15) calculates Motor torque and calculates output valve is according to following formula:
In formula: T_{m}It is t_{i}Moment Motor torque calculates output valve.
Basic thought is: at a certain sampled point synchronous acquisition rotating speed, motor output torque (by being arranged on the torsion of motor side
Square sensor acquisition), calculate flywheel energy relative to total dropout value of the given initial speed of test, in addition to tested brake its
He brakes gross energy and the gross energy of system proper drag consumption of consumption, calculates motor by the mathematical model of electric inertia simulation
The gross energy that should compensate calculates gross energy that motor has been compensated for simultaneously and draws the difference between the two, and the moment of torsion calculating motor accordingly is defeated
Go out value and give.
Work out computercontrolled program by abovementioned mathematical model and control method thereof, control cycle reading moment of torsion at each
Motor output torque that sensor and tachogenerator record and flywheel shaft rotating speed, calculate motor output torque setpoint, make
Electric drive system controls motor and exports moment of torsion on request, until braking procedure terminates.
Parts that the present embodiment describes the most in detail and structure belong to the wellknown components of the industry and common structure or conventional hands
Section, describes the most one by one.
Claims (1)
1. Ventilation disk brake electric inertia simulation testing stand, is characterized in that: at least include that mechanical friction braking torque measures dress
Put (1), combination brake torque sensor (2), flywheel or flywheel group (3), motor output torque sensor (4), dragging motor
(5), tachogenerator (6), electric inertia simulation control unit (7) and electrical drive control system unit (8), dragging motor (5) and flying
Being provided with motor output torque sensor (4) between wheels (3), axle head is provided with tachogenerator (6), tested brake (9)
And combination brake torque sensor (2) is installed between flywheel or flywheel group (3), tested brake (9) is provided with machinery and rubs
Wipe braking torque measurement apparatus (1), tachogenerator (6), motor output torque sensor (4) respectively with electric inertia simulation control
Unit (7) electrically connects, electrical drive control system unit (8) drive dragging motor (5) to drag flywheel or flywheel group (3) runs to set
Determine rotating speed, start braking procedure；Motor output torque sensor (4) and the biography that tests the speed is obtained by electric inertia simulation control unit (7)
The Speed of Reaction Wheels of sensor (6) synchronous acquisition, motor output torque, electric inertia simulation control unit (7) is according to mathematical model meter
Calculate the gross energy that motor should compensate, calculate gross energy that motor has been compensated for simultaneously and draw the difference between the two, then calculating and drag
The torque output of galvanic electricity machine (5) also gives so that testing stand is approaching preferable flywheel and do not having the state of system proper drag
Lower operation；Configuration machinery frictional damping torquemeasuring apparatus and combination brake torque sensor, can measure ventilated disc system simultaneously
The mechanical friction braking moment of dynamic device and combination braking moment, it is achieved the analysis to brake usefulness；
Described calculates, according to mathematical model, the gross energy that motor should compensateIt is based on mathematical model formula:
In formula,Be flywheel relative brake initial time its kinetic energy total dropout value,Be simulation in addition to tested brake other
The energy that braking consumes,It is the energy that consumes in braking procedure of system proper drag,,It is turning of flywheel
Dynamic inertia, I is the rotary inertia of preferable flywheel,Being the flywheel kinetic energy when braking initial, E is the kinetic energy of preferable flywheel.
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李洪山等.电惯量模拟机械转动惯量方法的研究.《制造业自动化》.2009,第31卷(第6期), * 
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