CN103345158A - Ventilating disc type brake test stand and electric inertia simulating control method thereof - Google Patents

Ventilating disc type brake test stand and electric inertia simulating control method thereof Download PDF

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Publication number
CN103345158A
CN103345158A CN2013102637306A CN201310263730A CN103345158A CN 103345158 A CN103345158 A CN 103345158A CN 2013102637306 A CN2013102637306 A CN 2013102637306A CN 201310263730 A CN201310263730 A CN 201310263730A CN 103345158 A CN103345158 A CN 103345158A
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motor
braking
flywheel
moment
detent
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CN103345158B (en
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李卫东
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China National Heavy Machinery Research Institute Co Ltd
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China National Heavy Machinery Research Institute Co Ltd
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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 test stand and an electric inertia simulating control method of the ventilating disc type brake test stand. The method includes the steps of synchronously collecting the rotating speed of a flywheel and the output torque of a motor, calculating a torque output value of the motor according to a mathematic model so that the test stand runs under the situation where the simulator stand approaches an ideal flywheel and no system inherent resistance exists. According to the test stand and the method, accurate matching of the rotational inertia is achieved, control precision can meet high-precision test requirements, and investment and running cost are saved.

Description

Ventilated disc brake tester 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 the mensuration of ventilated disc detent combination braking moment and mechanical friction braking moment, particularly have ventilated disc brake tester and electric inertia simulation control method thereof.
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 a kind of ventilated disc brake tester 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, the ventilated disc brake tester is characterized in that: comprise mechanical friction braking torque measurement mechanism, 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 at least; Motor output torque sensor is installed between dragging motor and flywheel or 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 are 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 moment of torsion output valve of motor according to calculated with mathematical model, makes 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 Motor torque output valve T according to calculated with mathematical model MnBe according to the mathematical model formula:
Arbitrary moment t at braking procedure n
t n＝n·Δt n＝0，1，2，…
Work as n=1,2 ... the time:
T mn = ( I - I f ) · ( ω 0 - ω n ) Δt - Σ i = 0 i = n - 1 T mi - Σ i = 0 i = n T si ′ + Σ i = 0 i = n T Ri
In the formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fBe the actual rotation inertia of flywheel, ω 0Be the initial angle speed of flywheel, ω nBe that flywheel is at t nThe angular velocity that the moment is detected, T Mi, T ' Si, T RiBe respectively at t iThe braking moment that the actual output torque of motor that (=i Δ t) detects constantly, given other braking except being tried detent produce, the experimental bench system proper drag square of demarcation.
The electric inertia simulation control method of ventilated disc brake tester 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 n-t N-1=const, t n=n Δ t, n=0,1,2,
In the formula: t nAnd t N-1All expression constantly;
Braking initial angle speed is ω 0
Brake last angular velocity and be [ω];
n＝0
4) motor drags flywheel and runs to given initial angular velocity omegae 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) calculate t 0The braking moment T ' that except being tried detent other braking constantly produces S0
6) calculate t 0The time etching system proper drag square T R0
7) order: n=n+1
8) at t nConstantly gather motor speed signal, motor output torque signal synchronously by sensor;
9) calculated signals according to the step 8) collection goes out t nThe angular velocity omega of moment motor n, motor actual output torque T Mn
10) angular velocity omega when front motor that obtains according to step 9) nWith the braking end speed [ω] of step 3) regulation, judge ω nWhether＞[ω] sets up, and then carries out step 11) if set up, otherwise carry out step 16);
11) calculate t nThe braking moment T ' that except being tried detent other braking constantly produces Sn
12) calculate t nThe time etching system proper drag square T Rn
13) calculated with mathematical model by electric inertia simulation goes out t nMotor torque calculates output valve constantly;
14) control motor output torque approaches Motor torque and calculates output valve;
15) make n=n+1, carry out step 8);
16) withdraw from electric inertia simulation.
Described step 5) is calculated t 0The braking moment T ' that except being tried detent other braking constantly produces S0Be according to following formula:
T′ s0＝T′ s(ω 0)
Described step 6) is calculated t 0The time etching system proper drag square T R0Be according to following formula:
T R0＝T R(ω 0)
Described step 11) is calculated t nThe braking moment T ' that except being tried detent other braking constantly produces SnBe according to following formula:
T′ sn＝T′ s(ω n)
Described step 12) is calculated t nThe time etching system proper drag square T RnBe according to following formula:
T Rn＝T R(ω n)
Described step 13) goes out t by the calculated with mathematical model of electric inertia simulation nMotor torque calculates output valve T constantly MnBe according to following formula:
Arbitrary moment t at braking procedure n
t n＝n·Δt n＝1，2，…
T mn = ( I - I f ) · ( ω 0 - ω n ) Δt - Σ i = 0 i = n - 1 T mi - Σ i = 0 i = n T si ′ + Σ i = 0 i = n T Ri
Advantage is: by synchronous collection flywheel rotating speed, motor output torque, 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 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, the ventilated disc brake tester comprises mechanical friction braking torque measurement mechanism 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 module 7 and Electrified Transmission control module 8 at least; Motor output torque sensor 4 is installed between dragging motor 5 and flywheel or 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 are 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 moment of torsion output valve of motor according to calculated with mathematical model, makes 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.
Described 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.
Describedly go out Motor torque output valve T according to calculated with mathematical model MnBe according to the mathematical model formula:
Arbitrary moment t at braking procedure n
t n＝n·Δt n＝0，1，2，…
Work as n=1,2 ... the time:
T mn = ( I - I f ) · ( ω 0 - ω n ) Δt - Σ i = 0 i = n - 1 T mi - Σ i = 0 i = n T si ′ + Σ i = 0 i = n T Ri
In the formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fBe the actual rotation inertia of flywheel, ω 0Be the initial angle speed of flywheel, ω nBe that flywheel is at t nThe angular velocity that the moment is detected, T Mi, T ' Si, T RiBe respectively at t iThe braking moment that the actual output torque of motor that (=i Δ t) detects constantly, given other braking except being tried detent produce, the experimental bench system proper drag square of demarcation.
The electric inertia simulation control method of ventilated disc brake tester:
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 n-t N-1=const, t n=n Δ t, n=0,1,2,
In the formula: t nAnd t N-1All expression constantly.
Braking initial angle speed is ω 0
Brake last angular velocity and be [ω];
n＝0
4) motor drags flywheel and runs to given initial angular velocity omegae 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) calculate t 0The braking moment R ' that except being tried detent other braking constantly produces S0
6) calculate t 0The time etching system proper drag square T R0
7) order: n=n+1
8) at t nConstantly gather motor speed signal, motor output torque signal synchronously by sensor;
9) calculated signals according to the step 8) collection goes out t nThe angular velocity omega of moment motor n, motor actual output torque T Mn
10) angular velocity omega when front motor that obtains according to step 9) nWith the braking end speed [ω] of step 3) regulation, judge ω nWhether＞[ω] sets up, and then carries out step 11) if set up, otherwise carry out step 16);
11) calculate t nThe braking moment T ' that except being tried detent other braking constantly produces Sn
12) calculate t nThe time etching system proper drag square T Rn
13) calculated with mathematical model by electric inertia simulation goes out t nMotor torque calculates output valve constantly;
14) control motor output torque approaches Motor torque and calculates output valve;
15) make n=n+1, carry out step 8);
16) withdraw from electric inertia simulation.
Described step 5) is calculated t 0The braking moment T ' that except being tried detent other braking constantly produces S0Be according to following formula:
T′ s0＝T′ s(ω 0)
Described step 6) is calculated t 0The time etching system proper drag square T R0Be according to following formula:
T R0＝T R(ω 0)
Described step 11) is calculated t nThe braking moment T ' that except being tried detent other braking constantly produces SnBe according to following formula:
T′ sn＝T′ s(ω n)
Described step 12) is calculated t nThe time etching system proper drag square T RnBe according to following formula:
T Rn＝T R(ω n)
Described step 13) goes out t by the calculated with mathematical model of electric inertia simulation nMotor torque calculates output valve T constantly MnBe according to following formula:
Arbitrary moment t at braking procedure n
t n＝n·Δt n＝1，2，…
T mn = ( I - I f ) · ( ω 0 - ω n ) Δt - Σ i = 0 i = n - 1 T mi - Σ i = 0 i = n T si ′ + Σ i = 0 i = n T Ri
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, go out the moment output valve of motor and given by the calculated with mathematical model of electric inertia simulation.
By above-mentioned mathematical model and electric inertia simulation control method establishment computer-controlled program, read motor output torque and the flywheel shaft rotating speed that torque sensor and tachogenerator record at each control cycle, calculate motor output torque value and given, 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 (8)

1. the ventilated disc brake tester is characterized in that: comprise mechanical friction braking torque measurement mechanism (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 module (7) and Electrified Transmission control module (8) at least; Between dragging motor (5) and flywheel or 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 moment of torsion output valve of motor according to calculated with mathematical model, makes 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 brake tester according to claim 1 is characterized in that: describedly go out Motor torque output valve T according to calculated with mathematical model MnBe according to the mathematical model formula:
Arbitrary moment t at braking procedure n
tn＝n·Δt n＝0，1，2，…
Work as n=1,2 ... the time:
In the formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fBe the actual rotation inertia of flywheel, ω 0Be the initial angle speed of flywheel, ω nBe that flywheel is at t nThe angular velocity that the moment is detected, T Mi, T ' Si, T RiBe respectively at t iThe braking moment that the actual output torque of motor that=(i Δ t) detects constantly, given other braking except being tried detent produce, the experimental bench system proper drag square of demarcation.
3. the electric inertia simulation control method of ventilated disc brake tester 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 n-t N-1=const, t n=n Δ t, n=0,1,2,
In the formula: t nAnd t N-1All expression constantly;
Braking initial angle speed is ω 0
Brake last angular velocity and be [ω];
n＝0
4) motor drags flywheel and runs to given initial angular velocity omegae 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) calculate t 0The braking moment T ' that except being tried detent other braking constantly produces S0
6) calculate t 0The time etching system proper drag square T R0
7) order: n=n+1
8) at t nConstantly gather motor speed signal, motor output torque signal synchronously by sensor;
9) calculated signals according to the step 8) collection goes out t nThe angular velocity omega of moment motor n, motor actual output torque T Mn
10) angular velocity omega when front motor that obtains according to step 9) nWith the braking end speed [ω] of step 3) regulation, judge ω nWhether＞[ω] sets up, and then carries out step 11) if set up, otherwise carry out step 16);
11) calculate t nThe braking moment T ' that except being tried detent other braking constantly produces Sn
12) calculate t nThe time etching system proper drag square T Rn
13) calculated with mathematical model by electric inertia simulation goes out t nMotor torque calculates output valve constantly;
14) control motor output torque approaches Motor torque and calculates output valve;
15) make n=n+1, carry out step 8);
16) withdraw from electric inertia simulation.
4. the electric inertia simulation control method of ventilated disc brake tester according to claim 3 is characterized in that: described step 5) calculating t 0The braking moment T ' that except being tried detent other braking constantly produces S0Be according to following formula:
T′ s0＝T′ s(ω 0)。
5. the electric inertia simulation control method of ventilated disc brake tester according to claim 3 is characterized in that: described step 6) calculating t 0The time etching system proper drag square T R0Be according to following formula:
T R0＝T R(ω 0)。
6. the electric inertia simulation control method of ventilated disc brake tester according to claim 3 is characterized in that: described step 11) calculating t nThe braking moment T ' that except being tried detent other braking constantly produces SnBe according to following formula:
T′ sn＝T′ s(ω n) 。
7. the electric inertia simulation control method of ventilated disc brake tester according to claim 3 is characterized in that: described step 12) calculating t nThe time etching system proper drag square T RnBe according to following formula:
T Rn＝T R(ω n) 。
8. the electric inertia simulation control method of ventilated disc brake tester according to claim 3, it is characterized in that: described step 13) goes out t by the calculated with mathematical model of electric inertia simulation nMotor torque calculates output valve T constantly MnBe according to following formula:
Arbitrary moment t at braking procedure n
t n＝n·Δt n＝1，2，…
CN201310263730.6A 2013-06-27 2013-06-27 Ventilation disk brake testing table and electric inertia simulation control method thereof Active CN103345158B (en)

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Publication number Priority date Publication date Assignee Title
CN108982130A (en) * 2018-07-23 2018-12-11 中国重型机械研究院股份公司 A kind of high-speed maglev train brake system test platform
CN110987293A (en) * 2019-12-13 2020-04-10 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
CN111398162A (en) * 2020-03-27 2020-07-10 中国汽车工程研究院股份有限公司 Method for testing friction coefficient of air pressure disc type brake assembly of commercial vehicle
CN112407180A (en) * 2020-10-23 2021-02-26 中国船舶工业集团公司第七0八研究所 Land simulation platform and test method for ship propulsion system shafting starting process
CN112834104A (en) * 2021-03-30 2021-05-25 中车青岛四方车辆研究所有限公司 Test bench for testing wind resistance and torque of brake disc and test method thereof

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Publication number Priority date Publication date Assignee Title
CN108982130A (en) * 2018-07-23 2018-12-11 中国重型机械研究院股份公司 A kind of high-speed maglev train brake system test platform
CN110987293A (en) * 2019-12-13 2020-04-10 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
CN111398162A (en) * 2020-03-27 2020-07-10 中国汽车工程研究院股份有限公司 Method for testing friction coefficient of air pressure disc type brake assembly of commercial vehicle
CN112407180A (en) * 2020-10-23 2021-02-26 中国船舶工业集团公司第七0八研究所 Land simulation platform and test method for ship propulsion system shafting starting process
CN112834104A (en) * 2021-03-30 2021-05-25 中车青岛四方车辆研究所有限公司 Test bench for testing wind resistance and torque of brake disc and test method thereof
CN112834104B (en) * 2021-03-30 2023-01-13 中车青岛四方车辆研究所有限公司 Test bed for testing wind resistance torque of brake disc and test method thereof

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