CN103345158B - Ventilation disk brake testing table and electric inertia simulation control method thereof - Google Patents

Ventilation disk brake testing table and electric inertia simulation control method thereof Download PDF

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CN103345158B
CN103345158B CN201310263730.6A CN201310263730A CN103345158B CN 103345158 B CN103345158 B CN 103345158B CN 201310263730 A CN201310263730 A CN 201310263730A CN 103345158 B CN103345158 B CN 103345158B
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braking
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flywheel
torque
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CN103345158A (en
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李卫东
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China National Heavy Machinery Research Institute Co Ltd
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Abstract

The invention belongs to electro-mechanical system, the braking moment, the synchro measure that relate to other braking under the Electrified Transmission simulation of machinery rotation inertia system and analog composite on-position except tested detent combine braking moment and mechanical friction braking moment, particularly Ventilation disk brake testing table and electric inertia simulation control method thereof.By synchronous acquisition Speed of Reaction Wheels, motor output torque, go out the torque output of motor by calculated with mathematical model, make testing table approach desirable flywheel and run under the state not having system proper drag.Realize the exact matching of moment of inertia, control accuracy can meet high precision testing requirements; Reduce investment outlay and operating cost.

Description

Ventilation disk brake testing table and electric inertia simulation control method thereof
Technical field
The invention belongs to electro-mechanical system, relate to the mensuration that the Electrified Transmission simulation of machinery rotation inertia system, the Electrified Transmission simulation of composite braking and Ventilation disk brake combine braking moment and mechanical friction braking moment, particularly there is Ventilation disk brake testing table and electric inertia simulation control method thereof.
Background technology
In the bench test of Ventilation disk brake, need the braking ability testing detent under different condition, its essence is the energy that detent consumption sets under specific operation.Therefore, brake tester should possess the function being provided in particular energy under different operating mode.
The mechanical analogue of load is realized by flywheel, and moment of inertia due to flywheel or flywheel group is fixing or fixing classification, thus cannot simulation load accurately all the time, can solve this problem well by electric inertia simulation.
Braking moment in view of Ventilation disk brake is combined by mechanical friction and venting plate windage, therefore this testing table provides the torque sensor measuring combination braking moment, provides the special measurement mechanical of mechanical friction braking torque measurement mechanism fricative braking moment simultaneously.
Testing table mechanical flywheel system operationally due to the impact of mechanical friction and windage, can produce system proper drag square, affect test accuracy.Therefore the interference of experimental bench system proper drag square should be got rid of in control procedure.
No matter be train or automobile, actual braking is all detent and windage, vehicle revolution is (high ferro motor train unit has electric braking, magnetic rail braking etc.) the coefficient results such as mechanical friction, high-precision test should be taken into account the effect of other resistances except detent, can the actual applying working condition of simulating brake device.
Summary of the invention
The object of this invention is to provide a kind of Ventilation disk brake testing table and electric inertia simulation control method thereof, to realize the exact matching of moment of inertia, improve test accuracy.Configuration can be optimized to the dominant electromechanical parameter of testing table simultaneously.Measure combination braking moment and the mechanical friction braking moment of Ventilation disk brake, realize the analysis to brake usefulness.The interference of Elimination test platform system proper drag square.Consider the impact of other resistances (or detent) except tested detent in process of the test, the simulation run test of tested detent can be realized.
The object of the present invention is achieved like this, Ventilation disk brake testing table, is characterized in that: at least 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 electrical drive control system unit; Between dragging motor and flywheel or flywheel group, motor output torque sensor is installed, axle head is provided with tachogenerator, between tested detent and flywheel or flywheel group, combination brake torque sensor is installed, tested detent is provided with mechanical friction braking torque measurement mechanism, tachogenerator, motor output torque sensor are electrically connected with electric inertia simulation control module respectively, run to setting speed by electrical drive control system unit drives dragging motor dragging flywheel or flywheel group, start braking procedure; Speed of Reaction Wheels, the motor output torque of motor output torque sensor and tachogenerator synchronous acquisition is obtained by electric inertia simulation control module, electric inertia simulation control module goes out the torque output of motor according to calculated with mathematical model, makes testing table approach desirable flywheel and run under the state not having system proper drag; Configure mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, mechanical friction braking moment and the combination braking moment of Ventilation disk brake can be measured, realize the analysis to brake usefulness.
Described foundation calculated with mathematical model goes out Motor torque output valve T mnaccording to mathematical model formula:
At any instant t of braking procedure n
t n＝n·Δtn＝0，1，2，…
Work as n=1,2 ... 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 formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fthe actual rotation inertia of flywheel, ω 0the initial angular velocity of flywheel, ω nthat flywheel is at t nthe angular velocity that moment is detected, T mi, T ' si, T riat t respectively ithe actual output torque of motor that the (=i Δ t) moment is detected, the given braking moment of other braking generation except tested detent, the experimental bench system proper drag square of demarcation.
The electric inertia simulation control method of Ventilation disk brake testing table, at least comprises:
1) to the braking moment T ' that composite braking other braking except tested detent produces s, specify 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, specify that it is the function of angular velocity, namely
T R＝T R(ω)
3) make: control cycle Δ t=t n-t n-1=const, t n=n Δ t, n=0,1,2,
In formula: t nand t n-1all represent the moment;
Braking initial angular velocity is ω 0;
Braking speed of end angle is [ω];
n＝0
4) motor drag flywheel runs to given initial angular velocity omegae 0.After velocity-stabilization, tested detent starts braking procedure, and motor drag is switched to Torque Control state, is now t 0moment; At t 0moment is by sensor synchronous acquisition motor speed signal, motor output torque signal; Signal according to gathering calculates t 0the angular velocity omega of moment motor 0, motor actual output torque T m0;
5) t is calculated 0the braking moment T ' that moment other braking except tested detent produces s0;
6) t is calculated 0time etching system proper drag square T r0;
7) make: n=n+1
8) at t nmoment is by sensor synchronous acquisition motor speed signal, motor output torque signal;
9) t is calculated according to the signal of step 8) collection nthe angular velocity omega of moment motor n, motor actual output torque T mn;
10) angular velocity omega of the current motor obtained according to step 9) nwith the braking end speed [ω] that step 3) specifies, judge ω nwhether > [ω] sets up, if set up, carries out step 11), otherwise carry out step 16);
11) t is calculated nthe braking moment T ' that moment other braking except tested detent produces sn
12) t is calculated ntime etching system proper drag square T rn
13) t is gone out by the calculated with mathematical model of electric inertia simulation nmoment Motor torque calculates output valve;
14) control motor output torque and approach Motor torque calculating output valve;
15) make n=n+1, carry out step 8);
16) electric inertia simulation is exited.
Described step 5) calculates t 0the braking moment T ' that moment other braking except tested detent produces s0according to following formula:
T′ s0＝T′ s(ω 0)
Described step 6) calculates t 0time etching system proper drag square T r0according to following formula:
T R0＝T R(ω 0)
Described step 11) calculates t nthe braking moment T ' that moment other braking except tested detent produces snaccording to following formula:
T′ sn＝T′ s(ω n)
Described step 12) calculates t ntime etching system proper drag square T rnaccording 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 nmoment Motor torque calculates output valve T mnaccording to following formula:
At any instant t of braking procedure n
t n＝n·Δtn＝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 acquisition Speed of Reaction Wheels, motor output torque, calculates the torque output of motor accordingly and given, makes testing table approach desirable flywheel and run under the state not having system proper drag.It possesses the automatic compensation function of error, thus total error is controlled in very little scope; Realize the exact matching of moment of inertia, control accuracy can meet high precision testing requirements; 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 mechanism; 2, brake torque sensor is combined; 3, flywheel or flywheel group; 4, motor output torque sensor; 5, dragging motor; 6, tachogenerator; 7, electric inertia simulation control module; 8, electrical drive control system unit; 9, tested detent.
Embodiment
As shown in Figure 1, Ventilation disk brake testing table at least 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 electrical drive control system unit 8; Between dragging motor 5 and flywheel or flywheel group 3, motor output torque sensor 4 is installed, axle head is provided with tachogenerator 6, between tested detent 9 and flywheel or flywheel group 3, combination brake torque sensor 2 is installed, tested detent 9 is provided with 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, drive dragging motor 5 to drag flywheel by electrical drive control system unit 8 or flywheel group 3 runs to setting speed, start braking procedure; Speed of Reaction Wheels, the motor output torque of motor output torque sensor 4 and tachogenerator 6 synchronous acquisition is obtained by electric inertia simulation control module 7, electric inertia simulation control module 7 goes out the torque output of motor according to calculated with mathematical model, makes testing table approach desirable flywheel and run under the state not having system proper drag; Configure mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, mechanical friction braking moment and the combination braking moment of Ventilation disk brake can be measured, realize the analysis to brake usefulness.
Described electric inertia simulation control module 7 adopts dedicated computer system, and electrical drive control system unit 8 adopts technology well known in the art, is not just described in detail here.Mechanical friction braking torque measurement mechanism 1 is exactly that pendulum-type arm bar and force cell combine, or torque sensor, and the connected mode between them belongs to known technology and do not describe one by one here.
Described foundation calculated with mathematical model goes out Motor torque output valve T mnaccording to mathematical model formula:
At any instant t of braking procedure n
t n＝n·Δtn＝0，1，2，…
Work as n=1,2 ... 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 formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fthe actual rotation inertia of flywheel, ω 0the initial angular velocity of flywheel, ω nthat flywheel is at t nthe angular velocity that moment is detected, T mi, T ' si, T riat t respectively ithe actual output torque of motor that the (=i Δ t) moment is detected, the given braking moment of other braking generation except tested detent, the experimental bench system proper drag square of demarcation.
The electric inertia simulation control method of Ventilation disk brake testing table:
1) to the braking moment T ' that composite braking other braking except tested detent produces s, specify 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, specify that it is the function of angular velocity, namely
T R＝T R(ω)
3) make: control cycle Δ t=t n-t n-1=const, t n=n Δ t, n=0,1,2,
In formula: t nand t n-1all represent the moment.
Braking initial angular velocity is ω 0;
Braking speed of end angle is [ω];
n＝0
4) motor drag flywheel runs to given initial angular velocity omegae 0.After velocity-stabilization, tested detent starts braking procedure, and motor drag is switched to Torque Control state, is now t 0moment.At t 0moment is by sensor synchronous acquisition motor speed signal, motor output torque signal; Signal according to gathering calculates t 0the angular velocity omega of moment motor 0, motor actual output torque T m0.
5) t is calculated 0the braking moment R ' that moment other braking except tested detent produces s0;
6) t is calculated 0time etching system proper drag square T r0;
7) make: n=n+1
8) at t nmoment is by sensor synchronous acquisition motor speed signal, motor output torque signal;
9) t is calculated according to the signal of step 8) collection nthe angular velocity omega of moment motor n, motor actual output torque T mn;
10) angular velocity omega of the current motor obtained according to step 9) nwith the braking end speed [ω] that step 3) specifies, judge ω nwhether > [ω] sets up, if set up, carries out step 11), otherwise carry out step 16);
11) t is calculated nthe braking moment T ' that moment other braking except tested detent produces sn
12) t is calculated ntime etching system proper drag square T rn
13) t is gone out by the calculated with mathematical model of electric inertia simulation nmoment Motor torque calculates output valve;
14) control motor output torque and approach Motor torque calculating output valve;
15) make n=n+1, carry out step 8);
16) electric inertia simulation is exited.
Described step 5) calculates t 0the braking moment T ' that moment other braking except tested detent produces s0according to following formula:
T′ s0＝T′ s(ω 0)
Described step 6) calculates t 0time etching system proper drag square T r0according to following formula:
T R0＝T R(ω 0)
Described step 11) calculates t nthe braking moment T ' that moment other braking except tested detent produces snaccording to following formula:
T′ sn＝T′ s(ω n)
Described step 12) calculates t ntime etching system proper drag square T rnaccording 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 nmoment Motor torque calculates output valve T mnaccording to following formula:
At any instant t of braking procedure n
t n＝n·Δtn＝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: in a certain sampled point synchronous acquisition rotating speed, motor output torque (by being arranged on the torque sensor collection of motor side), goes 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, the motor output torque and flywheel shaft rotating speed that torque sensor and tachogenerator record is read at each control cycle, calculate motor output torque value and given, electric drive system is made to control motor output torque on request, until braking procedure terminates.
The parts that the present embodiment does not describe in detail and structure belong to the well-known components of the industry and common structure or conventional means, do not describe one by one here.

Claims (1)

1. the electric inertia simulation control method of Ventilation disk brake testing table, at least comprises:
1) to the braking moment T ' that composite braking other braking except tested detent produces s, specify 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, specify that it is the function of angular velocity, namely
T R＝T R(ω)；
3) make: control cycle Δ t=t n-t n-1const, t n=n Δ t, n=0,1,2,
In formula: t nand t n-1all represent the moment;
Braking initial angular velocity is ω 0;
Braking speed of end angle is [ω];
n＝0；
4) motor drag flywheel runs to given initial angular velocity omegae 0; After velocity-stabilization, tested detent starts braking procedure, and motor drag is switched to Torque Control state, is now t 0moment; At t 0moment is by sensor synchronous acquisition motor speed signal, motor output torque signal; Signal according to gathering calculates t 0the braking initial angular velocity omegae of moment motor 0, motor actual output torque T m0;
5) t is calculated 0the braking moment T ' that moment other braking except tested detent produces s0; According to following formula: T ' s0=T ' s(ω 0);
6) t is calculated 0time etching system proper drag square T r0; According to following formula: T r0=T r(ω 0);
7) make: n=n+1;
8) at t nmoment is by sensor synchronous acquisition motor speed signal, motor output torque signal;
9) according to step 8) signal that gathers calculates t nthe angular velocity omega of moment motor n, motor actual output torque T mn;
10) according to step 9) angular velocity omega of current motor that obtains nwith step 3) the braking speed of end angle [ω] that specifies, judge ω nwhether > [ω] sets up, if set up, carry out step 11), otherwise carry out step 16);
11) t is calculated nthe braking moment T ' that moment other braking except tested detent produces sn; According to following formula: T ' sn=T ' s(ω n);
12) t is calculated ntime etching system proper drag square T rn; According to following formula: T rn=T r(ω n);
13) t is gone out by the calculated with mathematical model of electric inertia simulation nmoment Motor torque calculates output valve;
14) control motor output torque and approach Motor torque calculating output valve;
15) make n=n+1, carry out step 8);
16) electric inertia simulation is exited;
Described goes out t by the calculated with mathematical model of electric inertia simulation nmoment Motor torque calculates output valve T mnaccording to mathematical model formula:
At any instant t of braking procedure n:
t n＝n·Δt，n＝0，1，2，…
Work as n=0,1,2 ... time:
T m n = ( I - I f ) · ( ω O - ω n ) Δ t - Σ i = 0 i = n - 1 T m i - Σ i = 0 i = n T s i ′ + Σ i = 0 i = n T R i
In formula, Δ t is control cycle, and I is the moment of inertia of desirable flywheel, I fthe actual rotation inertia of flywheel, ω 0the initial angular velocity of flywheel, ω nthat flywheel is at t nthe angular velocity that moment is detected, T mi, T ' si, T riat t respectively ithe actual output torque of motor that=i Δ t detects, the given braking moment of other braking generation except tested detent, the experimental bench system proper drag square of demarcation;
The Ventilation disk brake testing table that the method adopts at least 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 electrical drive control system unit (8), between dragging motor (5) and flywheel or flywheel group (3), motor output torque sensor (4) is installed, axle head is provided with tachogenerator (6), between tested detent (9) and flywheel or flywheel group (3), combination brake torque sensor (2) is installed, tested detent (9) is provided with 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, dragging motor (5) dragging flywheel or flywheel group (3) is driven to run to setting speed by electrical drive control system unit (8), start braking procedure, Speed of Reaction Wheels, the motor output torque of motor output torque sensor (4) and tachogenerator (6) synchronous acquisition is obtained by electric inertia simulation control module (7), electric inertia simulation control module (7) goes out the torque output of motor according to calculated with mathematical model, makes testing table approach desirable flywheel and run under the state not having system proper drag, configure mechanical friction catch torque-measuring apparatus and combination brake torque sensor simultaneously, mechanical friction braking moment and the combination braking moment of Ventilation disk brake can be measured, realize the analysis to brake usefulness.
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