CN103364181A - Electric inertia simulation brake tester and electric inertia simulation control method - Google Patents

Abstract

The invention belongs to a mechanical-electrical integration system, relates to electric transmission simulation of a mechanical rotation inertia system and brake torque of other brake systems except a tested brake under the condition of simulating hybrid brake, and particularly relates to an electric inertia simulation brake tester and an electric inertia simulation control method. The calculation rotating speed of a motor at the moment can be calculated and can be determined according to a mathematic model by synchronously collecting the rotating speed and the brake torque of the tested brake, and thus the electric inertia simulation brake tester can be operated under the conditions that the electric inertia simulation brake tester approaches an ideal flywheel and the proper drag of a tester system does not exist; the accurate matching of rotation inertia can be realized, and the high-accuracy test requirement can be met by the control accuracy.

Description

Electric inertia simulation brake tester and electric inertia simulation control method

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, particularly have electric inertia simulation brake tester and electric inertia simulation control method.

Background technology

In the bench test of detent, need the braking ability of detent under the test different condition, therefore, brake tester should possess the function that is provided at the different operating modes of simulation.

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

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.) the coefficient results such as mechanical friction, high-precision test should be taken into account the effect of other resistances except tested detent, but the actual applying working condition of simulating brake device.

Summary of the invention

The purpose of this invention is to provide electric inertia simulation brake tester and electric inertia simulation control method, to realize the exact matching of moment of inertia, improve test accuracy.The interference of Elimination test platform system proper drag square.Consider other resistances except tested detent or the impact of detent in the process of the test, can realize that the simulation run of tested detent is tested.

The object of the present invention is achieved like this, and the electric inertia simulation brake tester is characterized in that: comprise at least torque sensor, dragging motor, tachogenerator, electric inertia simulation control module and Electrified Transmission control module; Motor shaft end is equipped with tachogenerator, the braking moment that torque sensor is used for measuring tested detent is installed between tested detent and the dragging motor, tachogenerator, torque sensor are electrically connected with the electric inertia simulation control module respectively, drive dragging motor by the Electrified Transmission control module and run to the setting rotating speed, the beginning braking procedure; Obtained braking torque, the angular velocity of torque sensor and tachogenerator synchronous acquisition by the electric inertia simulation control module, the electric inertia simulation control module goes out motor calculating angular velocity at this moment and given accordingly according to calculated with mathematical model, so that testing table moves under the state of system's proper drag approaching desirable flywheel and do not have.

The described motor calculation angular velocity that goes out in this moment according to calculated with mathematical model is according to the mathematical model formula:

T at any one time _n

t _n=n·Δt n=0,1,2,…

The calculating angular velocity omega ' _nFor

${\mathrm{\ω}}_n^{\′}={\mathrm{\ω}}_0-\frac{{\mathrm{\Σ}}_{i=0}^{i=n}(T_{\mathrm{si}}+T_{\mathrm{si}}^{\′})\mathrm{\Δt}}{I}$

In the formula, ω ₀Motor braking initial angle speed, T _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

The electric inertia simulation control method of electric inertia simulation brake tester:

1) the braking moment T' that other braking except tested 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) order: control cycle Δ t=t _n-t _N-1=const, t _n=n Δ t, n=0,, 12,

In the formula: t _nAnd t _N-1All expression constantly.

Braking initial angle speed is ω ₀

The braking speed of end angle is [ω];

n=0

3) motor runs to given initial angular velocity omegae ₀Tested detent begins braking procedure behind the velocity-stabilization, and be t this moment ₀Constantly;

4) at t _nConstantly by sensor synchronous acquisition motor speed signal, braking moment signal;

5) calculated signals according to the step 4) collection goes out t _nThe angular velocity omega of moment motor _n, braking moment T _Sn

6) angular velocity omega when front motor that obtains according to step 5) _nWith step 2) the braking speed of end angle [ω] of regulation, judge ω _nWhether＞[ω] sets up, and then carries out step 7) if set up, otherwise execution in step 11);

7) calculate t _nThe braking moment T' that the constantly braking of other except tested detent produces _Sn

8) calculated with mathematical model by electric inertia simulation goes out t _nConstantly calculate angular velocity;

9) control motor speed approximation computation angular velocity;

10) make n=n+1, carry out step 4).

11) withdraw from electric inertia simulation.

Described step 7) is calculated t _nThe braking moment T' that the constantly braking of other except tested detent produces _SnAccording to following formula:

T' _sn=T' _s(ω _n)

Described step 8) goes out t by the calculated with mathematical model of electric inertia simulation _nThe calculating angular velocity of motor is according to following formula constantly:

T at any one time _n

t _n=n·Δt n=0,1,2，…

The calculating angular velocity omega ' _nFor

${\mathrm{\ω}}_n^{\′}={\mathrm{\ω}}_0-\frac{{\mathrm{\Σ}}_{i=0}^{i=n}(T_{\mathrm{si}}+T_{\mathrm{si}}^{\′})\mathrm{\Δt}}{I}$

In the formula, ω ₀Motor braking initial angle speed, T _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

Advantage is: by synchronous acquisition rotating speed, braking moment, go out at the motor calculation rotating speed in this moment and given accordingly by calculated with mathematical model, so that testing table moves under the state of experimental bench system proper drag approaching desirable flywheel and do not have.Particularly do not need the mechanical flywheel simulation load, thereby reduced the experimental bench system proper drag and reduced investment; In the working control process, need not Calibrating experimental bench system proper drag and need not to calculate it, thereby reduced the harmful effect to test accuracy that experimental bench system proper drag calibrated error is brought, realize the exact matching of moment of inertia, control accuracy can satisfy the high precision testing requirements.

Description of drawings

Fig. 1 is embodiment of the invention schematic diagram.

Among the figure: 1, torque sensor; 2, dragging motor; 3, tachogenerator; 4, electric inertia simulation control module; 5, Electrified Transmission control module; 6, tested detent.

Embodiment

As shown in Figure 1, the electric inertia simulation brake tester comprises torque sensor 1, dragging motor 2, tachogenerator 3, electric inertia simulation control module 4 and Electrified Transmission control module 5 at least; Motor shaft end is equipped with tachogenerator 3, the braking moment that torque sensor 1 is used for measuring tested detent is installed between tested detent 6 and the dragging motor 2, tachogenerator 3, torque sensor 1 are electrically connected with electric inertia simulation control module 5 respectively, drive dragging motor 2 by Electrified Transmission control module 5 and run to the setting rotating speed, the beginning braking procedure; Obtained braking torque, the angular velocity of torque sensor 1 and tachogenerator 4 synchronous acquisitions by electric inertia simulation control module 4, electric inertia simulation control module 4 goes out motor calculating angular velocity at this moment and given accordingly according to calculated with mathematical model, so that testing table moves under the state of system's proper drag approaching desirable flywheel and do not have.

The electric inertia simulation control module adopts dedicated computer system, and the Electrified Transmission control module adopts technology well known in the art, just is not described in detail here.

The described motor calculation angular velocity that goes out at this moment according to calculated with mathematical model is according to the mathematical model formula:

T at any one time _n

t _n=n·Δt n=0,1,2,…

The calculating angular velocity omega ' _nFor

${\mathrm{\ω}}_n^{\′}={\mathrm{\ω}}_0-\frac{{\mathrm{\Σ}}_{i=0}^{i=n}(T_{\mathrm{si}}+T_{\mathrm{si}}^{\′})\mathrm{\Δt}}{I}$

In the formula, ω ₀Motor braking initial angle speed, T _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

The electric inertia simulation control method of electric inertia simulation brake tester:

1) the braking moment T' that other braking except tested 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) 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

The braking speed of end angle is [ω];

n=0

3) motor runs to given initial angular velocity omegae ₀Tested detent begins braking procedure behind the velocity-stabilization, and be t this moment ₀Constantly;

4) at t _nConstantly by sensor synchronous acquisition motor speed signal, braking moment signal;

5) calculated signals according to the step 4) collection goes out t _nThe angular velocity omega of moment motor _n, braking moment T _Sn

6) angular velocity omega when front motor that obtains according to step 5) _nWith step 2) the braking speed of end angle [ω] of regulation, judge ω _nWhether＞[ω] sets up, and then carries out step 7) if set up, otherwise execution in step 11);

7) calculate t _nThe braking moment T' that the constantly braking of other except tested detent produces _Sn

8) calculated with mathematical model by electric inertia simulation goes out t _nConstantly calculate angular velocity;

9) control motor angular velocity approximation computation angular velocity;

10) make n=n+1, carry out step 4).

11) withdraw from electric inertia simulation.

Described step 7) is calculated t _nThe braking moment T' that the constantly braking of other except tested detent produces _SnAccording to following formula:

T' _sn=T' _s(ω _n)

Described step 8) goes out t by the calculated with mathematical model of electric inertia simulation _nConstantly calculating angular velocity is according to following formula:

T at any one time _n

t _n=n。Δt n=0,1,2,…

The calculating angular velocity omega ' _nFor

${\mathrm{\ω}}_n^{\′}={\mathrm{\ω}}_0-\frac{{\mathrm{\Σ}}_{i=0}^{i=n}(T_{\mathrm{si}}+T_{\mathrm{si}}^{\′})\mathrm{\Δt}}{I}$

In the formula, ω ₀Motor braking initial angle speed, T _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

By above-mentioned mathematical model and electric inertia simulation control method establishment computer-controlled program, read braking moment and the rotating speed that torque sensor and tachogenerator record at each control cycle, calculate the calculating angular velocity of motor, make on request Output speed of electric drive system control motor, until braking procedure finishes.

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 one by one narration.

Claims (5)

1. the electric inertia simulation brake tester is characterized in that: comprise at least torque sensor (1), dragging motor (2), tachogenerator (3), electric inertia simulation control module (4) and Electrified Transmission control module (5); Motor shaft end is equipped with tachogenerator (3), the braking moment that torque sensor (1) is used for measuring tested detent is installed between tested detent (6) and the dragging motor (2), tachogenerator (3), torque sensor (1) are electrically connected with electric inertia simulation control module (5) respectively, drive dragging motor (2) by Electrified Transmission control module (5) and run to the setting rotating speed, the beginning braking procedure; Obtained braking torque, the angular velocity of torque sensor (1) and tachogenerator (4) synchronous acquisition by electric inertia simulation control module (4), electric inertia simulation control module (4) goes out motor calculating angular velocity at this moment and given accordingly according to calculated with mathematical model, so that testing table moves under the state of system's proper drag approaching desirable flywheel and do not have.

2. electric inertia simulation brake tester according to claim 1 is characterized in that: described to go out motor calculating angular velocity at this moment according to calculated with mathematical model be according to the mathematical model formula:

T at any one time _n

t _n=n·Δt n=0,1,2,…

The calculating angular velocity omega ' _nFor

In the formula, ω ₀Motor braking initial angle speed, t _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

3. the electric inertia simulation control method of electric inertia simulation brake tester comprises at least:

1) the braking moment T' that other braking except tested 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) 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

The braking speed of end angle is [ω];

n=0

3) motor runs to given initial angular velocity omegae ₀Tested detent begins braking procedure behind the velocity-stabilization, and be t this moment ₀Constantly;

4) at t _nConstantly by sensor synchronous acquisition motor speed signal, braking moment signal;

5) calculated signals according to the step 4) collection goes out t _nThe angular velocity omega of moment motor _n, braking moment T _Sn

6) angular velocity omega when front motor that obtains according to step 5) _nWith step 2) the braking speed of end angle [ω] of regulation, judge ω _nWhether＞[ω] sets up, and then carries out step 7) if set up, otherwise execution in step 11);

7) calculate t _nThe braking moment T' that the constantly braking of other except tested detent produces _Sn

8) calculated with mathematical model by electric inertia simulation goes out t _nConstantly calculate angular velocity;

9) control motor angular velocity approximation computation angular velocity;

10) make n=n+1, carry out step 4);

11) withdraw from electric inertia simulation.

4. the electric inertia simulation control method of electric inertia simulation brake tester according to claim 3 is characterized in that: described step 7) calculating t _nThe braking moment T' that the constantly braking of other except tested detent produces _SnAccording to following formula:

T' _sn=T' _s(ω _n)。

5. the electric inertia simulation control method of electric inertia simulation brake tester according to claim 3, it is characterized in that: described step 8) goes out t by the calculated with mathematical model of electric inertia simulation _nConstantly calculating angular velocity is according to following formula:

T at any one time _n

t _n=n·Δtn=0,1,2,…

The calculating angular velocity omega ' _nFor

In the formula, ω ₀Motor braking initial angle speed, T _SiThe braking moment of tested detent, T' _SiThe T that removes that converts on the tested detent _SiBraking moment in addition, Δ t is control cycle, I is the moment of inertia of desirable flywheel.

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