CN104267617A - Dynamic load simulation testing test platform and testing method - Google Patents
Dynamic load simulation testing test platform and testing method Download PDFInfo
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- CN104267617A CN104267617A CN201410510967.4A CN201410510967A CN104267617A CN 104267617 A CN104267617 A CN 104267617A CN 201410510967 A CN201410510967 A CN 201410510967A CN 104267617 A CN104267617 A CN 104267617A
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Abstract
The invention discloses a dynamic load simulation testing test platform and a testing method. One end of a first torque sensor is connected to a tested object through a first coupler, and the other end of the first torque sensor is connected with one end of a shaft through a second coupler. The other end of the shaft is connected with one end of a second torque sensor through a third coupler, and the other end of the second torque sensor is connected to a magnetic powder brake. A first bearing, an angle sensor, a sliding ring, a fly wheel, a clutch and a second bearing are sequentially arranged on the shaft in a sleeving mode. The face of the fly wheel is evenly provided with a plurality of electric linear sliding tables. In the testing process, the platform can conduct real-time measurement on the inertia load and the torque load borne by the tested object and automatically adjust the inertia load and the torque load in a stepless mode according to a preset objective, the test process is controlled by a measurement and control system in a closed loop mode, and therefore precision is high. The test platform is high in flywheel plate structure strength, good in stability and high in reliability.
Description
Technical field
The invention belongs to Experiments of Machanics technical field, a kind of dynamic load simulation test experiment platform of specific design and method of testing.
Background technology
Load simulation technology refers in laboratory conditions, by load force or the moment of certain technological means simulation loading object, is a kind of emerging hardware-in-the-loop simulation and experimental technique.In the research of new product and new technology with test, load simulation technology overcomes and actual loading object must be used in actual environment to carry out the limitation studied, not only can save experimentation cost, reduce empirical risk, and some research approaches that cannot realize in practice and system model also can be realized by half load simulation platform in kind.Especially in such as Aero-Space, oceanographic engineering etc., some not easily carry out the field of on-line testing, and load simulation technology just seems more important.
A general load simulation system needs to simulate inertia load and torque loads (comprising friction load, constant value load, variable load etc.) usually.Chinese patent Authorization Notice No. be 201220233572.0 patent discloses a kind of fictitious load experimental provision, for testing motor and speed reducer, this fictitious load test unit comprises follower gear, driving gear, speed-increasing gear, flying wheel, tested motor and speed reducer, this invention can simulate inertia load and torque loads simultaneously, but can not in real time and the load value that applies of step-less adjustment in process of the test.In test inertia load is regulated in the prior art in order to realize, the general quantity adopting change Flywheel disc, changes inertia load by dismounting Flywheel disc, therefore the operation of each adjustment inertia load is all very loaded down with trivial details, in order to simplify adjustment process, some in prior art, are also had to optimize.Such as, Chinese patent Authorization Notice No. be 201120176448.0 patent discloses a kind of moment of inertia regulating device, this device comprises at least one group of joint arm, moving mass, motor and main shaft, realizes the adjustment to moment of inertia by the control of motor to main shaft upper joint arm and moving mass.Although this device can realize the step-less adjustment of moment of inertia, there is the problems such as structural instability, joint arm when high-speed rotation easily fracture.Chinese patent Authorization Notice No. be 201120198960.5 patent discloses a kind of torque load simulator, comprise rotating shaft and bearing holder (housing, cover) and be contained in friction disc in rotating shaft, by manually tightening up the elastic component on backstay, change friction disc and produce different torque loads from the friction force of rotating shaft, this invention can not realize the real-time adjustment of load, and along with the use of load simulator, friction disc can wear and tear.When same tightening amount, torque loads can change, therefore load simulation precision is lower.
Summary of the invention
In view of the deficiency that above-mentioned prior art exists, object of the present invention will provide one can the test platform of the load of accurate analog Dynamic Inertia and dynamic torque load (comprising friction load, constant value load, variable load etc.) and method of testing exactly.This platform can be measured in real time the inertia load suffered by tested object, torque loads in process of the test, and regulates inertia load and torque loads according to predetermined target automatic stepless, and process of the test is by TT&C system closed-loop control, therefore precision is high.Test platform flywheel disc structure intensity is high, good stability, and reliability is high.
In order to achieve the above object, the present invention is achieved by the following technical programs:
A kind of dynamic load simulation test experiment platform, comprise the first torque sensor, clutch shaft bearing, angular transducer, slip ring, flywheel, clutch coupling, the second bearing, the second torque sensor, magnetic powder brake and TT&C system, one end of described first torque sensor is connected to subjects by the first shaft coupling, the other end is connected with one end of described axle by the second shaft coupling, the other end of described axle is connected by the 3rd shaft coupling one end with described second torque sensor, and the other end of described second torque sensor is connected to described magnetic powder brake;
Described clutch shaft bearing, angular transducer, slip ring, flywheel, clutch coupling and the second bearing are set with on the shaft in turn;
Described flywheel wheel face is provided with multiple electric linear slide unit equably, and often pair of facing each other described electric linear slide unit is symmetrical about the revenue centre of flywheel; Described electric linear slide unit comprises the motor, slide block and the balancing weight that arrange near flywheel center, and described balancing weight is fixed on described slide block, and the sliding action of described slide block is driven by described motor;
Described TT&C system is connected with magnetic powder brake with the first torque sensor, the second torque sensor, angular transducer respectively, is connected by the motor of slip ring with electric linear slide unit.
Preferably, described multiple mass centre of electric linear slide unit and the center superposition of flywheel.
Preferably, the center pit that described flywheel center is offered is built with the 3rd bearing, and described 3rd bearing holder (housing, cover) is on axle; End relative between described flywheel and clutch coupling is furnished with the tooth be meshed for a pair respectively; Clutch coupling is furnished with lock-screw, along away from the direction of described flywheel being furnished with successively the first locking hole, the second locking hole and for spacing third gear circle on described axle; When described flywheel engages with clutch coupling, described lock-screw aligns with described first locking hole; When described clutch coupling is resisted against on third gear circle, described flywheel and throw-out-of clutch, described lock-screw aligns with the second locking hole.
Preferably, about balancing weight identical in quality that flywheel Central Symmetry is installed.
Preferably, described electric linear slide unit is the electronic slide unit of ball-screw, and described motor is servomotor, and it drives ball-screw to rotate, and described ball-screw band movable slider moves.
Preferably, described flywheel also comprises basal disc, and the revenue centre about flywheel on described basal disc offers hole symmetrically, to reduce the moment of inertia of described basal disc.
The wire of electric linear slide unit on described flywheel is connected with the slip ring on axle, ensures that the wire of motor on electric linear slide unit can not be intertwined when rotated.Slip ring is arranged on axle.
Preferably, round magnetic grid selected by described angular transducer.
Preferably, described first shaft coupling, the second shaft coupling and the 3rd shaft coupling, select single-iris shaft coupling.
Preferably, described bearing, bearing, select deep groove ball bearing.
Preferably, described 3rd Selection of Bearings needle bearing.
As a kind of improved procedure, according to actual needs, flywheel can be arranged the even-even electric linear slide units such as 2,4,6,8.
As a kind of improved procedure, basal disc can adopt regular polygon steel plate or aluminium sheet, such as square, regular hexagon, octagon etc., centre can symmetrical hollow out to reduce the moment of inertia of basal disc.
As a kind of improved procedure, described balancing weight can change the balancing weight of different quality according to different tests.
The present invention can simulate Dynamic Inertia load and dynamic torque load (comprising friction load, constant value load, variable load etc.) multiple its load form simultaneously, also can simulate wherein any one load.In simulation process, can the moment of torsion of real-time testing tested object, corner, rotating speed and angular acceleration, and carry out regulating in real time, accurately to inertia load and torque loads, improve dynamic load simulation precision.
A kind of dynamic load analog detection method, comprises the following steps:
A () test macro, according to the characteristic of measurand, sets up the function J=F of Dynamic Inertia load J t in time
jthe function T=F of (t) and dynamic torque load T t in time
tt (), function can be equation form also can be parameter list form.
B () starts tested object, TT&C system constantly reads the output valve T of the first torque sensor
1, the second torque sensor output valve T
2with the output valve θ of angular transducer.Then at a time t
i, the torque loads T that magnetic powder brake produces
i=T
2, the inertia load that flywheel produces
C () is by measured inertia load J
i, torque loads T
icontrast with the relation function set up in step (a), calculate t
imoment inertia load deviation e
ji=F
j(t
i)-J
iand torque loads deviation e
ti=F
t(t
i)-T
i, then calculated the output valve of subsequent time electric linear slide unit and magnetic powder brake by pid algorithm, and control its action respectively.
D (), according to user's input, judges whether to stop experiment, if it is stops experiment, otherwise return execution step (b).
For said method, preferably, the function J=F of Dynamic Inertia load J with rotational angle theta can also be set up
j(θ) and dynamic torque load T with the function T=F of rotational angle theta
t(θ).
Accompanying drawing explanation
Fig. 1 is a kind of schematic diagram of dynamic load simulation test experiment platform.
Fig. 2 is the schematic diagram of flywheel.
Fig. 3 is flywheel assembly partial enlarged drawing.
Fig. 4 is load simulation test method process flow diagram.
In figure, 1-subjects, 2-first shaft coupling, 3-first torque sensor, 4-second shaft coupling, 5-clutch shaft bearing, 6-angular transducer, 7-slip ring, 8-flywheel, 9-the 3rd bearing, 10-axle, 11-clutch coupling 12-second bearing, 13-the 3rd shaft coupling, 14-second torque sensor, 15-magnetic powder brake, 16-TT&C system, 8-1-electric linear slide unit, 8-2-balancing weight, 8-3-basal disc, 17-end cap, 18-lock-screw, 19-first back-up ring, 20-second back-up ring, 21-third gear circle, 22-support.
Embodiment
For making the object of the embodiment of the present invention and technical scheme clearly, below in conjunction with the accompanying drawing of the embodiment of the present invention, the technical scheme of the embodiment of the present invention is clearly and completely described.Obviously, described embodiment is a part of embodiment of the present invention, instead of whole embodiments.Based on described embodiments of the invention, the every other embodiment that those of ordinary skill in the art obtain under without the need to the prerequisite of creative work, all belongs to the scope of protection of the invention.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, and all terms used herein (comprising technical term and scientific terminology) have the meaning identical with the general understanding of the those of ordinary skill in field belonging to the present invention.Should also be understood that those terms defined in such as general dictionary should be understood to have the meaning consistent with the meaning in the context of prior art, unless and define as here, can not explain by idealized or too formal implication.
The implication of the "and/or" described in the present invention refers to respective individualism or both simultaneous situations include interior.
The implication of " inside and outside " described in the present invention refers to relative to equipment itself, in the direction of sensing equipment inside is, otherwise is outward, but not the specific restriction to equipment mechanism of the present invention.
When the implication of " left and right " described in the present invention refers to reader just to accompanying drawing, the left side of reader is a left side, and the right of reader is the right side, but not the specific restriction to equipment mechanism of the present invention.
The indirect connection that can be the direct connection between parts also can be by other parts between parts of the implication of " connection " described in the present invention.
As shown in Figure 1, the invention provides a kind of dynamic load simulation test experiment platform, primarily of the first torque sensor 3, clutch shaft bearing 5, angular transducer 6, slip ring 7, flywheel 8, clutch coupling 11, second bearing 12, second torque sensor 14, magnetic powder brake 15, TT&C system 16 form.One end of described first torque sensor 3 is connected to subjects 1 by the first shaft coupling 2, the other end is connected with one end of described axle 10 by the second shaft coupling 4, the other end of described axle 10 is connected by the 3rd shaft coupling 13 one end with described second torque sensor 14, and the other end of described second torque sensor 14 is connected to described magnetic powder brake 15; Described clutch shaft bearing 5, angular transducer 6, slip ring 7, flywheel 8, clutch coupling 11 and the second bearing 12 are sleeved on described axle 10 in turn; As shown in Figure 2, described flywheel 8 wheel face is provided with multiple electric linear slide unit 8-1 equably, often couple of facing each other described electric linear slide unit 8-1 is symmetrical about the revenue centre of flywheel 8; Described electric linear slide unit 8-1 comprises the motor, slide block and the balancing weight 8-2 that arrange near flywheel 8 center, and described balancing weight 8-2 is fixed on described slide block, and the sliding action of described slide block is driven by described motor; Described TT&C system 16 is connected with magnetic powder brake 15 with the first torque sensor 3, second torque sensor 14, angular transducer 6 respectively, is connected by the motor of slip ring 7 with electric linear slide unit 8-1.Described multiple mass centre of electric linear slide unit 8-1 and the center superposition of flywheel 8.
As shown in Figure 3, the center pit that described flywheel 8 center is offered is built with the 3rd bearing 9, and described 3rd bearing 9 is enclosed within axle 10; End relative between described flywheel 8 and clutch coupling 11 is furnished with the tooth be meshed for a pair respectively; Clutch coupling 11 is furnished with lock-screw 18, described axle 10 is furnished with on direction away from described flywheel 8 the first locking hole, the second locking hole and for spacing third gear circle 21 successively; When described flywheel 8 engages with clutch coupling 11, described lock-screw 18 aligns with described first locking hole; When described clutch coupling 11 is resisted against on third gear circle 21, described flywheel 8 is thrown off with clutch coupling 11, and described lock-screw 18 aligns with the second locking hole.About balancing weight identical in quality that flywheel 8 Central Symmetry is installed.Described electric linear slide unit 8-1 is the electronic slide unit of ball-screw, and described motor is servomotor, and it drives ball-screw to rotate, and described ball-screw band movable slider moves.Described flywheel 8 also comprises basal disc 8-3, and the revenue centre about flywheel 8 on described basal disc 8-3 offers hole symmetrically, to reduce the moment of inertia of described basal disc 8-3.
In order to ensure that the wire on electric linear slide unit 8-1 on motor can not be intertwined when rotated, axle 10 is installed slip ring 7, slip ring 7 spline sheet is fixed on support, and slip ring 7 flange is fixed on end cap 17.Wire connection slip ring 7 rotor limit, when flywheel 8 rotates, stator outlet is not rotated thereupon.
Concrete, in process of the test, TT&C system 16, first torque sensor 3, angular transducer 6, second torque sensor 14, magnetic powder brake 15, electric linear slide unit 8-1 form closed loop.
Consult Fig. 4, it is the simulation drawing of load simulation test method of the present invention.Described load simulation test method specifically comprises the steps:
Test macro, according to the characteristic of measurand, sets up the function J=F of Dynamic Inertia load J t in time
jthe function T=F of (t) and dynamic torque load T t in time
tt (), function can be equation form also can be parameter list form.
B () starts tested object 1, TT&C system constantly reads the output valve T of the first torque sensor 3
1, the second torque sensor 14 output valve T
2with the output valve θ of angular transducer 6.Then at a time t
i, the torque loads T that magnetic powder brake 15 produces
i=T
2, the inertia load that flywheel (8) produces
C () is by measured inertia load J
i, torque loads T
icontrast with the relation function set up in step (a), calculate t
imoment inertia load deviation e
ji=F
j(t
i)-J
iand torque loads deviation e
ti=F
t(t
i)-T
i, then calculated the output valve of subsequent time electric linear slide unit 8-1 by pid algorithm, and control its action respectively.T
ithe output valve Δ F of moment electric linear slide unit 8-1
ji(t
i) calculated by following formula:
ΔF
Ji(t
i)＝k
Jp(e
Ji-e
Ji-1)+k
JIe
Ji+k
JD(e
Ji-2e
Ji-1+e
Ji-2)
E
ji, e
ji-1, e
ji-2: be the t between Dynamic Inertia load input and setting value respectively
imoment, t
i-1moment, t
i-2instance sample deviate;
K
jP: the scale-up factor of Dynamic Inertia load;
K
jI: the integral coefficient of Dynamic Inertia load;
K
jD: the differential coefficient of Dynamic Inertia load.
T is calculated by pid algorithm
ithe output valve of moment magnetic powder brake 15, and control its action.T
ithe output valve F of moment magnetic powder brake 15
ti(t
i) calculated by following formula:
F
Ti(t
i)＝F
Ti-1(t
i-1)+k
Tp(e
Ti-e
Ti-1)+k
TIe
Ti+k
TD(e
Ti-2e
Ti-1+e
Ti-2)
F
ti(t
i): magnetic powder brake t
ithe output valve in moment.
F
ti-1(t
i-1): magnetic powder brake t
i-1the output valve in moment.
E
ti, e
ti-1, e
ti-2: be the t between dynamic torque load input and setting value respectively
imoment, t
i-1moment, t
i-2instance sample deviate.
K
tP: the scale-up factor of dynamic torque load.
K
tI: the integral coefficient of dynamic torque load.
K
tD: the differential coefficient of dynamic torque load.
D (), according to user's input, judges whether to stop experiment, if it is stops experiment, otherwise return execution step (b).
As another embodiment of load simulation test method, as follows:
A () also can set up the function J=F of Dynamic Inertia load J with rotational angle theta
j(θ) and dynamic torque load T with the function T=F of rotational angle theta
t(θ).
B () starts tested object 1, TT&C system constantly reads the output valve T of the first torque sensor 3
1, the second torque sensor 14 output valve T
2with the output valve θ of angular transducer 6.Then in a certain rotational angle theta
i, the torque loads T that magnetic powder brake 15 produces
i=T
2, the inertia load that flywheel 8 produces
C () is by measured inertia load J
i, torque loads T
icontrast with the relation function set up in step (a), calculate θ
iinertia load deviation e during corner
ji=F
j(θ
i)-J
iand torque loads deviation e
ti=F
t(θ
i)-T
i, the output valve of electric linear slide unit 8-1 and magnetic powder brake 15 when then calculating next corner by pid algorithm, and control its action respectively.θ
ithe output valve Δ F of electric linear slide unit 8-1 during corner
ji(θ
i) calculated by following formula:
ΔF
Ji(θ
i)＝k
Jp(e
Ji-e
Ji-1)+k
JIe
Ji+k
JD(e
Ji-2e
Ji-1+e
Ji-2)
E
ji, e
ji-1, e
ji-2: be the θ between Dynamic Inertia load input and setting value respectively
icorner, θ
i-1corner, θ
i-2corner sampling deviation value.
K
jP: the scale-up factor of Dynamic Inertia load.
K
jI: the integral coefficient of Dynamic Inertia load.
K
jD: the differential coefficient of Dynamic Inertia load.
θ is calculated by pid algorithm
ithe output valve of corner magnetic powder brake 15, and control its action.θ
ithe output valve F of corner magnetic powder brake 15
ti(θ
i) calculated by following formula:
F
Ti(θ
i)＝F
Ti-1(θ
i-1)+k
Tp(e
Ti-e
Ti-1)+k
TIe
Ti+k
TD(e
Ti-2e
Ti-1+e
Ti-2)
F
ti(θ
i): dynamic torque load θ
ioutput valve during corner.
F
ti-1(θ
i-1): dynamic torque load θ
i-1output valve during corner.
E
ti, e
ti-1, e
ti-2: be the θ between dynamic torque load input and setting value respectively
icorner, θ
i-1corner, θ
i-2corner sampling deviation value.
K
tP: the scale-up factor of dynamic torque load.
K
tI: the integral coefficient of dynamic torque load.
K
tD: the differential coefficient of dynamic torque load.
D (), according to user's input, judges whether to stop experiment, if it is stops experiment, otherwise return execution step (b).
When clutch coupling 11 in the present embodiment between axle 10 with flywheel 8 is separated, flywheel 8 does not rotate with axle 10.Now dynamic load simulation test platform only applies torque loads to tested object 1.
Clutch coupling 11 in the present embodiment between axle 10 with flywheel 8 engages, and regulates magnetic powder brake 15 braking moment to be zero, and now dynamic load simulation test platform only applies inertia load to tested object 1.
These are only embodiments of the present invention, it describes comparatively concrete and detailed, but therefore can not be interpreted as the restriction to the scope of the claims of the present invention.It should be pointed out that for the person of ordinary skill of the art, without departing from the inventive concept of the premise, can also make some distortion and improvement, these all belong to protection scope of the present invention.
Claims (8)
1. a dynamic load simulation test experiment platform, comprise the first torque sensor (3), clutch shaft bearing (5), angular transducer (6), slip ring (7), flywheel (8), clutch coupling (11), second bearing (12), second torque sensor (14), magnetic powder brake (15) and TT&C system (16), it is characterized in that, one end of described first torque sensor (3) is connected to subjects (1) by the first shaft coupling (2), the other end is connected with one end of described axle (10) by the second shaft coupling (4), the other end of described axle (10) is connected with one end of described second torque sensor (14) by the 3rd shaft coupling (13), the other end of described second torque sensor (14) is connected to described magnetic powder brake (15),
Described clutch shaft bearing (5), angular transducer (6), slip ring (7), flywheel (8), clutch coupling (11) and the second bearing (12) are sleeved on described axle (10) in turn;
Described flywheel (8) wheel face is provided with equably multiple electric linear slide unit (8-1), often pair of facing each other described electric linear slide unit (8-1) is symmetrical about the revenue centre of flywheel (8); Described electric linear slide unit (8-1) comprises the motor, slide block and the balancing weight (8-2) that arrange near flywheel (8) center, described balancing weight (8-2) is fixed on described slide block, and the sliding action of described slide block is driven by described motor;
Described TT&C system (16) is connected with magnetic powder brake (15) with the first torque sensor (3), the second torque sensor (14), angular transducer (6) respectively, is connected by the motor of slip ring (7) with electric linear slide unit (8-1).
2. a kind of dynamic load simulation test experiment platform according to claim 1, is characterized in that, the described mass centre of multiple electric linear slide unit (8-1) and the center superposition of flywheel (8).
3. a kind of dynamic load simulation test experiment platform according to claim 2, it is characterized in that, the center pit that described flywheel (8) center is offered is built with the 3rd bearing (9), and described 3rd bearing (9) is enclosed within axle (10); End relative between described flywheel (8) and clutch coupling (11) is furnished with the tooth be meshed for a pair respectively; Clutch coupling (11) is furnished with lock-screw (18), described axle (10) is upper along away from the direction of described flywheel (8) being furnished with successively the first locking hole, the second locking hole and for spacing third gear circle (21); When described flywheel (8) engages with clutch coupling (11), described lock-screw (18) aligns with described first locking hole; When described clutch coupling (11) is resisted against on third gear circle (21), described flywheel (8) and clutch coupling (11) are thrown off, and described lock-screw (18) aligns with the second locking hole.
4. a kind of dynamic load simulation test experiment platform according to claim 2, is characterized in that, balancing weight identical in quality that described flywheel (8) Central Symmetry is installed.
5. a kind of dynamic load simulation test experiment platform according to claim 1, it is characterized in that, described electric linear slide unit (8-1) is the electronic slide unit of ball-screw, and described motor is servomotor, it drives ball-screw to rotate, and described ball-screw band movable slider moves.
6. a kind of dynamic load simulation test experiment platform according to claim 1, it is characterized in that, described flywheel (8) also comprises basal disc (8-3), on described basal disc (8-3), flywheel (8) symmetrically offers hole, to reduce the moment of inertia of described basal disc (8-3).
7. the dynamic load analog detection method adopting dynamic load simulation test experiment platform as claimed in claim 1 to carry out, is characterized in that, comprise the following steps:
A (), test macro (16), according to the characteristic of measurand (1), set up the function J=F of Dynamic Inertia load J t in time
jthe function T=F of (t) and dynamic torque load T t in time
t(t), function adopts equation form or parameter list form;
B (), startup tested object (1), TT&C system (16) constantly reads the output valve T of the first torque sensor (3)
1, the second torque sensor (14) output valve T
2with the output valve θ of angular transducer (6); Then at moment t
i, the torque loads T that magnetic powder brake (15) produces
i=T
2, the inertia load that flywheel (8) produces
(c), by measured inertia load J
i, torque loads T
icontrast with the relation function set up in step (a), calculate t
imoment inertia load deviation e
ji=F
j(t
i)-J
iand torque loads deviation e
ti=F
t(t
i)-T
i, then calculated the output valve of subsequent time electric linear slide unit (8-1) and magnetic powder brake (15) by pid algorithm, and control the action of electric linear slide unit (8-1) and magnetic powder brake (15) respectively;
(d), according to user input, judge whether stop experiment, if it is stop experiment, otherwise return perform step (b).
8. the dynamic load analog detection method adopting dynamic load simulation test experiment platform as claimed in claim 1 to carry out, is characterized in that, comprise the following steps:
A (), test macro (16), according to the characteristic of measurand (1), set up the function J=F of Dynamic Inertia load J with rotational angle theta
j(θ) and dynamic torque load T with the function T=F of rotational angle theta
t(θ);
B (), startup tested object (1), TT&C system constantly reads the output valve T of the first torque sensor (3)
1, the second torque sensor (14) output valve T
2with the output valve θ of angular transducer 6; Then in rotational angle theta
i, the torque loads T that magnetic powder brake (15) produces
i=T
2, the inertia load that flywheel 8 produces
(c), by measured inertia load J
i, torque loads T
icontrast with the relation function set up in step (a), calculate θ
itime inertia load deviation e
ji=F
j(θ
i)-J
iand torque loads deviation e
ti=F
t(θ
i)-T
i, then calculated the output valve of next corner electric linear slide unit (8-1) and magnetic powder brake (15) by pid algorithm, and control the action of electric linear slide unit (8-1) and magnetic powder brake (15) respectively;
(d), according to user input, judge whether stop experiment, if it is stop experiment, otherwise return perform step (b).
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| CN104849161A (en) * | 2015-04-29 | 2015-08-19 | 西安顺通机电应用技术研究所 | Automatic inertial flywheel disengaging-engaging mechanism for testbed |
| CN105092236A (en) * | 2015-09-10 | 2015-11-25 | 中铁大桥科学研究院有限公司 | Device and method used for testing rotation damping coefficients of eddy current damper |
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| CN106646219A (en) * | 2015-10-30 | 2017-05-10 | 北京精密机电控制设备研究所 | Inertia load simulation apparatus |
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| CN110696044A (en) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | Experimental device for simulating dynamic variable load and variable inertia of joint of industrial robot |
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