CN105403832B - A kind of stepper motor comprehensive performance testing system - Google Patents
A kind of stepper motor comprehensive performance testing system Download PDFInfo
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- CN105403832B CN105403832B CN201510845334.3A CN201510845334A CN105403832B CN 105403832 B CN105403832 B CN 105403832B CN 201510845334 A CN201510845334 A CN 201510845334A CN 105403832 B CN105403832 B CN 105403832B
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Abstract
A kind of stepper motor comprehensive performance testing system, including servo motor (101), motor mounting rack (102), first shaft coupling (103), torque sensor (104), second shaft coupling (105), Coupling Shaft (106), motor mounting rack (107) to be measured, adapter flange (108), first sliding block (109), second sliding block (110), third sliding block (111), guide rail (112), mounting flange (201), electric machine support (202), connecting shaft (203), it inputs shaft coupling (204), load torque sensor (205), it exports shaft coupling (206), hysteresis brake (207), magnetic hysteresis mounting bracket (208), magnetic hysteresis sliding block (209), torque sensor sliding block (210), motor is sliding Block (211), sliding rail (212) and controller.The measuring accuracy of present system is high, by selecting the torque sensor and servo motor of different torque ranges, different accuracy resolution ratio, can meet the positioning/holding torque and load characteristic testing requirement of different accuracy grade and range.
Description
Technical field
The invention belongs to testing fields, are related to a kind of stepper motor test macro, can be used for stepper motor location torque,
The measurement of holding torque and load characteristic.
Background technique
Stepper motor is the opened loop control member stepper motor part that electric impulse signal is changed into angular displacement or displacement of the lines, non-
Under overload condition, revolving speed, the stop position of stepper motor are solely dependent upon the frequency and umber of pulse of pulse signal, are not changed by load
Influence, with outstanding start-stop and reversion response, position precision, position is reproducible, high reliablity, structure are simple, cost
It is low, there is the wider range of speeds, be widely used in various automatic control systems.
Stepper motor need to generally measure its location torque and holding torque after the completion of development.Location torque is
Refer to stepper motor under obstructed electricity condition, the locking torque of rotor itself is the harmonic wave and machine error by magnetic field tooth form
Caused by.Holding torque refers to stepper motor in the energized state but when not rotating, the torque of stator locked rotor.Positioning/
Holding torque is the important indicator of stepper motor, is to measure one of most important parameter of stepper motor.
Currently, the method that the positioning of stepper motor/holding torque test generallys use static counterweight load measurement, that is, pass through
A disk is fixed on stepper motor output shaft, is wound a loading disc on disk, is put by being stepped up on loading disc
Set counterweight, when added counterweight driving output shaft rotation when, using torque at this time as positioning/holding torque of stepper motor (no
Power-up/powering state).This traditional loading method is because of the quality subdivision deficiency of counterweight, the load impact of counterweight, disk and adds
Itself inertia of load plate etc., which will have a direct impact on the measurement accuracy of torque while load the bias-load mode of arm lever, makes motor
Output shaft generates additional bending moment, and measurement result cannot reflect its positioning/holding torque actual size completely, and there are certain surveys
Measure error.Load characteristic test loads disk frequently with using one, and a rope is wound on disk, and rope one end hangs counterweight, one
It holds and connects a cast dynamometer, by adjusting the weight of counterweight in test process, make the moment of friction generated between rope and disk
Reach the required load torque value of test to carry out the test of motor load ability, needs to carry out before this test method test a large amount of
Rule grope, to find the relationship of the moment of friction of counterbalance mass and generation, it is longer to expend the time, while in test process
Motor fluctuation, according to, there are biggish fluctuation, measuring accuracy is low at load torque.
Summary of the invention
Technical problem solved by the present invention is having overcome the deficiencies of the prior art and provide a kind of stepper motor positioning/holding
The integrated test system of torque and load characteristic, for solving, the measuring accuracy in stepper motor test process is poor, testing efficiency
Low problem.
The technical solution of the invention is as follows: a kind of stepper motor comprehensive performance testing system, including servo motor, motor
Mounting bracket, first shaft coupling, torque sensor, second shaft coupling, Coupling Shaft, motor mounting rack to be measured, adapter flange,
One sliding block, the second sliding block, third sliding block, guide rail, mounting flange, electric machine support, connecting shaft, input shaft coupling, load torque pass
Sensor, output shaft coupling, hysteresis brake, magnetic hysteresis mounting bracket, magnetic hysteresis sliding block, torque sensor sliding block, motor sliding block, sliding rail
And controller, in which:
Servo motor: and including first servo motor and the second servo motor, when progress stepper motor location torque test
When, first servo motor is mounted on motor mounting rack, and output shaft passes through the input terminal of first shaft coupling and torque sensor
Connection loads torque to tested motor；When carrying out the test of stepper motor holding torque, the second servo motor is mounted on motor peace
It fills on bracket, output shaft is connected by the input terminal of first shaft coupling and torque sensor, loads torque to tested motor；It is described
The second servo motor output torque be greater than first servo motor output torque；
Torque sensor: the output axis connection of input terminal and servo motor, test lead pass sequentially through second shaft coupling, switching
Axis and the output shaft of tested motor are mechanically connected, and are read servo motor and are applied to the torque of tested motor and revolving speed and feed back
To controller；
Adapter flange: tested motor is fixedly mounted on motor mounting rack to be measured；
Guide rail: being fixedly mounted in the horizontal plane, and the first sliding block, the second sliding block, third sequential slider are mounted on guide rail, the
Torque sensor is installed on two sliding blocks, motor mounting rack to be measured is installed on first sliding block, installation motor installation on third sliding block
Bracket is adjusted torque sensor, motor mounting rack to be measured and motor and is installed by the first sliding block, the second sliding block, third sliding block
The positional relationship of bracket；
Mounting flange: tested motor is fixedly mounted on electric machine support；
Load torque sensor: input terminal passes sequentially through the output axis connection of input shaft coupling, connecting shaft and tested motor,
Test lead is connect by exporting shaft coupling with hysteresis brake, reads torque and revolving speed that hysteresis brake is applied to tested motor
And feed back to controller；
Hysteresis brake is fixedly mounted in magnetic hysteresis mounting bracket, loads torque to tested motor；
Sliding rail: being fixedly mounted in the horizontal plane, and magnetic hysteresis sliding block, torque sensor sliding block, motor sliding block sequence are mounted on cunning
On rail, hysteresis brake is installed on magnetic hysteresis sliding block, installation load torque sensor on torque sensor sliding block is pacified in motor sliding block
Electric machine support is filled, hysteresis brake, load torque sensor are adjusted by magnetic hysteresis sliding block, torque sensor sliding block, motor sliding block
And the positional relationship of electric machine support；
Controller: when carrying out stepper motor holding torque or location torque test, applying driving signal to servo motor,
Control servo motor is applied to the load torque and revolving speed of tested motor, while obtaining the torque of actual measurement in real time from torque sensor
And rotary speed information, obtain torque curve and using the peak value of twisting curve as location torque or holding torque；When progress stepping
When motor load characteristic test, apply driving signal to hysteresis brake, while obtaining actual measurement in real time from load torque sensor
Torque and rotary speed information, draw load torque curve.
The advantages of the present invention over the prior art are that:
(1) test macro of the invention has a variety of test functions, and the positioning/holding torque for being both able to achieve stepper motor is surveyed
Examination, and it is able to achieve stepper motor load characteristic and efficiency test under different rotating speeds；
(2) the test application range of present system is wide, can satisfy the stepping of a variety of different models, distinct interface size
Motor positioning/holding torque and load characteristic test (only needing to change adapter flange for the stepper motor of distinct interface)；
(3) measuring accuracy of present system is high, by selecting the torque of different torque ranges, different accuracy resolution ratio to pass
Sensor and servo motor can meet the positioning/holding torque and load characteristic testing requirement of different accuracy grade and range；Using
Coaxially arranged measurement method eliminates additional bending moment, counterweight of the static counterweight with remeasurement and places impact etc. to measurement result
It influences；Using control and the acquisition of data acquisition unit automatic high speed, identification and analysis test data, manual testing is substantially increased
The data acquisition and resolution capability of process, test result is more true, accurate, and testing efficiency is high.
Detailed description of the invention
Fig. 1 is system composition schematic diagram of the invention；
Fig. 2 is positioning of the invention/holding torque test cell structure chart；
Fig. 3 is test schematic of the invention；
Fig. 4 is load characteristic test cell structure chart of the invention；
Fig. 5 is control of the invention and data acquisition unit structure chart；
Fig. 6 is positioning of the invention/holding torque test flow chart；
Fig. 7 is load characteristic test flow chart of the invention.
Specific embodiment
As shown in Figure 1, test macro of the present invention includes test platform, positioning/holding torque test cell, load characteristic survey
Try unit, control and data acquisition unit.
Test platform is the basic platform of system, for positioning/holding torque test cell, load characteristic test cell, control
System and data acquisition unit provide mechanical interface.
Positioning/holding torque test cell provides power input for tested stepper motor, realizes its positioning/holding torque
Test.As shown in Figure 2, it is preferable that positioning/holding torque test cell is by servo motor 101, motor mounting rack 102, first
Shaft coupling 103, torque sensor 104, second shaft coupling 105, Coupling Shaft 106, motor mounting rack to be measured 107, adapter flange
108, the first sliding block 109, the second sliding block 110, third sliding block 111, guide rail 112 form.Servo motor 101 is used for tested motor
Accurate load torque and driving are carried out by setting step-length and loading method, is installed on motor mounting rack 102, output shaft is logical
It crosses first shaft coupling 103 to connect with the input terminal of torque sensor 104, torque sensor 104 is applied to tested electricity for reading
The load torque and revolving speed of machine, and load torque and rotary speed information fed back into control and data acquisition unit carry out data and deposit
Storage, test curve are drawn and load control, the test lead of torque sensor 104 by second shaft coupling 105, Coupling Shaft 106 with
Tested motor output shaft is mechanically connected, and tested motor is installed on motor mounting rack 107 to be measured by adapter flange 108
On, setting adapter flange 108 is the electromechanical testing to make system be suitable for distinct interface size, only for different tested motors
Replacement adapter flange 108 need to be corresponded to.Under motor mounting rack 107 to be measured, torque sensor 104, motor mounting rack 102
Face is separately installed with the first sliding block 109, the second sliding block 110, third sliding block 111, can be slided along guide rail 112, convenient for mutual
Connection with separate, each sliding block is equipped with holding screw, and position can carry out positioning with opposite rail 112 after determining locked.Positioning/
In holding torque functional test, control and data acquisition unit are found by the load torque data that torque sensor 104 measures
The peak value of torque curve, as positioning/holding torque (not powered/powering state) are (when the load torque of application makes to be tested enough
When motor rotates, tested motor output shaft is turned round, since stepper motor positioning/holding torque is greater than stepper motor certainly
Body operates the characteristic of torque, and after stepper motor turns round, the torque value that torque sensor 104 detects can generate larger moment
Decline, therefore peak value, that is, tested motor positioning/holding torque of torque curve).
Since the location torque value of stepper motor is generally much smaller than holding torque value, to guarantee measuring accuracy, should not select
Same specification servo motor carries out two tests, thus the present invention by the way of two different size servo motor switch tests into
Row design.When carrying out location torque test, tested motor is connected with the first servo motor that smaller torque exports, simultaneously
Series connection torque sensor 104 realizes the location torque measurement of stepper motor by controlling the torque value of first servo motor；When
When carrying out holding torque test, the second servo motor that high torque exports is displaced into first servo motor, two kinds of realization is not
With the accurate measurement of range torque, shown in Fig. 3.
Load characteristic test cell provides fictitious load for tested motor, exports to stablize under desired specific rotation speeds and bear
Carry torque.As shown in Figure 4, it is preferable that load characteristic test cell by mounting flange 201, electric machine support 202, connecting shaft 203,
Input shaft coupling 204, load torque sensor 205, output shaft coupling 206, hysteresis brake 207, magnetic hysteresis mounting bracket 208,
Magnetic hysteresis sliding block 209, torque sensor sliding block 210, motor sliding block 211, sliding rail 212 form.Tested motor passes through mounting flange 201
It is installed on electric machine support 202, setting mounting flange 201 is the electromechanical testing to make system be suitable for distinct interface size, right
Replacement mounting flange 201 need to be only corresponded in different tested motors, tested motor output shaft passes through connecting shaft 203, input
Shaft coupling 204 and load torque sensor 205, which are established, to be mechanically connected, and load torque sensor 205 is applied to tested for reading
The load torque and revolving speed of motor, and load torque, rotary speed information are fed back into control and data acquisition unit, for being counted
It is drawn according to storage, test curve and load control, 205 test lead of load torque sensor passes through output shaft coupling 206 and magnetic hysteresis
Brake 207 connects, and hysteresis brake 207 is installed in magnetic hysteresis mounting bracket 208, for tested motor by setting load into
The accurate load torque of row, magnetic hysteresis mounting bracket 208, load torque sensor 205,202 lower part of electric machine support are separately installed with magnetic
Stagnant sliding block 209, torque sensor sliding block 210, motor sliding block 211 can be slided along sliding rail 212, convenient for mutual connection with
Separation, sliding block are equipped with holding screw, and position can carry out positioning with respect to sliding rail 212 after determining locked.
As shown in figure 5, control and data acquisition unit by the mechanical, electrical machine driver of measuring and calculation, magnetic hysteresis driver (ERM),
Torque sensor converter, voltage signal converter, current signal converter, terminal board composition.Load torque sensor 205 is surveyed
Torque, the rotary speed information obtained is transferred to torque sensor converter and carries out feeding back to meter after being converted into the accessible signal of computer
Calculation machine is shown, stored and is handled.Measuring and calculation machine carries out load control to hysteresis brake 207 by ERM, passes through motor
Driver is moved and is loaded control to two servo motors respectively.Drive voltage, the current signal point of tested motor movement
Do not fed back to after voltage signal converter, current signal converter are converted into the accessible signal of computer measuring and calculation machine into
Row display, storage and processing, terminal board provide the connecting interface of each hardware and intercomputer.Control and data acquisition unit can
Curve is drawn by measurement result, and carries out the analysis and storage of test data.
In positioning/holding torque test, it is the positioning/holding torque situation for sufficiently knowing product, takes multi-point every survey
The mode of amount, i.e. tested motor rotate the output shaft of tested motor after the completion of the positioning of a certain position/holding torque test
One angle carries out positioning/holding torque test of the tested motor of the next position, obtains positioning/retentivity of all measuring points
Square test value.Positioning/revolving speed of the holding torque test based on tested motor output shaft carries out test finishing control, works as tested motor
Test terminates when output shaft rotational angular velocity reaches setting value, and the setting for carrying out the tachometer value is needed before test.
Testing progress servo motor after finishing control revolving speed determines, torque load step-length and load continue during the test
Time setting, the setting determine the loading method of servo motor.
After starting test, servo motor according to setting torque load step-length and loads the duration since 0Nmm, right
Tested stepper motor carries out multistage loadings, when control and data acquisition unit detect that torque sensor 104 measures feedback torque
When decline suddenly occurs for value, servo motor stops multistage loadings, and current loading moment is kept persistently to load, when control and data
When acquisition unit detects that tested stepper motor velocity of rotation reaches the test stopping setting value before test starts, servo motor stops
It only loads, control and the load torque information fed back according to test process torque sensor 104 of data acquisition unit find load
The maximum value of torque is positioning/holding torque of the tested motor test point.
After the positioning of certain measuring point/holding torque test, servo motor drives tested motor rotation setting measuring point interval
Angle repeats the above process the positioning/holding torque test for carrying out next measuring point, until completing positioning/guarantor of all test points
The test of holding force square.
After test, control and data acquisition unit can be drawn as needed according to the torque information acquired in test process
Positioning/holding torque test curve of each measuring point is made, whole flow process is as shown in Figure 6.
It needs to be configured the test load of tested motor in load characteristic test process, before test；After starting test, meter
Calculation machine is handed down to magnetic hysteresis driver for torque value is arranged, and the torque value that magnetic hysteresis driver is loaded by computer requirement is to hysteresis brake
The braking torque of device 207 is controlled, and so that hysteresis brake 207 is applied load to tested motor by setting load torque value and is turned round
Square, torque, rotary speed information and actuator voltage, the current information of the real-time collecting test process of system.System is according to the mistake of acquisition
Journey torque, revolving speed and actuator voltage, current information, according to efficiency=(torque × revolving speed)/(voltage × electric current) relationship, into
Efficiency calculation during row electromechanical testing.
After test, control and data acquisition unit are according to load torque, the revolving speed acquired in test process, driver
Voltage, current information and the efficiency data being computed can draw load torque curve, the efficiency curve of test process as needed,
Detailed process is as shown in Figure 7.
The content that description in the present invention is not described in detail belongs to the well-known technique of those skilled in the art.
Claims (1)
1. a kind of stepper motor comprehensive performance testing system characterized by comprising servo motor (101), motor mounting rack
(102), first shaft coupling (103), torque sensor (104), second shaft coupling (105), Coupling Shaft (106), to measured motor pacify
Fill bracket (107), adapter flange (108), the first sliding block (109), the second sliding block (110), third sliding block (111), guide rail
(112), mounting flange (201), electric machine support (202), connecting shaft (203), input shaft coupling (204), load torque sensor
(205), shaft coupling (206), hysteresis brake (207), magnetic hysteresis mounting bracket (208), magnetic hysteresis sliding block (209), torque biography are exported
Sensor sliding block (210), motor sliding block (211), sliding rail (212) and controller, in which:
Servo motor (101): and including first servo motor and the second servo motor, when progress stepper motor location torque test
When, first servo motor is mounted on motor mounting rack (102), and output shaft passes through first shaft coupling (103) and torque sensing
The input terminal of device (104) connects, and loads torque to tested motor；When carrying out the test of stepper motor holding torque, the second servo
Motor is mounted on motor mounting rack (102), and output shaft is defeated by first shaft coupling (103) and torque sensor (104)
Enter end connection, torque is loaded to tested motor；The output torque of second servo motor is greater than the defeated of first servo motor
Torque out；
Torque sensor (104): input terminal passes through the output axis connection of first shaft coupling (103) and servo motor (101), test
End passes sequentially through second shaft coupling (105), Coupling Shaft (106) and the output shaft of tested motor and is mechanically connected, and reads servo
Motor (101) is applied to the torque of tested motor and revolving speed and feeds back to controller；
Adapter flange (108): tested motor is fixedly mounted on motor mounting rack to be measured (107)；
Guide rail (112): it is fixedly mounted in the horizontal plane, the first sliding block (109), the second sliding block (110), third sliding block (111) are suitable
Sequence is mounted on guide rail (112), installs torque sensor (104) on the second sliding block (110), on the first sliding block (109) installation to
Measured motor mounting bracket (107) installs motor mounting rack (102) on third sliding block (111), passes through the first sliding block (109), the
Two sliding blocks (110), third sliding block (111) adjustment torque sensor (104), motor mounting rack to be measured (107) and motor installation
The positional relationship of bracket (102)；
Mounting flange (201): tested motor is fixedly mounted on electric machine support (202)；
Load torque sensor (205): when carrying out the test of stepper motor load characteristic, input terminal passes sequentially through input shaft coupling
(204), the output axis connection of connecting shaft (203) and tested motor, test lead pass through output shaft coupling (206) and hysteresis brake
(207) it connects, reads hysteresis brake (207) and be applied to the torque of tested motor and revolving speed and feed back to controller；
Hysteresis brake (207) is fixedly mounted on magnetic hysteresis mounting bracket (208), loads torque to tested motor；
Sliding rail (212): it is fixedly mounted in the horizontal plane, magnetic hysteresis sliding block (209), torque sensor sliding block (210), motor sliding block
(211) it is sequentially mounted on sliding rail (212), magnetic hysteresis mounting bracket (208) is installed on magnetic hysteresis sliding block (209), torque sensor is sliding
Installation load torque sensor (205) on block (210) installs electric machine support (202) in motor sliding block (211), and it is sliding to pass through magnetic hysteresis
Block (209), torque sensor sliding block (210), motor sliding block (211) adjust magnetic hysteresis mounting bracket (208), load torque sensor
(205) and the positional relationship of electric machine support (202)；
Controller: when carrying out stepper motor holding torque or location torque test, apply driving letter to servo motor (101)
Number, control servo motor (101) is applied to the load torque and revolving speed of tested motor, while real-time from torque sensor (104)
The torque and rotary speed information of actual measurement are obtained, obtains torque curve and using the peak value of twisting curve as location torque or retentivity
Square；When carrying out the test of stepper motor load characteristic, apply driving signal to hysteresis brake (207), while from load torque
Sensor (205) obtains the torque and rotary speed information of actual measurement in real time, draws load torque curve；
In positioning/holding torque test, the mode of multiple spot interval measurement, i.e. positioning/guarantor of the tested motor in a certain position are taken
After the completion of the test of holding force square, the output shaft of tested motor is rotated into an angle, carry out the positioning of the tested motor of the next position/
Holding torque test, obtains positioning/holding torque test value of all measuring points；Positioning/holding torque test is based on tested motor
The revolving speed of output shaft carries out test finishing control, and testing when tested motor output shaft rotational angular velocity reaches setting value terminates,
The setting of progress tested motor output shaft tachometer value is needed before test.
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