CN106769027A - Small-sized dual input reducing gear test system - Google Patents
Small-sized dual input reducing gear test system Download PDFInfo
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- CN106769027A CN106769027A CN201710219972.3A CN201710219972A CN106769027A CN 106769027 A CN106769027 A CN 106769027A CN 201710219972 A CN201710219972 A CN 201710219972A CN 106769027 A CN106769027 A CN 106769027A
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- G—PHYSICS
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- G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
- G01M13/00—Testing of machine parts
- G01M13/02—Gearings; Transmission mechanisms
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Abstract
The invention discloses a kind of small-sized dual input reducing gear test system, including motor one, motor one is connected respectively to two input shafts of dual input reductor by torque sensor one, motor two-way over torque sensor two；The output shaft of dual input reductor is connected by torque sensor three with the input shaft of raising speed gear-box, drives raising speed gear-box to rotate；The output shaft of raising speed gear-box is connected with loading motor axle, drives loading motor to rotate.The winding of motor one, the windings in series of motor two are equivalent to a motor, the tachometer of motor one, the tachometer series equivalent of motor two are a tachometer, as the velocity feedback of electric machine controller one, size of current in two machine windings of this method is equal, thus output torque is equal, two purposes of motor co- controlling are realized, simplifies torque balance control method, while saving an electric machine controller.
Description
Technical field
The present invention relates to a kind of small-sized dual input reducing gear test system, belong to reducing gear test system technology neck
Domain.
Background technology
Small-sized dual input reducing gear is usually used in adjusting the motion of aerospace craft, and its functional reliability directly affects flight
The safety and stability of device, therefore the actuating unit of replacement single input is driven using dual input motor, realize being driven when certain motor
During failure, remain to keep normal work.Dual input reducing gear is in installation using preceding needing to carry out performance test machine work
Stability test.
The control method that bi-motor drives jointly teaches appropriate control algolithm frequently with two electric machine controllers, double
The purpose that motor drives jointly, such as Chinese Patent Application No.：CN201510783763.2, the applying date：On November 16th, 2015, specially
Profit is entitled：The controller design method of twin drive system, the invention provides a kind of the same of twin drive system
Step control program, by setting up the Mathematical Modeling of Dual-motors Driving drive system, based on the Mathematical Modeling, devises distributing Shandong
Rod closed-loop obscures dlvision synchrd control.
Reductor needs simulating reality to load in test process, is at present to use magnetic powder brake using more method
It is connected with speed reducer output shaft, changes the dc source electric current of magnetic powder brake, reaches the purpose for changing braking moment, such as China
Number of patent application：CN201220313813.2, the applying date：On July 2nd, 2012, patent name is：Reductor performance test system
System, the invention provides a kind of reductor Performance Test System, and a side and prime mover of input torque measurement of rotating speed sensor are surveyed
Examination device is connected, and another side of input torque measurement of rotating speed sensor is provided with tested reductor input shaft coupling, output torque
One side of measurement of rotating speed sensor is connected with magnetic powders brake tester, realizes the performance test to reductor.
It is aided with the driving control that appropriate algorithm can complete dual input reductor again using bi-motor and two electric machine controllers
System, is disadvantageous in that hardware system composition and control algolithm are complex, and debugging work load is big.
Magnetic powder brake is usually used in the load test system of reductor, and this load mode is disadvantageous in that,
In loading procedure, energy is consumed in the way of generating heat, and relatively costly.
The content of the invention
In order to solve above-mentioned deficiency, the invention provides a kind of small-sized dual input reducing gear test system.
In order to achieve the above object, the present invention is achieved by the following technical solutions：
The present invention is a kind of small-sized dual input reducing gear test system, including computer, interface convertor, data acquisition unit,
Electric machine controller one, electric machine controller two, motor one, motor two, loading motor, dc source, dual input reductor are namely
Measurand, raising speed gear-box, torque sensor one, torque sensor two, torque sensor are third；Described computer passes through
Data acquisition unit Real-time Collection torque sensor one, torque sensor two, the torque value of torque sensor three, are same as dual input and subtract
The transmission efficiency of fast machine is calculated；Described computer is also real with electric machine controller one, electric machine controller two by interface convertor
Existing communication function, and complete the operation control to electric machine controller one, electric machine controller two；Electric machine controller one realizes motor one
Rotation with motor two is controlled；Motor one is connected respectively to double by torque sensor one, motor two-way over torque sensor two
It is input into two input shafts of reductor；The input that the output shaft of dual input reductor passes through torque sensor three and raising speed gear-box
Axle is connected, and drives raising speed gear-box to rotate；The output of raising speed gear-box is connected with loading motor axle, drives loading motor to rotate；
Described interface convertor is the conversion equipment between two kinds of interfaces；Described data acquisition unit is that computer is used to gather torque
Sensor one, torque sensor two, the torque value of torque sensor three.
Further improvement of the present invention is：The raising speed of raising speed gear-box is than the raising speed with dual input reductor than equal.
Further improvement of the present invention is：Electric machine controller one and electric machine controller two are two identical direct current generators
The rated voltage of controller, electric machine controller one and electric machine controller two is identical with direct current power source voltage.
Further improvement of the present invention is：Motor one, motor two are two identical direct current generators, motor one, motor
Two rated voltage is the 1/2 of direct current power source voltage；Motor one, the power of motor two and match with electric machine controller one, electricity
Machine one, motor two possess tachometer；The speed measure feedback volume of output voltage of the tachometer in normal speed and electric machine controller one
Determine input range to match.
Further improvement of the present invention is：Loading motor is direct current generator, and the rated voltage of loading motor is direct current
Source voltage；Loading motor carries tachometer, and output voltage of the tachometer in normal speed is anti-with testing the speed for electric machine controller two
Specified input range is presented to match.
Further improvement of the present invention is：Dc source, electric machine controller one, electric machine controller two, motor one, motor
Two annexation is：(+) end of dc source, the power input of electric machine controller one (+) end, the power input of electric machine controller two
(+), end linked together；(-) end of dc source, the power input of electric machine controller one (-) end, the power supply of electric machine controller two are defeated
Enter (-) end to link together；The motor control lead-out terminal M1 of electric machine controller one is connected with the winding of motor one (+) end；Motor
One winding (-) end is connected with the winding of motor two (+) end；The winding of motor two (-) end exports with the motor control of electric machine controller one
Terminal M2 is connected；For convenience of adjustment tachometer feedback voltage, especially in the speed measure feedback terminal and tachometer of electric machine controller one
Between set two resistance（R1、R2）, specific annexation is：The speed measure feedback terminal S1 of electric machine controller one, resistance R1
One end, one end of resistance R2 link together；The other end of resistance R1 is connected with (+) end of the tachometer of motor one；Motor one is surveyed
(-) end of fast machine is connected with the tachometer of motor two (+) end；The tachometer of motor two (-) end, the other end of resistance R2, motor control
The speed measure feedback terminal S2 of device one links together, according to the speed measure feedback input model of speed measure feedback voltage and electric machine controller one
Enclose, appropriate adjustment resistance R1, R2 value is input into the speed measure feedback of speed measure feedback voltage and electric machine controller one and matches；Motor
The motor control lead-out terminal M1 of controller two is connected with loading motor winding (+) end；The motor control of electric machine controller two is defeated
Go out terminal M2 to be connected with loading motor winding (-) end；The speed measure feedback terminal S1 of electric machine controller two and loading motor tachometer
(+) end be connected；The speed measure feedback terminal S2 of electric machine controller two, (-) end of loading motor tachometer are connected.
Small-sized dual input reducing gear test system of the invention, operation principle is：There is provided torque sensor one, torque
Sensor two, torque sensor three, are respectively used to measure dual input acceleration and deceleration input torque and output torque, can accurately measure double
It is input into the transmission efficiency of acceleration and deceleration；Electric machine controller one and the power supply line parallel of electric machine controller two, electric machine controller one are controlled
Motor processed one, the control dual input reductor of motor two are rotated, the loading of the controlled loading motor of electric machine controller two, now loading motor
Working condition is Generator Status, and by the size of the controlled loading torque of electric machine controller two, while the generating of motor two passes through
Electric machine controller two feeds back to dc source outlet side, is available for electric machine controller one to use, according to law of conservation of energy, direct current
Source only needs to provide the power of dual input speed reducer drive loss, thus test system possesses power saving function；The winding of motor one, motor
Two windings in series are equivalent to a motor, and the tachometer of motor one, the tachometer series equivalent of motor two are a tachometer, this side
Size of current in two machine windings of method is equal, thus output torque is equal, realizes the purpose that two motors drive jointly, letter
Change torque balance control method, while saving an electric machine controller.
A kind of small-sized dual input reducing gear test system, the test event for being completed includes：
1) transmission efficiency；
2) startability test；
The transmission efficiency method of testing is：Computer sets the speed of electric machine controller one by interface convertor, treats lose-lose
After entering reductor arrival setting speed, computer passes through the locked-in torque that interface convertor sets electric machine controller two, stable state fortune
Computer reads the actual value of torque sensor one, torque sensor two, torque sensor three, meter by data acquisition unit after row
Calculate the transmission efficiency of the dual input reductor under present speed.
The startability is tested in pre-loaded situation, testing the startability of whole test system.
The beneficial effect that the present invention is reached：
（1）, system of the invention be provided with torque sensor one, torque sensor two, torque sensor three, be respectively used to measurement
Dual input acceleration and deceleration input torque and output torque, can accurately measure the transmission efficiency of dual input acceleration and deceleration.
（2）, system of the invention by series connection two identical direct current generators, realize two motors of dual input reductor
Balanced drive, simplifies system design, saves hardware cost.
（3）, system of the invention be joined directly together by by two identical electric machine controller power supplys, realize loaded energy
Recycle, realize the purpose of energy-conservation.
（4）, system of the invention motor loading method proportion of utilization integral controller saturated characteristic, the actual system of simulation
System load characteristic, simplifies loading method.
（5）, the part involved by system of the invention be the market universal product, the fast construction of feasible system.
Brief description of the drawings
Fig. 1 is the composition schematic diagram of test system of the present invention.
Fig. 2 is dc source of the present invention, the second-class annexation figure of electric machine controller one, electric machine controller.
Fig. 3 is the internal control functional block diagram of electric machine controller of the present invention.
Specific embodiment
In order to deepen the understanding of the present invention, present invention work is further retouched in detail below in conjunction with drawings and Examples
State, the embodiment is only used for explaining the present invention, protection scope of the present invention is not constituted and is limited.
As shown in figure 1, the present invention is, a kind of small-sized dual input reducing gear test system, including computer, interface conversion
Device, data acquisition unit, electric machine controller one, electric machine controller two, motor one, motor two, loading motor, dc source, lose-lose
Enter reductor i.e. measurand, raising speed gear-box, torque sensor one, torque sensor two, torque sensor are third.
The computer passes through data acquisition unit Real-time Collection torque sensor one, torque sensor two, torque sensor
Three torque value, the transmission efficiency for dual input reductor is calculated；The computer is also by interface convertor and motor control
Device processed one, electric machine controller two realize communication function, and complete the operation control to electric machine controller one, electric machine controller two；
Electric machine controller one realizes the rotation control of motor one and motor two；Motor one is by torque sensor one, motor two by turning
Square sensor two is connected respectively to two input shafts of dual input reductor；The output shaft of dual input reductor passes through torque sensing
Device three is connected with the input shaft of raising speed gear-box, drives raising speed gear-box to rotate；The output shaft and loading motor of raising speed gear-box
Axle is connected, and drives loading motor to rotate.
The interface convertor is the conversion equipment between two kinds of interfaces, selects Ethernet to turn CAN in this example（Control
Device LAN processed, abbreviation CAN), computer is connected by Ethernet with interface convertor, and interface convertor passes through CAN
Bus is connected with electric machine controller one and electric machine controller two；Described data acquisition unit is that computer is used to gather torque sensing
Device one, torque sensor two, the torque value of torque sensor three, data acquisition unit use USB（USB）With calculating
Machine is connected.
The raising speed ratio of the raising speed gear-box is with dual input reductor raising speed than equal.
The electric machine controller one and electric machine controller two are two identical DC motor controllers, electric machine controller one
Rated voltage with electric machine controller two is identical with direct current power source voltage, and in this example, voltage is 48 volts, the He of electric machine controller one
Electric machine controller device two has four quadrant running function（Possess rotating control and positive and negative braking function, usual motor control
Device is provided with this function）, the electric machine controller one and electric machine controller two possess CANopen communications protocol.
The motor one, motor two are two identical direct current generators, and motor one, the selection of motor two need to meet as follows will
Ask：
1) rated voltage is the 1/2 of direct current power source voltage, is 24 volts in this example；
2) motor one, the power of motor two and match with electric machine controller one；
3）Motor one, motor two are furnished with tachometer as velocity feedback element, and meet output of the tachometer in rated speed
Voltage matches with the specified input of the speed measure feedback of electric machine controller one.
The loading motor is direct current generator, and the rated voltage of loading motor is direct current power source voltage, is 48 in this example
Volt；The loading motor carries tachometer, and output voltage of the tachometer in normal speed is anti-with testing the speed for electric machine controller two
Specified input range is presented to match.
As shown in Fig. 2 the dc source, electric machine controller one, electric machine controller two, motor one, the connection of motor two
Relation is：(+) end of dc source, the power input of electric machine controller one (+) end, the power input of electric machine controller two (+) end connect
It is connected together；(-) end of dc source, the power input of electric machine controller one (-) end, the power input of electric machine controller two (-) end
Link together；The motor control lead-out terminal M1 of electric machine controller one is connected with the winding of motor one (+) end；The winding of motor one
(-) holds and is connected with the winding of motor two (+) end；The winding of motor two (-) end and the motor control lead-out terminal M2 of electric machine controller one
It is connected；For convenience of adjustment tachometer feedback voltage, especially set between the speed measure feedback terminal and tachometer of electric machine controller one
Put two resistance（R1、R2）, specific annexation is：The speed measure feedback terminal S1 of electric machine controller one, one end of resistance R1, electricity
The one end for hindering R2 links together；The other end of resistance R1 is connected with (+) end of the tachometer of motor one；The tachometer of motor one
(-) holds and is connected with the tachometer of motor two (+) end；The tachometer of motor two (-) end, the other end of resistance R2, electric machine controller one
Speed measure feedback terminal S2 links together, and according to speed measure feedback voltage and the speed measure feedback input range of electric machine controller one, fits
When the resistance of selection resistance R1, R2, it is input into the speed measure feedback of speed measure feedback voltage and electric machine controller one and matches；Motor control
The motor control lead-out terminal M1 of device processed two is connected with loading motor winding (+) end；The motor control output of electric machine controller two
Terminal M2 is connected with loading motor winding (-) end；The speed measure feedback terminal S1 of electric machine controller two and loading motor tachometer
(+) holds and is connected；The speed measure feedback terminal S2 of electric machine controller two, (-) end of loading motor tachometer are connected.
Small-sized dual input reducing gear test system of the invention, operation principle is：There is provided torque sensor one, torque
Sensor two, torque sensor three, are respectively used to measure dual input acceleration and deceleration input torque and output torque, can accurately measure double
It is input into the transmission efficiency of acceleration and deceleration；Electric machine controller one and the power supply line parallel of electric machine controller two, electric machine controller one are controlled
Motor processed one, the control dual input reductor of motor two are rotated, the loading of the controlled loading motor of electric machine controller two, now loading motor
Working condition be Generator Status, and by the size of the controlled loading torque of electric machine controller two, while the generating of motor two is led to
Cross electric machine controller two and feed back to dc source outlet side, be available for electric machine controller one to use, according to law of conservation of energy, direct current
Power supply only needs to provide the power of dual input speed reducer drive loss, thus test system possesses power saving function；The winding of motor one, electricity
The windings in series of machine two is equivalent to a motor, and the tachometer of motor one, the tachometer series equivalent of motor two are a tachometer, as
The velocity feedback of electric machine controller one, the size of current in two machine windings of this method is equal, thus output torque is equal,
Two purposes of motor co- controlling are realized, simplifies torque balance control method, while saving an electric machine controller.
Described a kind of small-sized dual input reducing gear test system, the test event to be completed includes：
1) transmission efficiency；
2) startability test.
As shown in the internal control functional block diagram of Fig. 3 electric machine controllers one, the internal control functional block of electric machine controller two
Figure is identical with motor control one；Including initial setting, setting value, velocity correction, velocity feedback, selecting switch, electric current limit
System, current feedback and current correction etc.；Initial setting, the data source of setting value be computer by interface convertor transmission come
Data；Described is initially set according to different testing requirements to selecting switch and current limit that is, motor control
In system, the torque of electric current correspondence motor is set；The described equal adoption rate integration control side of velocity correction and current correction
Method, completes the control of the motor speed and electric current during motor control.
Described transmission efficiency method of testing is：
1) initial setting electric machine controller one is the selecting switch choosing of speed control mode, i.e. electric machine controller one
Select position 2；Electric machine controller two is set as torque mode of operation, the i.e. selecting switch of electric machine controller two selection position 1；
2) electric machine controller one is enabled, setting value is the 5% of the normal speed of motor one；
3) after waiting actual speed to reach setting value, electric machine controller two is enabled；
4) by the loading curve of dual input reductor needs by the torque settings value of computer settings electric machine controller two；
5) after stable operation, computer reads torque sensor one, torque sensor two, torque sensor three
It is worth and records；
6) by the 5% of the normal speed of motor one（Increased velocity magnitude can also as needed be determined）Speed increases motor control
The speed setting value of device one；
7) step 5 is gone to）, until the speed setting value of electric machine controller one reaches 100%, test terminates.
Described startability test job principle is：Motor one, motor two are driving the startup of dual input reductor
Before, the pre-loaded torque of loading motor, simulates actual loading situation, and test transmission system is under locked-in torque by stopping
The startup time to required for normal speed.
The loading method of described startability test is：If motor driver two is set as torque mode, and in advance
First locked-in torque, then because motor one, motor two are also not actuated, may cause loading motor to drive dual input reductor anti-
Cannot be tested to rotation, it is as follows that the present invention provides a kind of loading method principle：Electric machine controller two is set to velocity mode,
Current limit is set as the corresponding size of current of desired locked-in torque, and speed setting value is 0, is enabled in motor driver two
Afterwards, now due to speed setting value 0, loading motor is not rotated, and locked-in torque is also almost 0, treats the control of electric machine controller one
When motor processed, two test starting of motor, motor one, motor two drive dual input reductor to rotate, and dual input reductor drives
Loading motor is rotated, and when loading motor just starts to rotate, the speed setting value and velocity feedback of electric machine controller two are in the presence of poor
Value, the proportional plus integral control output of the velocity correction of electric machine controller two increases sharply and reaches saturation state, speed control two
Speed control equivalent to opened loop control, actual control model be current control, now loading motor actual torque be electric current
Corresponding torque value is limited, due to current control speed quickly（Usual electric machine controller is general in 13 milliseconds of response times）, because
This realizes quick loading as motor one, motor two are rotated, and simulates actual condition.
Described startability testing procedure is：
1) electric machine controller one initially sets：
The selecting switch selection position 2 of a) speed control mode, i.e. electric machine controller one；
B) current limit is the current value that the test of dual input reductor needs（I.e. corresponding torque value）
2) electric machine controller two initially sets：
The selecting switch selection position 2 of a) speed control mode, i.e. electric machine controller two；
B) current limit is that the current value that the loading of dual input reductor needs is corresponding torque value；
3) speed setting value of electric machine controller two is set to 0；
4) electric machine controller two is enabled；
5) speed setting value of electric machine controller one is set as the maximum speed that the test of dual input reductor needs；
6) electric machine controller one is enabled, simultaneous computer starts timing；
7) whether computer reaches setting value by the actual speed that interface convertor continuously reads motor control one,
When setting is reached, stop timing, be the startup time between clocking, test terminates.
General principle of the invention, principal character and advantage has been shown and described above.The technical staff of the industry should
Understand, the present invention is not limited to the above embodiments, simply original of the invention is illustrated described in above-described embodiment and specification
Reason, without departing from the spirit and scope of the present invention, various changes and modifications of the present invention are possible, these changes and improvements
All fall within the protetion scope of the claimed invention.The claimed scope of the invention is by appending claims and its equivalent circle.
It is fixed.
Claims (6)
1. small-sized dual input reducing gear test system, it is characterised in that：Including computer, interface convertor, data acquisition unit,
Electric machine controller one, electric machine controller two, motor one, motor two, loading motor, dc source, dual input reductor, raising speed tooth
Roller box, torque sensor one, torque sensor two, torque sensor three, the computer pass through data acquisition unit Real-time Collection
Torque sensor one, torque sensor two, the torque value of torque sensor three, based on the transmission efficiency of dual input reductor
Calculate, the computer also realizes communication function by interface convertor and electric machine controller one, electric machine controller two, and completes right
The operation control of electric machine controller one, electric machine controller two, electric machine controller one realizes the rotation control of motor one and motor two,
Motor one is connected respectively to two inputs of dual input reductor by torque sensor one, motor two-way over torque sensor two
Axle；The output shaft of dual input reductor is connected by torque sensor three with the input shaft of raising speed gear-box, drives raising speed gear
Case is rotated, and the output shaft of raising speed gear-box is connected with loading motor axle, drives loading motor to rotate.
2. small-sized dual input reducing gear test system according to claim 1, it is characterised in that：The raising speed gear-box
Raising speed is than the raising speed with dual input reductor than equal.
3. according to the small-sized dual input reducing gear test system of claim 1, it is characterised in that：The electric machine controller one and electricity
Machine controller two is the rated voltage and direct current of two identical DC motor controllers, electric machine controller one and motor control two
Supply voltage is identical, and electric machine controller one and electric machine controller two have four quadrant running function, the He of the electric machine controller one
Electric machine controller two possesses CANopen communications protocol.
4. small-sized dual input reducing gear test system according to claim 1, it is characterised in that：The motor one, motor
Two is two identical direct current generators, and motor one, the rated voltage of motor two are the 1/2 of direct current power source voltage；Motor one, motor
Two power and match with electric machine controller one；Motor one, motor two are equipped with tachometer as velocity feedback element, and satisfaction
Output voltage of the tachometer in rated speed matches with the specified input of the speed measure feedback of electric machine controller one.
5. small-sized dual input reducing gear test system according to claim 1, it is characterised in that：The loading motor is straight
Stream motor, the rated voltage of loading motor is direct current power source voltage, and the loading motor carries tachometer, and tachometer is in specified speed
Output voltage when spending matches with the specified input range of the speed measure feedback of electric machine controller two.
6. small-sized dual input reducing gear test system according to claim 1, it is characterised in that：The electric machine controller
First, electric machine controller two, motor one, the annexation of motor two are：(+) end of dc source, the power supply of electric machine controller one are defeated
Enter (+) end, the power input of electric machine controller two (+) end to link together；(-) end of dc source, the power supply of electric machine controller one
Input (-) end, the power input of electric machine controller two (-) end link together；The motor control lead-out terminal of electric machine controller one
M1 is connected with the winding of motor one (+) end；The winding of motor one (-) end is connected with the winding of motor two (+) end；The winding of motor two (-) end
It is connected with the motor control lead-out terminal M2 of electric machine controller one；For convenience of adjustment tachometer feedback voltage, especially in motor control
Two resistance are set between the speed measure feedback terminal and tachometer of device processed（R1、R2）, specific annexation is：Electric machine controller
One speed measure feedback terminal S1, one end of resistance R1, one end of resistance R2 link together；The other end of resistance R1 and motor one
(+) end of tachometer is connected；(-) end of the tachometer of motor one is connected with the tachometer of motor two (+) end；The tachometer (-) of motor two
End, the speed measure feedback terminal S2 of the other end of resistance R2, electric machine controller one link together, according to speed measure feedback voltage and electricity
The speed measure feedback input range of machine controller one, the resistance of appropriate selection resistance R1, R2, makes speed measure feedback voltage and motor control
The speed measure feedback input of device one matches；The motor control lead-out terminal M1 of electric machine controller two and loading motor winding (+) end
It is connected；The motor control lead-out terminal M2 of electric machine controller two is connected with loading motor winding (-) end；The survey of electric machine controller two
Fast feedback terminal S1 is connected with (+) end of loading motor tachometer；The speed measure feedback terminal S2 of electric machine controller two, loading motor
(-) end of tachometer is connected.
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