CN107065955B - A kind of electronic load-variable device of high-torque high-performance - Google Patents
A kind of electronic load-variable device of high-torque high-performance Download PDFInfo
- Publication number
- CN107065955B CN107065955B CN201710397368.XA CN201710397368A CN107065955B CN 107065955 B CN107065955 B CN 107065955B CN 201710397368 A CN201710397368 A CN 201710397368A CN 107065955 B CN107065955 B CN 107065955B
- Authority
- CN
- China
- Prior art keywords
- torque
- loading motor
- variable device
- steering gear
- electronic load
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Classifications
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
Landscapes
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Power Steering Mechanism (AREA)
Abstract
The present invention discloses a kind of electronic load-variable device of high-torque high-performance, and the electronic load-variable device of high-torque high-performance includes torque sensor, controller, loading motor driver, loading motor and mechanical drive shaft；Torque sensor is separately connected steering gear system and controller, the current moment information on rudderpost for acquiring steering gear system, and is sent to the controller；Controller is separately connected analogue system and loading motor driver, for according to analogue system torque command and current moment information, determine the control amount of subsequent time, and be sent to loading motor driver；Loading motor driver is connect with loading motor, under the action of control amount, drive load motor movement to generate corresponding torque；Loading motor is sequentially connected with mechanical drive shaft and the steering gear system, for the torque to be applied on the rudderpost of steering gear system to the accurate control, it can be achieved that steering gear system loading moment by mechanical drive shaft.
Description
Technical field
The present invention relates to a kind of loading devices, and in particular to a kind of electronic load-variable device of high-torque high-performance.
Background technique
In scientific research, for the performance indicator of test product, need to simulate the actual working environment of object, to production
Product apply load corresponding with actual conditions, to be truly reflected the actual performance of product, this just needs to develop high property
Can loading system, so as to for new material and product using, for the popularization of new technology provide reliable experimental data.
In recent years, with continuous promotion, power electronic devices, the development of motor driven systems, motor system of motor performance
Horizontal raising is made, more and more servo-control systems are using permasyn morot as executive component, using electric loading system
Scheme.And the pollution of electrohydraulic load simulator is big, maintenance difficult, is gradually eliminated.
In addition, at present market electric powered load emulation equipment maximum load torque be 500Nm, loading frequency 20Hz, by
In the limitation of load torque, frequency etc., causes response speed slow, cannot achieve and accurately control loading moment.
Summary of the invention
The object of the present invention is to provide a kind of electronic load-variable device of high-torque high-performance, it can be achieved that being loaded to steering gear system
The accurate control of torque.
To achieve the above object, the present invention provides following schemes：
A kind of electronic load-variable device of high-torque high-performance, the electronic load-variable device of high-torque high-performance respectively with it is imitative
True system is connected with steering gear system, and the electronic load-variable device of high-torque high-performance includes torque sensor, controller, load
Motor driver, loading motor and mechanical drive shaft；Wherein,
The torque sensor is separately connected the steering gear system and controller, for acquiring the rudderpost of the steering gear system
On current moment information, and be sent to the controller；
The controller is separately connected the analogue system and loading motor driver, for according to the analogue system
The current moment information of torque command and torque sensor acquisition, determines the control amount of subsequent time, and is sent to described
Loading motor driver；
The loading motor driver is connect with the loading motor, under the action of the control amount, driving to add
Motor movement is carried, corresponding torque is generated；
The loading motor is sequentially connected with the mechanical drive shaft and the steering gear system, for passing through the mechanical biography
The torque is applied on the rudderpost of the steering gear system by moving axis.
Optionally, the surface of the loading motor is magnetic steel rotor magnetic circuit, and the main shaft of the loading motor is hollow, the torsion
The main shaft is inserted into one end of square sensor, and the other end is connect with the steering engine installation folder of the steering gear system.
Optionally, the loading motor includes the first output flange, first output flange and the torque sensor
It is fixedly connected；The torque sensor includes the second output flange, the rudderpost of second output flange and the steering gear system
Interface connection.
Optionally, the second output flange of the torque sensor and rudderpost interface use falcon formula to be connected to transition.
Optionally, the loading motor is permanent-magnet synchronous toroidal torque direct driving motor.
Optionally, the electronic load-variable device of high-torque high-performance further includes converter, is arranged in the control
Between device and loading motor driver.
Optionally, the converter includes at least one of I/O card, AD conversion card and DA transition card.
Optionally, the electronic load-variable device of high-torque high-performance further includes difference channel, the difference channel setting
Between the torque sensor and controller.
Optionally, the loading motor driver includes MOS power module four-quadrant full-bridge circuit.
Optionally, the loading motor driver is servo-driver.
The specific embodiment provided according to the present invention, the invention discloses following technical effects：
The electronic load-variable device of high-torque high-performance of the present invention by be arranged torque sensor be separately connected steering gear system and
Current moment information on the rudderpost of collected steering gear system is sent to controller by controller, so that controller is according to imitative
The torque command of true system and current moment information, determine the control amount of subsequent time；And under the action of the control amount, add
It carries motor driver and generates corresponding torque load in the steering gear system, to realize to the steering gear system loading moment
Accurate control.
Detailed description of the invention
It in order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, below will be to institute in embodiment
Attached drawing to be used is needed to be briefly described, it should be apparent that, the accompanying drawings in the following description is only some implementations of the invention
Example, for those of ordinary skill in the art, without any creative labor, can also be according to these attached drawings
Obtain other attached drawings.
Fig. 1 is the modular structure schematic diagram of the electronic load-variable device of high-torque of embodiment of the present invention high-performance.
Symbol description：
Analogue system -1, steering gear system -2, torque sensor -3, controller -4, converter -5, loading motor driving
Device -6, loading motor -7, mechanical drive shaft -8.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
The object of the present invention is to provide a kind of electronic load-variable devices of high-torque high-performance, pass through setting torque sensor point
Not Lian Jie steering gear system and controller, the current moment information on the rudderpost of collected steering gear system is sent to controller,
So that torque command and current moment information of the controller according to analogue system, determine the control amount of subsequent time；And described
Under the action of control amount, loading motor driver generates corresponding torque load in the steering gear system, to realize to described
The accurate control of steering gear system loading moment.
In order to make the foregoing objectives, features and advantages of the present invention clearer and more comprehensible, with reference to the accompanying drawing and specific real
Applying mode, the present invention is described in further detail.
As shown in Figure 1, the electronic load-variable device of high-torque high-performance of the present invention connects with analogue system 1 and steering gear system respectively
Connect 2.Wherein, the electronic load-variable device of high-torque high-performance of the present invention includes torque sensor 3, controller 4, loading motor driving
Device 6, loading motor 7 and mechanical drive shaft 8.
The torque sensor 3 is separately connected the steering gear system 2 and controller 4, for acquiring the steering gear system 3
Current moment information on rudderpost, and it is sent to the controller 4；The controller 4 is separately connected the analogue system 1 and adds
Carry motor driver 6, the current torque for acquiring according to the torque command and the torque sensor 3 of the analogue system 1
Information, determines the control amount of subsequent time, and is sent to the loading motor driver 6；The loading motor driver 6 and institute
The connection of loading motor 7 is stated, under the action of the control amount, the movement of drive load motor 7 to generate corresponding torque；Institute
Loading motor 7 is stated to be sequentially connected with the mechanical drive shaft 8 and the steering gear system 2, it will for passing through the mechanical drive shaft 8
The torque is applied on the rudderpost of the steering gear system 2.
Further, the electronic load-variable device of high-torque high-performance of the present invention further includes converter 5, is arranged described
Between controller 4 and loading motor driver 6.Preferably, the converter 5 includes I/O card, AD conversion card and DA conversion
At least one of card.
Wherein, the surface of the loading motor 7 is magnetic steel rotor magnetic circuit, can get higher torque ratio of inertias, Neng Gouti
For sufficiently large loading moment.The main shaft of the loading motor 7 is hollow, and the main shaft is inserted into one end of the torque sensor 3,
The other end is connect with the steering engine installation folder of the steering gear system 2.It in this way can proof strength and reduction high-torque height of the present invention
The rotary inertia of the electronic load-variable device of performance.Further rotor uses welding structure, to mitigate weight.In the present embodiment
In, the loading motor is permanent-magnet synchronous toroidal torque direct driving motor, forever using high-power low inertia high density rare earth material
Magnetic-synchro toroidal torque direct driving motor, maximum can provide the torque of 3000N.m, greatly improve driving torque.Further by adopting
With the design of fractional-slot, inhibit the influence of harmonic wave.
Optionally, the loading motor 7 includes the first output flange, first output flange and the torque sensor
3 are fixedly connected；The torque sensor 3 includes the second output flange, the rudder of second output flange and the steering gear system 2
Axial interface connection.By the setting of the first output flange and the second output flange, so that the electronic change of high-torque high-performance of the present invention
Loading device and steering gear system are rigidly connected, and make loading moment to the full extent close to the torque being effectively outputed on steering engine axis.
It is coaxially connected by torque sensor between the electronic load-variable device of high-torque high-performance of the present invention and steering gear system,
On the one hand control surface hinge moment simulation is made to be converted into the simulation to rudder motor shaft torque；On the other hand make loading system with steering engine system
System movement, response frequency can not be too many lower than steering gear system, to guarantee test effect and quality.
Further, to avoid axial internal clearance excessive, the second output flange and the rudderpost interface of the torque sensor 3 are adopted
Transition is connected to falcon formula.
In addition, to avoid electromagnetic interference, the present invention provides three kinds of modes for inhibiting interference：(1) the high property of high-torque of the present invention
The electronic load-variable device ground connection of energy, can directly eliminate most of interference.(2) difference channel, i.e., the high property of high-torque of the present invention are set
Can electronic load-variable device further include difference channel, the difference channel setting the torque sensor 3 and controller 4 it
Between, so that the signal that torque sensor 3 exports is all made of differential mode transmission, part electromagnetic interference can be eliminated.(3) present invention is big
Each transfer wire of the electronic load-variable device of torque high-performance uses Shielded Twisted Pair, can effectively prevent electromagnetic interference.
Preferably, loading motor driver 6 of the present invention includes MOS power module four-quadrant full-bridge circuit.In the present embodiment
In, the loading motor driver 6 is servo-driver.The working method of the driver be PWM mode, have it is small in size, make an uproar
The advantages of sound is small and power height etc..Due to being formed in the interior thereof the current inner loop of a high speed, therefore with electric current servo module
Its response frequency is up to 100Hz, meanwhile, a high-precision speed outer loop control is constituted using PID regulator, it is ensured that system
Servo accuracy.Meanwhile also ensuring the safety of power device using the modes such as overvoltage protection, overcurrent protection and hypervelocity, overload protection
Performance.Therefore, it can satisfy the test requirements document of Electric Loading System system completely using servo-driver.
The electronic load-variable device of high-torque high-performance of the present invention may be configured as four independent load channels, and each load is logical
Road provides load for a steering gear system, and corresponding control method is identical with connection relationship, and whole control methods can be by
Same controller 4, which is concentrated, to be completed, and structure is simplified.
The present invention uses the permanent magnetic ring-shaped torque synchronous motor of high-power low inertia high density rare earth material, relative to tradition
Motor, can be realized the control of high-torque, improve frequency response.And there are no can complete so big torsion currently on the market
Square loading motor, even if having, inertia is also all especially big, can not meet big this variable loading system torque output, loading accuracy and
The high performance indicator of frequency response.The permanent magnetic torque synchronous motor of high-power low inertia high density rare earth material, maximum can provide
3200N.m torque.
Loading motor selects permanent magnet AC torque motor, seven pairs of poles, and high density can make Electric Loading System obtain good
Dynamic well, static properties.The electronic load-variable device of high-torque high-performance of the present invention is constantly acting load, and airvane does frequency characteristic
When test, servo action 60HZ, 1 degree of amplitude, torque loading error is not more than the percent of maximum dynamically load error
Five.When the 10%-20% that loading moment instruction instructs for maximum dynamically load, double ten indexs of frequency characteristic are not less than 20Hz；-
The place 3dB and -90dB system bandwidth can reach 90Hz.In addition, the electronic load-variable device of high-torque high-performance of the present invention provides single-pass
Road reaches 1500Nm, and few technologies can inhibit redundant force in large torque high dynamic loading system well, and the requirement that touches the mark.
Redundant force eliminates 3% no more than maximum dynamically load torque.
The electronic load-variable device of high-torque high-performance of the present invention is small in size, and light-weight, sanitation and hygiene, structure is simple, operation
Convenient, fast response time, versatility is high, and noise is low.Wherein the load characteristic of loading motor is the slow-speed of revolution, large torque.Load electricity
Machine can be for a long time in dynamic or locked rotor condition.Torque motor locked-rotor torque is high, and locked rotor current is small, can bear certain time
Stall operation.Rare earth permanent-magnetic material, small in size, light-weight, high-efficient, power factor (PF) is high, good reliability, the slow-speed of revolution, big to turn round
Square, overload capacity is strong, response is fast, characteristics linearity degree is good, torque fluctuations are small, the first choice of high power density motor, selects power close
Degree, big torque, low inertia rotor hollow structure permanent-magnet synchronous toroidal torque motor.
Each embodiment in this specification is described in a progressive manner, the highlights of each of the examples are with other
The difference of embodiment, the same or similar parts in each embodiment may refer to each other.
Used herein a specific example illustrates the principle and implementation of the invention, and above embodiments are said
It is bright to be merely used to help understand method and its core concept of the invention；At the same time, for those skilled in the art, foundation
Thought of the invention, there will be changes in the specific implementation manner and application range.In conclusion the content of the present specification is not
It is interpreted as limitation of the present invention.
Claims (8)
1. a kind of electronic load-variable device of high-torque high-performance, which is characterized in that the electronic change load dress of high-torque high-performance
Set and connect respectively with analogue system and steering gear system, the electronic load-variable device of high-torque high-performance include torque sensor,
Controller, loading motor driver, loading motor and mechanical drive shaft；Wherein,
The torque sensor is separately connected the steering gear system and controller, on the rudderpost for acquiring the steering gear system
Current moment information, and it is sent to the controller；
The controller is separately connected the analogue system and loading motor driver, for the torque according to the analogue system
The current moment information of instruction and torque sensor acquisition, determines the control amount of subsequent time, and be sent to the load
Motor driver；
The loading motor driver is connect with the loading motor, under the action of the control amount, drive load to be electric
Machine movement, generates corresponding torque；
The loading motor is sequentially connected with the mechanical drive shaft and the steering gear system, for passing through the mechanical drive shaft
The torque is applied on the rudderpost of the steering gear system；
The surface of the loading motor is magnetic steel rotor magnetic circuit, and the main shaft of the loading motor is hollow, the torque sensor
The main shaft is inserted into one end, and the other end is connect with the steering engine installation folder of the steering gear system；The rotor uses welding structure；Institute
The permanent-magnet synchronous toroidal torque direct driving motor that loading motor is high-power low inertia high density rare earth material is stated, maximum can provide
The torque of 3000N.m, is designed using fractional-slot.
2. the electronic load-variable device of high-torque high-performance according to claim 1, which is characterized in that the loading motor packet
The first output flange is included, first output flange is fixedly connected with the torque sensor；The torque sensor includes the
Two output flanges, second output flange are connect with the rudderpost interface of the steering gear system.
3. the electronic load-variable device of high-torque high-performance according to claim 2, which is characterized in that the torque sensor
The second output flange and rudderpost interface transition is connected to using falcon formula.
4. the electronic load-variable device of high-torque high-performance according to claim 1, which is characterized in that the high property of high-torque
The electronic load-variable device of energy further includes converter, is arranged between the controller and loading motor driver.
5. the electronic load-variable device of high-torque high-performance according to claim 4, which is characterized in that the converter
Including at least one of I/O card, AD conversion card and DA transition card.
6. the electronic load-variable device of high-torque high-performance according to claim 1, which is characterized in that the high property of high-torque
The electronic load-variable device of energy further includes difference channel, and the difference channel is arranged between the torque sensor and controller.
7. the electronic load-variable device of high-torque high-performance according to claim 1, which is characterized in that the loading motor drives
Dynamic device includes MOS power module four-quadrant full-bridge circuit.
8. the electronic load-variable device of high-torque high-performance according to claim 7, which is characterized in that the loading motor drives
Dynamic device is servo-driver.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710397368.XA CN107065955B (en) | 2017-05-31 | 2017-05-31 | A kind of electronic load-variable device of high-torque high-performance |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710397368.XA CN107065955B (en) | 2017-05-31 | 2017-05-31 | A kind of electronic load-variable device of high-torque high-performance |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107065955A CN107065955A (en) | 2017-08-18 |
| CN107065955B true CN107065955B (en) | 2018-11-23 |
Family
ID=59616076
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710397368.XA Active CN107065955B (en) | 2017-05-31 | 2017-05-31 | A kind of electronic load-variable device of high-torque high-performance |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107065955B (en) |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108550313B (en) * | 2018-03-05 | 2020-04-14 | 北京航空航天大学 | Hollow main shaft type electrohydraulic load simulator |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06213736A (en) * | 1993-01-20 | 1994-08-05 | Toshiba Corp | Load torque meter |
| EP0731361A3 (en) * | 1995-03-10 | 1997-08-13 | Toyota Motor Co Ltd | Apparatus for testing power performance of electric motor for electric vehicle |
| CN204301902U (en) * | 2014-12-12 | 2015-04-29 | 西安益翔航电科技有限公司 | Electric steering engine output torque measurement device |
| CN105865818A (en) * | 2016-03-29 | 2016-08-17 | 南京航空航天大学 | Dual-channel linear steering engine electric loading system |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN104133391B (en) * | 2014-07-17 | 2016-08-24 | 中北大学 | A kind of bi-motor load maintainer Electric Loading System |
| CN106323618B (en) * | 2016-08-30 | 2019-01-22 | 北京交通大学 | Electric servomechanism load simulation system and its analogy method |
-
2017
- 2017-05-31 CN CN201710397368.XA patent/CN107065955B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH06213736A (en) * | 1993-01-20 | 1994-08-05 | Toshiba Corp | Load torque meter |
| EP0731361A3 (en) * | 1995-03-10 | 1997-08-13 | Toyota Motor Co Ltd | Apparatus for testing power performance of electric motor for electric vehicle |
| CN204301902U (en) * | 2014-12-12 | 2015-04-29 | 西安益翔航电科技有限公司 | Electric steering engine output torque measurement device |
| CN105865818A (en) * | 2016-03-29 | 2016-08-17 | 南京航空航天大学 | Dual-channel linear steering engine electric loading system |
Non-Patent Citations (1)
| Title |
|---|
| 大扭矩电动负载模拟器的设计与研究;张小磊 等;《机械制造与自动化》;20140630;第175-178、185页 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107065955A (en) | 2017-08-18 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Cardenas et al. | Switched reluctance generators for wind energy applications | |
| Montague et al. | Magnetic gear dynamics for servo control | |
| CN109019341B (en) | Rotation control system and method for tower crane | |
| CN104600929A (en) | Direct-torque feedback double-rotor infinitely variable speed permanent magnet brushless motor | |
| CN101442289A (en) | Control method for direct torsion of staircase waveform backemf brushless dc motor | |
| CN107276473B (en) | Permanent-magnet synchronous motor with five degrees of freedom without bearing Fuzzy Neural Network Decoupling controller | |
| CN101975923A (en) | System for testing loading performance of motor | |
| Prado et al. | Case study of the Archimedes Wave Swing (AWS) direct drive wave energy pilot plant | |
| CN103501148A (en) | Method for controlling operation of non-radial displacement sensor of bearingless permanent magnetic synchronous motor | |
| CN106849808A (en) | New method for sensorless control technique of PMSM and method with LC wave filters | |
| CN102073011A (en) | Testing system of large permanent magnet direct drive wind driven generator | |
| CN107065955B (en) | A kind of electronic load-variable device of high-torque high-performance | |
| RU2402857C1 (en) | Controllable cascade electric drive | |
| CN113131816A (en) | Maximum torque current ratio control system and method for hybrid rotor double-stator synchronous motor | |
| CN106685116A (en) | Direct-drive motor device | |
| CN100514835C (en) | Synchronous generator and method for constructing mutual feedback system of synchronous motor | |
| CN104007358B (en) | Permanent Magnet Synchronous Motor Drives for Electric Vehicle short trouble diagnostic method and system | |
| CN201540202U (en) | 1.5MW permanent-magnet direct-drive wind power generator testing device | |
| CN203324811U (en) | Apparatus for testing the control characteristics of traveling wave type ultrasonic motor servo control system | |
| CN103117693A (en) | Wind turbine simulator without operating rotating speed differential and control method thereof | |
| CN104808491A (en) | More electric aircraft electro-mechanical actuator modeling method based on energy features and model thereof | |
| CN106773793A (en) | A kind of electronic change loading analogue system and method | |
| CN103715951B (en) | Energy consumption type bimorph transducer Passive Torque servo system | |
| CN203558200U (en) | Ship propulsion load simulator | |
| CN101594113B (en) | Frequency stabilization control system of permanent magnet wind-driven generator capable of adapting to changing torque |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |