CN108956136B - Eccentric method is quickly eliminated when retarder drive error testing - Google Patents
Eccentric method is quickly eliminated when retarder drive error testing Download PDFInfo
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- CN108956136B CN108956136B CN201810955226.5A CN201810955226A CN108956136B CN 108956136 B CN108956136 B CN 108956136B CN 201810955226 A CN201810955226 A CN 201810955226A CN 108956136 B CN108956136 B CN 108956136B
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- G—PHYSICS
- G01—MEASURING; TESTING
- 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
Abstract
The invention discloses eccentric method is quickly eliminated when retarder drive error testing, this method is that driving error is divided into corresponding equal portions according to transmission ratio in the characteristics of strong linear relationship with its transmission ratio using retarder driving error, it calculates separately to obtain the eccentricity of each segmentation driving error, eliminates each section of eccentricity component in driving error respectively on this basis.It can be seen that from the result for eliminating eccentric error, driving error bias removing method proposed by the present invention is simple and effective, it can rapidly realize the elimination to eccentric error in retarder driving error curve, original waveform without changing driving error, so that adequately evaluation retarder transmission accuracy grade provides guarantee.Method proposed by the present invention can be equally used for that eccentric error caused by corresponding gear stage can be eliminated according to this method if retarder is made of multistage with eccentric Data processing.
Description
Technical field
The invention discloses eccentric method is quickly eliminated when retarder drive error testing, belong to retarder performance evaluation
Technical field.
Background technique
Driving error is an important indicator of retarder transmission performance, and the transmission accuracy for evaluating retarder has weight
The reference significance wanted, but the mismachining tolerance and installation error in retarder performance detection due to test device are inevitable
Eccentric error can be introduced in retarder drive error testing curve, so that interference is brought to the evaluation of retarder transmission accuracy,
If eliminated without method appropriate to it, the retarder accuracy assessment grade evaluation result lower than available accuracy will be obtained.
The method that eccentric method mainly uses Fourier decomposition is usually eliminated, such method is by the driving error measured by Fu
Leaf transformation obtains frequency-domain waveform, finds eccentricity component and then removes it from frequency spectrum, frequency-domain waveform is finally transformed to time domain.
There are following some disadvantages for such method: 1. algorithm is complicated, requires height to the arithmetic speed of computer, can not achieve timely sound
It answers；2. the identification difficulty for eccentricity component is big, it is not easy to find correct eccentric error frequency；3. removing frequency transformation after error
Obtained driving error waveform will receive the influence of Fourier transformation residual error, lead to original driving error curvilinear distortion.
Summary of the invention
The purpose of this method is the characteristics of for retarder drive error testing, proposes a kind of quickly elimination retarder
The method of driving error eccentricity component, its advantage is that algorithm is simple, it is low to the operational performance requirement of computer, it is able to achieve quickly aobvious
Show as a result, and interference not will form to the initial data of driving error, avoid influence evaluation result accuracy.
To achieve the above object, the technical solution adopted by the present invention includes the following steps:
Retarder drive error testing device is built, which includes input terminal angular encoder 1, is tested retarder 2, defeated
Outlet angular encoder 3, data collecting card 4 and computer 5.First by 1 He of input terminal angular encoder when testing driving error
Output end angle encoder 3 distinguishes the input terminal and output end angular signal that synchronous acquisition is tested retarder 2, and by input terminal and
Output end angular signal is fed through in data collecting card 4, is converted using signal and is sent into the progress data processing of computer 5.
Detailed process is as follows:
S1 assumes that the signal sequence of input terminal angular encoder (1) acquisition isOutput end angle encoder (3) acquisition
To signal sequence beThe transmission ratio of retarder is iH, n data point is acquired altogether, then according to the meter of driving error
Formula is calculated to obtain shown in the driving error ste such as formula (1) of retarder:
Ste=θ2i-θ1i/iH………………………………………(1)
In formula: ste is the driving error of retarder；θ2iIt is output end angle encoder signal；θ1iIt is that input terminal angle is compiled
Code device signal；iHIt is the transmission ratio of retarder；N is the signal points of angular encoder acquisition；
S2 is according to retarder transmission ratio iHBy driving error curve equal portions at corresponding iHEqual portions, as shown in formula (2)；
In formula: EkIt is the driving error of kth equal portions；Ste is the driving error of retarder；iHIt is the transmission ratio of retarder；n
It is the signal points of angular encoder acquisition；
S3 acquires the eccentricity of each equal portions driving error by formula (3) respectively；
In formula:It is the driving error eccentricity of kth equal portions；θ2jIt is output end angle encoder signal；θ1jIt is input terminal
Angular encoder signal；iHIt is the transmission ratio of retarder；N is the signal points of angular encoder acquisition；
Original driving error curve is subtracted corresponding eccentricity component by S4, then the driving error after can get removal bias is bent
Line, as shown in formula (4).
In formula: STE is the driving error removed after eccentricity；K is the equal numbers of driving error；iHIt is the transmission of retarder
Than；EkIt is the driving error of kth equal portions；It is the driving error eccentricity of kth equal portions.
Compared with prior art, the present invention has following technical advantage.
Tradition eliminate eccentric method be by driving error curve through being fourier transformed into frequency domain find eccentricity component will
It is removed, and then reconvert calculates complexity at time domain waveform, such method, requires height to computer performance, and due in Fu
The presence meeting of leaf transformation residual error is so that the generation distortion of transformed driving error waveform, influences the accuracy of transmission accuracy evaluation.
This method is by driving error the characteristics of utilizing retarder driving error and its transmission ratio to be in strong linear relationship according to transmission ratio etc.
It is divided into corresponding equal portions, calculates separately to obtain the eccentricity of each segmentation driving error, to eliminates respectively each inclined in driving error
Heart component.This method calculation amount compared with Fourier methods is small, is not related to complicated interative computation, to calculator memory demand
Small, solving speed is fast.
The driving error removing method that can be seen that this method proposition from the result for eliminating offset error is simple and effective, can
Rapidly to realize the elimination to retarder driving error bias, without the original waveform of change driving error, to be accurate
Evaluation retarder transmission accuracy grade in ground provides guarantee.This method can be equally used for eccentric Data processing, such as
Fruit retarder is made of multistage, and eccentric error caused by corresponding gear stage can be eliminated according to this method.
Detailed description of the invention
Fig. 1 is retarder drive error testing schematic device.
Fig. 2 is original driving error figure.
Fig. 3 is segmentation driving error figure.
Fig. 4 is segmentation driving error eccentricity component figure.
Fig. 5 is the driving error figure eliminated after bias.
Specific embodiment
This method illustrates specific treatment process by taking certain retarder as an example, and drive error testing device is as shown in Figure 1.
In Fig. 1, retarder drive error testing device is built, which includes input terminal angular encoder 1, is tested and slows down
Device 2, output end angle encoder 3, data collecting card 4 and computer 5.First by input terminal angular coding when testing driving error
Device 1 and output end angle encoder 3 distinguish input terminal and output end angular signal that synchronous acquisition is tested retarder 2, and will be defeated
Enter end and output end angular signal is fed through in data collecting card 4, converts and be sent at the progress data of computer 5 using signal
Reason.The content that this method relates generally to is to driving error data processing section, and just for retarder drive error testing
When the driving error curve bias due to caused by the mismachining tolerance and setting-up eccentricity of test device Processing Algorithm, effectively disappear
Except the influence that bias evaluates driving error, to improve the accuracy evaluated to retarder driving error.Detailed process is as follows:
S1 assumes that the signal sequence of input terminal angular encoder (1) acquisition isOutput end angle encoder (3) acquisition
Signal sequence beThe transmission ratio of retarder is iH, n data point is acquired altogether, then according to the calculating of driving error
Formula obtains shown in the driving error ste such as formula (1) of retarder:
Ste=θ2i-θ1i/iH………………………………………(1)
This method is as shown in Figure 2 by the driving error curve that experiment measures certain one speed reducer.
S2 this method retarder transmission ratio for using of experiment for 40, therefore according to formula (2) by driving error curve equal portions at
40 driving error curves are as shown in Figure 3.
S3 is as shown in Figure 4 by the eccentricity that formula (3) acquire each segmentation driving error respectively:
Original driving error curve is subtracted corresponding eccentricity component then by formula (4) by S4 can get removal eccentric error
Driving error curve, result are as shown in Figure 5:
The driving error removing method that can be seen that this method proposition from the result for eliminating offset error is simple and effective, can
Rapidly to realize the elimination to retarder driving error, without the original waveform of change driving error, to adequately comment
Determine retarder transmission accuracy grade and provides guarantee.This method can be equally used for eccentric Data processing, if subtracted
Fast device is made of multistage, and eccentric error caused by corresponding gear stage can be eliminated according to this method.
Claims (1)
1. quickly eliminating eccentric method when retarder drive error testing, it is characterised in that:
Retarder drive error testing device is built, which includes input terminal angular encoder (1), is tested retarder (2), defeated
Outlet angular encoder (3), data collecting card (4) and computer (5)；First by input terminal angular coding when testing driving error
Device (1) and output end angle encoder (3) difference synchronous acquisition are tested the input terminal and output end angular signal of retarder (2),
And input terminal and output end angular signal are fed through in data collecting card (4), using signal convert be sent into computer (5) into
Row data processing；
Detailed process is as follows:
S1 assumes that the signal sequence of input terminal angular encoder (1) acquisition isOutput end angle encoder (3) is collected
Signal sequence isThe transmission ratio of retarder is iH, n data point is acquired altogether, then the calculating according to driving error is public
Formula obtains shown in the driving error ste such as formula (1) of retarder:
Ste=θ2i-θ1i/iH………………………………………(1)
In formula: ste is the driving error of retarder；θ2iIt is output end angle encoder signal；θ1iIt is input terminal angular encoder
Signal；iHIt is the transmission ratio of retarder；N is the signal points of angular encoder acquisition；
S2 is according to retarder transmission ratio iHBy driving error curve equal portions at corresponding iHEqual portions, as shown in formula (2)；
In formula: EkIt is the driving error of kth equal portions；Ste is the driving error of retarder；iHIt is the transmission ratio of retarder；N is angle
Spend the signal points of encoder acquisition；
S3 acquires the eccentricity of each equal portions driving error by formula (3) respectively；
In formula:It is the driving error eccentricity of kth equal portions；θ2jIt is output end angle encoder signal；θ1jIt is input terminal angle
Code device signal；iHIt is the transmission ratio of retarder；N is the signal points of angular encoder acquisition；
Original driving error curve is subtracted corresponding eccentricity component by S4, then the driving error curve after can get removal bias,
As shown in formula (4)；
In formula: STE is the driving error removed after eccentricity；K is the equal numbers of driving error；iHIt is the transmission ratio of retarder；Ek
It is the driving error of kth equal portions；It is the driving error eccentricity of kth equal portions.
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| CN102147331B (en) * | 2010-11-25 | 2012-09-05 | 哈尔滨工业大学 | Mounting eccentric error compensating method based on CNC (Computerized Numerical Control) gear measuring center |
| CN102305712A (en) * | 2011-05-18 | 2012-01-04 | 西安交通大学 | Error tracing method for nonuniform transmission system by sampling at equal time intervals |
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