CN109186900A - A kind of torsionspring simulator and method based on direct torque - Google Patents
A kind of torsionspring simulator and method based on direct torque Download PDFInfo
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- CN109186900A CN109186900A CN201810826251.3A CN201810826251A CN109186900A CN 109186900 A CN109186900 A CN 109186900A CN 201810826251 A CN201810826251 A CN 201810826251A CN 109186900 A CN109186900 A CN 109186900A
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- torque
- servo motor
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- relative rotation
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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
- G01M5/00—Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings
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- General Physics & Mathematics (AREA)
- Control Of Ac Motors In General (AREA)
- Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)
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Abstract
The present invention discloses a kind of torsionspring simulator and method based on direct torque, including servo motor, angular transducer, controller and torque sensor；The output shaft of servo motor and external load are connected；Angular transducer detects the stator of servo motor and the relative rotation of rotor, and the relative rotation is sent to controller；Torque sensor detects the output torque of servo motor, and the output torque is sent to controller；Controller obtains the expectation torque that servo motor should export according to torque-angle relation curve of setting using the relative rotation；And desired torque and the output torque are subjected to torque closed-loop control, the electric current of control servo motor keeps output torque consistent with desired torque, the present invention can realize the simulation to the torsionspring with special torsion stiffness curve requirement according to the demand of torsion stiffness.
Description
Technical field
The invention belongs to electromechanical assembly fields, and in particular to a kind of torsionspring simulator and side based on direct torque
Method.
Background technique
Torsionspring device is that a kind of one end is fixed and other end effect has the device of torque, the device meeting under torque effect
It is deformed and twists.Torsionspring device often adopts the forms such as scroll spring, torsion-bar spring.It is special using spinning behaviour or material
Property, it is deformed when receiving extraneous torque.Torsionspring passes through material selection, size according to torque and rigidity requirement is used
Design, circle number selection etc. are various to be comprehensively considered, and the spring with desired torsion stiffness is designed, after manufacture processing,
True torsion stiffness is obtained by experimental test, and is iterated design, obtains desired torsion stiffness.
With the increase of demand, torsionspring is using more and more, the shadow of the stiffness characteristics of torsionspring to Mechatronic Systems
Sound also starts to be paid close attention to by people.In order to study response condition of the torsional spring of different-stiffness characteristic in Mechatronic Systems, choosing can be passed through
Analysis of experiments is carried out with different torsionsprings.For certain Mechatronic Systems, people have wished to a kind of torque again and corner is full
The torsional spring of the certain curved line relation of foot, to meet specific design requirement.And torsionspring traditional at present mostly uses manufacturing process,
Its handling ease is influenced by material, equipment, is difficult to produce the torsionspring for meeting design requirement, and design cost compared with
Height, design cycle are long；Device for there is special torsion stiffness demand is difficult to design or cannot achieve at all, is unable to satisfy spy
Determine the requirement of application；Single spring corresponds to specific torsion stiffness, can not adapt to different applications.
With the progress of electron electric power technology, there has also been fast developments for motor servo control technology.Torque motor is because of its turn
The low, torque of speed is big, the features such as running smoothly is widely applied.The position sensor of configuration has very high-precision, Ke Yiman
The demand of sufficient station acquisition precision.Its control method is simple, can be controlled for torque (electric current), speed, position, and can be with
According to use demand, the tracking to response curve is realized by software modification.Using the Torque Control feature of torque motor, pass through
The simulation of torsion stiffness may be implemented in the corresponding relationship of design moment motor corner and output torque, this is simulation torsionspring
Provide new resolving ideas.
Summary of the invention
In view of this, the present invention provides a kind of torsionspring simulator and method based on direct torque, Neng Gougen
According to the demand of torsion stiffness, the simulation to the torsionspring with special torsion stiffness curve requirement is realized.
Realize that technical scheme is as follows:
A kind of torsionspring simulator based on direct torque, including servo motor, angular transducer, controller and turn
Square sensor；
The output shaft of servo motor and external load are connected；
Angular transducer detects the stator of servo motor and the relative rotation of rotor, and the relative rotation is sent to control
Device；
Torque sensor detects the output torque of servo motor, and the output torque is sent to controller；
Controller obtains what servo motor should export according to torque-angle relation curve of setting using the relative rotation
It is expected that torque；And desired torque and the output torque are subjected to torque closed-loop control, the electric current for controlling servo motor makes to export
Torque is consistent with desired torque.
Further, described device further includes rotating mechanism, and the stator of the rotating mechanism and servo motor is connected.
A kind of torsionspring analogy method based on direct torque, comprising the following steps:
Step 1, servo motor detect the relative rotation between rotor and stator by angular transducer；
Step 2, the torsion stiffness curve of simulation, i.e. torque-angle relation curve are intended in setting in the controller, according to institute
Relative rotation is stated, obtains the expectation torque that servo motor should export；
Step 3, torque sensor acquire the output torque of servo motor output shaft；
Step 4, controller control the electric current of servo motor, keep output torque consistent with desired torque.
The utility model has the advantages that
Apparatus of the present invention can be realized the simulation to different-stiffness curve；Compared to modes such as torsionspring, torsion-bar spring,
The apparatus structure is compact, using flexible.
Detailed description of the invention
Torsionspring simulator of the Fig. 1 based on direct torque
Fig. 2 simulates control flow based on the torsionspring of direct torque
Wherein, 100- servo motor, the rotor of 101- servo motor, the stator of 102- servo motor, 103- servo motor
Output shaft, 104- angular transducer, 200- controller, 300- torque sensor, 301- positive coupling.
Specific embodiment
The present invention will now be described in detail with reference to the accompanying drawings and examples.
The present invention provides a kind of torsionspring simulator based on direct torque, detects servo by angular transducer
Relative rotation between rotor and stator determines the desired output torque of motor according to given torque-corner relationship, leads to
The reality output torque of over torque sensor measurement servo motor realizes tracking to torque by power closed-loop control, reach with
The consistent effect of torsionspring torsion stiffness, to realize the simulation to torsionspring.
Apparatus of the present invention as shown in Figure 1 include servo motor, angular transducer, controller and torque sensor；
The output shaft 103 of servo motor is connected by positive coupling 301 and external load, the output shaft of servo motor
103 are rigidly connected with the rotor 101 of servo motor.
Angular transducer 104 detects the stator 102 of servo motor and the relative rotation of rotor 101, and by the relative rotation
It is sent to controller 200.
Torque sensor 300 is mounted on the output shaft 103 of servo motor, detects the output torque of servo motor 100, and
The output torque is sent to controller 200；
Controller 200 using the relative rotation according to torque-angle relation curve of setting obtain servo motor answer it is defeated
Expectation torque out；And desired torque and the output torque are subjected to torque closed-loop control, the electric current for controlling servo motor makes
Output torque is consistent with desired torque.
Servo motor stator 102 is fixed in above scheme, and the variation of load torque can cause the rotor of servo motor at this time
101 change with the relative rotation of stator 102, so that servo motor 100 be made to export corresponding with preset torsion stiffness turn
Square simulates the inherent characteristic being supported under setting torsion stiffness.
Described device further includes rotating mechanism, and the stator 102 of the rotating mechanism and servo motor is connected.Servo motor
Stator 102 is connect with rotating mechanism, and the stator 102 of servo motor is rotated with rotating mechanism at this time, causes the rotor of servo motor
101 change with the relative rotation of stator 102, obtain the relative angle of rotor 101 and stator 102 simultaneously by angular transducer 104
It is transferred to controller 200, controller 200 calculates the phase that servo motor 100 should export according to pre-set torsion stiffness curve
It hopes torque, while acquiring the motor reality output torque of the measurement of torque sensor 300, carry out the control of torque closed loop with desired torque
System, to make the torque of motor reality output consistent with desired torque for the electric current of control servo motor 100, thus simulate rotating mechanism and
Torsional stiffnesses characteristic between load；
The method of the present invention can simulate the torsionspring of different torsion stiffness curves, and providing for engineer application has spy
The solution of the torsionspring of different torsion stiffness curve requirement.As shown in Figure 2, comprising the following steps:
Step 1, servo motor detect the relative rotation between rotor and stator by angular transducer；
Step 2, the torsion stiffness curve of simulation, i.e. torque-angle relation curve are intended in setting in the controller, according to institute
Relative rotation is stated, obtains the expectation torque that servo motor should export；
Step 3, torque sensor acquire the output torque of servo motor output shaft；
Step 4, controller control the electric current of servo motor, keep output torque consistent with desired torque.
After completing step 4, step 1 is returned again to, is so recycled.In above-mentioned cyclic process, it can be achieved that torsionspring
Simulation.
In conclusion the above is merely preferred embodiments of the present invention, being not intended to limit the scope of the present invention.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (3)
1. a kind of torsionspring simulator based on direct torque, which is characterized in that including servo motor, angular transducer,
Controller and torque sensor；
The output shaft of servo motor and external load are connected；
Angular transducer detects the stator of servo motor and the relative rotation of rotor, and the relative rotation is sent to controller；
Torque sensor detects the output torque of servo motor, and the output torque is sent to controller；
Controller obtains the expectation that servo motor should export according to torque-angle relation curve of setting using the relative rotation
Torque；And desired torque and the output torque are subjected to torque closed-loop control, the electric current for controlling servo motor makes output torque
It is consistent with desired torque.
2. a kind of torsionspring simulator based on direct torque as described in claim 1, which is characterized in that described device
It further include rotating mechanism, the stator of the rotating mechanism and servo motor is connected.
3. a kind of torsionspring analogy method based on direct torque, which comprises the following steps:
Step 1, servo motor detect the relative rotation between rotor and stator by angular transducer；
Step 2, the torsion stiffness curve of simulation, i.e. torque-angle relation curve are intended in setting in the controller, according to the phase
To corner, the expectation torque that servo motor should export is obtained；
Step 3, torque sensor acquire the output torque of servo motor output shaft；
Step 4, controller control the electric current of servo motor, keep output torque consistent with desired torque.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN201810826251.3A CN109186900B (en) | 2018-07-25 | 2018-07-25 | Torsion spring simulation device and method based on torque control |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810826251.3A CN109186900B (en) | 2018-07-25 | 2018-07-25 | Torsion spring simulation device and method based on torque control |
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| Publication Number | Publication Date |
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| CN109186900A true CN109186900A (en) | 2019-01-11 |
| CN109186900B CN109186900B (en) | 2020-05-08 |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109883589A (en) * | 2019-03-15 | 2019-06-14 | 中国汽车技术研究中心有限公司 | A kind of new-energy automobile drive shaft armature-moment-testing device and method |
| CN110165838A (en) * | 2019-04-11 | 2019-08-23 | 广东省智能制造研究所 | A kind of moment of elasticity control device |
| CN113392482A (en) * | 2021-06-29 | 2021-09-14 | 中国科学院长春光学精密机械与物理研究所 | Variable torsional rigidity device and torsional rigidity correction method |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109883589A (en) * | 2019-03-15 | 2019-06-14 | 中国汽车技术研究中心有限公司 | A kind of new-energy automobile drive shaft armature-moment-testing device and method |
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| CN113392482A (en) * | 2021-06-29 | 2021-09-14 | 中国科学院长春光学精密机械与物理研究所 | Variable torsional rigidity device and torsional rigidity correction method |
| CN113392482B (en) * | 2021-06-29 | 2023-03-10 | 中国科学院长春光学精密机械与物理研究所 | Variable torsional rigidity device and torsional rigidity correction method |
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