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 PDF

Info

Publication number
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
Authority
CN
China
Prior art keywords
torque
servo motor
controller
output
torsionspring
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.)
Granted
Application number
CN201810826251.3A
Other languages
Chinese (zh)
Other versions
CN109186900B (en
Inventor
刘鑫
张沛
华耿湃
彭柯沁
危清清
陈磊
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Beijing Institute of Spacecraft System Engineering
Original Assignee
Beijing Institute of Spacecraft System Engineering
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Beijing Institute of Spacecraft System Engineering filed Critical Beijing Institute of Spacecraft System Engineering
Priority to CN201810826251.3A priority Critical patent/CN109186900B/en
Publication of CN109186900A publication Critical patent/CN109186900A/en
Application granted granted Critical
Publication of CN109186900B publication Critical patent/CN109186900B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G01MEASURING; TESTING
    • G01MTESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M5/00Investigating the elasticity of structures, e.g. deflection of bridges or air-craft wings

Landscapes

  • Engineering & Computer Science (AREA)
  • Aviation & Aerospace Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Control Of Ac Motors In General (AREA)
  • Control Of Electric Motors In General (AREA)
  • Investigating Strength Of Materials By Application Of Mechanical Stress (AREA)

Abstract

本发明公开一种基于转矩控制的扭转弹簧模拟装置和方法,包括伺服电机、角度传感器、控制器和转矩传感器;伺服电机的输出轴和外部的负载固连;角度传感器检测伺服电机的定子和转子的相对转角,并将该相对转角发送给控制器;转矩传感器检测伺服电机的输出转矩,并将该输出转矩发送给控制器;控制器利用所述相对转角根据设定的转矩‑转角关系曲线得到伺服电机应输出的期望转矩;并将期望转矩与所述输出转矩进行力矩闭环控制,控制伺服电机的电流使输出转矩与期望转矩一致,本发明能够根据扭转刚度的需求,实现对具有特殊扭转刚度曲线要求的扭转弹簧的模拟。

The invention discloses a torsion spring simulation device and method based on torque control, comprising a servo motor, an angle sensor, a controller and a torque sensor; the output shaft of the servo motor is fixedly connected with an external load; the angle sensor detects the stator of the servo motor and the relative rotation angle of the rotor, and send the relative rotation angle to the controller; the torque sensor detects the output torque of the servo motor and sends the output torque to the controller; the controller uses the relative rotation angle according to the set rotation angle The expected torque that the servo motor should output is obtained from the torque-rotation angle relationship curve; the torque closed-loop control is performed between the expected torque and the output torque, and the current of the servo motor is controlled to make the output torque consistent with the expected torque. Torsional stiffness requirements, enabling the simulation of torsion springs with special torsional stiffness curve requirements.

Description

A kind of torsionspring simulator and method based on direct torque
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.
CN201810826251.3A 2018-07-25 2018-07-25 A torsion spring simulation device and method based on torque control Active CN109186900B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201810826251.3A CN109186900B (en) 2018-07-25 2018-07-25 A torsion spring simulation device and method based on torque control

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201810826251.3A CN109186900B (en) 2018-07-25 2018-07-25 A torsion spring simulation device and method based on torque control

Publications (2)

Publication Number Publication Date
CN109186900A true CN109186900A (en) 2019-01-11
CN109186900B CN109186900B (en) 2020-05-08

Family

ID=64936958

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201810826251.3A Active CN109186900B (en) 2018-07-25 2018-07-25 A torsion spring simulation device and method based on torque control

Country Status (1)

Country Link
CN (1) CN109186900B (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109883589A (en) * 2019-03-15 2019-06-14 中国汽车技术研究中心有限公司 A new energy vehicle drive shaft torque 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

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0755605A (en) * 1993-08-06 1995-03-03 Toyota Autom Loom Works Ltd Method and device for measuring torque of stepping motor
CN102033201A (en) * 2010-10-25 2011-04-27 广州数控设备有限公司 Simulation device and method using AC servo motor as variable-torque load
CN102128698A (en) * 2010-12-24 2011-07-20 哈尔滨工业大学 Method for identifying induction motor torque fluctuation based on current sensor
CN104615879A (en) * 2015-01-28 2015-05-13 南京信息工程大学 Cylinder torsion spring virtual model enhancing haptic rendering
CN105432015A (en) * 2013-08-09 2016-03-23 株式会社安川电机 Motor drive system and motor control device
CN106323618A (en) * 2016-08-30 2017-01-11 北京交通大学 Electric servo mechanism load simulation system and simulation method thereof

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0755605A (en) * 1993-08-06 1995-03-03 Toyota Autom Loom Works Ltd Method and device for measuring torque of stepping motor
CN102033201A (en) * 2010-10-25 2011-04-27 广州数控设备有限公司 Simulation device and method using AC servo motor as variable-torque load
CN102128698A (en) * 2010-12-24 2011-07-20 哈尔滨工业大学 Method for identifying induction motor torque fluctuation based on current sensor
CN105432015A (en) * 2013-08-09 2016-03-23 株式会社安川电机 Motor drive system and motor control device
CN104615879A (en) * 2015-01-28 2015-05-13 南京信息工程大学 Cylinder torsion spring virtual model enhancing haptic rendering
CN106323618A (en) * 2016-08-30 2017-01-11 北京交通大学 Electric servo mechanism load simulation system and simulation method thereof

Non-Patent Citations (1)

* Cited by examiner, † Cited by third party
Title
王爱玲等 国防工业出版社: "《现代数控机床伺服及检测技术》", 30 April 2016 *

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN109883589A (en) * 2019-03-15 2019-06-14 中国汽车技术研究中心有限公司 A new energy vehicle drive shaft torque 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
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

Also Published As

Publication number Publication date
CN109186900B (en) 2020-05-08

Similar Documents

Publication Publication Date Title
CN107203184B (en) The dynamic control method of straight line steering engine Electric Loading System
Park et al. Development of force observer in series elastic actuator for dynamic control
CN109186900A (en) A kind of torsionspring simulator and method based on direct torque
CN100464355C (en) Pneumatic muscle motion simulation control platform device and pose control method
CN110640791B (en) An experimental method for simulating variable load and variable inertia of industrial robot joints
CN107479385B (en) Cartesian coordinate robot iteration sliding mode cross-coupling control method
US20070241696A1 (en) High Performance Differential Actuator for Robotic Interaction Tasks
CN102280572A (en) Composite linear control method of hysteresis characteristic of piezoelectric ceramic actuator and realization circuit thereof
CN103780188B (en) Based on the permanent magnetism spherical rotor adaptive control system of dynamic frictional compensation
CN103513181A (en) Ultrasonic wave motor transient characteristic testing device and control system thereof
CN203738798U (en) Hybrid control flexible joint
CN101211160A (en) Servo system simulation loading control device
CN109459254B (en) Multi-joint robot dynamics semi-physical simulation platform
CN109227545A (en) A kind of flexible mechanical arm target tracking control method based on reachable set estimation
Kohls et al. Design of a xenia coral robot using a high-stroke compliant linear electromagnetic actuator
CN104850679B (en) The method of air conditioning system with variable fan static pressure control based on iterative learning
CN109949656A (en) A Load Simulator Based on Hysteresis Braking
CN112525420A (en) Automatic calibration device of robot joint torque sensor
CN104050312B (en) Electromechanical combination emulation mode
CN107370426B (en) Motion control method for quaternion feedback linearization of permanent magnet spherical motor
CN103913993A (en) Electromechanical hydraulic control united simulation method
CN104270046B (en) Motor control method based on speed and current two dimension fuzzy Model Self-Learning
CN108674634A (en) A kind of friction compensation method suitable for the control of aircraft master end lever system position
CN107911056A (en) A kind of fractional order iteration sliding-mode control, control system and device
CN109783931B (en) Permanent magnet spherical motor electromagnetic torque modeling method based on Gaussian process regression

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