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
- 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
Links
- 238000000034 method Methods 0.000 title claims abstract description 11
- 238000004088 simulation Methods 0.000 claims abstract description 11
- 230000007246 mechanism Effects 0.000 claims description 9
- 238000013461 design Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 2
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000004519 manufacturing process Methods 0.000 description 2
- 238000005259 measurement Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000004044 response Effects 0.000 description 2
- 238000004458 analytical method Methods 0.000 description 1
- 125000004122 cyclic group Chemical group 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000018109 developmental process Effects 0.000 description 1
- 238000002474 experimental method Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000008569 process Effects 0.000 description 1
- 238000012545 processing Methods 0.000 description 1
- 238000009987 spinning Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
Classifications
-
- 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
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
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 |
|---|---|---|---|
| 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)
| 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)
| 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 |
-
2018
- 2018-07-25 CN CN201810826251.3A patent/CN109186900B/en active Active
Patent Citations (6)
| 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)
| 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)
| 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 |