CN109186900B - Torsion spring simulation device and method based on torque control - Google Patents
Torsion spring simulation device and method based on torque control Download PDFInfo
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- CN109186900B CN109186900B CN201810826251.3A CN201810826251A CN109186900B CN 109186900 B CN109186900 B CN 109186900B CN 201810826251 A CN201810826251 A CN 201810826251A CN 109186900 B CN109186900 B CN 109186900B
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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
Abstract
The invention discloses a torsion spring simulation device and method based on torque control, which comprises a servo motor, an angle sensor, a controller and a torque sensor, wherein the angle sensor is arranged on the servo motor; an output shaft of the servo motor is fixedly connected with an external load; the angle sensor detects the relative rotation angle of a stator and a rotor of the servo motor and sends 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 obtains expected torque to be output by the servo motor according to a set torque-corner relation curve by using the relative corner; the invention can realize the simulation of the torsion spring with special torsion rigidity curve requirement according to the torsion rigidity requirement.
Description
Technical Field
The invention belongs to the field of electromechanical devices, and particularly relates to a torsion spring simulation device and method based on torque control.
Background
The torsion spring device is a device with one end fixed and the other end acted with torque, and the device can generate deformation and generate torsion under the action of the torque. The torsion spring device is usually in the form of a volute spiral spring, a torsion bar spring, etc. By using the spiral property or the material property, deformation is generated when external moment is received. The torsion spring is designed according to the requirements of use torque and rigidity through comprehensive consideration of multiple aspects such as material selection, size design, turn number selection and the like, the actual torsion rigidity is obtained through test after manufacturing and processing, and iterative design is carried out to obtain the expected torsion rigidity.
As the demand increases, torsion springs are increasingly used, and the influence of the stiffness characteristics of the torsion springs on the electromechanical system begins to be noticed. In order to research the response condition of the torsion springs with different rigidity characteristics in the electromechanical system, different torsion springs can be selected for experimental analysis. For some electromechanical systems, it is desirable to have a torsion spring with a torque and angle that satisfy a certain curve relationship to meet specific design requirements. The traditional torsion spring at present mostly adopts a manufacturing process, the processing of the traditional torsion spring is easily influenced by materials and equipment, the torsion spring meeting the design requirement is difficult to manufacture, the design cost is high, and the design period is long; devices with special torsional rigidity requirements are difficult to design or cannot be realized at all, and the requirements of specific application occasions cannot be met; a single spring corresponds to a specific torsional rigidity and cannot adapt to different application occasions.
With the progress of electronic power technology, the motor servo control technology has also been developed rapidly. The torque motor is widely applied due to the characteristics of low rotating speed, large torque, stable operation and the like. The configured position sensor has high precision and can meet the requirement of position acquisition precision. The control method is simple, can control the moment (current), the speed and the position, and can realize the tracking of the corresponding curve through software modification according to the use requirement. By utilizing the torque control characteristic of the torque motor and designing the corresponding relation between the torque motor corner and the output torque, the simulation of the torsional rigidity can be realized, and a new solution is provided for simulating the torsional spring.
Disclosure of Invention
In view of this, the present invention provides a torsion spring simulation apparatus and method based on torque control, which can realize the simulation of a torsion spring with a special torsion stiffness curve requirement according to the requirement of the torsion stiffness.
The technical scheme for realizing the invention is as follows:
a torsion spring simulation device based on torque control comprises a servo motor, an angle sensor, a controller and a torque sensor;
an output shaft of the servo motor is fixedly connected with an external load;
the angle sensor detects the relative rotation angle of a stator and a rotor of the servo motor and sends 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 obtains expected torque to be output by the servo motor according to a set torque-corner relation curve by using the relative corner; and carrying out torque closed-loop control on the expected torque and the output torque, and controlling the current of the servo motor to enable the output torque to be consistent with the expected torque.
Further, the device also comprises a rotating mechanism, and the rotating mechanism is fixedly connected with a stator of the servo motor.
A torsion spring simulation method based on torque control comprises the following steps:
step one, a servo motor detects a relative rotation angle between a motor rotor and a stator through an angle sensor;
setting a torsional rigidity curve to be simulated, namely a torque-corner relation curve, in the controller, and obtaining an expected torque to be output by the servo motor according to the relative corner;
step three, a torque sensor acquires the output torque of the output shaft of the servo motor;
and step four, controlling the current of the servo motor by the controller to enable the output torque to be consistent with the expected torque.
Has the advantages that:
the device can realize the simulation of different rigidity curves; compared with the modes of a torsion spring, a torsion bar spring and the like, the device has compact structure and flexible use.
Drawings
FIG. 1 torsion spring simulator based on torque control
FIG. 2 Torque control based torsion spring simulation control flow
The servo motor comprises a servo motor 100, a servo motor 101, a servo motor rotor 102, a servo motor stator 103, a servo motor output shaft 104, an angle sensor 200, a controller 300, a torque sensor 301 and a rigid coupling.
Detailed Description
The invention is described in detail below by way of example with reference to the accompanying drawings.
The invention provides a torsion spring simulation device based on torque control, which detects a relative rotation angle between a rotor and a stator of a servo motor through an angle sensor, determines expected output torque of the motor according to a given torque-rotation angle relation, measures actual output torque of the servo motor through the torque sensor, realizes torque tracking through force closed-loop control, achieves the effect of being consistent with the torsional rigidity of a torsion spring, and further realizes the simulation of the torsion spring.
The device of the invention as shown in fig. 1 comprises a servo motor, an angle sensor, a controller and a torque sensor;
an output shaft 103 of the servo motor is fixedly connected with an external load through a rigid coupling 301, and the output shaft 103 of the servo motor is rigidly connected with a rotor 101 of the servo motor.
The angle sensor 104 detects a relative rotational angle of the stator 102 and the rotor 101 of the servo motor and transmits the relative rotational angle to the controller 200.
The torque sensor 300 is mounted on the output shaft 103 of the servo motor, detects the output torque of the servo motor 100, and transmits the output torque to the controller 200;
the controller 200 obtains the expected torque to be output by the servo motor according to the set torque-rotation angle relation curve by using the relative rotation angle; and carrying out torque closed-loop control on the expected torque and the output torque, and controlling the current of the servo motor to enable the output torque to be consistent with the expected torque.
In the scheme, the servo motor stator 102 is fixed, and at the moment, the change of the load torque can cause the relative rotation angle of the rotor 101 and the stator 102 of the servo motor to change, so that the servo motor 100 outputs the torque corresponding to the preset torsional rigidity, and the inherent characteristic of the load under the set torsional rigidity is simulated.
The device further comprises a rotating mechanism which is fixedly connected with the stator 102 of the servo motor. The method comprises the following steps that a stator 102 of a servo motor is connected with a rotating mechanism, at the moment, the stator 102 of the servo motor rotates along with the rotating mechanism to cause the relative rotation angle of a rotor 101 and the stator 102 of the servo motor to change, the relative angle of the rotor 101 and the stator 102 is obtained through an angle sensor 104 and is transmitted to a controller 200, the controller 200 calculates expected torque to be output by the servo motor 100 according to a preset torsional rigidity curve, meanwhile, the actual output torque of the motor measured by a torque sensor 300 is collected and is subjected to torque closed-loop control with the expected torque, and the current of the servo motor 100 is controlled to enable the actual output torque of the motor to be consistent with the expected torque, so that the torque rigidity characteristic between;
the method can simulate the torsion springs with different torsion stiffness curves, and provides a solution for the torsion springs with special torsion stiffness curve requirements for engineering application. As shown in fig. 2, the method comprises the following steps:
step one, a servo motor detects a relative rotation angle between a motor rotor and a stator through an angle sensor;
setting a torsional rigidity curve to be simulated, namely a torque-corner relation curve, in the controller, and obtaining an expected torque to be output by the servo motor according to the relative corner;
step three, a torque sensor acquires the output torque of the output shaft of the servo motor;
and step four, controlling the current of the servo motor by the controller to enable the output torque to be consistent with the expected torque.
And after the step four is completed, returning to the step one, and circulating in the way. During the above cycle, a simulation of the torsion spring can be achieved.
In summary, the above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. Any modification, equivalent replacement, or improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.
Claims (3)
1. A torsion spring simulation device based on torque control is characterized by comprising a torque motor, an angle sensor, a controller and a torque sensor;
the output shaft of the torque motor is fixedly connected with an external load;
the angle sensor detects the relative rotation angle of the stator and the rotor of the torque motor and sends the relative rotation angle to the controller;
the torque sensor detects the output torque of the torque motor and sends the output torque to the controller;
the controller obtains expected torque to be output by the torque motor according to a set torque-rotation angle relation curve by using the relative rotation angle; and carrying out torque closed-loop control on the expected torque and the output torque, and controlling the current of the torque motor to enable the output torque to be consistent with the expected torque.
2. The torque control-based torsion spring simulator of claim 1, further comprising a rotation mechanism secured to a stator of the torque motor.
3. A torsion spring simulation method based on torque control is characterized by comprising the following steps:
the method comprises the following steps that firstly, a torque motor detects a relative rotation angle between a motor rotor and a motor stator through an angle sensor;
setting a torsional rigidity curve to be simulated, namely a torque-corner relation curve, in the controller, and obtaining an expected torque to be output by the torque motor according to the relative corner;
step three, a torque sensor collects the output torque of an output shaft of the torque motor;
and step four, controlling the current of the torque motor by the controller to enable the output torque to be consistent with the expected torque.
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| CN109883589B (en) * | 2019-03-15 | 2020-10-27 | 中国汽车技术研究中心有限公司 | New energy automobile driving shaft torque testing device and method |
| CN110165838B (en) * | 2019-04-11 | 2020-12-22 | 广东省智能制造研究所 | Elastic torque control device |
| 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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| JPH0755605A (en) * | 1993-08-06 | 1995-03-03 | Toyota Autom Loom Works Ltd | Method and device for measuring torque of stepping motor |
| CN102033201B (en) * | 2010-10-25 | 2012-11-07 | 广州数控设备有限公司 | Simulation device and method using AC servo motor as variable-torque load |
| CN102128698B (en) * | 2010-12-24 | 2012-05-02 | 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 |
| CN106323618B (en) * | 2016-08-30 | 2019-01-22 | 北京交通大学 | Electric servomechanism load simulation system and its analogy method |
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