CN110007225A - Angle and torque measuring device of high-voltage large-current brake equipment - Google Patents

Abstract

The invention discloses an angle and torque measuring device of high-voltage heavy-current brake equipment, which comprises a test-accompanying permanent magnet motor, a coupler, a torque rotating speed sensor, a tested motor executing mechanism, a lifting mechanism and a test bench, wherein the coupler is connected with the test-accompanying permanent magnet motor; the test bench comprises a tested motor mounting plate, a frame, a connecting structure and a positioning structure; the test-accompanying permanent magnet motor is arranged at the lower part of the frame, and a rotating shaft of the test-accompanying permanent magnet motor penetrates through a round hole of the connecting mechanism base plate; the coupler and the torque rotating speed sensor comprise a coupler and a torque sensor; the coupling and the torque sensor are arranged in the connecting mechanism and are connected with the rotating shaft of the test-accompanying permanent magnet motor; the lifting mechanism comprises a control device and a lifting cylinder. The invention has the advantages of convenient use, high measurement precision and convenient large-scale popularization and use.

Description

An angle and torque measuring device for high-voltage and high-current brake equipment

technical field

The invention relates to the field of motor parameter measurement, in particular to an angle and torque measurement device for high-voltage and high-current brake equipment.

Background technique

High-voltage, extra-high-voltage high-current circuit breakers are driven by a dedicated motor actuator.

The main features of this special motor actuator are extremely low speed (usually less than 1 revolution per minute), high torque, and more importantly, the position (or angle) must have a corresponding relationship with the torque, so that the brake can be better adjusted. equipment or circuit breakers, otherwise arcs may occur when the high-voltage and high-current equipment is disconnected.

Current motor test equipment does not measure such extremely low-speed, high-torque motors well. The main reason is that the accompanying motor of the current motor test equipment is mainly composed of asynchronous motors. The disadvantage of asynchronous motors is that the control accuracy of speed, torque and position is relatively poor at low speed. In the existing measurement equipment for such extremely low-speed motors, a deceleration mechanism is generally added to barely meet the measurement requirements, but the measurement accuracy is difficult to meet the requirements, and when there is a corresponding relationship between the torque and the angle, it cannot be accurately measured. There is an urgent need on the market for a measurement device that can achieve precise measurement, accurate control and easy implementation for low-speed, high-torque motors.

SUMMARY OF THE INVENTION

The invention overcomes the shortcomings of the prior art, is convenient to use, has high measurement accuracy, and is convenient for large-scale popularization and use.

The technical scheme of the present invention is as follows:

An angle and torque measuring device for high-voltage and high-current brake equipment, including a permanent magnet motor, a coupling, a torque and rotational speed sensor, an actuator of the motor to be tested, a lifting mechanism, and a test bench; the test bench includes frame, connection structure, and positioning structure; the frame includes four uprights, four long beams, and four short beams; the uprights are respectively arranged on the four corners below the mounting plate of the tested motor, and are vertically arranged; the four long beams are arranged vertically; The beams are parallel to each other, and the four short beams are parallel to each other; the connecting structure includes two side plates, a back plate, and a bottom plate; the bottom plate is provided with round holes, and the two side plates and the back plate are respectively provided with bolt holes; the side plates and the back plate are respectively provided with bolt holes; The upper part of the plate and the back plate is provided with a reinforcing rib, and the inner surface of the back plate is provided with a bearing seat mounting plate; the accompanying permanent magnet motor is set at the lower part of the frame, and the rotating shaft of the accompanying permanent magnet motor passes through the circular hole of the bottom plate of the connecting mechanism; The shaft device and the torque speed sensor include a coupling and a torque sensor; the coupling and the torque sensor are arranged inside the connecting mechanism and are connected with the rotating shaft of the permanent magnet motor; the positioning mechanism includes a shaft sleeve, a square shaft fixing seat The shaft sleeve and the square shaft fixing seat are fixed on the bearing seat mounting plate by bolts; the lifting mechanism includes a control device and a lifting cylinder; the control device controls the lifting cylinder, and the lifting cylinder includes four lifting columns and a lifting plate; A circular hole is opened in the center of the lift plate; the tested motor actuator includes a tested motor, a tested motor fixing mechanism, and the tested motor rotating shaft passes through the circular hole in the center of the lift plate.

Further, it also includes a control system and an absolute value encoder; the absolute value encoder monitors the position information of the tested motor and the accompanying permanent magnet motor in real time, and outputs pulse signals corresponding to parameters such as the positions of the two motors. ; The control system receives the pulse signal of the absolute value encoder, and converts it into the angle information of the actuator of the tested motor and the permanent magnet motor to be tested, so as to judge whether the position of the actuator of the tested motor is deviated; When the mechanism starts, the accompanying permanent magnet motor starts at the same time. At this time, the position of the tested motor actuator recorded by the absolute value encoder is the starting zero point, and the accompanying test permanent magnet motor outputs torque T0 in the forward direction; when the tested motor actuator reaches the end point position, the control system records the pulse number P1 of the absolute encoder in the current stroke; when the motor actuator under test returns to the starting zero point, the control system records the pulse number P2 of the absolute encoder in the return stroke; the subject The motor actuator and the accompanying permanent magnet motor make circular motion.

Further, when the tested motor actuator moves in the first half cycle, the tested motor actuator starts from the starting zero point, and the output positive torque of the accompanying permanent magnet motor is T0; the tested motor actuator moves to the first angle. When , the positive torque output by the accompanying permanent magnet motor increases; the actuator of the tested motor moves to the second angle, the positive torque output by the accompanying permanent magnet motor is T1, and the forward torque T1 is maintained until the actuator of the tested motor Move to the third angle, after that, the permanent magnet motor reduces the output torque. When the fourth angle is reached, the torque drops to T0, and the fourth angle is the end position.

Further, after the actuator of the tested motor reaches the fourth angle, it moves to the starting zero point and rotates in the opposite direction, and the permanent magnet motor outputs a negative torque. When the actuator of the tested motor reaches the third angle, The negative output torque of the magneto is T1, and maintains T1 until the tested motor actuator reaches the second angle; when the tested motor actuator reaches the second angle, the accompanying permanent magnet motor reduces the output torque, when the tested motor actuator reaches the second angle When the first angle is reached, the test permanent magnet motor negatively outputs torque T0; the test permanent magnet motor maintains the output torque of T0 until the actuator of the tested motor returns to the initial zero position.

Further, when the tested motor actuator moves in the second half of the cycle, the tested motor actuator starts from the starting zero point, and the output negative torque of the accompanying permanent magnet motor is T0; the tested motor actuator and the accompanying test permanent magnet The torque variation of the motor is opposite to that of the first half cycle; the permanent magnet motor used in the test adopts the vector control method, which directly controls the torque output and is controlled by the control system.

Compared with the prior art, the present invention has the following advantages:

1. The permanent magnet synchronous motor is used as the motor-to-drag test platform for the test motor. The permanent magnet synchronous motor (accompany test motor) itself can be rotated actively, or it can be non-active rotation, with high-precision absolute value coding The controller can precisely position the motor.

2. The test bench contains the positioning structure of the motor actuator, which can quickly locate the motor actuator, so that the accompanying test motor, coupling, and the tested equipment can be accurately aligned, and the measurement error caused by the installation can be reduced.

3. The permanent magnet synchronous motor drag test platform has the advantages of fast response speed, accurate positioning and high control precision, and can correct the position error of the motor actuator under test.

Description of drawings

The accompanying drawings described herein are used to provide a further understanding of the present invention and constitute a part of the present application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. in the attached

Fig. 1 is the overall structure schematic diagram of the angle and torque measuring device of a kind of high-voltage and high-current brake equipment of the present invention;

Fig. 2 is a partial enlarged view of area A in Fig. 1;

Fig. 3 is the corresponding relation diagram of the angle of a kind of high-voltage and high-current brake device of the present invention and the angle of the torque measuring device and the torque;

4 is a flow chart of the working process of the angle and torque measuring device of a high-voltage and high-current brake device of the present invention;

Marked in the figure: motor actuator 1, coupling and torque speed sensor 2, test bench 3, permanent magnet motor 4, square shaft fixing seat 5, torque sensor 6, coupling 7, bushing 8 .

Detailed ways

The present invention will be further described below with reference to the accompanying drawings and specific embodiments.

As shown in Figures 1 to 4, an angle and torque measurement device for high-voltage and high-current brake equipment includes a permanent magnet motor 4 to be tested, a coupling and a torque and speed sensor 2, an actuator of the motor to be tested 1, a lift mechanism, test bench 3. In this scheme, a dual-motor pair-to-drag test system is adopted. The rotating bearings of the two motors are connected in the middle. The motor to be tested is called the motor under test, and the other motor is used as the reference object of the test standard, which is called the accompanying test motor. Control, the accompanying test motor adopts permanent magnet synchronous motor. For the convenience of description, in this scheme, the accompanying test motor is called the accompanying test permanent magnet motor. The general dual-motor pair-to-drag test adopts the technical solution of horizontal placement, that is, the permanent magnet motor 4 and the actuator 1 of the tested motor are set on the same horizontal plane, and the rotating shafts of the two motors are connected. In order to better measure the motor under test, the design adopts a vertical placement structure, that is, the permanent magnet motor 4 and the actuator 1 of the motor under test are arranged on the same vertical plane, and the rotating shafts of the two motors are connected.

The test bench 3 includes a test motor mounting plate, a frame, a connection structure, and a positioning structure. The tested motor mounting plate is rectangular, with a round hole in the middle, and five stepped round holes on the left and right sides of the front. The stepped round holes are used to install bolts to improve the connection strength with other components. The rear two sides of the tested motor mounting plate are respectively provided with three stepped circular holes. The four corners of the tested motor mounting plate are respectively provided with a lifting hole, which is matched with the lifting mechanism. The frame includes four uprights, four long beams, and four short beams; the uprights are respectively arranged on the four corners below the installation plate of the tested motor, and are vertically arranged; the long beams are respectively arranged on the installation of the tested motor. On the front and rear of the plate, the short beams are arranged on the left and right sides of the tested motor mounting plate, the four long beams are parallel to each other, and the four short beams are parallel to each other. The frame is used to support the entire device to avoid inaccurate measurement results caused by vibration during the measurement process. The positioning mechanism can quickly position the actuator 1 of the motor under test, so that the permanent magnet motor 4, the coupling and the torque and speed sensor 2 and the actuator 1 under test are precisely aligned.

The connecting structure includes two side plates, a back plate and a bottom plate, and the connecting mechanism is used to support the coupling and the torque and rotational speed sensor 2 . The bottom plate is provided with round holes, and the two side plates and the back plate are respectively provided with bolt holes; the upper part of the side plates and the back plate are provided with reinforcing ribs to improve the connection strength. A bearing seat mounting plate is arranged on the inner surface of the back plate for installing the bearing seat. The connecting mechanism is connected with the mounting plate of the motor under test through bolts. The accompanying test permanent magnet motor 4 is arranged at the lower part of the frame, and the rotating shaft of the accompanying test permanent magnet motor 4 passes through the circular hole of the bottom plate of the connecting mechanism.

The coupling and torque speed sensor 2 include a coupling 7 and a torque sensor 6 . The coupling 7 and the torque sensor 6 are arranged inside the connecting mechanism and are connected with the rotating shaft of the accompanying permanent magnet motor 4, so as to transmit the torque of the accompanying permanent magnet motor 4. At the same time, the coupling and the torque speed sensor 2 are also equipped with torque monitoring and adjustment. Since the accompanying test permanent magnet motor 4 has the characteristics of accurate regulation, combined with the monitoring function of the coupling and the torque and speed sensor 2, the output torque of the accompanying test permanent magnet motor 4 can be guaranteed to be accurate and reliable. The torque sensor 6 adopts the specification of 500Nm. The positioning mechanism includes a shaft sleeve 8 and a square shaft fixing seat 5; the shaft sleeve 8 and the square shaft fixing seat 5 are fixed on the bearing seat mounting plate by bolts. The shaft sleeve 8 is circular, the square shaft fixing seat 5 is circular, and a square hole is opened in the middle, which is used to cooperate with the rotating shaft of the permanent magnet motor 4 to be tested. Through the coupling and the torque speed sensor 2, the positioning mechanism connects the tested motor and the accompanying test permanent magnet motor 4. Through the precise design and processing of the positioning mechanism, the reliable connection between the permanent magnet motor 4 and the motor to be tested is ensured, and no positional deviation occurs.

The lifting mechanism includes a control device and a lifting cylinder; the lifting mechanism can quickly replace the actuator 1 of the motor under test, improve the detection efficiency, and have a wider application range. The control device controls the lifting cylinder, and the lifting cylinder includes four lifting columns and a lifting plate. The lower ends of the four lifting columns respectively pass through the lifting holes of the mounting plate of the tested motor, and the upper end is connected with the lifting plate; The tested motor actuator 1 is mounted on the surface; a circular hole is opened in the center of the lifting plate; the tested motor actuator 1 includes the tested motor, the tested motor fixing mechanism, and the tested motor rotating shaft passes through the circular hole in the center of the lifting plate . The tested motor fixing mechanism is set on the tested motor mounting plate.

Preferably, it also includes a control system, an absolute encoder, and a driver. The absolute value encoder monitors the position information of the motor under test in real time, including parameters such as rotational speed, current position (angle), and distance from the zero position. It is worth noting that the tested motor and the accompanying test permanent magnet motor 4 are rigidly connected to the shaft, and the real-time speed and real-time position are exactly the same. The absolute encoder therefore monitors the parameters of both motors at the same time. The absolute value encoder outputs pulse signals corresponding to parameters such as the positions of the two motors one-to-one. The control system receives the pulse signal of the absolute value encoder, and converts it into the information of the tested motor actuator 1 and the accompanying permanent magnet motor 4, so as to judge whether the position of the tested motor actuator 1 is deviated. The driver is arranged on the right side of the test bench 3, and the driver provides the driving force for the whole device and controls it. The energy of the drive comes from an external power supply.

When the tested motor actuator 1 starts, the accompanying test permanent magnet motor 4 starts at the same time. At this time, the position of the tested motor actuator 1 recorded by the absolute encoder is the starting zero point, and the accompanying test permanent magnet motor 4 outputs the torque T0 in the forward direction. , T0 is very small, close to 0. When the tested motor actuator 1 reaches the end position, the control system records the pulse number P1 of the absolute value encoder in the current stroke; when the tested motor actuator 1 returns to the starting zero point, the control system records the absolute value encoder in the return stroke. The number of pulses P2; the tested motor actuator 1 and the accompanying test permanent magnet motor 4 make circular motions. Compare the number of two pulses. If P1 is greater than P2, it means that the motor execution structure 1 does not accurately return to the starting zero point during the return trip, and the control system actively sends commands to the permanent magnet motor 4 to be tested. 4. Rotate P1-P2 pulse angles; if P1 is less than P2, it means that during the return trip, the execution structure 1 of the tested motor does not exceed the starting zero point, and the control system actively sends commands to the accompanying permanent magnet motor 4 to rotate P2-P1 in reverse. pulse angle. It is pointed out here that the torque in FIG. 3 is the same concept as the torque described above. The advantage of the permanent magnet synchronous motor on the drag test platform is that the permanent magnet synchronous motor (accompanying test motor) itself can be rotated actively or not, and the motor can be accurately positioned with the high-precision absolute encoder. Using this feature, we can correct the position error of the motor actuator under test.

Preferably, when the tested motor actuator 1 moves in the first half cycle, the tested motor actuator 1 starts from the starting zero point, and the accompanying test permanent magnet motor 4 outputs a forward torque of T0. When the tested motor actuator 1 moves to reach the first angle a1, the positive torque output by the accompanying permanent magnet motor 4 increases. The tested motor actuator 1 moves to the second angle a2, the positive torque output by the permanent magnet motor 4 is T1, and the torque rising slope can be calculated according to the relationship between the _first angle a1, the _second angle a2 and the torque, that is rising slope The forward torque T1 is maintained until the tested motor actuator 1 moves to the third angle a3, after which the test permanent magnet motor 4 reduces the output torque, and when the fourth angle a4 is reached, the torque drops to T0, and the torque decline slope is The fourth angle a4 is the end position.

Preferably, the motor actuator 1 under test moves to the starting zero point after reaching the fourth angle a4, and rotates in the reverse direction, and the permanent magnet motor 4 outputs a negative torque. When the motor actuator 1 under test reaches the third angle When the angle is a3, the negative output torque T1 of the permanent magnet motor 4 is tested, and the torque rising slope is And keep T1 until the motor actuator 1 under test reaches the second angle a2. When the tested motor actuator 1 reaches the second angle a2, the accompanying test permanent magnet motor 4 reduces the output torque. When the tested motor actuator 1 reaches the first angle a1, the accompanying test permanent magnet motor 4 outputs the torque T0 in the negative direction. . The torque drop slope is The test permanent magnet motor 4 maintains the output torque of T0 until the tested motor actuator 1 returns to the initial zero position.

Preferably, when the tested motor actuator 1 moves in the second half of the cycle, the tested motor actuator 1 starts from the starting zero point, and the output negative torque of the accompanying test permanent magnet motor 4 is T0; the tested motor actuator 1 The torque change of the permanent magnet motor 4 is opposite to that of the first half cycle. Specifically include:

The test permanent magnet motor 4 keeps outputting the negative torque T ₀ , until the monitored motor actuator 1 reaches the position b ₁ , the test permanent magnet motor 4 immediately increases the negative torque output, so that the tested motor actuator 1 reaches the position b 1 . When the position reaches b ₂ , the torque just rises to T ₁ (the rising slope of torque can be calculated according to b ₁ and b ₂ and T ₀ and T ₁ , that is, ). Then the test permanent magnet motor 4 maintains the negative constant torque T ₁ output until the position of the tested motor actuator 1 reaches b ₃ .

When the control system monitors that the position of the actuator 1 of the tested motor reaches b ₃ , it immediately reduces the torque output of the permanent magnet motor 4 under test, so that when the position of the actuator 1 of the tested motor reaches b ₄ , the torque of the permanent magnet motor 4 under test just drops to T ₀ (torque drop slope is ).

When the control system monitors the forward rotation of the motor actuator 1 under test, it immediately increases the forward torque output of the permanent magnet motor 4 under test, so that when the position of the motor actuator ₁ under test reaches b3, the torque just reaches T1 ₍ the torque rises The slope is ). Then the permanent magnet motor 4 to be tested maintains the positive constant torque T ₁ output until the position of the actuator 1 of the tested motor reaches b ₂ .

When the control system monitors that the motor position reaches b ₂ , it immediately reduces the torque output of the permanent magnet motor 4 under test, so that the torque of the permanent magnet motor 4 under test just drops to T ₀ when the position of the tested motor actuator 1 reaches b ₁ (torque drop The slope is ). Then the test permanent magnet motor 4 keeps the torque T ₀ output until the tested motor actuator 1 returns to the starting point zero position.

The test permanent magnet motor 4 adopts the vector control method, directly controls the torque output, and is controlled by the control system.

The above are only the preferred embodiments of the present invention. It should be pointed out that for those skilled in the art, without departing from the concept of the present invention, several improvements and modifications can also be made, and these improvements and modifications should also be regarded as are within the protection scope of the present invention.

Claims (5)

1. an angle and a torque measuring device of a high-voltage high-current brake device, it is characterized in that, comprise the permanent magnet motor that accompanies the test, coupling and torque speed sensor, tested motor executive mechanism, lifting mechanism, test bench; The test bench includes a frame, a connection structure, and a positioning structure; the frame includes four columns, four long beams, and four short beams; the columns are respectively arranged on the four corners below the tested motor mounting plate, Vertically arranged; four long beams are parallel to each other, and four short beams are parallel to each other; the connecting structure includes two side plates, a back plate, and a bottom plate; the bottom plate is provided with round holes, and the two side plates and the back plate are respectively provided with Bolt holes; reinforcing rib plates are arranged on the upper part of the side plate and the back plate, and a bearing seat mounting plate is arranged on the inner surface of the back plate; the coupling and the torque speed sensor include a coupling and a torque sensor; the coupling, a torque sensor The sensor is arranged inside the connecting mechanism and is connected with the rotating shaft of the permanent magnet motor; the positioning mechanism includes a shaft sleeve and a square shaft fixing seat; the shaft sleeve and the square shaft fixing seat are fixed on the bearing seat mounting plate by bolts; The lifting mechanism includes a control device and a lifting cylinder; the control device controls the lifting cylinder, and the lifting cylinder includes four lifting columns and a lifting plate; a circular hole is opened in the center of the lifting plate; the tested motor actuator includes the tested motor , the tested motor fixing mechanism, and the tested motor shaft passes through the circular hole in the center of the lifting plate. 2. The angle and torque measuring device of a high-voltage and high-current brake device according to claim 1, characterized in that: it also comprises a control system, an absolute value encoder; the absolute value encoder monitors the motor under test in real time and the position information of the test permanent magnet motor, and output the pulse signal corresponding to the two motor positions and other parameters; the control system receives the pulse signal of the absolute encoder, and converts it into the test motor actuator and the test motor. The angle information of the test permanent magnet motor is used to judge whether the position of the tested motor actuator is deviated; when the tested motor actuator starts, the accompanying test permanent magnet motor starts at the same time. At this time, the tested motor recorded by the absolute encoder performs The position of the mechanism is the starting zero point, and the permanent magnet motor is accompanied by the positive output torque T0; when the actuator of the tested motor reaches the end position, the control system records the number of pulses P1 of the absolute encoder in the current stroke; when the actuator of the tested motor reaches the end position When returning to the starting zero point, the control system records the pulse number P2 of the absolute encoder in the return trip; the tested motor actuator and the accompanying test permanent magnet motor make circular motions. 3. The angle and torque measuring device of a high-voltage and high-current brake device according to claim 2, characterized in that: when the tested motor actuator moves in the first half cycle, the tested motor actuator moves from the starting zero point Starting, the output positive torque of the accompanying permanent magnet motor is T0; when the actuator of the tested motor reaches the first angle, the forward torque output by the accompanying permanent magnet motor increases; the actuator of the tested motor moves to the second Angle, the positive torque output by the test permanent magnet motor is T1, and the positive torque T1 is maintained until the actuator of the tested motor moves to the third angle, after which the test permanent magnet motor reduces the output torque, and the torque reaches the fourth angle. Descending to T0, the fourth angle is the end position. 4. The angle and torque measuring device of a high-voltage and high-current brake device according to claim 3, characterized in that: after the tested motor actuator reaches the fourth angle, it moves toward the starting zero point and reverses direction Rotate, accompany the test permanent magnet motor to output negative torque, when the tested motor actuator reaches the third angle, accompany the test permanent magnet motor to output the negative torque T1, and keep T1 until the tested motor actuator reaches the second angle; the When the actuator of the tested motor reaches the second angle, the accompanying permanent magnet motor reduces the output torque; when the actuator of the tested motor reaches the first angle, the negative output torque T0 of the accompanying permanent magnet motor; the test permanent magnet motor The output torque of T0 is maintained until the motor actuator under test returns to the starting zero position. 5. The angle and torque measuring device of a high-voltage and high-current brake device according to claim 3 or 4, characterized in that: when the tested motor actuator moves in the second half of the cycle, the tested motor actuator starts from Starting from the zero point, the output negative torque of the accompanying permanent magnet motor is T0; the torque variation of the actuator of the tested motor and the accompanying permanent magnet motor is opposite to the first half cycle movement; the accompanying test permanent magnet motor adopts the vector control method , which directly controls the torque output and is controlled by the control system.