CN110045279A - The torque of motor and proportionate relationship scaling method, system and the terminal device of electric current - Google Patents
The torque of motor and proportionate relationship scaling method, system and the terminal device of electric current Download PDFInfo
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- CN110045279A CN110045279A CN201810043838.7A CN201810043838A CN110045279A CN 110045279 A CN110045279 A CN 110045279A CN 201810043838 A CN201810043838 A CN 201810043838A CN 110045279 A CN110045279 A CN 110045279A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
Abstract
The invention discloses proportionate relationship scaling method, system and the terminal devices of a kind of torque of motor and electric current, the proportionate relationship scaling method includes: that the output shaft of control motor drives mass block to rotate with pre-set velocity according to the first default motion track, and acquires the first motor electric current in rotation process；The output shaft for controlling motor drives mass block to rotate with pre-set velocity according to the second default motion track, and acquires the second current of electric in rotation process, and the second default motion track is overlapped and contrary with the first default motion track；Calculate first motor torque when motor is rotated according to the first default motion track；Calculate the second motor torque when motor is rotated according to the second default motion track；To obtain the proportionate relationship between torque and electric current.The present invention can demarcate the torque of motor and the proportionate relationship of electric current, and method is simple and is easy in high volume be operated for motor.
Description
Technical field
The invention belongs to the proportionate relationship calibration sides of the torque and electric current of motor calibration technique field more particularly to motor
Method, system and terminal device.
Background technique
Robotics development is rapid, in order to realize the movement of robot, needs that joint is arranged in robot.Permanent magnetism is same
Step motor and harmonic speed reducer are with the use of the main implementation for being current joint of robot.It is closed when using mode position
When the motion track tracking of section, tracking accuracy and stabilization that system is improved by way of increasing current feedforward compensa-tion are generally required
Property, and one of key technology of current feedforward compensa-tion is exactly the relationship determined between motor torque and current of electric.For ease of
Project Realization, is normally set up between motor torque and current of electric that there are linear relationships, as long as completing motor torque and electricity in this way
The identification calibration of electromechanics stream, so that it may realize current feedforward compensa-tion.However, existing method often uses cost higher and structure
Complicated dynamometer is demarcated, and is not easy high-volume and is operated for motor.
To sum up, it exists in the prior art due to dynamometer higher and complicated using cost and carries out motor calibration,
Cause it is at high cost, be not easy batch the problem of realizing.
Summary of the invention
In view of this, the embodiment of the invention provides the proportionate relationship scaling method of the torque of motor and electric current, system and
Terminal device, to solve to exist in the prior art due to dynamometer higher and complicated using cost to carry out motor mark
It is fixed, cause it is at high cost, be not easy the problem of batch is realized.
The first aspect of the embodiment of the present invention provides a kind of torque of motor and the proportionate relationship scaling method of electric current, base
It is realized in calibrating device, the calibrating device includes the motor, rigid rod and mass block, the motor and the rigid rod phase
Even, the rigid rod is connected with the mass block, and the axis of the rigid rod and the axis of the output shaft of the motor intersect simultaneously
It is mutually perpendicular to, the middle overlapping of axles of the center of gravity of the mass block and the rigid rod.
The torque of the motor and the proportionate relationship scaling method of electric current include:
The output shaft for controlling the motor drives the mass block to rotate with pre-set velocity according to the first default motion track,
And acquire the first motor electric current in rotation process.
The output shaft for controlling the motor drives the mass block with the pre-set velocity according to the second default motion track
Rotation, and the second current of electric in rotation process is acquired, the second default motion track and the described first default moving rail
Mark be overlapped and it is contrary.
Calculate the first motor torque when motor is rotated according to the first default motion track.
Calculate the second motor torque when the motor is rotated according to the second default motion track.
According to the first motor electric current, second current of electric, the first motor torque and second motor
Torque obtains the proportionate relationship between torque and electric current.
The second aspect of the embodiment of the present invention provides a kind of torque of motor and the proportionate relationship calibration system of electric current, base
It is realized in calibrating device, the calibrating device includes the motor, rigid rod and mass block, the motor and the rigid rod phase
Even, the rigid rod is connected with the mass block, and the axis of the rigid rod and the axis of the output shaft of the motor intersect simultaneously
It is mutually perpendicular to, the middle overlapping of axles of the center of gravity of the mass block and the rigid rod.
The torque of the motor and the proportionate relationship calibration system of electric current include:
First rotation control module, the output shaft for controlling the motor drive the mass block with pre-set velocity according to
First default motion track rotation, and acquire the first motor electric current in rotation process.
Second rotation control module, the output shaft for controlling the motor drive the mass block with the pre-set velocity
According to the second default motion track rotation, and the second current of electric in rotation process is acquired, the second default motion track
It is overlapped with the described first default motion track and contrary.
First Calculating Torque during Rotary module, for calculating first when the motor is rotated according to the first default motion track
Motor torque.
Second Calculating Torque during Rotary module, for calculating second when the motor is rotated according to the second default motion track
Motor torque.
Proportionate relationship obtains module, for according to the first motor electric current, second current of electric, first electricity
Machine power square and second motor torque, obtain the proportionate relationship between torque and electric current.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in
In the memory and the computer program that can run on the processor, when the processor executes the computer program
Realize motor as described above torque and electric current proportionate relationship scaling method the step of.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, the computer-readable storage
Media storage has computer program, and the computer program realizes the torque and electric current of motor as described above when being executed by processor
Proportionate relationship scaling method the step of.
Existing beneficial effect is the embodiment of the present invention compared with prior art: the output shaft band by controlling the motor
It moves the mass block to rotate with pre-set velocity according to the first default motion track, and acquires the electricity of the first motor in rotation process
Stream；Then the output shaft for controlling the motor drives the mass block to turn with the pre-set velocity according to the second default motion track
It is dynamic, and the second current of electric in rotation process is acquired, the second default motion track and the described first default motion track
It is overlapped and contrary；And calculate the first motor torque when motor is rotated according to the first default motion track；Meter
Calculate the second motor torque when the motor is rotated according to the second default motion track；Finally according to the first motor electricity
Stream, second current of electric, the first motor torque and second motor torque, obtain the ratio between torque and electric current
Example relationship.The embodiment of the present invention can demarcate the torque of motor and the proportionate relationship of electric current, and method is simple and is easy to large quantities of metering pins
Motor is operated.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the structural schematic diagram for the calibrating device that one embodiment of the present of invention provides；
Fig. 2 is the process of the torque for the motor that one embodiment of the present of invention provides and the proportionate relationship scaling method of electric current
Schematic diagram；
Fig. 3 is the idiographic flow schematic diagram of step S105 in Fig. 2 of one embodiment of the present of invention offer；
Fig. 4 is the structure of the torque for the motor that one embodiment of the present of invention provides and the proportionate relationship calibration system of electric current
Schematic diagram；
Fig. 5 is the concrete structure schematic diagram that proportionate relationship obtains module in Fig. 4 of one embodiment of the present of invention offer；
Fig. 6 is the schematic diagram for the terminal device that one embodiment of the present of invention provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
Description and claims of this specification and term " includes " and other any deformations in above-mentioned attached drawing are
Refer to " including but not limited to ", it is intended that cover and non-exclusive include.Such as the process, method comprising a series of steps or units
Or system, product or equipment are not limited to listed step or unit, but optionally further comprising the step of not listing
Or unit, or optionally further comprising other step or units intrinsic for these process, methods, product or equipment.In addition, art
Language " first ", " second " and " third " etc. is for distinguishing different objects, not for description particular order.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Following embodiment is based on a kind of calibrating device and realizes, as shown in Figure 1, the calibrating device include the motor,
Rigid rod and mass block, the motor are connected with the rigid rod, and the rigid rod is connected with the mass block, the rigid rod
Axis and the axis of the output shaft of the motor intersect and be mutually perpendicular to, in the center of gravity of the mass block and the rigid rod
Overlapping of axles.
In one embodiment, one end of rigid rod is connected with the output shaft of motor, the other end and mass block of rigid rod
It is connected.
In one embodiment, calibrating device further includes retarder, and the output shaft of motor and the input terminal of retarder connect,
The output end of retarder and one end of rigid rod connect, and the other end of rigid rod is connect with mass block.
In concrete application, motor is fixed in the plane.
Embodiment 1:
Fig. 2 shows the realities of the torque of motor provided by one embodiment of the invention and the proportionate relationship scaling method of electric current
Existing flow chart, for ease of description, only parts related to embodiments of the present invention are shown, and details are as follows:
As shown in Fig. 2, a kind of torque of motor provided by the embodiment of the present invention and the proportionate relationship scaling method of electric current,
Include:
In step s101, the output shaft for controlling the motor drives the mass block default according to first with pre-set velocity
Motion track rotation, and acquire the first motor electric current in rotation process.
In step s 102, the output shaft for controlling the motor drives the mass block with the pre-set velocity according to second
Default motion track rotation, and acquire the second current of electric in rotation process, the second default motion track and described the
One default motion track is overlapped and contrary.
In the present embodiment, the rotation direction of motor includes counter clockwise direction and clockwise direction, the first default motion track
It all can be any one direction with the second default motion track.The second default motion track and the described first default movement
Track it is contrary, specifically, the first default motion track is counterclockwise that the second default motion track is
Clockwise.
In the present embodiment, since the second default motion track is overlapped and contrary with the first default motion track, and
The speed that mass block moves on the two tracks is identical, so, respectively along the first default motion track and the second default shifting
When dynamic rail mark moves, the moment of friction size that mass block is subject on corresponding position is identical and contrary.
In the present embodiment, motor is in rotation, by input current of electric come driving motor rotation.The rotation distance of motor
It changes over time, first motor electric current and the second current of electric also change over time.First is acquired by current acquisition module
Current of electric and the second current of electric.
In one embodiment, it acquires first motor electric current and saves, while saving corresponding acquisition time and angle of rotation
Degree.It acquires the second current of electric and saves, while saving corresponding acquisition time and rotational angle.
In step s 103, the first motor power when motor is rotated according to the first default motion track is calculated
Square.
In step S104, the second motor force when the motor is rotated according to the second default motion track is calculated
Square.
In the present embodiment, motor meeting output motor torque in rotation, to drive motor load to run.The output shaft of motor
When driving mass block rotation, due to the difference of motion track, the motor torque of motor output is also different.
In the present embodiment, since motor torque includes rotary inertia and moment of friction, also, respectively along the first default shifting
When dynamic rail mark and the second default motion track move, since speed is identical, moment of friction that mass block is subject on corresponding position
Size is identical and contrary, so, friction can be balanced out when calculating the sum of first motor torque and the second motor torque
Torque eliminates the moment of friction for being difficult to quantitative calculating, can be improved the accuracy of calculating.
In one embodiment, first motor torque be equal to mass block rotary inertia and moment of friction absolute value it
With.Second motor torque is equal to the difference of the absolute value of the rotary inertia and the moment of friction.
In step s105, according to the first motor electric current, second current of electric, the first motor torque and
Second motor torque, obtains the proportionate relationship between torque and electric current.
In the present embodiment, obtained by collected first motor electric current and the second current of electric, and based on Mechanics Calculation
The first motor torque arrived and the second motor torque, the proportionate relationship between torque and electric current is obtained using fitting algorithm.
The embodiment of the present invention can demarcate the torque of motor and the proportionate relationship of electric current, and method is simple and is easy to large quantities of metering pins
Motor is operated.
As shown in figure 3, in one embodiment of the invention, the step S105 in embodiment corresponding to Fig. 2 is specifically wrapped
It includes:
Step S201 calculates rotary inertia based on dynamics formula.
In the present embodiment, mass block has rotary inertia in rotation.Relative to the quality of mass block, the quality of rigid rod
It can be ignored, this implementation only calculates the rotary inertia of mass block.
In one embodiment, the quality and the radius of gyration for measuring mass block, are rotated according to quality and the radius of gyration
Inertia.
Step S202 obtains the sum of the first motor torque and second motor torque according to the rotary inertia
Corresponding torque function of time curve.
In one embodiment of the invention, the sum of the first motor torque and second motor torque are equal to twice
The rotary inertia.
In the present embodiment, due to when being moved respectively along the first default motion track and the second default motion track, quality
The moment of friction size that block is subject on corresponding position is identical and contrary, for example, first motor torque is equal to mass block
The sum of rotary inertia and the absolute value of moment of friction, the second motor torque are equal to the exhausted of the rotary inertia and the moment of friction
To the difference of value.So moment of friction can be balanced out when calculating the sum of first motor torque and the second motor torque, the first electricity
The sum of machine power square and the second motor torque are equal to twice of rotary inertia.The present embodiment passes through first motor torque is electric with second
The summation of machine power square, has balanced out the moment of friction that is difficult to measure and calculate, and it is bent can accurately to calculate the torque function of time
Line.
Step S203 obtains first electricity according to the first motor electric current and second current of electric of acquisition
Electromechanics flows current time function curve corresponding with the sum of second current of electric.
In the present embodiment, according to the first motor electric current and corresponding acquisition time of preservation, and the second motor saved
Electric current and corresponding acquisition time are based on curve fitting algorithm, obtain the first motor electric current and second current of electric
The sum of corresponding current time function curve.
Step S204 is based on linear least square fitting algorithm, obtains the torque function of time curve and the electric current
Proportionate relationship between function of time curve.
The embodiment of the present invention only passes through the quality of measurement mass block and the radius of gyration obtains rotary inertia, so that it may calibration electricity
The output torque of machine and the proportionate relationship of input current, method is simple and is easy in high volume be operated for motor.
In order to make it easy to understand, being illustrated by taking a concrete application scene as an example to above-described embodiment below.
1) it sets the first default motion track and the second default motion track is cosinusoidal motion track.First default movement
Track is that counterclockwise, the second default motion track is clockwise.It should be noted that the first default motion track and
Second default motion track is not limited to only cosinusoidal motion track, and sinusoidal motion track etc. need to only meet velocity of rotation
It is identical, contrary.
The first default motion track are as follows:
The second default motion track are as follows:
Wherein, θ1For the first rotational angle, θ2For the second rotational angle, θ is benchmark rotational angle, and A is maximum rotation angle
Degree, t is rotation time, and T is predetermined period.
2) output shaft for controlling the motor drives the mass block to rotate according to above-mentioned cosinusoidal motion track, and acquires and turn
First motor electric current I during dynamic1With the second current of electric I2。
3) according to the dynamics formula of the available movement of Lagrange's equation are as follows:
Wherein, τ is motor torque, τfFor moment of friction, m is the quality of the mass block, and r is the center of gravity of the mass block
The extremely vertical range of the axis of the output shaft,It is θ to the second derivative (i.e. acceleration) of t, g is acceleration of gravity.For rotary inertia.
4) because the direction of moment of friction is only related with the direction of velocity of rotation, the size and velocity of rotation of moment of friction
Size it is related, so for only contrary two kinds along the first default motion track and the rotation of the second default motion track
Movement, moment of friction is equal in magnitude contrary in same location.So, first motor torque is rotary inertia and friction
The sum of absolute value of torque, the second motor torque are the difference of the absolute value of rotary inertia and moment of friction.
The first motor torque calculated when the motor is rotated according to the first default motion track, comprising:
Wherein, τ1For the first motor torque, m is the quality of the mass block, r for the mass block center of gravity to institute
The vertical range of the axis of output shaft is stated,It is θ to the second derivative of t, g is acceleration of gravity, τfFor moment of friction.
Second motor torque calculated when the motor is rotated according to the second default motion track, comprising:
Wherein, τ2For second motor torque.
5) because moment of friction is unable to measure, formula (4) is added with formula (5), first motor power can be obtained
The sum of square and the second motor torque.Since current of electric and motor torque are proportionate relationship, first motor electric current just also can be obtained
The sum of with the second current of electric.
The torque function of time curve are as follows:
The current time function curve are as follows:
Wherein, k is the proportionate relationship, I1For the first motor electric current, I2For second current of electric.
6) according to θ, I of preservation1And I2, it is brought into formula (7), recycles linear least square fitting that power can be obtained
Proportionate relationship k between square and electric current.
A kind of torque for motor that the embodiment of the present invention proposes and the proportionate relationship scaling method of electric current, not only calculating process
Simply, calibrating device is easily operated, low in cost, while can in high volume be used for the calibration technique of motor, and meet robot
The track following use environment of system, obtained torque current proportionality coefficient are used for the backoff algorithm of joint of robot current feed-forward
In can obtain remarkable result.
In the embodiment of the present invention, rotary inertia is only obtained by the quality and the radius of gyration that measure mass block, and given remaining
String motion profile, so that it may demarcate the output torque of motor and the proportionate relationship of input current, method is simple and is easy to high-volume
It is operated for motor.
In the embodiment of the present invention, the cosine by designing twocouese is moved back and forth, and can eliminate the frictional force being unable to measure
Square bring error only retains the rotary inertia that can be calculated, for demarcating torque.
In the embodiment of the present invention, for the application that permanent magnet synchronous motor and harmonic speed reducer are used cooperatively, do not need
Complicated dynamometer, experiment porch is simple, can be quickly obtained the relationship of motor torque and electric current, rubs applied to subsequent motor
Wipe compensation and gravity compensation.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in above-described embodiment, each process
Execution sequence should be determined by its function and internal logic, the implementation process without coping with the embodiment of the present invention constitutes any limit
It is fixed.
Embodiment 2:
As shown in figure 4, the torque for the motor that one embodiment of the present of invention provides and the proportionate relationship calibration system of electric current
100, for executing the method and step in embodiment corresponding to Fig. 2 comprising:
First rotation control module 110, the output shaft for controlling the motor drive the mass block with pre-set velocity
According to the first default motion track rotation, and acquire the first motor electric current in rotation process.
Second rotation control module 120, the output shaft for controlling the motor drive the mass block with described default
Speed is rotated according to the second default motion track, and acquires the second current of electric in rotation process, the described second default movement
Track is overlapped and contrary with the described first default motion track.
First Calculating Torque during Rotary module 130, for calculating when the motor is rotated according to the first default motion track
First motor torque.
Second Calculating Torque during Rotary module 140, for calculating when the motor is rotated according to the second default motion track
Second motor torque.
Proportionate relationship obtains module 150, for according to the first motor electric current, second current of electric, described the
One motor torque and second motor torque, obtain the proportionate relationship between torque and electric current.
As shown in figure 5, in one embodiment of the invention, the proportionate relationship in embodiment corresponding to Fig. 4 obtains mould
Block 150 further includes the structure for executing the method and step in embodiment corresponding to Fig. 3 comprising:
Rotary inertia computing unit 151, for calculating rotary inertia based on dynamics formula.
M curve acquiring unit 152, for according to the rotary inertia, obtaining the first motor torque and described the
The corresponding torque function of time curve of the sum of two motor torques.
Current curve acquiring unit 153, for the first motor electric current and second current of electric according to acquisition,
Obtain the corresponding current time function curve of the sum of the first motor electric current and second current of electric.
Proportionate relationship acquiring unit 154 obtains the torque function of time for being based on linear least square fitting algorithm
Proportionate relationship between curve and the current time function curve.
In one embodiment of the invention, the described first default motion track are as follows:
The second default motion track are as follows:
Wherein, θ1For the first rotational angle, θ2For the second rotational angle, θ is benchmark rotational angle, and A is maximum rotation angle
Degree, t is rotation time, and T is predetermined period.
In one embodiment of the invention, when the calculating motor is rotated according to the first default motion track
First motor torque, comprising:
Wherein, τ1For the first motor torque, m is the quality of the mass block, r for the mass block center of gravity to institute
The vertical range of the axis of output shaft is stated,It is θ to the second derivative of t, g is acceleration of gravity, τfFor moment of friction；
Second motor torque calculated when the motor is rotated according to the second default motion track, comprising:
Wherein, τ2For second motor torque.
In one embodiment of the invention, the torque function of time curve are as follows:
The current time function curve are as follows:
Wherein, k is the proportionate relationship, I1For the first motor electric current, I2For second current of electric.
In one embodiment, the proportionate relationship calibration system 100 of the torque of motor and electric current further includes other function mould
Block/unit, for realizing the method and step in each embodiment in embodiment 1.
Embodiment 3:
Fig. 6 is the schematic diagram for the terminal device that one embodiment of the invention provides.As shown in fig. 6, the terminal of the embodiment is set
Standby 6 include: processor 60, memory 61 and are stored in the meter that can be run in the memory 61 and on the processor 60
Calculation machine program 62.The processor 60 is realized in each embodiment as described in example 1 above when executing the computer program 62
The step of, such as step 101 shown in Fig. 2 is to 105.Alternatively, realization when the processor 60 executes the computer program 62
The function of each module/unit in each system embodiment as described in example 2 above, such as module 110 to 150 shown in Fig. 4
Function.
The terminal device 6 can be smart phone, desktop PC, notebook, tablet computer, palm PC and cloud
Server etc. is held to calculate equipment.The terminal device may include, but be not limited only to, processor 60, memory 61.Art technology
Personnel are appreciated that Fig. 6 is only the example of terminal device 6, do not constitute the restriction to terminal device 6, may include than figure
Show more or fewer components, perhaps combine certain components or different components, such as the terminal device 6 can also wrap
Include input-output equipment, network access equipment, bus etc..
Operating system is generally fitted on terminal device 6, including but not limited to: Windows operating system, LINUX behaviour
Make system, Android (Android) operating system, Symbian operating system, Windows mobile operating system and iOS behaviour
Make system etc..
Alleged processor 60 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processot, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
The memory 61 can be the internal storage unit of the terminal device 6, such as the hard disk or interior of terminal device 6
It deposits.The memory 61 is also possible to the External memory equipment of the terminal device 6, such as be equipped on the terminal device 6
Plug-in type hard disk, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD) card dodge
Deposit card (Flash Card) etc..Further, the memory 61 can also both include the storage inside list of the terminal device 6
Member also includes External memory equipment.The memory 61 is for storing needed for the computer program and the terminal device 6
Other programs and data.The memory 61 can be also used for temporarily storing the data that has exported or will export.
Embodiment 4:
The embodiment of the invention also provides a kind of computer readable storage medium, computer-readable recording medium storage has meter
Calculation machine program is realized the step in each embodiment as described in example 1 above, such as is schemed when computer program is executed by processor
Step S101 shown in 2 to step S105.Alternatively, realizing when the computer program is executed by processor such as institute in embodiment 2
The function of each module/unit in each system embodiment stated, such as the function of module 110 to 150 shown in Fig. 4.
The computer program can be stored in a computer readable storage medium, and the computer program is by processor
When execution, it can be achieved that the step of above-mentioned each embodiment of the method.Wherein, the computer program includes computer program code,
The computer program code can be source code form, object identification code form, executable file or certain intermediate forms etc..Institute
State computer-readable medium may include: can carry the computer program code any entity or device, recording medium,
USB flash disk, mobile hard disk, magnetic disk, CD, computer storage, read-only memory (ROM, Read-Only Memory), arbitrary access
Memory (RAM, Random Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It needs
It is bright, the content that the computer-readable medium includes can according in jurisdiction make laws and patent practice requirement into
Row increase and decrease appropriate, such as in certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electricity
Carrier signal and telecommunication signal.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
The steps in the embodiment of the present invention can be sequentially adjusted, merged and deleted according to actual needs.
Module or unit in system of the embodiment of the present invention can be combined, divided and deleted according to actual needs.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed system/terminal device and method, it can be with
It realizes by another way.For example, system described above/terminal device embodiment is only schematical, for example, institute
The division of module or unit is stated, only a kind of logical function partition, there may be another division manner in actual implementation, such as
Multiple units or components can be combined or can be integrated into another system, or some features can be ignored or not executed.Separately
A bit, shown or discussed mutual coupling or direct-coupling or communication connection can be through some interfaces, device
Or the INDIRECT COUPLING or communication connection of unit, it can be electrical property, mechanical or other forms.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of torque of motor and the proportionate relationship scaling method of electric current, which is characterized in that it is realized based on calibrating device, it is described
Calibrating device includes the motor, rigid rod and mass block, and the motor is connected with the rigid rod, the rigid rod with it is described
Mass block is connected, and the axis of the axis of the rigid rod and the output shaft of the motor intersects and is mutually perpendicular to, the mass block
Center of gravity and the rigid rod middle overlapping of axles；
The torque of the motor and the proportionate relationship scaling method of electric current include:
The output shaft for controlling the motor drives the mass block to rotate with pre-set velocity according to the first default motion track, and adopts
Collect the first motor electric current in rotation process；
The output shaft for controlling the motor drives the mass block to rotate with the pre-set velocity according to the second default motion track,
And the second current of electric in rotation process is acquired, the second default motion track is overlapped with the described first default motion track
And it is contrary；
Calculate the first motor torque when motor is rotated according to the first default motion track；
Calculate the second motor torque when the motor is rotated according to the second default motion track；
According to the first motor electric current, second current of electric, the first motor torque and second motor torque,
Obtain the proportionate relationship between torque and electric current.
2. the torque of motor as described in claim 1 and the proportionate relationship scaling method of electric current, which is characterized in that the basis
The first motor electric current, second current of electric, the first motor torque and second motor torque, obtain torque
Proportionate relationship between electric current, comprising:
Rotary inertia is calculated based on dynamics formula；
According to the rotary inertia, the sum of the first motor torque and second motor torque corresponding torque time are obtained
Function curve；
According to the first motor electric current and second current of electric of acquisition, the first motor electric current and described the are obtained
The corresponding current time function curve of the sum of two current of electric；
Based on linear least square fitting algorithm, obtain the torque function of time curve and the current time function curve it
Between proportionate relationship.
3. the torque of motor as claimed in claim 2 and the proportionate relationship scaling method of electric current, which is characterized in that described first
Default motion track are as follows:
The second default motion track are as follows:
Wherein, θ1For the first rotational angle, θ2For the second rotational angle, θ is benchmark rotational angle, and A is maximum rotation angle, and t is
Rotation time, T are predetermined period.
4. the torque of motor as claimed in claim 3 and the proportionate relationship scaling method of electric current, which is characterized in that the calculating
First motor torque when the motor is rotated according to the first default motion track, comprising:
Wherein, τ1For the first motor torque, m is the quality of the mass block, and r is the center of gravity of the mass block to described defeated
The vertical range of the axis of shaft,It is θ to the second derivative of t, g is acceleration of gravity, τfFor moment of friction；
Second motor torque calculated when the motor is rotated according to the second default motion track, comprising:
Wherein, τ2For second motor torque.
5. the torque of motor as claimed in claim 4 and the proportionate relationship scaling method of electric current, which is characterized in that the torque
Function of time curve are as follows:
The current time function curve are as follows:
Wherein, k is the proportionate relationship, I1For the first motor electric current, I2For second current of electric.
6. a kind of torque of motor and the proportionate relationship calibration system of electric current, which is characterized in that it is realized based on calibrating device, it is described
Calibrating device includes the motor, rigid rod and mass block, and the motor is connected with the rigid rod, the rigid rod with it is described
Mass block is connected, and the axis of the axis of the rigid rod and the output shaft of the motor intersects and is mutually perpendicular to, the mass block
Center of gravity and the rigid rod middle overlapping of axles；
The torque of the motor and the proportionate relationship calibration system of electric current include:
First rotation control module, the output shaft for controlling the motor drive the mass block with pre-set velocity according to first
Default motion track rotation, and acquire the first motor electric current in rotation process；
Second rotation control module, the output shaft for controlling the motor drive the mass block with the pre-set velocity according to
Second default motion track rotation, and the second current of electric in rotation process is acquired, the second default motion track and institute
The first default motion track is stated to be overlapped and contrary；
First Calculating Torque during Rotary module, for calculating the first motor when motor is rotated according to the first default motion track
Torque；
Second Calculating Torque during Rotary module, for calculating the second motor when the motor is rotated according to the second default motion track
Torque；
Proportionate relationship obtains module, for according to the first motor electric current, second current of electric, the first motor power
Square and second motor torque, obtain the proportionate relationship between torque and electric current.
7. the torque of motor as claimed in claim 6 and the proportionate relationship calibration system of electric current, which is characterized in that the ratio
Relation acquisition module includes:
Rotary inertia computing unit, for calculating rotary inertia based on dynamics formula；
M curve acquiring unit, for obtaining the first motor torque and second motor according to the rotary inertia
The corresponding torque function of time curve of the sum of torque；
Current curve acquiring unit obtains institute for the first motor electric current and second current of electric according to acquisition
State the corresponding current time function curve of the sum of first motor electric current and second current of electric；
Proportionate relationship acquiring unit, for be based on linear least square fitting algorithm, obtain the torque function of time curve and
Proportionate relationship between the current time function curve.
8. the torque of motor as claimed in claim 6 and the proportionate relationship calibration system of electric current, which is characterized in that described first
Default motion track are as follows:
The second default motion track are as follows:
Wherein, θ1For the first rotational angle, θ2For the second rotational angle, θ is benchmark rotational angle, and A is maximum rotation angle, and t is
Rotation time, T are predetermined period.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 5 when executing the computer program
The step of proportionate relationship scaling method of the torque of any one motor and electric current.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In realizing the torque of motor and electric current as described in any one of claim 1 to 5 when the computer program is executed by processor
The step of proportionate relationship scaling method.
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