CN110096005A - Ultrasonic motor multi-parameter rapid measurement and control device and measurement and control method - Google Patents
Ultrasonic motor multi-parameter rapid measurement and control device and measurement and control method Download PDFInfo
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- CN110096005A CN110096005A CN201910264574.2A CN201910264574A CN110096005A CN 110096005 A CN110096005 A CN 110096005A CN 201910264574 A CN201910264574 A CN 201910264574A CN 110096005 A CN110096005 A CN 110096005A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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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
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0428—Safety, monitoring
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/24—Pc safety
- G05B2219/24024—Safety, surveillance
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- General Electrical Machinery Utilizing Piezoelectricity, Electrostriction Or Magnetostriction (AREA)
Abstract
The invention discloses a multi-parameter rapid measurement and control device and a measurement and control method for an ultrasonic motor, which are mainly technically characterized in that: it comprises an electric cylinder 1, an annular sleeve 3, a pressure sensor 4, a temperature acquisition device 5, an ultrasonic motor 6, a rotating shaft 8, a torque sensor 9, an angle encoder 11, a coupler 12, a torque motor 14, a direct current servo driver 15, a base 16, an alternating current servo driver 17, a driving acquisition circuit 18, a high-frequency measurement and control module 19, a measurement and control processor 20 and the like, 6 parameters such as amplitude, frequency, phase difference, pre-pressure, load torque and the like of the two-phase excitation voltage can be changed in real time in the test process, the multi-parameter rapid measurement and control device and the method can meet the comprehensive rapid test requirements of the ultrasonic motor, and have the advantages of multiple detection parameters, high measurement and control precision, high test efficiency, high automation degree and the like.
Description
Technical field
The present invention relates to ultrasound electric machine state modulator and technical field of performance test, in particular to a kind of ultrasound electric machine is joined more
Quick measure and control device is measured, and realizes the method that the quick observing and controlling of many reference amounts is carried out to ultrasound electric machine with the measure and control device.
Background technique
Ultrasound electric machine uses the inverse piezoelectric effect and ultrasonic vibration principle of piezoelectric ceramics, passes through rubbing between stator and rotor
It wipes, converts the microscopic vibration of stator to the macroscopic vibrations of rotor, there is low-speed big, non-electromagnetic noise, cut off self-lock
Characteristic not available for traditional electromagnetic machine.But ultrasound electric machine by the movement of the piezoelectric vibrator of supersonic range carry out energy transmission and
Conversion, transducing signal (angular speed, Angle Position, input voltage, input current, interface temperature, axial compressive force, the output of inside and outside
Torque etc.) the features such as low-and high-frequency aliasing, dynamic change, rule complicated is presented；Simultaneously because capacitive load spy is presented in ultrasound electric machine
Sign, impedance, impedance angle, active power, reactive power and mechanical efficiency are also analysis piezoelectric ceramics dynamic characteristic and motor
The basis of servo-drive ability；On the other hand, ultrasound electric machine is typical multi-parameter driving servo component, and control parameter is mainly wrapped
Two-phase voltage amplitude, frequency, phase difference etc. are included, running parameter mainly includes precompression, load torque etc..Show from domestic current
From the point of view of having technology, the patent of Publication No. CN103278770A and CN203231849U disclose the test of ultrasound electric machine performance synthesis
Device and its test method, it is loaded using vertically arranged precompression device, without corresponding power sensing detection device,
Its precompression can not accurate on-line control, and test it is upper simply by capacitance meter and secohmmeter to the progress of piezoelectric ceramics electrology characteristic
Measurement, and by realizing torgue measurement with the corresponding relationship of torque, precision and real-time are limited, and testing mechanical characteristic is inaccurate；Specially
Benefit number discloses a kind of " ultrasound electric motor universal test device " for 101266178 Chinese patent, which focuses on compiling
The realization of code device assembly exists obvious insufficient on test parameter and control parameter；Authorization Notice No. is CN103472395A's
Patent of invention discloses a kind of open traveling wave ultrasonic motor load characteristic testing device with controllable pre-pressure, though the device can essence
Precompression, test load characteristic are really adjusted, but does not have the function of quickly adjusting input signal parameter, it can not test temperature etc.
Influence of the factor to motor performance；The patent of invention of authorization Publication No. CN105509812A discloses a kind of ultrasound electric machine performance
Test device, it is realized by counterweight and is loaded, and load torque transformation is not flexible, to other key parameters such as temperature, voltage and current
Also it is not covered with.Above-mentioned patent all carries out duty cycle adjustment just for the push-pull driver circuit of current commercialization, can only change excitation
The frequency values of voltage can not realize flexibly from master regulation amplitude and phase difference, seriously constrain under different parameters to motor
The analysis and control of energy.
To solve the deficiencies in the prior art, it is more to solve ultrasound electric machine control parameter, the problems such as amount to be calculated to be measured is complicated, we
Propose a kind of quick measure and control device of ultrasound electric machine many reference amounts and investigating method.
Summary of the invention
The technical problem to be solved by the present invention is to provide a kind of quick measure and control device of ultrasound electric machine many reference amounts, Yi Jiyun
The investigating method of the quick observing and controlling of many reference amounts is carried out to ultrasound electric machine with the measure and control device, it is using integrative design and combination side
Formula is, it can be achieved that be real-time and efficiently adjusted the control parameter of ultrasound electric machine, running parameter, and accurately analyze and assess ultrasound
The comprehensive performance of motor, it is more to cover parameter, and detection accuracy is high, software and hardware strong real-time, high degree of automation.
The technical solution used to solve the technical problems of the present invention is that:
A kind of quick measure and control device of ultrasound electric machine many reference amounts, it include: electric cylinder, mounting rack I, annulus, pressure sensor,
Temperature collecting device, ultrasound electric machine, mounting rack II, rotating shaft, torque sensor, mounting rack III, angular encoder, shaft coupling,
Mounting rack IV, torque motor, direct current servo driver, pedestal, AC servo driver, driving Acquisition Circuit, high frequency observing and controlling mould
Block, observing and controlling processor；
Successively discrete fitting is installed on pedestal in line for the mounting rack I, mounting rack II, mounting rack III, mounting rack IV
On；
The electric cylinder, ultrasound electric machine, angular encoder, torque motor are respectively arranged in mounting rack I, mounting rack II, mounting rack
III, on mounting rack IV, precompression needed for electric cylinder exports ultrasound electric machine work, angular encoder detects the angle position of ultrasound electric machine
It sets and angular speed, torque motor provides load torque when work for ultrasound electric machine；
The pressure sensor is loaded in annulus, and the output shaft of electric cylinder moves in annulus, with pressure sensor
Bottom surface be fixedly connected, the sensitive area of pressure sensor is in contact with ultrasound electric machine end cap；
The temperature collecting device is partially submerged into inside ultrasound electric machine, the temperature rise of stator interface in sensitive ultrasound electric machine operation process
Characteristic；
The torque sensor is connected to ultrasound electric machine by rotating shaft, and output torque is dynamic in sensitive ultrasound electric machine operation process
State variation；
The angular encoder is connected to torque motor by shaft coupling；
The direct current servo driver is connected to torque motor, the rotation of driving moment motor；
The AC servo driver is connect with electric cylinder；
The driving Acquisition Circuit is connect with ultrasound electric machine；
The high frequency control module is connect with driving Acquisition Circuit；
The observing and controlling processor is watched with pressure sensor, temperature collecting device, torque sensor, angular encoder, direct current respectively
Take driver, AC servo driver, the connection of high frequency control module.
Further, the pressure sensor is loaded between the output shaft and ultrasound electric machine end cap of electric cylinder, pressure sensing
Device demarcates the power output of electric cylinder, can sensitive ultrasound electric machine work when dynamic pressure；
Further, the temperature collecting device includes 4 film temperature sensors, temperature collection circuits.4 film temperatures pass
Sensor is circumferential, and mutually gluing in 90 ° is in ultrasonic motor stator tooth socket edge, and to obtain the temperature rising curve of ultrasound electric machine, temperature is adopted
Collector realizes temperature signal conversion；
Further, the direct current servo driver receives the torque instruction of observing and controlling processor output, the rotation of driving moment motor；
Further, the AC servo driver receives the precompression instruction of observing and controlling processor output, driving electric cylinder output
Precompression；
Further, the driving Acquisition Circuit includes drive amplification module, Hall current sensor, voltage transformer, driving
Acquisition Circuit acquires the voltage and current signals of ultrasound electric machine input terminal by voltage transformer and Hall current sensor respectively,
Simultaneously export two-phase amplitude, frequency, phase difference real-time, tunable sinusoidal waveform；
Further, the high frequency control module receives amplitude, frequency, the phase difference instruction of observing and controlling processor output, generation pair
The two-phase small magnitude sinusoidal signal answered, and the voltage and current signals of driving Acquisition Circuit acquisition are resolved, obtain ultrasound
The real-time impedance of motor, impedance angle, active power, reactive power.
A kind of investigating method using the above-mentioned quick measure and control device of ultrasound electric machine many reference amounts, it is realized by following steps:
Step 1: connecting each hardware and driving Acquisition Circuit, high frequency control module, observing and controlling processor of measure and control device；
Step 2: power on, driving ultrasound electric machine operate and detect its operating status, check software and hardware initial setting up whether
Normally；
Step 3: the operating status of ultrasound electric machine and software and hardware initial setting up are normal, start to test；Such as abnormal, return step 1；
Step 4: setting drives parameter, is arranged and adjusts the driving parameter of observing and controlling processor in test process, is allowed to meet test
It is required that；
Step 5: precompression characteristic test is instructed by the input that observing and controlling processor adjusts electric cylinder, changes electric cylinder output
Precompression tests rate curve of the ultrasound electric machine under different precompressions, and it is best that evaluation is optimal ultrasound electric machine performance
Precompression；
Step 6: the test of start and stop commutating characteristics and stops timing at observing and controlling processor configuration starting, commutation, and ultrasound electric machine is according to being matched
It sets timing to be sequentially completed starting, commutation and stop control, angular encoder detects the Angle Position and angular speed of ultrasound electric machine, obtains
The starting time of ultrasound electric machine, turn-off time, overshoot, commutation adjustment time；
Step 7: pulse step characteristic test, observing and controlling processor set pulse number and transmission time interval, by sending pulse
Drive ultrasound electric machine step motion, angular encoder detects the angle of ultrasound electric machine, obtain the displacement resolution of ultrasound electric machine；
Step 8: amplitude, frequency, phase difference characteristics test, observing and controlling processor change respectively the amplitude of two-way driving signal, frequency,
Phase difference tests the amplitude-speed characteristics, frequency-speed characteristics, phase difference-speed characteristics of ultrasound electric machine, obtains ultrasound electric machine
Amplitude-rate curve slope, resonance frequency, maximum rotational speed, the indexs such as phase dead zone；
Step 9: impedance operator test, observing and controlling processor provide frequency sweep instruction, drive Hall current sensor, the electricity of Acquisition Circuit
Pressure mutual inductor detects the input voltage and electric current of ultrasound electric machine different frequency point respectively, and high frequency control module is to voltage signal and electricity
Stream signal is resolved, and is obtained real-time impedance value, the impedance angle of ultrasound electric machine two-phase piezoelectric ceramics, is determined by impedance curve
Sub- resonance frequency；
Step 10: testing mechanical characteristic, observing and controlling processor drive to direct current servo driver output torque regulating command, DC servo
Dynamic device driving moment motor output locked-in torque and the size for adjusting torque, test ultrasound electric machine are defeated in torque loading procedure
The parameters such as revolving speed, output torque out, input power and mechanical efficiency obtain the efficiency value of pressure point of maximum efficiency and correspond to torque；
Step 11: testing temperature rising characteristic, driving ultrasonic electric captain luck turn certain time, and temperature collecting device acquires ultrasound electric machine
The temperature characteristic of stator interface in operational process, steady temperature, ramp-up time when acquisition ultrasound electric machine operates, temperature rise are oblique
Rate；
Step 12: data processing and result output, above-mentioned test data are handled by sequential combination and analysis, obtain test result
And index, the overall performance index of surveyed ultrasound electric machine is obtained, is exported after quickly forming test report.
The beneficial effects of the present invention over the background art are as follows: 1) present invention uses pre-pressure loading, can change in real time
Become the precompression applied to ultrasound electric machine to be measured, using the interface temperature of the directly sensitive ultrasonic motor stator to be measured of temperature collecting device
Degree and temperature characteristic, substantially increase measuring accuracy.2) by observing and controlling processor and high frequency control module, it can be achieved that ultrasound electric machine
Automatic test, 6 driving parameters of real-time control ultrasound electric machine simultaneously obtain 13 state parameters of ultrasound electric machine, and test item is complete
Face, program flexibility is strong, can effectively promote ultrasound electric machine all-round property testing efficiency, meets comprehensive quick test of ultrasound electric machine
Demand.3) it has many advantages, such as more detection parameters, precision and high degree of automation, software and hardware strong real-time.
Detailed description of the invention:
Fig. 1 is the system composition schematic diagram of the quick measure and control device of ultrasound electric machine many reference amounts of the present invention；
Fig. 2 is the structural schematic diagram of the quick measure and control device of ultrasound electric machine many reference amounts of the present invention；
Fig. 3 is the schematic diagram that the film temperature sensor of temperature collecting device 5 in Fig. 1 is circumferentially laid out in 6 stator of ultrasound electric machine；
Fig. 4 is the system composition schematic diagram that Acquisition Circuit 18 is driven in Fig. 1；
Fig. 5 is the flow chart of investigating method of the invention.
Specific embodiment
Specific embodiments of the present invention are further described with reference to the accompanying drawing.
As shown in Figure 1 and Figure 2, a kind of quick measure and control device of ultrasound electric machine many reference amounts, it include: electric cylinder 1, mounting rack I 2,
Annulus 3, pressure sensor 4, temperature collecting device 5, ultrasound electric machine 6, mounting rack II 7, rotating shaft 8, torque sensor 9,
Mounting rack III 10, angular encoder 11, shaft coupling 12, mounting rack IV 13, torque motor 14, direct current servo driver 15, pedestal
16, AC servo driver 17, driving Acquisition Circuit 18, high frequency control module 19, observing and controlling processor 20.
As shown in Figure 1 and Figure 2, mounting rack I 2, mounting rack II 7, mounting rack III 10, mounting rack IV 13 successively divide in line
It is vertical, it is bolted fitting and is installed on pedestal 16；
Electric cylinder 1, ultrasound electric machine 6, angular encoder 11, torque motor 14 are respectively arranged in mounting rack I 2, mounting rack II 7, peace
It shelves on III 10, mounting rack IV 13, electric cylinder 1 exports ultrasound electric machine 6 and works required precompression, and the detection of angular encoder 11 is super
The Angle Position and visual angle speed of acoustic-electric machine 6, torque motor 14 are that ultrasound electric machine 6 provides workload torque.
Pressure sensor 4 is loaded in annulus 3, and the output shaft of electric cylinder 1 is axially set in annulus 3 and pressure passes
The bottom surface of sensor 4 is fixedly connected, and the sensitive area fitting of pressure sensor 4 is loaded on the end cap of ultrasound electric machine 6, and pressure sensor 4 is right
The power output of electric cylinder 1 is demarcated, while dynamic pressure when the sensitive work of ultrasound electric machine 6, and is transferred to observing and controlling processor
20 carry out real-time monitoring.
As shown in Figure 2 and Figure 3, for 5 part of temperature collecting device inside ultrasound electric machine 6, it includes 4 film temperatures
Sensor, temperature collection circuit, the circumferential mutually gluings in 90 ° of 4 film temperature sensors are in 6 stator tooth groove edge of ultrasound electric machine, and 4
The lead of a film temperature sensor is connected to temperature collection circuit；6 stator interface of sensitive ultrasound electric machine of temperature collecting device 5
Temperature characteristic is converted to temperature TA、TB、TC、TD, it is transferred to observing and controlling processor 20 and is handled, obtains the steady of ultrasound electric machine 6
The temperature signals such as state temperature, ramp-up time, temperature rise slope, temperature collection circuit realize temperature signal conversion.
As shown in Figure 1 and Figure 2, ultrasound electric machine 6 is connected to torque sensor 9 by rotating shaft 8, and torque sensor 9 is sensitive super
The dynamic change of torque in 6 operation process of acoustic-electric machine；
Angular encoder 11 is connected to torque motor 14 by shaft coupling 12；
Direct current servo driver 15 is connected to torque motor 14, and direct current servo driver 15 receives turn that observing and controlling processor 20 exports
Square instruction, driving moment motor 14 rotate；
AC servo driver 17 is connected to electric cylinder 1, and AC servo driver 17 receives the precompressed that observing and controlling processor 20 exports
Power instruction, driving electric cylinder 1 export precompression.
As Figure 1 and Figure 4, driving Acquisition Circuit 18 is connected to ultrasound electric machine 6, and driving Acquisition Circuit 18 includes that driving is put
Big module, Hall current sensor, voltage transformer, driving Acquisition Circuit 18 pass through voltage transformer and Hall current sensor
The voltage and current signals of 6 input terminal of ultrasound electric machine are acquired respectively, while exporting two-phase amplitude, frequency, phase difference real-time, tunable
Sinusoidal waveform.
As shown in Figure 1, high frequency control module 19 is connect with driving Acquisition Circuit 18, high frequency control module 19 is received at observing and controlling
Amplitude, the frequency, phase difference instruction that device 20 exports are managed, generates corresponding two-phase small magnitude sinusoidal signal, and to driving acquisition electricity
The voltage and current signals that road 18 acquires are resolved, and obtain the real-time impedance of ultrasound electric machine 6, impedance angle, active power, idle
Power.
As shown in Figure 1, observing and controlling processor 20 respectively with pressure sensor 4, temperature collecting device 5, torque sensor 9, angle
Encoder 11, direct current servo driver 15, AC servo driver 17, high frequency control module 19 is spent to connect.
A kind of investigating method using the above-mentioned quick measure and control device of ultrasound electric machine many reference amounts, it passes through driving Acquisition Circuit 18
Realized with the software programming of high frequency control module 19, observing and controlling processor 20, specific test process the following steps are included:
As shown in figure 5, step 1: connecting each hardware and driving Acquisition Circuit 18, high frequency control module 19, the survey of measure and control device
Processor 20 is controlled, checks line；
Step 2: powering on, driving ultrasound electric machine 6 operates, and adjusts its operating status of different parameters Preliminary detection, checks soft or hard
Whether the initial setting up of part is normal；
Step 3: the operating status of ultrasound electric machine 6 and software and hardware initial setting up are normal, start to test；Such as abnormal, return step
1；
Step 4: setting drives parameter, is arranged and adjusts the driving parameter of observing and controlling processor 20 in test process, is allowed to meet and survey
Examination requires；
Step 5: speed characteristics test, under torque closed loop mode, observing and controlling processor 20 adjusts the input instruction of electric cylinder 1, leads to
It crosses AC servo driver 17 and changes the precompression that electric cylinder 1 exports, test the different precompressions under idle condition of ultrasound electric machine 6
Rate curve the best precompression for being optimal 6 performance of ultrasound electric machine is evaluated according to velocity amplitude and Stability index；
Step 6: the test of start and stop commutating characteristics, the configuration of observing and controlling processor 20 starting, commutation and stopping timing passing through observing and controlling processor
20 is poor in ± 90 ° of ranges switching input amplitude phases, generates step signal, and ultrasound electric machine 6 is in the unloaded state according to being configured
Timing is sequentially completed starting, commutation and stops control, and angular encoder 11 detects the Angle Position and visual angle speed of ultrasound electric machine 6,
Obtain the starting time, turn-off time, overshoot, commutation adjustment time of ultrasound electric machine 6；
Step 7: pulse step characteristic test, observing and controlling processor 20 sets pulse number and transmission time interval, by sending out one by one
Pulse is sent to drive 6 stepping of ultrasound electric machine, angular encoder 11 detects the angle of ultrasound electric machine 6, tests the arteries and veins under idle condition
Stepping characteristic is rushed, displacement resolution of the ultrasound electric machine 6 under open loop condition is obtained；
Step 8: amplitude, frequency, phase difference characteristics test, observing and controlling processor 20 change amplitude, the frequency of two-way driving signal respectively
Rate, phase difference test amplitude-speed characteristics, the frequency-speed characteristics, phase difference-speed characteristics of ultrasound electric machine 6, obtain ultrasound
The amplitude of motor 6-rate curve slope, resonance frequency, maximum rotational speed, phase dead zone index；
Step 9: impedance operator test, observing and controlling processor 20 provide frequency sweep instruction, the Hall current sensing of driving Acquisition Circuit 18
Device, voltage transformer detect the input voltage and electric current of 6 different frequency point of ultrasound electric machine respectively, and high frequency control module 19 is to voltage
Signal and current signal are resolved, and real-time impedance value, impedance angle and the stator resonance of 6 two-phase piezoelectric ceramics of ultrasound electric machine are obtained
Frequency；
Step 10: testing mechanical characteristic, observing and controlling processor 20 are watched to 15 output torque regulating command of direct current servo driver, direct current
It takes 15 driving moment motor 14 of driver output locked-in torque and adjusts the size of torque, test ultrasound electric machine 6 is loaded in torque
The parameters such as output revolving speed in the process, output torque, input power and mechanical efficiency obtain the efficiency value of pressure point of maximum efficiency and right
Answer torque；
Step 11: testing temperature rising characteristic, driving ultrasound electric machine 6 operate certain time when long, temperature collecting device 5 acquires ultrasonic electric
The temperature characteristic of stator interface in 6 operational process of machine obtains steady temperature, ramp-up time, temperature when ultrasound electric machine 6 operates
Rise slope；
Step 12: data processing and result output, above-mentioned test data are handled by sequential combination and analysis, obtain test result
And index, the overall performance index of surveyed ultrasound electric machine 6 is obtained, is exported after quickly forming test report.
Claims (8)
1. a kind of quick measure and control device of ultrasound electric machine many reference amounts, it is characterised in that: it includes electric cylinder (1), mounting rack I (2), ring
Shape sleeve (3), temperature collecting device (5), ultrasound electric machine (6), mounting rack II (7), rotating shaft (8), turns pressure sensor (4)
Square sensor (9), mounting rack III (10), angular encoder (11), shaft coupling (12), mounting rack IV (13), torque motor (14),
Direct current servo driver (15), pedestal (16), AC servo driver (17), driving Acquisition Circuit (18), high frequency control module
(19), observing and controlling processor (20)；
The successively discrete fitting in line of the mounting rack I (2), mounting rack II (7), mounting rack III (10), mounting rack IV (13)
It is installed on pedestal；
The electric cylinder (1), ultrasound electric machine (6), angular encoder (11), torque motor (14) are respectively arranged in mounting rack I
(2), mounting rack II (7), mounting rack III (10), on mounting rack IV (13), electric cylinder (1) exports needed for ultrasound electric machine (6) work
Precompression, angular encoder (11) detects the Angle Position and angular speed of ultrasound electric machine, and torque motor (14) mentions for ultrasound electric machine
Load torque when for work；
For the pressure sensor (4) loaded in annulus (3), the output sleeve of electric cylinder (1) is loaded on annulus and pressure
The sensitive face contact of sensor, the bottom surface of pressure sensor fit in ultrasound electric machine (6) rear end cap, to the power output of electric cylinder into
Rower is fixed, dynamic pressure when sensitive ultrasound electric machine works；
The temperature collecting device (5) is internal flush-mounted in ultrasound electric machine (6), stator interface in sensitive ultrasound electric machine operation process
Temperature characteristic；
The torque sensor (9) is connected to ultrasound electric machine (6) by rotating shaft (8), and sensitive ultrasound electric machine is in load conditions
The dynamic change of torque in operation process；
The angular encoder (11) is connected to torque motor (14) by shaft coupling (12)；
The direct current servo driver (15) is connected to torque motor (14), the rotation of driving moment motor；
The AC servo driver (17) connect with electric cylinder (1)；
The driving Acquisition Circuit (18) connect with ultrasound electric machine (6)；
The high frequency control module (19) connect with driving Acquisition Circuit (18)；
The observing and controlling processor (20) respectively with pressure sensor (4), temperature collecting device (5), torque sensor (9), angle
Encoder (11), direct current servo driver (15), AC servo driver (17), driving Acquisition Circuit (18) and high frequency observing and controlling
Module (19) connection.
2. the quick measure and control device of ultrasound electric machine many reference amounts according to claim 1, it is characterised in that: the temperature acquisition dress
Setting (5) includes 4 film temperature sensors, temperature collection circuits, and the circumferential mutually gluing in 90 ° of 4 film temperature sensors is in super
Acoustic-electric machine (6) stator tooth groove edge, obtains the temperature signals such as the steady temperature, ramp-up time, temperature rise slope of ultrasound electric machine,
Temperature collection circuit realizes temperature signal conversion.
3. the quick measure and control device of ultrasound electric machine many reference amounts according to claim 1, it is characterised in that: the DC servo drives
Dynamic device (15) receive the torque instruction of observing and controlling processor (20) output, driving moment motor (14) rotation.
4. the quick measure and control device of ultrasound electric machine many reference amounts according to claim 1, it is characterised in that: the AC servo drives
Dynamic device (17) receive the precompression instruction of observing and controlling processor (20) output, and driving electric cylinder (1) exports precompression.
5. the quick measure and control device of ultrasound electric machine many reference amounts according to claim 1, it is characterised in that: the driving acquisition electricity
Road (18) includes drive amplification module, Hall current sensor, voltage transformer, driving Acquisition Circuit by voltage transformer and
Hall current sensor acquires the voltage and current signals of ultrasound electric machine (6) input terminal respectively, while exporting two-phase amplitude, frequency
The sinusoidal waveform of rate, phase difference real-time, tunable, driving ultrasound electric machine operating.
6. the quick measure and control device of ultrasound electric machine many reference amounts according to claim 1, it is characterised in that: the high frequency observing and controlling mould
Block (19) receives amplitude, frequency, the phase difference instruction of observing and controlling processor (20) output, generates corresponding two-phase small magnitude sine letter
Number, and the voltage and current signals of driving Acquisition Circuit (18) acquisition are resolved, show that ultrasound electric machine (6) hinders in real time
Anti-, impedance angle, active power, reactive power, mechanical efficiency.
7. a kind of investigating method using the above-mentioned quick measure and control device of ultrasound electric machine many reference amounts, it is realized by following steps:
Step 1: connecting each hardware and driving Acquisition Circuit (18), high frequency control module (19), the observing and controlling processing of measure and control device
Device (20)；
Step 2: powering on, driving ultrasound electric machine (6) operates and detects its operating status, checks that the initial setting up of software and hardware is
It is no normal；
Step 3: the operating status of ultrasound electric machine (6) and software and hardware initial setting up are normal, start to test；As abnormal, return step
Rapid 1；
Step 4: setting drives parameter, is arranged and adjusts the driving parameter of observing and controlling processor (20) in test process, be allowed to meet
Test request；
Step 5: precompression-speed characteristics test is instructed by the input of observing and controlling processor (20) adjustment electric cylinder (1), can be real
When change the precompression of electric cylinder (1) output, test ultrasound electric machine (6) rate curve under different precompressions, evaluation makes to surpass
The best precompression that acoustic-electric machine (6) performance is optimal；
Step 6: the test of start and stop commutating characteristics, observing and controlling processor (20) configuration starting, commutation and stopping timing, observing and controlling processor
(20) switching input amplitude, phase difference, ultrasound electric machine (6) are sequentially completed starting, commutation according to institute's modularization design and stop controlling,
Angular encoder (11) detects the Angle Position and angular speed of ultrasound electric machine (6), obtains starting time, the shutdown of ultrasound electric machine (6)
Time, overshoot, commutation adjustment time；
Step 7: pulse step characteristic test, the pulse period number of observing and controlling processor (20) setting driving ultrasound electric machine operating lead to
It crosses and sends pulse gradually to drive ultrasound electric machine (6) stepping, angular encoder (11) detects the Angle Position of ultrasound electric machine, and test is empty
Pulse step characteristic under the conditions of load obtains displacement resolution of the ultrasound electric machine under open loop condition.
Step 8: amplitude, frequency, phase difference characteristics test, observing and controlling processor (20) change respectively two-way driving signal amplitude,
Frequency, phase difference instruction, test amplitude-speed characteristics, the frequency-speed characteristics, phase difference-speed characteristics of ultrasound electric machine (6),
Obtain the indexs such as amplitude-rate curve slope of ultrasound electric machine, resonance frequency, maximum rotational speed, phase dead zone.
Step 9: impedance operator test, observing and controlling processor (20) provide frequency sweep instruction, drive the mutual induction of voltage of Acquisition Circuit (18)
Device and Hall current sensor detect the input voltage and electric current of ultrasound electric machine (6) different frequency point, high frequency control module respectively
(19) voltage signal and current signal are resolved, obtains real-time impedance value, the impedance angle of ultrasound electric machine two-phase piezoelectric ceramics
With stator resonance frequency.
Step 10: testing mechanical characteristic, observing and controlling processor (20) is to direct current servo driver (15) output torque regulating command, directly
Stream servo driver drives torque motor (14) output locked-in torque and the size for adjusting torque test ultrasound electric machine (6) not
With parameters such as stalling torque, input power, output power and mechanical efficiency under loading condition.
Step 11: testing temperature rising characteristic, driving ultrasound electric machine (6) continuously run certain time, and temperature collecting device (5) acquisition is super
The temperature characteristic of stator interface in sound motor operation course, obtain ultrasound electric machine operating when steady temperature, ramp-up time,
Temperature rise slope.
Step 12: data processing and result output, above-mentioned test data are handled by sequential combination and analysis, obtain test result
And index, the overall performance index of surveyed ultrasound electric machine (6) is obtained, is exported after quickly forming test report.
8. the quick investigating method of ultrasound electric machine many reference amounts according to claim 7, it is characterised in that: testing the ultrasound
When speed characteristics under motor (6) difference precompression, start and stop commutating characteristics, pulse step characteristic, ultrasound electric machine is in unloaded shape
State, when testing the mechanical property of the ultrasound electric machine, ultrasound electric machine is in stress state.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201910264574.2A CN110096005A (en) | 2019-04-03 | 2019-04-03 | Ultrasonic motor multi-parameter rapid measurement and control device and measurement and control method |
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| CN114166384A (en) * | 2021-11-19 | 2022-03-11 | 南京航空航天大学 | System and method for measuring dynamic contact force between stator and rotor of traveling wave ultrasonic motor |
| CN116990684A (en) * | 2023-09-27 | 2023-11-03 | 西北工业大学 | Motor performance, trouble short-term test device |
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| CN114166384A (en) * | 2021-11-19 | 2022-03-11 | 南京航空航天大学 | System and method for measuring dynamic contact force between stator and rotor of traveling wave ultrasonic motor |
| CN114166384B (en) * | 2021-11-19 | 2022-10-21 | 南京航空航天大学 | System and method for measuring dynamic contact force between stator and rotor of traveling wave ultrasonic motor |
| CN116990684A (en) * | 2023-09-27 | 2023-11-03 | 西北工业大学 | Motor performance, trouble short-term test device |
| CN116990684B (en) * | 2023-09-27 | 2024-01-26 | 西北工业大学 | Motor performance, trouble short-term test device |
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