CN114061806A - 1000Nm dynamic torque loading and calibration system - Google Patents
1000Nm dynamic torque loading and calibration system Download PDFInfo
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- CN114061806A CN114061806A CN202010748931.5A CN202010748931A CN114061806A CN 114061806 A CN114061806 A CN 114061806A CN 202010748931 A CN202010748931 A CN 202010748931A CN 114061806 A CN114061806 A CN 114061806A
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- 230000033001 locomotion Effects 0.000 claims abstract description 32
- 230000005284 excitation Effects 0.000 claims abstract description 15
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 10
- 238000005259 measurement Methods 0.000 claims description 24
- 238000012937 correction Methods 0.000 claims description 9
- 238000004364 calculation method Methods 0.000 claims description 8
- 230000004069 differentiation Effects 0.000 claims description 5
- 238000000034 method Methods 0.000 claims description 3
- 238000012544 monitoring process Methods 0.000 claims description 2
- 238000012360 testing method Methods 0.000 description 17
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
Abstract
A1000 Nm dynamic torque loading and calibrating system is transversely arranged and comprises an excitation motor, a torque sensor, a first rotary inertia module, an air floating shaft, a second rotary inertia module and an auto-collimation light pipe which are sequentially connected from left to right; the system also comprises a synchronous data acquisition card, a controller, a driver and a display; the controller controls the driver to drive the excitation motor to perform sinusoidal motion, and adjusts the driving current and the motion frequency to realize the loading of the dynamic torque sensor. By the formula
Module for changing moment of inertia I1A value of (d); simultaneously, the driving frequency of the exciting motor is changed, the real-time angular frequency of the shafting motion measured by the first grating and the second grating is changed, and the angular acceleration value is further changed
Adjusting the appropriate I1And
the value is such that the measured dynamic torque amplitude is 1000 Nm. After standard dynamic torque data are obtained, the dynamic torque data measured by the torque sensor can be calibrated by taking the torque as the standard, and the aim of calibrating the dynamic torque is fulfilled.
Description
Technical Field
The invention relates to the field of steering engine testing, in particular to dynamic torque loading and calibration of a steering engine.
Background
The steering engine is used as an important component of the weapon system, and the performance of the steering engine is directly related to the comprehensive performance of the whole weapon system. The test system such as a steering engine load simulator is widely used in a simulation laboratory to reproduce the torque load borne by the steering engine under a flight condition, a control surface pneumatic torque simulation loading environment is provided for a steering engine test, and a simulation test and a design verification test are carried out on the steering engine load performance. With the widening of the application environment and the continuous improvement of performance indexes of weapon systems, the requirements on the comprehensive technical indexes of the steering engine are higher and higher, compared with the traditional motor-driven steering engine test system, the electric-adjusting steering engine test system based on the power electric transmission working principle is widely applied in the field of current spaceflight, the maximum allowable error of the torque output of the test system is 0.3% -1%, and the maximum torque of a loading system can reach 1000 Nm. At present, an electric-adjusting steering engine test system used in each department of aerospace department industry group comprises a first-stage steering engine test system, namely a steering engine test system with a gas rudder-air rudder linkage, a second-stage steering engine test system, an integrated cylindrical steering engine test system and the like, wherein the steering engine test systems have the characteristics of large torque, more channels and wide use, the current torque calibration situation of the steering engine test systems is mostly static calibration in a laboratory, and the problems of no unified field calibration standard, insufficient range, low accuracy (3% -5%) or lack of standards and the like are encountered, so that the field metering requirements of aerospace department industry group models cannot be met.
At present, a 1000Nm dynamic torque loading and calibrating system is not established at home, meanwhile, the actual working state of a steering engine testing system is mostly dynamic loading on a steering engine, and the system comprises typical sine, trapezoid, sawtooth and other loading modes, the current torque calibrating level does not have adaptability, real-time calibration and dynamic calibration cannot be realized, and the problem existing in the prior art is how to ensure that the steering engine runs in the working state and measure the input torque and the output torque of the steering engine.
Disclosure of Invention
In order to solve the problems of real-time calibration and dynamic calibration of 1000Nm dynamic torque loading, the invention provides a 1000Nm dynamic torque loading and calibration system.
A1000 Nm dynamic torque loading and calibrating system is transversely arranged and comprises an excitation motor, a torque sensor, a first rotary inertia module, an air floating shaft, a second rotary inertia module and an auto-collimation light pipe which are sequentially connected from left to right; the system also comprises a synchronous data acquisition card, a controller, a driver and a display; the torque sensor is used for measuring a dynamic torque value of shafting load motion, and the first grating is arranged between the first rotational inertia module and the air floating shaft and sleeved on the air floating shaft; the second grating is arranged between the air floating shaft and the second rotational inertia module and is also sleeved on the air floating shaft; the third grating is arranged at the left end part of the excitation motor and used for feeding back the movement position and speed of the motor and controlling the motor to stably run; the 4 laser range finders and the autocollimation light pipe are all fixed on the base; the first laser range finder and the second laser range finder are arranged in a 900-degree angle mode and are used for detecting the eccentricity condition of the shaft system motion of the first rotational inertia module in real time; the third laser range finder and the fourth laser range finder are arranged in a 900-degree angle mode and are used for detecting the eccentric condition of the shaft system motion of the second rotational inertia module in real time; the self-calibration light tube lens is aligned to the right end part of the air bearing shaft and is used for measuring the axial deviation condition of the air bearing shaft; the synchronous data acquisition card acquires data measured by the torque sensor, the three gratings, the four laser range finders and the auto-collimation light pipe and transmits the data to the controller, and the controller controls the driver to output set current to drive the excitation motor to work; the display is connected with the controller and displays the measured operation data.
The air conditioner further comprises a power supply, a first air switch, a second air switch, a transformer, a circuit breaker, an alternating current contactor, a first filter and a second filter; the power supply is 380V alternating current, the working voltage of the controller is 220V alternating current, the power supply is controlled by a first air switch, sequentially passes through a transformer, a circuit breaker, an alternating current contactor and a second filter, reaches a driver, is controlled by the controller to output set current, and passes through the first filter to drive an excitation motor to work; the controller is controlled by the second air switch.
Further, a pressure sensor and an alarm are also arranged on the air bearing shaft and used for monitoring the gas pressure state in the air bearing in real time; when the gas pressure measured by the pressure sensor is lower than a set value, the alarm gives an alarm and sends a stop instruction to the controller, and after the controller receives the stop instruction, the motor is controlled to stop rotating.
Further, the dynamic torque calculation formula is as follows:
in formula (1), T is dynamic torque, I0A part of the moment of inertia is loaded by a shaft system, and a first moment of inertia module and a second moment of inertia module are not included, I1Is the sum of the moments of inertia of the first and second moment of inertia modules,
the angular acceleration of the load of the shafting; moment of inertia I of the load part0The dynamic torque T can be obtained in advance through a torsion pendulum method, and is not changed any more when the dynamic torque T is measured, and is a known quantity; the mass and dimensions of the first and second moment of inertia modules are pre-calculated as known quantities, i.e. I1Is a known amount; when the shafting rotates, the measured angle data is corrected through the real-time angle data of the shafting motion measured by the first grating and the second grating, the measured data is filtered during correction, and then the measured data of the laser range finder and the self-alignment value light pipe are used as deviation correcting quantity to be added into the angle data measured by the gratings so as to reduce the error of angle measurement; then, carrying out secondary differentiation to obtain the angular acceleration of the shafting load
Calculating to obtain a dynamic torque value through a formula (1); simultaneously, the torque sensor also measures a group of shaftingAnd (3) calibrating the torque sensor by comparing the calculation result of the formula with the measurement result of the torque sensor through the controller based on the torque calculated through the formula (1) for the dynamic torque value of the load movement.
Further, the operation data displayed by the display comprises: finally corrected angle measurement data and rotational inertia data I0And I1The calculated dynamic torque value T and the result data compared with the torque sensor.
Furthermore, the synchronous data acquisition card simultaneously acquires the measurement data of 3 gratings, 4 laser range finders and an autocollimation light pipe, the measurement data of the laser range finders and the autocollimation light pipe are used for correcting the angle data measured by the first gratings and the second gratings in real time, the correction is based on the grating measurement data, the measurement data of the laser range finders and the autocollimation light pipe are used as deviation correcting quantity to be added to the angle data measured by the gratings, and the corrected angle data are used for secondary differentiation to obtain the angular acceleration value of the air bearing shaft movement
The dynamic torque is calculated using equation (1).
According to the invention, a horizontal shaft system structure is selected as a final design structure, the air bearing does not need to be made large, the rotational inertia of a load shaft system is reduced, and the dynamic torque calibration is facilitated. The size requirement of the thrust of the air bearing in the structure of the invention is not large, even the thrust is not needed, but the air bearing still needs a thrust part in order to prevent the air spindle from axial movement. The diameter and the mass of the air floatation main shaft are adjusted, the bearing capacity and the angular rigidity of the air floatation main shaft are calculated, and the obtained rotational inertia value of the air floatation shaft is 0.1kgm2, which is much smaller than that of a vertical structure with the same output torque, and the air floatation shaft is small in size and light in weight. The horizontal structure also has the advantages of convenient operation, easy adjustment in the test and the like.
Drawings
FIG. 1 is a schematic diagram of the system of the present invention.
Detailed Description
The invention is further described below with reference to the accompanying drawings.
A 1000Nm dynamic torque loading and calibration system, as shown in fig. 1, comprising: the device comprises an excitation motor, a torque sensor, 2 rotational inertia modules, an air floating shaft, an auto-collimation light pipe, 4 laser range finders, 3 gratings, a synchronous data acquisition card, a pressure sensor, an air pump, an alarm, 2 filters, a driver, a controller, an alternating current contactor, a circuit breaker, a transformer, a power supply and a display;
the self-collimating lens comprises an excitation motor, a torque sensor, a first rotational inertia module, an air floatation shaft, a second rotational inertia module and a self-collimating light tube which are sequentially connected from left to right; the first grating is arranged between the first rotational inertia module and the air floating shaft and sleeved on the air floating shaft; the second grating is arranged between the air floating shaft and the second rotational inertia module and is also sleeved on the air floating shaft; the third grating is arranged at the left end part of the excitation motor and used for feeding back the movement position and speed of the motor and controlling the motor to stably run; the 4 laser range finders and the autocollimation light pipe are all fixed on the base; the first laser range finder and the second laser range finder are arranged in a 90-degree angle mode and are used for detecting the eccentricity condition of the shaft system motion of the first rotational inertia module in real time; the third laser range finder and the fourth laser range finder are arranged in a 90-degree angle mode and are used for detecting the eccentric condition of the shaft system motion of the second rotational inertia module in real time; the self-calibration light tube lens is aligned to the right end part of the air bearing shaft and is used for measuring the axial deviation condition of the air bearing shaft;
the dynamic torque calculation formula is as follows:
in formula (1), T is dynamic torque, I0A part of the moment of inertia is loaded by a shaft system, and a first moment of inertia module and a second moment of inertia module are not included, I1Is the sum of the moments of inertia of the first and second moment of inertia modules,
is the axial load angular acceleration.
Moment of inertia I of the load part0Can be obtained in advance by a torsion pendulum method, and the dynamic torque T is not changed when being measured, so the dynamic torque T is used as a known quantity;
the mass and dimensions of the first and second moment of inertia modules are pre-calculated so that the moment of inertia is a known quantity, i.e. I1In known amounts.
When the shafting rotates, the measured angle data is corrected through the real-time angle data of the shafting motion measured by the first grating and the second grating, the measured data is filtered and de-noised when corrected, and then the measured data of the laser range finder and the self-alignment light pipe is used as the deviation correction amount and added into the angle data measured by the gratings on the basis of the grating measured data so as to reduce the error of angle measurement. Then, carrying out secondary differentiation to obtain the angular acceleration of the shafting load
And calculating to obtain a dynamic torque value through the formula (1).
Meanwhile, the torque sensor also measures dynamic torque values of a group of shafting load motion, the dynamic torque values are transmitted to the controller through the synchronous data acquisition card, the torque obtained through calculation of the formula (1) is used as the standard, and the purpose of calibrating the torque sensor can be achieved through comparing the calculation result of the formula with the measurement result of the torque sensor through the controller.
Because the axis and the axis are not completely in ideal positions when the air bearing shaft moves, the angle data measured by the grating inevitably has certain errors. In order to improve the measurement accuracy of the angle during the movement of the shafting, the eccentricity condition during the movement of the shafting is detected in real time by the laser range finder, the axis offset condition of the movement of the air bearing shaft is measured by the auto-collimation light tube, the synchronous data acquisition card simultaneously acquires the measurement data of 3 gratings, 4 laser range finders and the auto-collimation light tube, the measurement data of the laser range finders and the auto-collimation light tube are used for correcting the angle data measured by the first gratings and the second gratings in real time, the correction is based on the measurement data of the gratings, and the measurement data of the laser range finders and the auto-collimation light tube are added into the angle data measured by the gratings as the correction amount so as to reduce the error correction amountError in angle measurement. Then obtaining the angular acceleration value of the air bearing shaft motion by secondary differentiation of the corrected angle data
And the dynamic torque is calculated, so that the measurement accuracy of the dynamic torque can be improved.
The high-pressure air in the air floating shaft is continuously supplied by the air pump so as to ensure the air pressure of the air floating shaft. The pressure of gas in a bearing seat of the air floating shaft can be ensured within a certain range, the movement rigidity of the air floating shaft is ensured, and the stability of the air floating shaft during movement is ensured.
The power supply of the electric part is 380V alternating current, the alternating current is controlled by a first air switch, the alternating current sequentially passes through a transformer, a circuit breaker, an alternating current contactor and a second filter and reaches a driver, the driver is controlled by a controller to output set current, and the driving motor is driven to work through the first filter. The transformer is used for isolating an external power supply and preventing external impact from affecting the interior of the system, and the voltage is unchanged; the circuit breaker and the alternating current contactor are used for protecting an electric loop, and a power supply can be quickly cut off once a fault occurs, so that the accident is prevented from being expanded; the first filter and the second filter are used for preventing harmonic waves from interfering with control, and stability of the system is improved.
The working voltage of the controller is 220V alternating current power supply and is controlled by the second air switch.
The display is connected with the controller and displays the measured operation data including the final corrected angle measurement data and the rotational inertia data I0And I1The calculated dynamic torque value T and the result data compared with the torque sensor.
The 1000Nm dynamic torque sensor loading and calibrating system firstly controls the driver through the controller to drive the excitation motor to perform sinusoidal motion, and the output of the excitation motorThe maximum torque is greater than 1000 Nm. And adjusting the driving current to enable the torque amplitude of the exciting motor to be 1000Nm when the exciting motor performs sinusoidal motion, and changing the frequency of the sinusoidal motion to realize the loading of the dynamic torque sensor. Is prepared from formula (1)
It can be seen that I is changed by changing the first and second moment of inertia modules1A value of (d); simultaneously, the driving frequency of the exciting motor is changed, the real-time angular frequency of the shafting motion measured by the first grating and the second grating is changed, and the angular acceleration value is further changed
Adjusting the appropriate I1And
the value is such that the measured dynamic torque amplitude is 1000 Nm. After standard dynamic torque data are obtained, the dynamic torque data measured by the torque sensor can be calibrated by taking the torque as the standard, and the aim of calibrating the dynamic torque is fulfilled.
Claims (6)
1. A1000 Nm dynamic torque loading and calibrating system is characterized by being transversely arranged and comprising an excitation motor, a torque sensor, a first rotary inertia module, an air floating shaft, a second rotary inertia module and an auto-collimation light tube which are sequentially connected from left to right; the system also comprises a synchronous data acquisition card, a controller, a driver and a display; the torque sensor is used for measuring a dynamic torque value of shafting load motion, and the first grating is arranged between the first rotational inertia module and the air floating shaft and sleeved on the air floating shaft; the second grating is arranged between the air floating shaft and the second rotational inertia module and is also sleeved on the air floating shaft; the third grating is arranged at the left end part of the excitation motor and used for feeding back the movement position and speed of the motor and controlling the motor to stably run; the 4 laser range finders and the autocollimation light pipe are all fixed on the base; the first laser range finder and the second laser range finder are arranged in a 900-degree angle mode and are used for detecting the eccentricity condition of the shaft system motion of the first rotational inertia module in real time; the third laser range finder and the fourth laser range finder are arranged in a 900-degree angle mode and are used for detecting the eccentric condition of the shaft system motion of the second rotational inertia module in real time; the self-calibration light tube lens is aligned to the right end part of the air bearing shaft and is used for measuring the axial deviation condition of the air bearing shaft; the synchronous data acquisition card acquires data measured by the torque sensor, the three gratings, the four laser range finders and the auto-collimation light pipe and transmits the data to the controller, and the controller controls the driver to output set current to drive the excitation motor to work; the display is connected with the controller and displays the measured operation data.
2. The 1000Nm dynamic torque loading and calibration system as claimed in claim 1, further comprising a power supply, a first air switch, a second air switch, a transformer, a circuit breaker, an ac contactor, a first filter, a second filter; the power supply is 380V alternating current, the working voltage of the controller is 220V alternating current, the power supply is controlled by a first air switch, sequentially passes through a transformer, a circuit breaker, an alternating current contactor and a second filter, reaches a driver, is controlled by the controller to output set current, and passes through the first filter to drive an excitation motor to work; the controller is controlled by the second air switch.
3. The 1000Nm dynamic torque loading and calibration system as claimed in claim 1, wherein the air bearing shaft is further provided with a pressure sensor and an alarm for monitoring a gas pressure state in the air bearing in real time; when the gas pressure measured by the pressure sensor is lower than a set value, the alarm gives an alarm and sends a stop instruction to the controller, and after the controller receives the stop instruction, the motor is controlled to stop rotating.
4. A 1000Nm dynamic torque loading and calibration system as claimed in claim 1 wherein the dynamic torque calculation formula is as follows:
in formula (1), T is dynamic torque, I0A part of the moment of inertia is loaded by a shaft system, and a first moment of inertia module and a second moment of inertia module are not included, I1Is the sum of the moments of inertia of the first and second moment of inertia modules,
the angular acceleration of the load of the shafting; moment of inertia I of the load part0The dynamic torque T can be obtained in advance through a torsion pendulum method, and is not changed any more when the dynamic torque T is measured, and is a known quantity; the mass and dimensions of the first and second moment of inertia modules are pre-calculated as known quantities, i.e. I1Is a known amount; when the shafting rotates, the measured angle data is corrected through the real-time angle data of the shafting motion measured by the first grating and the second grating, the measured data is filtered during correction, and then the measured data of the laser range finder and the self-alignment value light pipe are used as deviation correcting quantity to be added into the angle data measured by the gratings so as to reduce the error of angle measurement; then, carrying out secondary differentiation to obtain the angular acceleration of the shafting load
Calculating to obtain a dynamic torque value through a formula (1); meanwhile, the torque sensor also measures dynamic torque values of a group of shafting load motion, and the torque obtained through calculation of the formula (1) is used as a standard, and the calculation result of the formula is compared with the measurement result of the torque sensor through the controller, so that the calibration of the torque sensor is realized.
5. The 1000Nm dynamic torque loading and calibration system as claimed in claim 1, wherein said display displays operational data including: finally corrected angle measurement data and rotational inertia data I0And I1The calculated dynamic torque value T and the result data compared with the torque sensor.
6. A1000 Nm dynamic torque loading and calibration system as claimed in any one of the preceding claims, wherein the synchronous data acquisition card simultaneously acquires the measurement data of 3 gratings, 4 laser rangefinders and auto-collimation light pipes, the measurement data of the laser rangefinders and auto-collimation light pipes are used to correct the angle data measured by the first grating and the second grating in real time, the correction is based on the grating measurement data, the measurement data of the laser rangefinders and auto-collimation light pipes are added to the angle data measured by the gratings as a correction amount, and the corrected angle data is used to obtain the angular acceleration value of the air bearing shaft movement by secondary differentiation
The dynamic torque is calculated using equation (1).
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