CN114448124A - Positioning force measuring platform for transverse flux permanent magnet linear motor - Google Patents

Positioning force measuring platform for transverse flux permanent magnet linear motor Download PDF

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Publication number
CN114448124A
CN114448124A CN202210078994.3A CN202210078994A CN114448124A CN 114448124 A CN114448124 A CN 114448124A CN 202210078994 A CN202210078994 A CN 202210078994A CN 114448124 A CN114448124 A CN 114448124A
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China
Prior art keywords
stepping motor
permanent magnet
torque sensor
transverse flux
motor
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CN202210078994.3A
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Chinese (zh)
Inventor
贾周
彭思洋
刘心怡
聂阳光
戴小炼
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Nanjing University of Information Science and Technology
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Nanjing University of Information Science and Technology
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Priority to CN202210078994.3A priority Critical patent/CN114448124A/en
Publication of CN114448124A publication Critical patent/CN114448124A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K1/00—Details of the magnetic circuit
    • H02K1/06—Details of the magnetic circuit characterised by the shape, form or construction
    • H02K1/22—Rotating parts of the magnetic circuit
    • H02K1/27—Rotor cores with permanent magnets
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L1/00—Measuring force or stress, in general
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K41/00—Propulsion systems in which a rigid body is moved along a path due to dynamo-electric interaction between the body and a magnetic field travelling along the path
    • H02K41/02—Linear motors; Sectional motors
    • H02K41/03—Synchronous motors; Motors moving step by step; Reluctance motors
    • H02K41/031—Synchronous motors; Motors moving step by step; Reluctance motors of the permanent magnet type
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02K—DYNAMO-ELECTRIC MACHINES
    • H02K5/00—Casings; Enclosures; Supports
    • H02K5/24—Casings; Enclosures; Supports specially adapted for suppression or reduction of noise or vibrations

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Physics & Mathematics (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electromagnetism (AREA)
  • General Physics & Mathematics (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention discloses a positioning force measuring platform of a transverse flux permanent magnet linear motor, which comprises a motor bracket, a screw rod, a first coupler, a second coupler, a torque sensor, a stepping motor, a cast iron rack, a control module, a stepping motor driver, an upper computer and an acquisition instrument, wherein the screw rod is fixedly connected with the motor bracket; the transverse flux permanent magnet linear motor is arranged on the motor support and is connected with one end of a first coupler through a lead screw, the lead screw is fixedly arranged right above the transverse flux permanent magnet linear motor, the other end of the first coupler is connected with a torque sensor, the torque sensor is connected with the stepping motor through a second coupler, a stepping motor driver is respectively connected with the stepping motor, a control module and an upper computer, the upper computer is connected with an acquisition instrument, and the acquisition instrument is connected with the torque sensor; the invention has the advantages of high measurement precision, real-time data analysis and the like, and can be widely applied to the measurement occasion of the positioning force of the transverse flux permanent magnet linear motor.

Description

Positioning force measuring platform for transverse flux permanent magnet linear motor
Technical Field
The invention belongs to the field of physical quantity measurement of linear motors.
Background
At present, two ways of realizing linear motion are provided, namely, a rotary motor is utilized to convert rotary motion into linear motion through a middle conversion and structure conversion screw rod and a coupler; and secondly, linear motion is realized by directly utilizing a linear motor without an intermediate conversion device. In the first mode, an intermediate conversion structure is utilized, so that the whole system has the problems of large volume, low efficiency, low precision and the like. Compared with the first mode, the second mode omits an intermediate conversion structure, has the advantages of high power density, high response speed, high precision and the like, and is widely applied to industrial automation and machine tool machining. And the traditional permanent magnet linear motor has the contradiction of mutual restriction of tooth grooves due to the limitation of a magnetic circuit structure, so that the thrust density is difficult to improve, and the transverse flux permanent magnet linear motor realizes electromagnetic mutual decoupling, so that the thrust is further improved.
According to the traditional measuring method of the positioning force, a spring scale is pulled manually to drive a transverse flux permanent magnet linear motor to do linear motion, and the data of the positioning force is obtained by recording the data of the spring scale. In another measuring method, two force sensors are respectively connected to two sides of a transverse flux permanent magnet linear motor, and the pulling force of the stepping motor pulling the transverse flux permanent magnet linear motor to move at a constant speed is measured by the two force sensors, but the method is complex in equipment and difficult to operate.
The positioning force of the transverse flux permanent magnet linear motor is complex due to the special structure and the cogging effect of the transverse flux permanent magnet linear motor, and the traditional test platform is difficult to meet the requirement of high precision. Therefore, the platform has great significance for accurately measuring the positioning force of the transverse flux permanent magnet linear motor.
Disclosure of Invention
The purpose of the invention is as follows: in order to solve the problems in the prior art, the invention provides a positioning force measuring platform of a transverse flux permanent magnet linear motor.
The technical scheme is as follows: the invention provides a positioning force measuring platform of a transverse flux permanent magnet linear motor, which is characterized by comprising a motor bracket, a screw rod, a first coupler, a second coupler, a torque sensor, a stepping motor, a cast iron rack, a control module, a stepping motor driver, an upper computer and an acquisition instrument, wherein the screw rod is fixedly connected with the motor bracket;
the transverse flux permanent magnet linear motor is arranged on the motor support and is connected with one end of a first coupler through a lead screw, the lead screw is fixedly arranged right above the transverse flux permanent magnet linear motor, the other end of the first coupler is connected with a torque sensor, the torque sensor is connected with the stepping motor through a second coupler, a stepping motor driver is respectively connected with the stepping motor, a control module and an upper computer, the upper computer is connected with the control module and a collecting instrument, and the collecting instrument is connected with the torque sensor;
the control module controls the stepping motor to move at a constant speed through the stepping motor driver, the stepping motor drives the torque sensor to move through the second coupler, the torque sensor drives the screw rod to move, the screw rod drives the transverse flux permanent magnet linear motor to do linear motion, the transverse flux permanent magnet linear motor has positioning force, the torque of the screw rod changes due to the change of the positioning force, the torque sensor measures an electric signal of the torque change of the screw rod and transmits the electric signal to the acquisition instrument, the acquisition instrument calculates torque data and inputs the torque data to the upper computer, the upper computer calculates linear thrust of the screw rod according to the torque change rule, and the linear thrust is used as the positioning force of the transverse flux permanent magnet linear motor.
Furthermore, the platform also comprises a cast iron rack, a torque sensor bracket, a stepping motor bracket and the motor bracket, wherein the torque sensor is arranged on the torque sensor bracket, and the stepping motor is arranged on the stepping motor bracket; the torque sensor support and the stepping motor support are both fixedly arranged on the cast iron table, and the control module, the stepping motor driver and the acquisition instrument are also all arranged on the cast iron table frame.
Furthermore, the torque sensor support, the stepping motor support and the motor support are all made of aviation aluminum materials.
Furthermore, the shaft axis of the stepping motor, the shaft axis of the torque sensor, the shaft axis of the first coupler, the shaft axis of the second coupler and the shaft axis of the screw rod are all on the same horizontal line.
Further, the platform also includes a lithium sulfur battery for powering the control module.
Has the advantages that: the invention calculates the numerical value of the positioning force by measuring the numerical value of the torque, and compared with the traditional method, the invention uses less force sensor, adopts screw rod transmission, is simpler in operation and is convenient to assemble and disassemble. The invention can realize the measurement of the positioning force under different motion states and realize the real-time precision measurement of the positioning force of the shorter displacement of the rotor of the transverse flux permanent magnet linear motor. All the supports are made of aviation aluminum materials, the characteristics of light weight and high hardness are the greatest characteristics, and the vibration noise generated when equipment runs can be greatly improved.
Drawings
Fig. 1 is an overall structural view of the present invention.
Fig. 2 is a side view of the present invention.
Description of reference numerals: 1. a transverse flux permanent magnet linear motor; 2. a screw rod; 3. a first coupling; 4. a torque sensor; 5. a stepping motor; 6. a lithium sulfur battery; 7. a cast iron rack; 8. a control module; 9. a stepper motor driver; 10. an upper computer; 11. a device connection line; 12. an acquisition instrument.
Detailed Description
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate an embodiment of the invention and, together with the description, serve to explain the invention and not to limit the invention.
The invention provides a transverse flux permanent magnet linear motor positioning force measuring platform, which comprises a transverse flux permanent magnet linear motor 1, a motor support, a screw rod 2, a first coupler 3, a second coupler, a torque sensor 4, a stepping motor 5, a control module 8, a stepping motor driver 9, an upper computer 10, an equipment connecting wire 11 and an acquisition instrument 12, wherein the motor support is arranged on the top of the transverse flux permanent magnet linear motor 1.
The transverse flux permanent magnet linear motor 1 is connected to a measuring end of a torque sensor 4 through a screw rod 2 and a first coupler 3, an input end of the torque sensor 4 is connected to a stepping motor 5 through a second coupler, the screw rod 2 is fixed right above the transverse flux permanent magnet linear motor 1, and an axial lead of the stepping motor 5, an axial lead of the torque sensor 4, an axial lead of the coupler 3 and an axial lead of the screw rod 2 are sequentially arranged on the same straight line, so that force is transmitted in a straight line, and calculated linear thrust is more accurate; the control module 8 controls the stepping motor 5 to move at a constant speed through the stepping motor driver 9, so that the automatic and continuous measurement of the positioning force of the large displacement of the transverse flux permanent magnet linear motor rotor is realized.
The device also comprises a cast iron rack 7, a torque sensor bracket, a stepping motor bracket and a motor bracket, wherein the torque sensor is arranged on the torque sensor bracket, and the stepping motor is arranged on the stepping motor bracket; the torque sensor support and the stepping motor support are both fixedly arranged on the cast iron platform. The torque sensor support, the stepping motor support and the motor support are all made of aviation aluminum materials.
The embodiment has strong expansibility, and can test various types of motors by matching with different permanent magnet linear motor supports.
The platform further comprises a lithium-sulfur battery 6 for supplying power to the control module, and the lithium-sulfur battery has the advantages of large capacity, strong loading capacity, high cost performance, long service life and the like, and does not pollute the environment.
Specifically, the positioning force measuring process is as follows: the control module controls the stepping motor 5 to move at a constant speed through the stepping motor driver 9, drives the input end of the torque sensor connected with the coupler to move, drives the measuring end of the torque sensor and the screw rod to move, and drives the transverse flux permanent magnet linear motor to do linear motion. The existence of positioning force in the linear motion process and the change of the positioning force can cause the change of the torque of the screw rod. At the moment, the measuring end of the torque sensor can measure the electric signal of the torque change on the screw rod 2 (more than 500 data points are collected in one period of the embodiment, the real-time precision measurement of data is realized, the sampling rate reaches 300Hz, the measured data is stored in real time, the playback and post-processing are supported), the signal is input to the collecting instrument through the equipment connecting line for processing, then the corresponding torque data is input to the upper computer by the collecting instrument, the torque change rule is obtained by observing and recording the curve change of the upper computer, and the calculation formula for converting the rotating torque into linear thrust is obtained according to the calculation formula
Figure BDA0003485313620000031
In the formula FaLinear thrust, T torque, l lead, eta of screw1Is the positive efficiency of the screw rod. The positive efficiency of the screw rod is related to the specification of the screw rod, generally, calculation is carried out according to 90%, the lead of the screw rod is equal to the number of threads multiplied by the thread pitch, the thread pitch is a determined value, and the number of the threads can be obtained by observing the change of the screw rod in the process from the start to the stop of the stepping motor.
Concretely, the lead l of the screw rod and the positive efficiency eta of the screw rod1Substituting the measured torque T obtained by the upper computer into a formula to obtain the linear thrust FaThe linear thrust obtained through calculation is used as the positioning force, then the positioning force data is derived, the positioning force curve of the transverse flux permanent magnet linear motor is accurately described through drawing software, and performance analysis of the transverse flux permanent magnet linear motor is facilitated.
If the positioning force in the opposite direction needs to be measured, the control module is only needed to control the stepping motor to rotate in the opposite direction, and then the positioning force data of the transverse flux permanent magnet linear motor in the opposite direction can be obtained.
The various features described may be combined in any suitable manner without departing from the scope of the invention. The invention is not described in detail in order to avoid unnecessary repetition.

Claims (5)

1. A transverse flux permanent magnet linear motor positioning force measuring platform is characterized by comprising a motor bracket, a screw rod, a first coupler, a second coupler, a torque sensor, a stepping motor, a control module, a stepping motor driver, an upper computer and an acquisition instrument;
the transverse flux permanent magnet linear motor is arranged on the motor support and is connected with one end of a first coupler through a lead screw, the lead screw is fixedly arranged right above the transverse flux permanent magnet linear motor, the other end of the first coupler is connected with a torque sensor, the torque sensor is connected with the stepping motor through a second coupler, a stepping motor driver is respectively connected with the stepping motor, a control module and an upper computer, the upper computer is connected with the control module and a collecting instrument, and the collecting instrument is connected with the torque sensor;
the control module controls the stepping motor to move at a constant speed through the stepping motor driver, the stepping motor drives the torque sensor to move through the second coupler, the torque sensor drives the screw rod to move, the screw rod drives the transverse flux permanent magnet linear motor to do linear motion, the transverse flux permanent magnet linear motor has positioning force, the torque of the screw rod changes due to the change of the positioning force, the torque sensor measures an electric signal of the torque change of the screw rod and transmits the electric signal to the acquisition instrument, the acquisition instrument calculates torque data and inputs the torque data to the upper computer, the upper computer calculates linear thrust of the screw rod according to the torque change rule, and the linear thrust is used as the positioning force of the transverse flux permanent magnet linear motor.
2. The positioning force measuring platform for the transverse flux permanent magnet linear motor according to claim 1, further comprising a cast iron rack, a torque sensor bracket, a stepping motor bracket, wherein the motor bracket is provided with the torque sensor, and the stepping motor is provided with the stepping motor bracket; the torque sensor support and the stepping motor support are both fixedly arranged on the cast iron table, and the control module, the stepping motor driver and the acquisition instrument are also all arranged on the cast iron table frame.
3. The positioning force measuring platform for the transverse flux permanent magnet linear motor according to claim 2, wherein the torque sensor bracket, the stepping motor bracket and the motor bracket are all made of aviation aluminum.
4. The positioning force measuring platform for the transverse flux permanent magnet linear motor according to claim 1, wherein the axis of the stepping motor, the axis of the torque sensor, the axis of the first coupler, the axis of the second coupler and the axis of the lead screw are on the same horizontal line.
5. The transverse flux permanent magnet linear motor positioning force measuring platform of claim 1, further comprising a lithium sulfur battery for powering the control module.
CN202210078994.3A 2022-01-24 2022-01-24 Positioning force measuring platform for transverse flux permanent magnet linear motor Pending CN114448124A (en)

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Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201369116Y (en) * 2009-03-25 2009-12-23 广东工业大学 Teaching experiment table for testing kinetic parameters of linear drive of servo motor
CN101769802A (en) * 2010-01-20 2010-07-07 浙江大学 Positioning force measuring system of permanent-magnetic linear motor
CN102435944A (en) * 2011-08-25 2012-05-02 哈尔滨工业大学 Device and method for testing force characteristic of linear electric motor
CN104811001A (en) * 2015-04-14 2015-07-29 鲁东大学 Flux-switching transverse flux permanent magnet linear motor
CN104864061A (en) * 2015-04-02 2015-08-26 青岛理工大学 Electrohydraulic hybrid drive lead screw transmission system and control method thereof
CN204855156U (en) * 2015-08-22 2015-12-09 牛亚洲 Ball screw test system
CN105403832A (en) * 2015-11-26 2016-03-16 北京卫星制造厂 Comprehensive property test system for stepping motor
DE202017005031U1 (en) * 2017-09-28 2018-10-01 Fluss-Strom Energy GmbH Divided transversal flux generator with integrated bearing function and symmetrical force discharge
CN208953675U (en) * 2018-10-26 2019-06-07 深圳市富源盛电子科技有限公司 Motor load tester
CN212486308U (en) * 2020-07-31 2021-02-05 山东精创磁电产业技术研究院有限公司 Outer rotor servo motor speed measurement and braking system and transverse flux motor
CN112816869A (en) * 2021-01-21 2021-05-18 西安合升动力科技有限公司 Permanent magnet synchronous motor test bench and test system thereof
CN213730774U (en) * 2020-12-07 2021-07-20 中国工程物理研究院机械制造工艺研究所 Dynamic measurement device for comprehensive performance of hydrostatic guide rail
CN215374304U (en) * 2021-07-29 2021-12-31 江苏惠博机电科技股份有限公司 Motor torque test bench

Patent Citations (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN201369116Y (en) * 2009-03-25 2009-12-23 广东工业大学 Teaching experiment table for testing kinetic parameters of linear drive of servo motor
CN101769802A (en) * 2010-01-20 2010-07-07 浙江大学 Positioning force measuring system of permanent-magnetic linear motor
CN102435944A (en) * 2011-08-25 2012-05-02 哈尔滨工业大学 Device and method for testing force characteristic of linear electric motor
CN104864061A (en) * 2015-04-02 2015-08-26 青岛理工大学 Electrohydraulic hybrid drive lead screw transmission system and control method thereof
CN104811001A (en) * 2015-04-14 2015-07-29 鲁东大学 Flux-switching transverse flux permanent magnet linear motor
CN204855156U (en) * 2015-08-22 2015-12-09 牛亚洲 Ball screw test system
CN105403832A (en) * 2015-11-26 2016-03-16 北京卫星制造厂 Comprehensive property test system for stepping motor
DE202017005031U1 (en) * 2017-09-28 2018-10-01 Fluss-Strom Energy GmbH Divided transversal flux generator with integrated bearing function and symmetrical force discharge
CN208953675U (en) * 2018-10-26 2019-06-07 深圳市富源盛电子科技有限公司 Motor load tester
CN212486308U (en) * 2020-07-31 2021-02-05 山东精创磁电产业技术研究院有限公司 Outer rotor servo motor speed measurement and braking system and transverse flux motor
CN213730774U (en) * 2020-12-07 2021-07-20 中国工程物理研究院机械制造工艺研究所 Dynamic measurement device for comprehensive performance of hydrostatic guide rail
CN112816869A (en) * 2021-01-21 2021-05-18 西安合升动力科技有限公司 Permanent magnet synchronous motor test bench and test system thereof
CN215374304U (en) * 2021-07-29 2021-12-31 江苏惠博机电科技股份有限公司 Motor torque test bench

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