CN116358777A - Torque on-line dynamic calibration method for dynamometer system - Google Patents
Torque on-line dynamic calibration method for dynamometer system Download PDFInfo
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- CN116358777A CN116358777A CN202310463460.7A CN202310463460A CN116358777A CN 116358777 A CN116358777 A CN 116358777A CN 202310463460 A CN202310463460 A CN 202310463460A CN 116358777 A CN116358777 A CN 116358777A
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- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
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Abstract
The invention particularly relates to a torque on-line dynamic calibration method for a dynamometer system, which comprises the following steps: transmitting the loaded linear displacement to the dynamometer to rotate until a maximum torque of the dynamometer is acquired by a dynamometer torque sensor, and recording the loaded maximum linear displacement; dividing a plurality of rotating speed points from the maximum rotating speed range of the dynamometer, and generating a linear displacement loading curve of each rotating speed point by combining the maximum linear displacement amount of the dynamometer loaded during maximum torque; loading linear displacement through a linear displacement loading curve of each rotating speed point, and collecting force values and displacement values in the loading process to calculate actual torque signals loaded to the dynamometer at each rotating speed point; and measuring a measured torque signal of the dynamometer at each rotating speed point through a dynamometer torque sensor, and calibrating the dynamometer torque sensor according to the corresponding actual torque signal. The invention can realize dynamic calibration and online calibration of the torque sensor of the dynamometer system.
Description
Technical Field
The invention relates to the field of development tests of electric automobiles, in particular to a torque on-line dynamic calibration method for a dynamometer system.
Background
The electric drive system is a core component of the electric automobile and consists of a motor controller, a driving motor, a speed reducer and the like, and is used as one of the most important parts of the analysis and research and development of the electric automobile, and the performance quality of the electric drive system is directly related to the overall performance quality of the electric automobile. Therefore, in the development process of the electric automobile, the test technology of the electric drive system and the test conditions thereof have greater and greater influence on the development of the whole automobile.
The running efficiency of the electric drive system directly influences the energy consumption and the endurance mileage of the electric automobile, so that the electric drive system is more and more concerned by manufacturers and users of various automobiles. The efficiency bench test is the most main means for obtaining the efficiency of the electric drive system, and the accurate measurement and control of the torque of the dynamometer system of the efficiency test bench are key for accurately obtaining the efficiency of the electric drive system. The torque of the dynamometer system is usually measured through a torque sensor arranged on a bench, and before measurement, the torque sensor is calibrated on line to eliminate the influence of installation and use environment and the like, so that an important means for ensuring accurate measurement of efficiency is provided.
However, due to the lack of an online calibration system of a torque sensor of a dynamometer system, the torque sensor needs to be independently calibrated and calibrated after being disassembled in the existing scheme, and the independent calibration and the online calibration of the dynamometer system have large differences, so that the effectiveness of the calibration of the torque sensor of the dynamometer system is poor. Meanwhile, the existing scheme also adopts a lever weight to perform online calibration of the torque sensor of the dynamometer system, but only static calibration can be performed, and weight loading and unloading are time-consuming and labor-consuming, so that the calibration consistency of the torque sensor of the dynamometer system is poor. Therefore, how to design a device capable of improving the calibration accuracy and consistency of the torque sensor of the dynamometer system is a technical problem to be solved.
Disclosure of Invention
Aiming at the defects in the prior art, the invention aims to solve the technical problems that: how to provide a torque on-line dynamic calibration device for a dynamometer system, which can realize dynamic calibration and on-line calibration of a torque sensor of the dynamometer system, thereby improving the calibration effectiveness and consistency of the torque sensor of the dynamometer system and providing important support for efficient and accurate measurement of the efficiency of an electric drive system.
In order to solve the technical problems, the invention adopts the following technical scheme:
the torque on-line dynamic calibration method for the dynamometer system comprises a dynamometer and a dynamometer torque sensor for measuring the torque of the dynamometer; comprising the following steps:
s1: transmitting the loaded linear displacement to the dynamometer to rotate until a maximum torque of the dynamometer is acquired by a dynamometer torque sensor, and recording the loaded maximum linear displacement;
s2: dividing a plurality of rotating speed points from the maximum rotating speed range of the dynamometer, and generating a linear displacement loading curve of each rotating speed point by combining the maximum linear displacement amount of the dynamometer loaded during maximum torque;
s3: loading linear displacement through a linear displacement loading curve of each rotating speed point, and collecting force values and displacement values in the loading process to calculate actual torque signals loaded to the dynamometer at each rotating speed point;
s4: and measuring a measured torque signal of the dynamometer at each rotating speed point through a dynamometer torque sensor, and calibrating the dynamometer torque sensor according to the corresponding actual torque signal.
Preferably, the linear displacement is loaded through the calibration device and transmitted to the dynamometer to rotate;
the calibration device comprises:
the calibration arm is coaxially and fixedly connected with the rotating shaft of the dynamometer, and takes the axle center of the rotating shaft of the dynamometer as a rotating center;
the loading assembly is used for loading linear displacement control to the calibration arm so as to drive the rotating shaft of the dynamometer to rotate and loading torque to the rotating shaft of the dynamometer.
Preferably, the calibration device further comprises:
the rotary transmission assembly comprises a transmission rotating shaft which can freely rotate and is coaxially arranged with the rotating shaft of the dynamometer, a coupler which is used for coaxially and fixedly connecting the transmission rotating shaft and the rotating shaft of the dynamometer, and a mounting sleeve which is coaxially and fixedly sleeved on the transmission rotating shaft;
the calibration arm is fixedly arranged on the mounting sleeve, and takes the axle center of the rotating shaft of the dynamometer as a rotation center;
the loading assembly applies linear displacement control to the calibration arm, so that the calibration arm drives the transmission rotating shaft to rotate through the mounting sleeve, and then drives the rotating shaft of the dynamometer to rotate through the coupler, and loads torque to the rotating shaft of the dynamometer.
Preferably, the calibration arm comprises two arm parts which are symmetrical relative to the vertical plane of the axis of the transmission rotating shaft;
each force arm part of the calibration arm is projected into an isosceles trapezoid wedge block which is gradually narrowed towards a direction far away from the mounting sleeve along the axis direction of the transmission rotating shaft, and the symmetry line of the isosceles trapezoid wedge block obtained by the projection of the calibration arm is vertical to the axis of the transmission rotating shaft.
Preferably, the loading assembly comprises an actuator for outputting linear displacement control, a force sensor and a displacement sensor for respectively acquiring a force value and a displacement value when the actuator loads the linear displacement control, and a connecting clamp for connecting the calibration arm and a displacement control output end of the actuator;
the contact position of the calibration arm and the connecting clamp is the loading position of the actuator during the linear displacement control of loading;
the actuator loads uniform linear displacement control to the calibration arm through the connecting clamp, so that the calibration arm drives the transmission rotating shaft to rotate at a uniform speed through the mounting sleeve, and then the rotating shaft of the dynamometer is driven to rotate at a uniform speed through the coupler.
Preferably, firstly, calculating the maximum rotation angle of the calibration arm when the power measuring machine is at maximum torque according to the maximum linear displacement; then calculating a loading slope and a loading period of a corresponding rotation angle of each rotation speed point based on the maximum rotation angle of the calibration arm, and obtaining a loading rotation angle curve of each rotation speed point; and finally, converting the loading corners in the loading corner curves of the rotating speed points into corresponding linear displacement loading amounts, and further generating linear displacement loading curves of the loading assemblies at the rotating speed points.
Preferably, the maximum rotation angle of the calibration arm at the maximum torque of the dynamometer is calculated by the following formula:
l 1 ＝Rcosα；
a＝2e；
b＝e 2 -l 2 ；
c＝(Rlcosα) 2 ；
e＝ltanα+h max -R；
wherein: θ max The maximum rotation angle of the calibration arm under the maximum torque of the dynamometer is shown; h is a max The maximum linear displacement amount loaded by the loading component under the maximum torque of the dynamometer is represented; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; l represents the horizontal distance of the loading position on the indexing arm to the centre of rotation.
Preferably, the loading slope and loading period of the rotation angle corresponding to the rotation speed point are calculated by the following formula:
wherein: k (k) i Representing the loading slope; t (T) i Representing a loading cycle; n is n i Indicating the i-th rotation speed point.
Preferably, the load angle is converted into a load displacement by the following formula:
wherein: h represents the linear displacement of the load; l represents the horizontal distance from the loading position on the calibration arm to the rotation center; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; θ represents the rotation angle of the calibration arm under the control of linear displacement, namely the loading rotation angle.
Preferably, the actual torque signal loaded is calculated by the following formula:
M＝F·cos(α+θ)·R·cosα·tanβ+F·sin(α+θ)·R·cosα；
x＝l·tanα；
wherein: m represents the actual torque signal loaded; f represents the force value of the load; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; θ represents the rotation angle of the calibration arm under the control of linear displacement, namely the loading rotation angle; h represents the loaded displacement value; l represents the horizontal distance from the loading position on the calibration arm to the rotation center; x represents the vertical height of the loading position.
Compared with the prior art, the torque on-line dynamic calibration method for the dynamometer system has the following beneficial effects:
according to the invention, firstly, the maximum linear displacement is recorded at the maximum torque of the dynamometer, then, the rotational speed point division is carried out according to the maximum rotational speed range of the dynamometer, and the linear displacement loading curve of each rotational speed point is generated by combining the maximum linear displacement calculation, so that the linear displacement control can be loaded through the linear displacement loading curve, the calibration of the dynamometer torque sensor can be realized by calculating the actual torque signal at each rotational speed point, the calibration of the dynamometer torque sensor can be realized under various rotational speed conditions, namely, the dynamic calibration of the torque of the dynamometer can be realized, and compared with the conventional lever weight which can only carry out static calibration, the consistency, the efficiency and the degree of automation of the torque calibration of the dynamometer can be improved. Meanwhile, when the power measuring torque sensor is calibrated, the invention can realize the online calibration of the torque of the power measuring machine without independently calibrating the power measuring torque sensor by detaching the power measuring torque sensor from the power measuring machine system, and can improve the effectiveness of the torque calibration of the power measuring machine compared with the prior art that the torque sensor is independently calibrated after being detached. The dynamic calibration and the on-line calibration of the torque of the dynamometer can be realized, so that the effectiveness and the consistency of the calibration of the torque of the dynamometer system can be improved, and an important support is provided for the efficient and accurate measurement of the efficiency of the electric drive system.
The invention transmits the linear displacement to the dynamometer through loading so as to enable the dynamometer to rotate (namely loading torque). On one hand, the invention converts the linear displacement control into the rotation control, calculates the actual torque signal transmitted to the dynamometer through the force value and the displacement value when the linear displacement control is loaded, namely, a special new motor and a torque rotating speed sensor are not required to be arranged to load the torque, the problem of the precision of the new torque sensor is avoided, and the whole calibration process is closer to the actual, so that the accuracy of the torque calibration of the dynamometer can be further improved. On the other hand, the mode of loading linear displacement control does not increase the axial dimension of the calibration device, and is beneficial to simplifying the structure of the calibration device, so that the installation convenience of the calibration device and the practicability of torque calibration of the dynamometer can be improved.
Drawings
For the purpose of making the objects, technical solutions and advantages of the present invention more apparent, the present invention will be described in further detail with reference to the accompanying drawings, in which:
FIG. 1 is a logic block diagram of a torque on-line dynamic calibration method;
FIG. 2 is a schematic structural view of a calibration device;
FIGS. 3 and 4 are front and top views of the calibration device;
FIG. 5 is a side cross-sectional view of a calibration device;
FIG. 6 is a schematic view of the structure of the calibration arm;
FIG. 7 is an equivalent block diagram of a calibration arm;
FIGS. 8 and 9 are schematic views of equivalent motion of the calibration arm;
FIG. 10 is a schematic diagram of the relationship between load angle and load displacement versus time.
Reference numerals in the drawings of the specification include: the device comprises a base 1, a calibration support 2, a dynamometer system 3, a dynamometer rotating shaft 31, a dynamometer torque sensor 4, a calibration arm 5, a force arm 51, a mounting hole 52, a through hole 53, an actuator 6, a connecting clamp 7, a rotary transmission assembly 8, a bearing seat 81, a transmission rotating shaft 82, a coupler 83, a mounting sleeve 84, a sliding rail 91 and a movable sliding block 92.
Detailed Description
In order to make the objects, technical solutions and advantages of the embodiments of the present invention more clear, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. It will be apparent that the described embodiments are some, but not all, embodiments of the invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein can be arranged and designed in a wide variety of different configurations. Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that: like reference numerals and letters denote like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures. In the description of the present invention, it should be noted that, directions or positional relationships indicated by terms such as "center", "upper", "lower", "left", "right", "vertical", "horizontal", "inner", "outer", etc., are directions or positional relationships based on those shown in the drawings, or are directions or positional relationships conventionally put in use of the inventive product, are merely for convenience of describing the present invention and simplifying the description, and are not indicative or implying that the apparatus or element to be referred to must have a specific direction, be constructed and operated in a specific direction, and thus should not be construed as limiting the present invention. Furthermore, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and should not be construed as indicating or implying relative importance. Furthermore, the terms "horizontal," "vertical," and the like do not denote a requirement that the component be absolutely horizontal or overhang, but rather may be slightly inclined. For example, "horizontal" merely means that its direction is more horizontal than "vertical" and does not mean that the structure must be perfectly horizontal, but may be slightly tilted. In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The following is a further detailed description of the embodiments:
examples:
the embodiment discloses a torque on-line dynamic calibration method for a dynamometer system.
As shown in fig. 1, the torque on-line dynamic calibration method for a dynamometer system, wherein the dynamometer system comprises a dynamometer and a dynamometer torque sensor for measuring the torque of the dynamometer; comprising the following steps:
in this embodiment, the rotating shaft of the dynamometer is connected to the dynamometer torque sensor through a coupling.
S1: transmitting the loaded linear displacement to the dynamometer to rotate until a maximum torque of the dynamometer is acquired by a dynamometer torque sensor, and recording the loaded maximum linear displacement;
s2: dividing a plurality of rotating speed points from the maximum rotating speed range of the dynamometer, and generating a linear displacement loading curve of each rotating speed point by combining the maximum linear displacement amount of the dynamometer loaded during maximum torque;
s3: loading linear displacement through a linear displacement loading curve of each rotating speed point, and collecting force values and displacement values in the loading process to calculate actual torque signals loaded to the dynamometer at each rotating speed point;
s4: and measuring a measured torque signal of the dynamometer at each rotating speed point through a dynamometer torque sensor, and calibrating the dynamometer torque sensor according to the corresponding actual torque signal.
In this embodiment, the actual torque signal and the measured torque signal are compared to determine whether the linearity, the return error and the sensitivity of the torque sensor of the dynamometer system are in a reasonable range (sensor delivery technical parameters), and the actual torque signal and the measured torque signal are corrected according to the standard signal. The calibration of the torque sensor can be realized through the existing mature calibration scheme.
In order to better realize the online dynamic calibration of the dynamometer torque, the embodiment discloses the following calibration scheme:
firstly, performing straight line fitting by taking a measured torque signal measured by a dynamometer torque sensor at each rotating speed point as an abscissa and a loaded actual torque signal as an ordinate to obtain corresponding intercept and slope; then, averaging the intercept and the slope corresponding to each rotating speed point to obtain the intercept and the slope of the whole calibration process; and finally, correcting the measured torque signal of the dynamometer torque sensor by using intercept and slope parameters of the whole calibration process, and completing the torque calibration of the dynamometer system.
According to the invention, firstly, the maximum linear displacement is recorded at the maximum torque of the dynamometer, then, the rotational speed point division is carried out according to the maximum rotational speed range of the dynamometer, and the linear displacement loading curve of each rotational speed point is generated by combining the maximum linear displacement calculation, so that the linear displacement control can be loaded through the linear displacement loading curve, the calibration of the dynamometer torque sensor can be realized by calculating the actual torque signal at each rotational speed point, the calibration of the dynamometer torque sensor can be realized under various rotational speed conditions, namely, the dynamic calibration of the torque of the dynamometer can be realized, and compared with the conventional lever weight which can only carry out static calibration, the consistency, the efficiency and the degree of automation of the torque calibration of the dynamometer can be improved. Meanwhile, when the power measuring torque sensor is calibrated, the invention can realize the online calibration of the torque of the power measuring machine without independently calibrating the power measuring torque sensor by detaching the power measuring torque sensor from the power measuring machine system, and can improve the effectiveness of the torque calibration of the power measuring machine compared with the prior art that the torque sensor is independently calibrated after being detached. The dynamic calibration and the on-line calibration of the torque of the dynamometer can be realized, so that the effectiveness and the consistency of the calibration of the torque of the dynamometer system can be improved, and an important support is provided for the efficient and accurate measurement of the efficiency of the electric drive system.
In the actual torque calibration process of the dynamometer, a special new motor (dynamometer) is generally required to be arranged to load rotation control (namely torque) on the dynamometer. However, setting a new motor requires configuring a corresponding torque rotation speed sensor, which not only greatly increases the cost of torque calibration of the dynamometer, but also has the problem that the precision of the torque rotation speed sensor of the new motor is difficult to ensure, namely, a new precision problem is introduced. Meanwhile, the axial size of the calibration device can be greatly increased by a new mode of directly loading and rotating the motor, so that the calibration device is poor in installation convenience.
The invention transmits the linear displacement to the dynamometer through loading so as to enable the dynamometer to rotate (namely loading torque). On one hand, the invention converts the linear displacement control into the rotation control, calculates the actual torque signal transmitted to the dynamometer through the force value and the displacement value when the linear displacement control is loaded, namely, a special new motor and a torque rotating speed sensor are not required to be arranged to load the torque, the problem of the precision of the new torque sensor is avoided, and the whole calibration process is closer to the actual, so that the accuracy of the torque calibration of the dynamometer can be further improved. On the other hand, the mode of loading linear displacement control does not increase the axial dimension of the calibration device, and is beneficial to simplifying the structure of the calibration device, so that the installation convenience of the calibration device and the practicability of torque calibration of the dynamometer can be improved.
As shown in connection with fig. 2, 3 and 4, the calibration device comprises:
a base 1 for mounting the dynamometer system 3;
in this embodiment, the dynamometer system 3 includes a dynamometer and a dynamometer torque sensor 4 that measures the torque of the dynamometer; the dynamometer rotating shaft 31 is connected with the dynamometer torque sensor 4 through a coupler.
The calibration support 2 is arranged on one side of the base corresponding to the rotating shaft 31 of the dynamometer;
the rotary transmission assembly 8 is arranged on the calibration support and is in transmission connection with a rotating shaft 31 of the dynamometer;
the calibration arm 5 is in transmission connection with the rotary transmission assembly;
the loading assembly is arranged on the calibration support and is used for loading linear displacement control to the calibration arm so that the calibration arm drives the rotary transmission assembly to convert the loaded linear displacement control into rotary control and transmitting torque to the rotating shaft of the dynamometer.
In this embodiment, the linear displacement control means to drive the calibration arm to make a linear motion.
The invention loads the calibration arm with the linear displacement control in the vertical direction, namely drives the calibration arm to do the linear motion in the vertical direction. When the calibration is carried out at the same rotating speed, the uniform rotation of the calibration arm can be realized through linear displacement control, the dynamic calibration of the torque at the fixed rotating speed is realized, and the influence of the inertia torque is eliminated.
In other preferred embodiments, the loading assembly can also load only the calibration arm with force control in the vertical direction (i.e. the calibration arm does not displace), where the force control is to directly obtain a torque value according to the loaded force, and when the rotation speed is not required to be fixed, the calibration can be performed by using the force control, but slow loading is required, otherwise, inertia torque is affected. Force control is similar to existing static calibration.
The rotation angle (rotation angle) of the calibration arm does not exceed 30 °.
As shown in fig. 5, the rotary transmission assembly 8 includes a transmission shaft 82 rotatably disposed on the calibration support and coaxially disposed with the rotation shaft of the dynamometer, a coupling 83 for coaxially and fixedly connecting the transmission shaft 82 and the rotation shaft 31 of the dynamometer, a mounting sleeve 84 coaxially and fixedly sleeved on the transmission shaft, and a bearing seat 81 fixedly disposed on the calibration support and a bearing with an outer ring fixedly mounted on the bearing seat; the transmission rotating shaft 82 is fixedly connected with the inner ring of the bearing coaxially.
The calibration arm 5 is fixedly arranged on the mounting sleeve 84, and takes the axle center of the transmission rotating shaft as a rotating center;
in this embodiment, the calibration arm is fixedly disposed on the mounting sleeve by means of bolting.
The loading assembly applies linear displacement control to the calibration arm, so that the calibration arm drives the transmission rotating shaft to rotate through the mounting sleeve, and torque is transmitted to the rotating shaft of the dynamometer through the coupler.
According to the invention, the loading assembly is used for applying linear displacement control to the calibration arm, so that the calibration arm can drive the transmission rotating shaft to rotate at a constant speed through the mounting sleeve and transmit torque to the rotating shaft of the dynamometer through the coupler, namely, the linear motion loaded by the loading assembly can be converted into the constant-speed rotation of the rotary transmission assembly, further, the dynamic calibration of the torque of the dynamometer can be better realized, the rotary transmission assembly cannot generate structural interference with a dynamometer system, and the rotary control loaded to the dynamometer after conversion enables the torque calibration process of the dynamometer to be closer to the actual process, so that the consistency, the efficiency and the automation degree of the torque calibration of the dynamometer can be further improved.
According to the invention, the loading assembly is used for applying linear displacement control to the calibration arm, the calibration arm drives the transmission rotating shaft to rotate at a constant speed through the mounting sleeve and transmits torque to the rotating shaft of the dynamometer through the coupler, so that the linear motion loaded by the loading assembly can be converted into the constant-speed rotation of the rotary transmission assembly. On one hand, the invention converts the linear displacement control into the rotation control, and then calculates the actual torque signal transmitted to the dynamometer by loading the force value and the displacement value during the linear displacement control so as to realize the torque calibration of the dynamometer, namely, a special dynamometer motor and a torque rotating speed sensor are not required to be arranged to load the torque, and the problem of the precision of a new torque sensor is not generated, thereby reducing the structural complexity and the cost of the calibration device and further assisting in improving the accuracy of the torque calibration of the dynamometer. On the other hand, the mode of loading linear displacement control does not increase the axial dimension of the calibration device, and is beneficial to simplifying the structure of the calibration device, so that the installation convenience of the calibration device can be improved, and the practicability of torque calibration of the dynamometer can be improved in an auxiliary manner.
According to the invention, the transmission rotating shaft is arranged through the structure of the bearing seat and the bearing, so that the transmission rotating shaft can freely rotate, and the linear displacement control loaded by the loading assembly can be better converted into rotation control, thereby ensuring the torque calibration effect of the dynamometer.
Referring to fig. 6, a mounting hole 52 corresponding to the outer peripheral side of the mounting sleeve is formed in the middle of the calibration arm 5, and the calibration arm 5 is fixedly mounted on the outer peripheral side of the mounting sleeve 84 coaxially through the mounting hole 52.
In this embodiment, the calibration arm is fixedly mounted on the mounting sleeve by means of bolting.
The calibration arm 5 comprises two arm parts 51 which are symmetrical relative to the vertical plane of the axis of the transmission rotating shaft; each force arm 51 of the calibration arm 5 is projected along the axial direction of the transmission shaft as an isosceles trapezoid wedge block gradually narrowing away from the mounting sleeve (as shown in fig. 6), and the symmetry line of the isosceles trapezoid wedge block obtained by the projection of the calibration arm is kept perpendicular to the axial line of the transmission shaft, namely, the symmetry line of the isosceles trapezoid wedge block exceeds the rotation center (as shown in fig. 7).
The applicant finds that in the practical application process, the gravity of the calibration arm can influence the rotation of the transmission rotating shaft and the rotation of the dynamometer rotating shaft in the process of driving the rotation transmission assembly to act, so that the torque calculation in the calibration process is influenced, and the online calibration accuracy of the torque of the dynamometer is poor.
According to the invention, the calibration arm is arranged as the two force arm parts which are symmetrical relative to the vertical plane of the axis of the transmission rotating shaft, so that the balance of the calibration arm when the rotation transmission assembly is driven to rotate at a constant speed can be ensured, the influence of the gravity of the calibration arm on the torque calculation in the calibration process can be reduced as much as possible, and the accuracy of online calibration of the torque of the dynamometer can be improved in an auxiliary manner. Meanwhile, the calibration arm is arranged to be of a structure with a certain wedge angle and projected to be an isosceles trapezoid wedge block, and the purpose is to further reduce the influence of the gravity of the calibration arm on the calibration process, so that the accuracy and the practicability of the online calibration of the torque of the dynamometer can be improved in an auxiliary mode.
A plurality of through holes 53 are arranged on the calibration arm 5 at intervals along the direction perpendicular to the axis of the mounting hole 52.
According to the invention, the through holes are arranged on the calibration arm at intervals, so that the weight of the calibration arm can be further reduced, the influence of the gravity of the calibration arm on the calibration process can be reduced as much as possible, and meanwhile, the manufacturing materials and the cost of the calibration arm can be saved.
In the specific implementation process, the loading assembly comprises an actuator 6 (a hydraulic servo actuator, an existing hydraulic servo linear motor can be selected) which is fixedly arranged on the calibration support and used for outputting linear displacement control, a high-precision force sensor and a displacement sensor which are respectively used for acquiring a force value and a displacement value when the actuator 6 loads linear displacement control, and a connecting clamp 7 which is used for connecting the calibration arm 5 and a displacement control output end of the actuator 6;
the contact position of the calibration arm 5 and the connecting clamp 7 is the loading position when the actuator 6 loads linear displacement control;
the contact between the connecting clamp 7 and the calibration arm 5 is rolling contact of a needle roller, so that the calibration arm can rotate freely.
In this embodiment, the rolling contact of the needle roller is an existing contact mode.
The actuator loads uniform linear displacement control to the calibration arm through the connecting clamp, so that the calibration arm drives the transmission rotating shaft to rotate at a uniform speed through the mounting sleeve, and torque is transmitted to the rotating shaft of the dynamometer through the coupler.
In practical application, the dynamometer is required to be braked and fixed; and meanwhile, adjusting the calibration arm to be horizontal through the actuator, and zeroing the force sensor and the displacement sensor.
According to the loading assembly with the structure, the linear displacement control in the vertical direction is output through the actuator and is transmitted to the calibration arm through the connecting clamp, so that the linear displacement control in the vertical direction is loaded to the calibration arm, the calibration arm can drive the transmission rotating shaft to rotate at a constant speed through the mounting sleeve, and torque is transmitted to the rotating shaft of the dynamometer through the coupler, namely, the linear motion loaded by the loading assembly can be converted into the constant-speed rotation of the rotary transmission assembly, further, the dynamic calibration of the torque of the dynamometer can be better realized, and the effectiveness of the torque calibration of the dynamometer can be ensured. Meanwhile, the loading component does not interfere with a dynamometer system, and the rotation control of the converted loading to the dynamometer enables the torque calibration process of the dynamometer to be closer to the actual process, so that the consistency, the efficiency and the automation degree of the torque calibration of the dynamometer can be further improved.
In the specific implementation process, the online calibration device for the torque of the dynamometer further comprises:
the sliding rail 91 is fixedly arranged on one side of the base corresponding to the rotating shaft of the dynamometer, and the sliding direction is opposite to the dynamometer;
and the movable slide block 92 is arranged on the slide rail in a sliding manner and is used for fixedly mounting the calibration support.
According to the invention, through the structures of the sliding rail and the movable sliding block, the whole calibration device can be driven to move on the base in the direction approaching or separating from the dynamometer system, so that the calibration device is convenient to mount and dismount.
Based on the calibration device, the invention generates the linear displacement loading curve of each rotating speed point by the following modes:
1) The linear displacement control is loaded through the calibration device until the maximum torque T of the dynamometer is acquired by the dynamometer torque sensor max Nearby, recording the maximum linear displacement h loaded by the calibration device at the moment max ；
2) According to the maximum linear displacement h max Calculating the maximum rotation angle theta of rotation of a rotating shaft (calibration arm) of a dynamometer max ；
3) Dividing a plurality of rotating speed points n from the maximum rotating speed range of the dynamometer i (i＝0,1,2,…,m,m>5)；
4) Based on the maximum rotation angle theta max Calculating each rotation speed point n i The loading slope and loading period of the corresponding rotation angle are obtained, and each rotation speed point n is obtained i Is a loading corner curve;
5) Each rotation speed point n i The loading rotation angle in the loading rotation angle curve is converted into the corresponding linear displacement loading amount, and then the linear displacement loading curve of each rotation speed point is generated (as shown in fig. 10).
In this embodiment, the actuator loads the calibration arm with a linear displacement to drive the rotation transmission assembly to rotate, and the calibration arm also rotates at this time, so that each loading corner of the calibration arm has a corresponding linear loading displacement. The invention converts the loading corner curve into a corresponding linear displacement loading curve for controlling the output linear displacement of the actuator.
The invention firstly records the maximum displacement value at the maximum torque of the dynamometer and calculates the maximum rotation angle, then carries out rotation speed point division according to the maximum rotation speed range of the dynamometer, calculates and generates a loading rotation angle curve of each rotation speed point, and finally converts the loading rotation angle curve of each rotation speed point into a linear loading displacement curve of the calibration device, so that the calibration device can realize the calibration of the dynamometer torque sensor by loading linear displacement control through the linear loading displacement curve and calculating the actual torque signal at each rotation speed point, and further can effectively calibrate the dynamometer torque sensor at various rotation speeds, thereby better realizing the dynamic calibration of the dynamometer torque.
However, since the calibration arm of the present invention has a wedge angle, the vertical loading force and loading torque, and the vertical loading speed and loading angular speed are no longer in a simple linear and rotational relationship, and are relatively complex, the loading system dynamics and kinematics analysis, analysis and derivation of the relationship between linear loading and rotational loading are performed below.
The formula parameters of the design of the present invention are described in conjunction with fig. 7 and 8.
As shown in fig. 7, the calibration arm is projected to form an isosceles trapezoid wedge abcd. As shown in fig. 8, a schematic diagram of the movement of the calibration arm when rotating is shown, and the solid isosceles trapezoid wedge abcd is the initial horizontal position of the calibration arm. Assuming that when the force F in the vertical direction of the actuator is loaded upwards, the calibration arm is rotated counterclockwise by an angle θ, such as the position of the broken isosceles trapezoid wedge a 'b' c 'D' in fig. 8, the distance moved by the point D in the vertical direction is h, the force F at the point D of the calibration arm force receiving point (loading position) can be decomposed into a component force F1 perpendicular to the lower edge line of the calibration arm and a component force F2 along the lower edge line of the calibration arm, and the moment generated around the rotation center is counterclockwise (counterclockwise is defined as positive). Namely:
alpha: the wedge angle of the isosceles trapezoid wedge block obtained by projection of the calibration arm is shown.
R: the distance between one end of the lower bottom edge of the isosceles trapezoid wedge obtained by projection of the calibration arm and the axle center (rotation center) of the transmission shaft is shown, namely, one half of the length (the length from a to O in fig. 7) of the lower bottom edge of the isosceles trapezoid wedge.
D: the loading position of the actuator is indicated, namely the point where the actuator is contacted with the calibration arm through the connecting clamp.
l: the horizontal distance from the loading position of the actuator to the center of rotation, i.e. the length a to D' in fig. 7, is indicated.
x: the vertical height of the loaded position of the actuator is indicated, i.e. the length D to D' in fig. 7.
θ: the rotation angle of the calibration arm under displacement control, i.e. the loading angle, is indicated.
h: representing the value of displacement loaded by the actuator, i.e. the length D to D "in fig. 7.
The following analysis and deduction is made in connection with fig. 7 and 8:
the torque generated by the component force F1 is as shown in formula (1):
M 1 ＝F 1 ·R 1 (R 1 representing the length of E to D' in FIG. 8) (1)
The torque generated by the component force F2 is as shown in formula (2):
M 2 ＝F 2 ·R 2 (R 2 representing the length of E to O in FIG. 8) (2)
The magnitudes of the component forces F1 and F2 are as shown in the formulas (3) (4):
F 1 ＝F·cos(α+θ) (3)
F 2 ＝F·sin(α+θ) (4)
arms R2 and R1 are calculated as formula (5) (6):
R 2 ＝R·cosα (5)
R 1 ＝R 2 ·tanβ (6)
where β represents the magnitude of angle D "OE in FIG. 8, which magnitude is as in equation (7) according to the relationship:
wherein x and θ are represented by formulas (8), (9).
x＝l·tanα (8)
The actual torque signal M around the rotation center is shown as formula (10):
M＝M1+M2＝F·cos(α+θ)·R·cosα·tanβ+F·sin(α+θ)·R·cosα (10)
wherein: m represents the actual torque signal loaded; f represents the force value loaded by the actuator; m1 represents the torque generated by the force F1 of the loading force F perpendicular to the lower edge of the calibration arm; m2 represents the torque generated by the force component F2 of the loading force F along the lower edge of the calibration arm; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance between one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm and the axle center (rotation center) of the transmission rotating shaft, namely one half of the length of the lower bottom edge of the isosceles trapezoid wedge block; θ represents the rotation angle of the calibration arm under displacement control, namely the loading rotation angle; h represents the displacement value loaded by the actuator; a represents the horizontal distance from the loading position of the actuator to the rotation center; l represents the horizontal distance from the loading position of the actuator to the rotation center; x represents the vertical height of the loaded position of the actuator.
When the vertical force F of the actuator is downwards loaded, the whole calibration arm rotates clockwise, the stress point of the calibration arm is positioned at the point D on the upper edge line of the calibration arm, and the calculation formula of the loading torque is the same as that of the calculation formula of the loading torque (the torque and the rotation angle are positive anticlockwise and negative clockwise).
For the relationship between the displacement and the rotation angle of the vertical loading, as shown in fig. 9, the initial position of the calibration arm is horizontal (the middle trapezoid wedge abcd in the figure), the horizontal distance AB of the loading position of the actuator is l (i.e., as in the graph of the aD ' in fig. 8), the loading displacement DC of the actuator in the vertical direction is h (i.e., as in the graph of the dd″ in fig. 8), the counterclockwise rotation angle +.gof of the calibration arm is θ, and the rotation is shown as the dotted isosceles trapezoid wedge a ' b ' c'd ' in the graph of fig. 9. After the O point is passed and rotated, the vertical line of the lower edge line of the calibration arm is intersected with the E point, and the extension line of the CE is intersected with the initial vertical coordinate line at the A point.
As can be seen from fig. 9, the rotation angle θ can be expressed as formula (11):
θ＝∠AOE-α＝∠CAB-α (11)
let OE length be l 1 AE has a length of l 2 Length of EC is l 3 Length of OA is l 4 CB has a length of l 5 The following steps are:
l 1 ＝Rcosα (13)
l 4 2 ＝l 1 2 +l 2 2 (14)
l 1 /l＝l 2 /l 5 (15)
h＝l 5 +R-ltanα-l 4 (16)
when the angle θ is rotated, the displacement h to be applied is represented by the following formulas (12) to (16):
wherein: h represents the displacement value loaded by the actuator; l represents the horizontal distance from the loading position of the actuator to the rotation center; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance between one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm and the axle center (rotation center) of the transmission rotating shaft, namely one half of the length of the lower bottom edge of the isosceles trapezoid wedge block; θ represents the rotation angle of the calibration arm under displacement control, i.e. the loading rotation angle.
Similarly, it can be deduced that the calibration arm rotates clockwise when loaded downward, the rotation angle θ is a negative value, and the calculation is performed by the formula (18):
specific:
the maximum rotation angle of the rotation control of the calibration device, namely the maximum rotation angle of the calibration arm, is calculated by the following formula:
l 1 ＝Rcosα；
a＝2e；
b＝e 2 -l 2 ；
c＝(Rlcosα) 2 ；
e＝ltanα+h max -R；
wherein: θ max The maximum rotation angle of the calibration arm under the maximum loading torque of the dynamometer is represented; h is a max Representing the maximum linear displacement of the actuator under the maximum loading torque of the dynamometer; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center, namely one half of the length of the lower bottom edge of the isosceles trapezoid wedge block; l represents the horizontal distance of the actuator loading position from the centre of rotation.
Calculating the loading slope and loading period of the rotation angle corresponding to the rotation speed point through the following formula:
wherein: k (k) i Representing the loading slope; t (T) i Representing a loading cycle; n is n i Indicating the i-th rotation speed point.
The load rotation angle is converted into a load displacement by the following formula:
wherein: h represents the displacement value loaded by the actuator; l represents the horizontal distance from the loading position of the actuator to the rotation center; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; alpha represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center, namely one half of the length of the lower bottom edge of the isosceles trapezoid wedge block; θ represents the rotation angle of the calibration arm under displacement control, i.e. the loading rotation angle.
The actual torque signal loaded is calculated by the following formula:
M＝F·cos(α+θ)·R·cosα·tanD+F·sin(α+θ)·R·cosα；
x＝l·tanα；
wherein: m represents the actual torque signal loaded; f represents the force value loaded by the actuator; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; θ represents the rotation angle of the calibration arm under displacement control, namely the loading rotation angle; h represents the displacement value loaded by the actuator; l represents the horizontal distance from the loading position of the actuator to the rotation center; x represents the vertical height of the loaded position of the actuator.
In order to reduce the influence of the gravity of the calibration arm on the calibration process as far as possible, the invention sets the calibration arm to have a certain wedge angle and is projected to be an isosceles trapezoid wedge block structure, however, as the calibration arm has the wedge angle, the vertical loading force and the loading torque and the vertical loading speed and the loading angular speed are not in simple straight line and rotation relation any more, and related data cannot be accurately calculated in the actual calibration process. Aiming at the problem, the invention calculates the relationship between the loading force and the torque and the relationship between the loading displacement and the rotation angle of the calibration arm, so that the calculation of various parameters in the dynamic calibration process of the torque of the dynamometer can be effectively realized based on the calibration arm with the wedge angle, thereby effectively ensuring the accuracy of the torque calibration of the dynamometer and further improving the consistency, the efficiency and the degree of automation of the torque calibration of the dynamometer.
Finally, it should be noted that the above embodiments are only for illustrating the technical solution of the present invention and not for limiting the technical solution, and those skilled in the art should understand that modifications and equivalents may be made to the technical solution of the present invention without departing from the spirit and scope of the present invention, and all such modifications and equivalents are included in the scope of the claims.
Claims (10)
1. The torque on-line dynamic calibration method for the dynamometer system comprises a dynamometer and a dynamometer torque sensor for measuring the torque of the dynamometer; characterized by comprising the following steps:
s1: transmitting the loaded linear displacement to the dynamometer to rotate until a maximum torque of the dynamometer is acquired by a dynamometer torque sensor, and recording the loaded maximum linear displacement;
s2: dividing a plurality of rotating speed points from the maximum rotating speed range of the dynamometer, and generating a linear displacement loading curve of each rotating speed point by combining the maximum linear displacement amount of the dynamometer loaded during maximum torque;
s3: loading linear displacement through a linear displacement loading curve of each rotating speed point, and collecting force values and displacement values in the loading process to calculate actual torque signals loaded to the dynamometer at each rotating speed point;
s4: and measuring a measured torque signal of the dynamometer at each rotating speed point through a dynamometer torque sensor, and calibrating the dynamometer torque sensor according to the corresponding actual torque signal.
2. The method for online dynamic calibration of torque for a dynamometer system according to claim 1, wherein in step S1, the linear displacement is loaded by the calibration device and transmitted to the dynamometer to rotate;
the calibration device comprises:
the calibration arm is coaxially and fixedly connected with the rotating shaft of the dynamometer, and takes the axle center of the rotating shaft of the dynamometer as a rotating center;
the loading assembly is used for loading linear displacement control to the calibration arm so as to drive the rotating shaft of the dynamometer to rotate and loading torque to the rotating shaft of the dynamometer.
3. The method for on-line dynamic calibration of torque for a dynamometer system of claim 2, wherein the calibration means further comprises:
the rotary transmission assembly comprises a transmission rotating shaft which can freely rotate and is coaxially arranged with the rotating shaft of the dynamometer, a coupler which is used for coaxially and fixedly connecting the transmission rotating shaft and the rotating shaft of the dynamometer, and a mounting sleeve which is coaxially and fixedly sleeved on the transmission rotating shaft;
the calibration arm is fixedly arranged on the mounting sleeve, and takes the axle center of the rotating shaft of the dynamometer as a rotation center;
the loading assembly applies linear displacement control to the calibration arm, so that the calibration arm drives the transmission rotating shaft to rotate through the mounting sleeve, and then drives the rotating shaft of the dynamometer to rotate through the coupler, and loads torque to the rotating shaft of the dynamometer.
4. A method for on-line dynamic calibration of torque for a dynamometer system according to claim 3, characterized by: the calibration arm comprises two force arm parts which are symmetrical relative to the vertical plane of the axis of the transmission rotating shaft;
each force arm part of the calibration arm is projected into an isosceles trapezoid wedge block which is gradually narrowed towards a direction far away from the mounting sleeve along the axis direction of the transmission rotating shaft, and the symmetry line of the isosceles trapezoid wedge block obtained by the projection of the calibration arm is vertical to the axis of the transmission rotating shaft.
5. The torque on-line dynamic calibration method for a dynamometer system of claim 4, wherein: the loading assembly comprises an actuator for outputting linear displacement control, a force sensor and a displacement sensor for respectively acquiring a force value and a displacement value when the actuator loads the linear displacement control, and a connecting clamp for connecting the calibration arm and the displacement control output end of the actuator;
the contact position of the calibration arm and the connecting clamp is the loading position of the actuator during the linear displacement control of loading;
the actuator loads uniform linear displacement control to the calibration arm through the connecting clamp, so that the calibration arm drives the transmission rotating shaft to rotate at a uniform speed through the mounting sleeve, and then the rotating shaft of the dynamometer is driven to rotate at a uniform speed through the coupler.
6. The method for online dynamic calibration of torque for a dynamometer system of claim 4, wherein in step S2, the maximum rotation angle of the calibration arm at the maximum torque of the dynamometer is calculated first according to the maximum linear displacement; then calculating a loading slope and a loading period of a corresponding rotation angle of each rotation speed point based on the maximum rotation angle of the calibration arm, and obtaining a loading rotation angle curve of each rotation speed point; and finally, converting the loading corners in the loading corner curves of the rotating speed points into corresponding linear displacement loading amounts, and further generating linear displacement loading curves of the loading assemblies at the rotating speed points.
7. The on-line dynamic calibration method for torque of a dynamometer system of claim 6, wherein the maximum rotation angle of the calibration arm at the maximum torque of the dynamometer is calculated by the following formula:
l 1 ＝Rcosα；
a＝2e；
b＝e 2 -l 2 ；
c＝(Rl cosα) 2 ；
e＝ltanα+h max -R；
wherein: θ max The maximum rotation angle of the calibration arm under the maximum torque of the dynamometer is shown; h is a max The maximum linear displacement amount loaded by the loading component under the maximum torque of the dynamometer is represented; alpha represents the projection of the calibration armWedge angle of isosceles trapezoid wedge block; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; l represents the horizontal distance of the loading position on the indexing arm to the centre of rotation.
8. The method for online dynamic calibration of torque for a dynamometer system of claim 7, wherein the loading slope and loading period of the rotational angle corresponding to the rotational speed point are calculated by the following formula:
wherein: k (k) i Representing the loading slope; t (T) i Representing a loading cycle; n is n i Indicating the i-th rotation speed point.
9. The method for on-line dynamic calibration of torque for a dynamometer system of claim 8, wherein the load angle is converted to a load displacement by the formula:
wherein: h represents the linear displacement of the load; l represents the horizontal distance from the loading position on the calibration arm to the rotation center; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; θ represents the rotation angle of the calibration arm under the control of linear displacement, namely the loading rotation angle.
10. The method for on-line dynamic calibration of torque for a dynamometer system of claim 6, wherein in step S3, the actual torque signal loaded is calculated by the following formula:
M＝F·cos(α+θ)·R·cosα·tanβ+F·sin(α+θ)·R·cosα；
x＝l·tanα；
wherein: m represents the actual torque signal loaded; f represents the force value of the load; alpha represents the wedge angle of an isosceles trapezoid wedge block obtained by projection of the calibration arm; r represents the distance from one end of the lower bottom edge of the isosceles trapezoid wedge block obtained by projection of the calibration arm to the rotation center; θ represents the rotation angle of the calibration arm under the control of linear displacement, namely the loading rotation angle; h represents the loaded displacement value; l represents the horizontal distance from the loading position on the calibration arm to the rotation center; x represents the vertical height of the loading position.
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