CN205506295U - Rotational inertia testing device - Google Patents
Rotational inertia testing device Download PDFInfo
- Publication number
- CN205506295U CN205506295U CN201620249914.6U CN201620249914U CN205506295U CN 205506295 U CN205506295 U CN 205506295U CN 201620249914 U CN201620249914 U CN 201620249914U CN 205506295 U CN205506295 U CN 205506295U
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- Prior art keywords
- rotational inertia
- test apparatus
- rotating shaft
- counterweight
- servomotor
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Abstract
The utility model provides a rotational inertia testing device, include: motor mounting section for install the servo motor that awaits measuring, the load weight rotationally is connected with servo motor, and servo motor is used for draging the load weight and rotates, servo driver is connected with servo motor for control and driving servo motor rotate, and acquire the inertia of servo motor and load weight rotation in -process, use the utility model discloses technical scheme's rotational inertia testing device has solved among the prior art and to have adopted the calculus to acquire the inertia error great and adopt the measurement to acquire the technical problem that inertia is comparatively difficult.
Description
Technical field
This utility model relates to electromechanical testing apparatus field, in particular to a kind of rotational inertia test apparatus.
Background technology
In the complex transmissions such as high-precision automatic production line or robot, to the control of motor it is critical that one
Ring.The motor realized under unknown load condition controls, and rotary inertia is a very important parameter.At system control parameters
On the premise of constant, the increase of system rotary inertia, the dynamic response that can make controlled system is slack-off；Subtracting of system rotary inertia
Little, controlled system can be made to occur, and bigger overshoot is the most stable.In motor servo system, the rotary inertia of system and electricity
The electric parameter (resistance, inductance and magnetic linkage) of machine affects the setting of PI controller parameter, and PI controller directly affects controlling
The quality of energy.Therefore, the most in real time the rotary inertia of system is carried out identification, change at rotary inertia and load torque
In the case of, the most correct control parameter adjusting former servo-control system or control mode, it is possible to make system fully resist
The impact that external disturbance brings, increases the robustness of system.
The method obtaining electric machine rotation inertia has calculating method and measurement method.Owing to motor and load form by different materials, and
Size is difficult to measure, thus the inertia value that calculating method is often difficult to and calculates exists bigger error.Many employings in engineering
Measurement method, and in current measurement method, the identification of rotational inertia of servo drive system needs individually to carry out load inertia and load torque
Identification, it is impossible to regarding load inertia and electric machine rotation inertia as an entirety and realize inertia identification, this needs having relatively of operator
High professional standards, so that the measurement of rotary inertia is the most difficult.
For using calculating method to obtain in prior art, rotary inertia error is relatively big and employing measurement method acquisition rotary inertia is the most tired
Difficult technical problem, the most not yet proposes effective solution.
Utility model content
Main purpose of the present utility model is to provide a kind of rotational inertia test apparatus, in terms of at least solving to use in prior art
Algorithm obtains the technical problem that rotary inertia error is relatively big and uses measurement method to obtain rotary inertia more difficulty.
To achieve these goals, according to an aspect of the present utility model, it is provided that a kind of rotational inertia test apparatus, including:
Motor mounting part, is used for installing servomotor to be measured；Load counterweight, is rotatably coupled with servomotor, and servomotor is used for
Drag load counterweight to rotate；Servo-driver, is connected with servomotor, is used for controlling and drive servomotor to rotate, and obtains
Rotary inertia in servomotor and load counterweight rotation process.
Further, rotational inertia test apparatus also includes: counterweight fixed part, is on same straight line with motor mounting part, negative
Carry counterweight to be rotatably arranged on counterweight fixed part.
Further, counterweight fixed part includes: the first supporting part, is positioned close to one end of motor mounting part；Second supporting part,
It is arranged far from one end of motor mounting part；Rotating shaft, the first end of rotating shaft is rotatably connected on the first supporting part, rotating shaft
Second end is rotatably connected on the second supporting part；Wherein, load counterweight is fixedly installed in rotating shaft, rotating shaft and servomotor
Armature spindle connect.
Further, the first supporting part includes: clutch shaft bearing seat；Clutch shaft bearing, is fixedly installed on clutch shaft bearing seat, rotating shaft
The first end be rotatably coupled with clutch shaft bearing.
Further, the second supporting part includes: the second bearing block；Second bearing, is fixedly installed on the second bearing block, rotating shaft
The second end and the second bearing be rotatably coupled.
Further, counterweight fixed part also includes: the first cushion block, is positioned at the lower section of the first supporting part, and the first supporting part is fixing to be set
Put on the first cushion block.
Further, counterweight fixed part also includes: the second cushion block, is positioned at the lower section of the second supporting part, and the second supporting part is fixing to be set
Put on the second cushion block.
Further, rotational inertia test apparatus also includes: shaft coupling, is arranged between servomotor and counterweight fixed part, watches
The armature spindle taking motor is connected with rotating shaft by shaft coupling.
Further, load counterweight is provided with at least one, and load counterweight is removably disposed in rotating shaft.
Further, load counterweight is provided with multiple, being disposed in parallel in rotating shaft of multiple load counterweight.
Further, load counterweight includes: the first branch, has the first curved portions that the external diameter with rotating shaft mates；Second branch,
Having the second curved portions that the external diameter with rotating shaft mates, the first end of the first branch and the first end of the second branch are hinged, first point
Second end in portion and the second end of the second branch are snapped together by snap part and make the first curved portions and the second curved portions with interference
The mode coordinated is folded in rotating shaft.
Further, snap part includes: fixing screw, wherein, the second end of the first branch and the second end of the second branch divide
Not being provided with the screw of correspondence, the second end of the first branch and the second end of the second branch are locked by fixing screw through two screws.
Further, rotational inertia test apparatus also includes: base plate, and motor mounting part and counterweight fixed part are respectively fixedly disposed at
On base plate.
Further, motor mounting part includes: the motor mount of " L " shape, and the short portion of motor mount is fixing with base plate to be connected,
Servomotor is fixedly installed in the long portion of motor mount.
The rotational inertia test apparatus of application technical solutions of the utility model, by installing servomotor to be measured on motor mounting part
And the rotary inertia loading counterweight fictitious load being rotatably coupled with servomotor is set, servomotor is with servo-driver even
Connecing, servo-driver controls and drives servomotor to rotate, thus drags load counterweight and rotate together, and servo-driver obtains and watches
Take the rotary inertia in motor and load counterweight rotation process, inertia identification can be verified by comparison between calculation results and measurement result
The precision of program.Thus solve and prior art use calculating method acquisition rotary inertia error relatively big and use measurement method to obtain
The technical problem of rotary inertia more difficulty.
In addition to objects, features and advantages described above, this utility model also has other objects, features and advantages.
Below with reference to figure, this utility model is described in further detail.
Accompanying drawing explanation
The Figure of description constituting a part of the present utility model is further appreciated by of the present utility model for providing, and this practicality is new
The schematic description and description of type is used for explaining this utility model, is not intended that improper restriction of the present utility model.Attached
In figure:
Fig. 1 is the structural representation according to the optional rotational inertia test apparatus of this utility model embodiment.
Wherein, above-mentioned accompanying drawing includes the following drawings labelling:
10, motor mounting part；11, motor mount；20, servomotor；30, load counterweight；31, the first branch；32、
Second branch；40, counterweight fixed part；41, the first supporting part；42, the second supporting part；43, rotating shaft；44, the first cushion block；
45, the second cushion block；50, shaft coupling；60, base plate；70, servo-driver.
Detailed description of the invention
It should be noted that in the case of not conflicting, the embodiment in this utility model and the feature in embodiment can be mutual
Combination.Describe this utility model below with reference to the accompanying drawings and in conjunction with the embodiments in detail.
In order to make those skilled in the art be more fully understood that this utility model scheme, below in conjunction with in this utility model embodiment
Accompanying drawing, the technical scheme in this utility model embodiment is clearly and completely described, it is clear that described embodiment
It is only the embodiment of this utility model part rather than whole embodiments.Based on the embodiment in this utility model, this
The every other embodiment that field those of ordinary skill is obtained under not making creative work premise, all should belong to this reality
By novel protected scope.
According to this utility model embodiment, as it is shown in figure 1, to achieve these goals, according to a side of the present utility model
Face, it is provided that a kind of rotational inertia test apparatus, including: motor mounting part 10, servomotor 20, load counterweight 30 and watch
Taking driver 70, motor mounting part 10 is used for installing servomotor to be measured；Load counterweight 30 connects rotationally with servomotor 20
Connecing, servomotor 20 is used for dragging load counterweight 30 and rotates；Servo-driver 70 is connected with servomotor 20, is used for controlling
And drive servomotor 20 to rotate, and obtain the rotary inertia in servomotor 20 and load counterweight 30 rotation process.
The rotational inertia test apparatus of application technical solutions of the utility model, by installing servo to be measured electricity on motor mounting part 10
Machine 20 also arranges the rotary inertia loading counterweight 30 fictitious load being rotatably coupled with servomotor 20, servomotor 20
Being connected with servo-driver 70, servo-driver 70 controls and drives servomotor 20 to rotate, thus drags load counterweight 30
Rotating together, servo-driver 70 obtains the rotary inertia in servomotor 20 and load counterweight 30 rotation process, by contrast
Result of calculation and measurement result can verify the precision of inertia identification program.Thus solve and prior art uses calculating method obtain
Rotary inertia error is relatively big and uses measurement method to obtain the technical problem that rotary inertia is more difficult.
When being embodied as, rotational inertia test apparatus also includes: counterweight fixed part 40, counterweight fixed part 40 and motor mounting part
10 are on same straight line, and load counterweight 30 is rotatably arranged on counterweight fixed part 40, specifically, and counterweight fixed part 40
Including: first supporting part the 41, second supporting part 42 and be rotatably connected on the first supporting part 41 and the second supporting part 42
Rotating shaft 43, the first supporting part 41 is positioned close to one end of motor mounting part 10；Second supporting part 42 is arranged far from motor
One end of installation portion 10, the distance between the first supporting part 41 and the second supporting part 42 mates with the length of rotating shaft 43, rotating shaft
First end of 43 is rotatably connected on the first supporting part 41, and the second end of rotating shaft 43 is rotatably connected to the second supporting part
On 42, the first supporting part 41 includes: clutch shaft bearing seat and the clutch shaft bearing being arranged on clutch shaft bearing seat, the first of rotating shaft 43
End is rotatably coupled with clutch shaft bearing；Second supporting part 42 includes: the second bearing block and second be arranged on clutch shaft bearing seat
Bearing, the second end and second bearing of rotating shaft 43 are rotatably coupled.Load counterweight 30 is fixedly installed in rotating shaft 43, rotating shaft
43 are connected with the armature spindle of servomotor 20, thus servomotor 20 rotates and then drag load counterweight by dragging rotating shaft 43
30 rotate together.
In order to make rotating shaft 43 be positioned at sustained height and by the first supporting part 41 and the second supporting part 42 with the armature spindle of servomotor 20
Being fixedly mounted on installation foundation, be provided with the first cushion block 44 in the lower section of the first supporting part 41, the first supporting part 41 is fixing to be set
Put on the first cushion block 44；Be provided with the second cushion block 45 in the lower section of the second supporting part 42, the second supporting part 42 is fixedly installed on
On second cushion block 45, the lower section of the first cushion block 44 and the second cushion block 45 is provided with base plate 60 as installation foundation, the first cushion block
44 and second cushion block 45 be bolted on base plate 60.
Motor mounting part 10 includes: the motor mount 11 of " L " shape, and the short portion of motor mount 11 is fixing with base plate 60 to be connected,
Having through through hole in the long portion of motor mount 11, one end of servomotor 20 shell body is fixed on motor mount 11
In long portion, the armature spindle of servomotor 20 is connected dragging rotating shaft 43 through this through hole and rotates with rotating shaft 43.
For the ease of connection and the dismounting of servomotor 20 and rotating shaft 43, it is additionally provided with between servomotor 20 and rotating shaft 43
Shaft coupling 50 is by detachably connected to servomotor 20 and rotating shaft 43 such that it is able to be easily installed and dismantle servomotor 20, full
Different servomotors 20 is tested by foot.
In order to ensure the accuracy measured, load counterweight 30 is provided with at least one, and load counterweight 30 is removably disposed in
In rotating shaft 43.Preferably, load counterweight 30 is provided with multiple, and multiple load counterweights 30 can be disposed in parallel in rotating shaft 43 simultaneously
On.
In order to make load counterweight 30 be easily installed in rotating shaft 43 and dismantle, load counterweight 30 includes: the first branch 31 and the
Two branches 32, the first branch 31 has the first curved portions that the external diameter with rotating shaft 43 mates；Second branch 32 has and rotating shaft
Second curved portions of the external diameter coupling of 43, the first end of the first branch 31 and the first end of the second branch 32 are hinged, the first branch
Second end of 31 and the second end of the second branch 32 are snapped together by snap part and make the first curved portions and the second curved portions with mistake
The mode coordinated that is full of is folded in rotating shaft 43 and is fixed.During dismounting, being opened by snap part can be by load counterweight 30 by turning
Pull down on axle 43.Specifically, snap part can use fixing screw, in the second end and second branch 32 of the first branch 31
The second end be respectively arranged with the screw of correspondence, fixing screw through two screws by the second end of the first branch 31 and the second branch
Second end of 32 is locked.
Alternatively, load counterweight 30 is provided with 16, each load counterweight 30 all sized by identical and standard weight that weight is identical
Code, if the inertia of servomotor 20 is one times of inertia, can calculate a load counterweight according to the construction features of load counterweight 30
One times that rotary inertia is servomotor 20 inertia of 30 loads.In servo-driver 70, programming has identification of rotational inertia program,
The rotary inertia of the servomotor 20 with load counterweight 30 is measured by identification of rotational inertia program.This utility model is implemented
The rotational inertia test apparatus of example can measure for the servomotor 20 of Multiple Type, and can fictitious load exactly
Rotary inertia.
When specifically testing, after being installed to connect with rotating shaft 43 on motor mount 11 by servomotor 20, first one is born
Carry counterweight 30 to be arranged in rotating shaft 43, the power line of servo-driver 70 is connected with power supply, by servomotor 20 to be measured
Power line and encoder line be connected with servo-driver 70 respectively, servomotor 20 is operated in velocity mode, now utilizes
The rotary inertia of servomotor 20 and load counterweight 30 is measured and record by the identification of rotational inertia program of servo-driver 70
The theoretical value of lower inertia and the identifier of program, carry out being repeated several times the meansigma methods of test program fetch identifier.After completing, will treat
Survey servomotor 20 and servo-driver 70 is shut down, load counterweight 30 is increased to two, reopens servomotor 20 He
Servo-driver 70, allows it operate under identical working condition, and the rotation recording servomotor 20 and load counterweight 30 is used to
The meansigma methods that the theoretical value of amount and servo-driver record for more than 70 time.Repeat above testing procedure, complete to load counterweight 30 from 1～16
Individual rotation inerttia experiment, it is thus achieved that the theoretical value of 30 times rotary inertias of 1～16 load counterweight and identification of rotational inertia program
Identification meansigma methods, the precision of servomotor 20 identification of rotational inertia program can be verified by contrast.
In order to simplify test process, load counterweight 30 increases to from 1 the rotary inertia test experiments of 16, can not carry out many
Secondary measurement, is obtained the identifier of rotary inertia program, it is contrasted with inertia theoretical value by single measurement, verifies servo
The precision of motor 20 identification of rotational inertia program.
The foregoing is only preferred embodiment of the present utility model, be not limited to this utility model, for this area
For technical staff, this utility model can have various modifications and variations.All within spirit of the present utility model and principle, institute
Any modification, equivalent substitution and improvement etc. made, within should be included in protection domain of the present utility model.
Claims (14)
1. a rotational inertia test apparatus, it is characterised in that including:
Motor mounting part (10), is used for installing servomotor to be measured (20)；
Load counterweight (30), is rotatably coupled with described servomotor (20), and described servomotor (20) is used for dragging
Dynamic described load counterweight (30) rotates；
Servo-driver (70), is connected with described servomotor (20), is used for controlling and drive described servomotor (20)
Rotate, and obtain the rotary inertia in described servomotor (20) and described load counterweight (30) rotation process.
Rotational inertia test apparatus the most according to claim 1, it is characterised in that described rotational inertia test apparatus also includes:
Counterweight fixed part (40), is on same straight line with described motor mounting part (10), described load counterweight (30)
It is rotatably arranged on described counterweight fixed part (40).
Rotational inertia test apparatus the most according to claim 2, it is characterised in that described counterweight fixed part (40) including:
First supporting part (41), is positioned close to one end of described motor mounting part (10)；
Second supporting part (42), is arranged far from one end of described motor mounting part (10)；
Rotating shaft (43), the first end of described rotating shaft (43) is rotatably connected on described first supporting part (41), institute
The second end stating rotating shaft (43) is rotatably connected on described second supporting part (42)；
Wherein, described load counterweight (30) is fixedly installed in described rotating shaft (43), and described rotating shaft (43) is with described
The armature spindle of servomotor (20) connects.
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described first supporting part (41) including:
Clutch shaft bearing seat；
Clutch shaft bearing, is fixedly installed on described clutch shaft bearing seat, the first end of described rotating shaft (43) and described first axle
Hold and be rotatably coupled.
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described second supporting part (42) including:
Second bearing block；
Second bearing, is fixedly installed on described second bearing block, the second end of described rotating shaft (43) and described second axle
Hold and be rotatably coupled.
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described counterweight fixed part (40) also includes:
First cushion block (44), is positioned at the lower section of described first supporting part (41), and described first supporting part (41) is fixing to be set
Put on described first cushion block (44).
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described counterweight fixed part (40) also includes:
Second cushion block (45), is positioned at the lower section of described second supporting part (42), and described second supporting part (42) is fixing to be set
Put on described second cushion block (45).
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described rotational inertia test apparatus also includes:
Shaft coupling (50), is arranged between described servomotor (20) and described counterweight fixed part (40), described servo
The described armature spindle of motor (20) is connected with described rotating shaft (43) by described shaft coupling (50).
Rotational inertia test apparatus the most according to claim 3, it is characterised in that described load counterweight (30) be provided with to
Lack one, and described load counterweight (30) is removably disposed in described rotating shaft (43).
Rotational inertia test apparatus the most according to claim 9, it is characterised in that described load counterweight (30) is provided with many
Individual, being disposed in parallel in described rotating shaft (43) of multiple described load counterweight (30).
11. rotational inertia test apparatus according to claim 9, it is characterised in that described load counterweight (30) including:
First branch (31), has the first curved portions that the external diameter with described rotating shaft (43) mates；
Second branch (32), has the second curved portions that the external diameter with described rotating shaft (43) mates, described first branch (31)
The first end and the first end of described second branch (32) hinged, the second end of described first branch (31) and described
Second end of two branches (32) snapped together by snap part make described first curved portions and described second curved portions with
The mode of interference fit is folded in described rotating shaft (43).
12. rotational inertia test apparatus according to claim 11, it is characterised in that described snap part includes:
Fixing screw, wherein, the second end of described first branch (31) and the second end of described second branch (32) divide
Not being provided with the screw of correspondence, described fixing screw passes two described screws by the second end of described first branch (31)
The second end locking with described second branch (32).
13. rotational inertia test apparatus according to claim 2, it is characterised in that described rotational inertia test apparatus also includes:
Base plate (60), described motor mounting part (10) and described counterweight fixed part (40) are respectively fixedly disposed at the described end
On plate (60).
14. rotational inertia test apparatus according to claim 13, it is characterised in that described motor mounting part (10) including:
The motor mount (11) of " L " shape, the short portion of described motor mount (11) is fixed with described base plate (60)
Connecting, described servomotor (20) is fixedly installed in the long portion of described motor mount (11).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620249914.6U CN205506295U (en) | 2016-03-28 | 2016-03-28 | Rotational inertia testing device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201620249914.6U CN205506295U (en) | 2016-03-28 | 2016-03-28 | Rotational inertia testing device |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN205506295U true CN205506295U (en) | 2016-08-24 |
Family
ID=56735340
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201620249914.6U Expired - Fee Related CN205506295U (en) | 2016-03-28 | 2016-03-28 | Rotational inertia testing device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN205506295U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607261A (en) * | 2017-09-19 | 2018-01-19 | 广西电网有限责任公司电力科学研究院 | A kind of method for obtaining electric generating set rotor rotary inertia |
| CN109029843A (en) * | 2018-08-30 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of wheel set rotational inertia measuring device and measurement method |
| CN117030116A (en) * | 2023-10-10 | 2023-11-10 | 北京星河动力装备科技有限公司 | Device and method for measuring rotational inertia of aircraft component |
-
2016
- 2016-03-28 CN CN201620249914.6U patent/CN205506295U/en not_active Expired - Fee Related
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107607261A (en) * | 2017-09-19 | 2018-01-19 | 广西电网有限责任公司电力科学研究院 | A kind of method for obtaining electric generating set rotor rotary inertia |
| CN109029843A (en) * | 2018-08-30 | 2018-12-18 | 安徽江淮汽车集团股份有限公司 | A kind of wheel set rotational inertia measuring device and measurement method |
| CN117030116A (en) * | 2023-10-10 | 2023-11-10 | 北京星河动力装备科技有限公司 | Device and method for measuring rotational inertia of aircraft component |
| CN117030116B (en) * | 2023-10-10 | 2024-02-20 | 北京星河动力装备科技有限公司 | Device and method for measuring rotational inertia of aircraft component |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20170822 Address after: 519070, Guangdong, province Zhuhai Jiuzhou Road No. 2907 Zhuhai Ling Compressor Co., Ltd. plant No. Co-patentee after: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI Patentee after: ZHUHAI GREE INTELLIGENT EQUIPMENT TECHNOLOGY RESEARCH INSTITUTE Co.,Ltd. Address before: 519070 Guangdong city of Zhuhai Province Qianshan No. six Patentee before: GREE ELECTRIC APPLIANCES Inc. OF ZHUHAI |
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| TR01 | Transfer of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20160824 |
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| CF01 | Termination of patent right due to non-payment of annual fee |