CN205725311U - A kind of servo-control system inertia variable device - Google Patents

Abstract

The utility model discloses a kind of servo-control system inertia variable device, device includes base, lifting platform, motor fixing device, permagnetic synchronous motor, torque sensor, magnetic powder cluth, absolute optical encoder, slider-crank mechanism, drag platform, pretension bolt and clamp nut.Control slider-crank mechanism and the disengaging of permagnetic synchronous motor and joint by controlling the exciting curent of magnetic powder cluth, utilize absolute optical encoder to measure the position angle of slider-crank mechanism, and then calculate the equivalent moment of inertia of system.This utility model is possible not only to realize the inertia sudden change of servosystem, and can realize the inertia gradual change of servosystem.

Description

A kind of servo-control system inertia variable device

[technical field]

This utility model belongs to technical field of electromechanical control, particularly relates to a kind of servo-control system inertia variable device.

[background technology]

Permagnetic synchronous motor has the plurality of advantages such as volume is little, efficiency is high, electromagnetic torque is big, easy to control, is widely used to height Performance, high-precision control occasion, such as fields such as Digit Control Machine Tool, industrial robot, Aero-Space.High performance servosystem pair The speed dynamic property of permagnetic synchronous motor has the highest requirement.In motor actual moving process, the change meeting of load rotating inertia The mathematical model of change control object, and then affect the dynamic property of servosystem, reduce the servo characteristic of whole system.For improving The control performance of servosystem, needs rotary inertia is carried out identification, to obtain the exact value of rotary inertia and for SERVO CONTROL.

When permanent magnet ac servo system is carried out inertia identification, need the rotary inertia of change system to verify the correct of identification algorithm Property and effectiveness.Conventional method is motor shaft and magnetic powder cluth to be connected, by controlling disengaging and the joint of clutch, according to Shaft coupling and the size of magnetic powder cluth and quality, calculate the rotary inertia that servosystem before and after clutch is total.Although this method energy Enough change the rotary inertia of servosystem, but be only capable of the impact realizing inertia and unload with prominent, in applying with reality, rotate inertia dynamic time-varying Situation be less consistent.

[utility model content]

For solving problems of the prior art, this utility model provides a kind of servo-control system inertia variable device, this device It is possible not only to realize the inertia sudden change of servosystem, and the inertia gradual change of servosystem can be realized.

For achieving the above object, the technical solution adopted in the utility model is:

A kind of servo-control system inertia variable device, including base, permagnetic synchronous motor and magnetic powder cluth；Described base top Portion is provided with testing stand；Described permagnetic synchronous motor is connected with base；Magnetic powder cluth it is provided with, top bottom described testing stand Portion is provided with slider-crank mechanism；The power shaft of described magnetic powder cluth is connected with the output shaft of permagnetic synchronous motor, magnetic powder clutched The output shaft of device is connected with slider-crank mechanism；It is provided with absolute optical encoder on the output shaft of magnetic powder cluth.

Improving further as this utility model side, described permagnetic synchronous motor is connected with the column on base by lifting platform, institute The clamp nut for adjusting position height it is provided with on the lifting platform stated.

Improving further as this utility model side, described lifting platform is provided with motor fixing device, permagnetic synchronous motor relies on Motor fixing device and pretension bolt are fixed.

Improve further as this utility model side, between described magnetic powder cluth and permagnetic synchronous motor, be provided with torque sensing Device.

Improving further as this utility model side, described slider-crank mechanism includes crank, connecting rod and slide block, described crank The output shaft of one end and magnetic powder cluth is fixed, and connecting rod is hinged with crank and slide block, and slide block lower end is movably arranged on the chute of testing stand In.

Improving further as this utility model side, described crank and the length of connecting rod are equal.

Improving further as this utility model side, described permagnetic synchronous motor, magnetic powder cluth and absolute optical encoder is same Axle is installed.

A kind of control method of servo-control system inertia variable device, including: inertia sudden change, electric inertia simulation and inertia gradual change three Plant mode of operation；

Inertia sudden change mode of operation is permagnetic synchronous motor and magnetic powder cluth to be connected, and the output shaft of magnetic powder cluth is not connected to bear Carrying, permagnetic synchronous motor drives magnetic powder cluth to rotate, and makes magnetic powder cluth be in synchronous working state；Magnetic powder clutched by controlling The exciting curent of device controls clutch and the disengaging of permagnetic synchronous motor and joint, it is achieved the sudden change of system rotary inertia；

Electric inertia simulation mode of operation is to form brake by fixing for the driven rotor of magnetic powder cluth, makes clutch be in slippage work State, controls to transmit torque by the size controlling exciting curent, it is achieved the electric inertia simulation of mechanical inertia, load simulator Output torque meets:

${T_L}^{\′}=T_L+J_L\frac{d\mathrm{\ω}}{dt}$

T in formula_L' for the output torque of load simulator；T_LFor load torque；J_LRotary inertia for load；ω is the angle of motor Speed；

Inertia gradual change mode of operation is that permagnetic synchronous motor passes through magnetic powder cluth driving slider-crank mechanism, makes magnetic powder cluth be in Synchronous working state, utilizes absolute optical encoder to measure the position angle of slider-crank mechanism, it is achieved the week of system rotary inertia The gradual change of phase property.

The periodicity gradual change of described rotary inertia, implements step and includes:

Before and after equivalence, kinetic energy is equal as foundation, derives the mathematical model J of the equivalent moment of inertia of slider-crank mechanism_E(θ)；

The position angle θ obtaining slider-crank mechanism is measured by absolute optical encoder；

Utilize equivalent inertia J_E(θ) relation existed between change and position θ, is calculated slider-crank mechanism in real time by positional value θ Equivalent inertia J_E(θ)；

The total rotary inertia J of servosystem is equivalent moment of inertia J_E(θ) with motor and inertia sum J of other parts_MSuperposition.

Equivalent moment of inertia J_E(θ) meet:

$J_E\left(\mathrm{\θ}\right)=(\frac{1}{3}\×M_1\×l^2)+\[(\frac{1}{3}+2{\sin }^2\mathrm{\θ})\×M_2\×l^2\]+M_3\×{(2l\×sin\mathrm{\θ})}^2$

In formula, M₁、M₂And M₃Being respectively crank, connecting rod and the quality of slide block, l is the length of crank and connecting rod, and θ is crank Rotational angle.

Compared with prior art, the beneficial effects of the utility model are:

This utility model one servo-control system inertia variable device, including base, permagnetic synchronous motor and magnetic powder cluth；? With on the basis of the conventional method that is connected with magnetic powder cluth by motor shaft, the output shaft of corresponding clutch is also associated with absolute optical Photoelectric coder and slider-crank mechanism, control slider-crank mechanism and permanent magnet synchronous electric by controlling the exciting curent of magnetic powder cluth The disengaging of machine and joint, utilize absolute optical encoder measure slider-crank mechanism position angle, and then calculate system etc. Effect rotary inertia, to realize sudden change and the gradual change of servosystem rotary inertia.This utility model device both can realize servosystem Inertia suddenlys change, and can realize again the inertia gradual change of servosystem, can also use electric inertia simulation mechanical inertia, it is not necessary to join simultaneously again Putting the mechanical inertia dish that volume is bigger, compact conformation, debugging is convenient.

This utility model control method can work under Three models: when system is in inertia sudden change mode of operation, by controlling The exciting curent of magnetic powder cluth controls motor shaft and the disengaging of magnetic powder cluth and joint, it is achieved the impact of system rotary inertia and Dash forward and unload；When system is in electric inertia simulation mode of operation, control transmission by the size controlling the exciting curent of magnetic powder cluth Torque, it is achieved the electric inertia simulation of system mechanics inertia；When system is in inertia gradual change mode of operation, driven by magnetic powder cluth Dynamic slider-crank mechanism, it is achieved the periodicity gradual change of system rotary inertia.

[accompanying drawing explanation]

Fig. 1 is servo-control system inertia variable apparatus structure schematic diagram of the present utility model；

Fig. 2 is slider-crank mechanism structure diagram of the present utility model；

In figure: 1-base；2-lifting platform；3-motor fixing device；4-permagnetic synchronous motor；5-torque sensor；6-is magnetic powder clutched Device；7-absolute optical encoder；8-slider-crank mechanism；9-drag platform；10-pretension bolt；11-clamp nut.

[detailed description of the invention]

By further illustrating the technical scheme that this utility model is used, below in conjunction with accompanying drawing to specific embodiment party of the present utility model Formula is described in detail.This embodiment is only applicable to description and interpretation this utility model, is not intended that utility model protection model The restriction enclosed.

As it is shown in figure 1, a kind of servo-control system inertia variable device of the present utility model, including base 1, lifting platform 2, electricity Machine fixing device 3, permagnetic synchronous motor 4, torque sensor 5, magnetic powder cluth 6, absolute optical encoder 7, slide crank Block mechanism 8, drag platform 9, pretension bolt 10 and clamp nut 11.Lifting platform 2 is movably arranged on the column of base 1, passes through Clamp nut 11 carries out position adjustments；Motor fixing device 3 is connected with lifting platform 2 by pretension bolt 10.Permagnetic synchronous motor 4 rely on motor fixing device 3 to fix, and its output shaft is arranged straight up.Four column upper end joint test platforms of base 1. It is provided with drag platform 9 bottom testing stand, drag platform 9 is installed magnetic powder cluth 6, magnetic powder cluth 6 power shaft and permagnetic synchronous motor The output shaft of 4 connects.Absolute optical encoder 7 is installed on magnetic powder cluth 6 output shaft, and with the crank on testing stand top Slide block mechanism 8 connects.

In order to ensure the accuracy measured, permagnetic synchronous motor 4, torque sensor 5, magnetic powder cluth 6, absolute type photoelectricity are compiled Code device 7 is coaxially disposed.

Control slider-crank mechanism 8 and the disengaging of permagnetic synchronous motor 4 by controlling the exciting curent of magnetic powder cluth 6 and connect Close, utilize absolute optical encoder 7 to measure the position angle of slider-crank mechanism 8, and then the Equivalent Rotational calculating system is used to Amount.

Detailed description of the invention is as follows:

Permagnetic synchronous motor 4 and magnetic powder cluth 6 are connected, and the output shaft of magnetic powder cluth 6 is not connected to load, permanent-magnet synchronous 4 dragging magnetic powder cluths 6 of motor rotate, and make magnetic powder cluth 6 be in synchronous working state, by controlling magnetic powder cluth 6 Exciting curent control motor shaft and the disengaging of magnetic powder cluth 6 and joint, it is achieved the sudden change of system rotary inertia.

Form brake by fixing for the driven rotor of magnetic powder cluth 6, make clutch be in slippage duty, excitatory by controlling The size of electric current controls to transmit torque, it is achieved the electric inertia simulation of mechanical inertia, and concrete steps include:

Under normal circumstances, the increase and decrease of servosystem rotary inertia typically uses mechanical system, is i.e. provided with machinery in system output used Amount dish, during normal work, the torque balance equation of permagnetic synchronous motor 4 is:

$T_e-T_L=(J_M+J_L)\frac{d\mathrm{\ω}}{dt}+B\mathrm{\ω}---\left(1\right)$

In formula, T_eFor electromagnetic torque；T_LFor load torque；J_MInertia sum for motor and other parts；J_LTurning for load Dynamic inertia；B is viscous friction coefficient；ω is the angular velocity of motor.

With electric inertia simulation mechanical inertia when, servosystem will remove mechanical inertia dish, now permagnetic synchronous motor 4 turn Square equilibrium equation is:

${T_e}^{\′}-{T_L}^{\′}=J_M\frac{{\mathrm{d\ω}}^{\′}}{dt}+{\mathrm{B\ω}}^{\′}---\left(2\right)$

T in formula_L' for the output torque of load simulator.

For ensureing to simulate effect really, it should be ensured that the T in formula (1) and formula (2)_eAnd T_e', ω and ω ' equal, two formulas are subtracted each other Can obtain:

${T_L}^{\′}-T_L=J_L\frac{d\mathrm{\ω}}{dt}---\left(3\right)$

I.e.

${T_L}^{\′}=T_L+J_L\frac{d\mathrm{\ω}}{dt}---\left(4\right)$

If it can be seen that the electrical analogue of mechanical inertia to be completed, then the output torque of load simulator should include load torque and The compensation torque of inertia simulation amount.

When being fixed by the driven rotor of magnetic powder cluth 6, clutch 6 just always works in slippage state, becomes brake.With Magnetic powder cluth 6 is as load simulator, and the transmission torque of clutch 6 is the output torque of load simulator, sharp by controlling The size of magnetoelectricity stream controls to transmit torque, realizes the electric inertia simulation of mechanical inertia with this.Magnetic powder clutched in order to control more accurately The output torque of device, is provided with torque sensor 5 between the power rotor of permagnetic synchronous motor 4 and magnetic powder cluth 6.

Permagnetic synchronous motor 4 is driven slider-crank mechanism 8 by magnetic powder cluth 6, makes clutch 6 be in synchronous working state, Utilize the position angle information of the slider-crank mechanism 8 that absolute optical encoder 7 measures, it is achieved the periodicity of system rotary inertia Gradual change, implements step and includes:

As in figure 2 it is shown, slider-crank mechanism 8 structure diagram of the present utility model, including crank, connecting rod and slide block, crank with turn Moving axis is fixed, and connecting rod is hinged with crank and slide block, and slide block lower end is movably arranged in the chute on testing stand.Crank, connecting rod and cunning The quality of block is respectively M₁、M₂And M₃, crank and a length of L of connecting rod₁=L₂=l, L₁Corner be θ, rotational angular velocity is Motor angular velocity ω, L₁Rotate, L₂Making plane motion, slide block is for linear motion, and P is instantaneous center of velocity, thus can obtain:

L₁Kinetic energy:

$W_1=\frac{1}{2}\×(\frac{1}{3}\×M_1\×L_1^2)\×{\mathrm{\ω}}^2---\left(5\right)$

L₂Kinetic energy:

$W_2=\frac{1}{2}\×\[(\frac{1}{3}+2{\sin }^2\mathrm{\θ})\×M_2\×L_2^2\]\×{\mathrm{\ω}}^2---\left(6\right)$

The kinetic energy of slide block:

$W_3=\frac{1}{2}\×M_3\×{(2L_1\×sin\mathrm{\θ}\×\mathrm{\ω})}^2---\left(7\right)$

Before and after equivalence, kinetic energy is equal as foundation, if the equivalent moment of inertia of slider-crank mechanism is J_E(θ), have:

$\frac{1}{2}\×J_E\left(\mathrm{\θ}\right)\×{\mathrm{\ω}}^2=W_1+W_2+W_3---\left(8\right)$

Formula (5), formula (6) and formula (7) are substituted into formula (8), wherein L₁=L₂=l, can obtain after abbreviation:

$J_E\left(\mathrm{\θ}\right)=(\frac{1}{3}\×M_1\×l^2)+\[(\frac{1}{3}+2{\sin }^2\mathrm{\θ})\×M_2\×l^2\]+M_3\×{(2l\×sin\mathrm{\θ})}^2---\left(9\right)$

As can be seen here, after slider-crank mechanism 8 has designed, the quality of each component and length are and determine, equivalent inertia J_E(θ) function of crank angle degree θ it is only.Therefore, it can be measured by absolute optical encoder 7 obtain crank block machine The position angle θ of structure 8, then recycling equivalent inertia J_E(θ) relation existed between change and position θ, directly by positional value θ Calculate the equivalent inertia J of slider-crank mechanism in real time_E(θ), finally can obtain rotary inertia J total on motor shaft is:

J=J_M+J_E(θ) (10)

J in formula_MInertia sum for motor and other parts；J_E(θ) it is the equivalent moment of inertia of slider-crank mechanism.

In sum, the servo-control system inertia variable device that this utility model provides can be operated in inertia sudden change, electrical inertia mould Fit inertia gradual change Three models, be possible not only to realize the inertia sudden change of servosystem, and the inertia of servosystem can be realized gradually Become, compare with the situation rotating inertia dynamic time-varying in actual condition and be consistent, for verifying that various inertia identification algorithms provide effective hands Section.

Above in conjunction with accompanying drawing, embodiment of the present utility model is explained in detail, not this utility model is imposed any restrictions, all It is any simple modification, change and the equivalent structure change above embodiment made according to this utility model technical spirit, all Still fall within the protection domain of technical solutions of the utility model.

Claims (7)

1. a servo-control system inertia variable device, it is characterised in that include base (1), permagnetic synchronous motor (4) and Magnetic powder cluth (6)；Described base (1) top is provided with testing stand；Described permagnetic synchronous motor (4) and base (1) Connect；Being provided with magnetic powder cluth (6) bottom described testing stand, top is provided with slider-crank mechanism (8)；Described magnetic powder The power shaft of clutch (6) is connected with the output shaft of permagnetic synchronous motor (4), the output shaft of magnetic powder cluth (6) and crank Slide block mechanism (8) connects；Absolute optical encoder (7) it is provided with on the output shaft of magnetic powder cluth (6).

A kind of servo-control system inertia variable device the most according to claim 1, it is characterised in that: described permanent magnetism is same Step motor (4) is connected with the column on base (1) by lifting platform (2), and described lifting platform (2) is provided with for adjusting The clamp nut (11) of joint position height.

A kind of servo-control system inertia variable device the most according to claim 2, it is characterised in that: described lifting platform (2) being provided with motor fixing device (3) on, permagnetic synchronous motor (4) relies on motor fixing device (3) and pretension bolt (10) Fixing.

A kind of servo-control system inertia variable device the most according to claim 1, it is characterised in that: described magnetic powder from Torque sensor (5) it is provided with between clutch (6) and permagnetic synchronous motor (4).

A kind of servo-control system inertia variable device the most according to claim 1, it is characterised in that: described slide crank Block mechanism (8) includes crank, connecting rod and slide block, and the output shaft of described crank one end and magnetic powder cluth (6) is fixed, connecting rod Hinged with crank and slide block, slide block lower end is movably arranged in the chute of testing stand.

A kind of servo-control system inertia variable device the most according to claim 5, it is characterised in that: described crank and The length of connecting rod is equal.

A kind of servo-control system inertia variable device the most according to claim 1, it is characterised in that: described permanent magnetism is same Step motor (4), magnetic powder cluth (6) and absolute optical encoder (7) are co-axially mounted.