CN215414146U - Motor tension test platform with rotor wings - Google Patents
Motor tension test platform with rotor wings Download PDFInfo
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- CN215414146U CN215414146U CN202121507461.XU CN202121507461U CN215414146U CN 215414146 U CN215414146 U CN 215414146U CN 202121507461 U CN202121507461 U CN 202121507461U CN 215414146 U CN215414146 U CN 215414146U
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Abstract
The utility model discloses a motor tension test platform with a rotor wing, which comprises a static torque sensor 1, a tension sensor 2, a temperature sensor 3, a current sensor 4, a photoelectric rotating speed sensor 5, a connecting foot piece 6, a ball bearing 7, a polished rod 8, an installation platform 9, a vertical aluminum plate 10 and a single chip microcomputer 11, wherein all the components are arranged in the installation platform; the utility model enlarges the size of the test board and reinforces the whole platform through various connecting pieces such as aluminum pieces, foot pieces 6 and the like, so that the utility model can not only finish the tension test of a small motor, but also finish the tension test of a large motor of at most 50 inches.
Description
Technical Field
The utility model relates to the technical field of power electronics and flight control, in particular to a platform capable of measuring motor parameters and intermediate links by introducing system identification.
Background
Along with the rapid development of the fields of science and technology and flight control, increasingly high requirements are provided for the performance and quality indexes of the motor, the requirements for the motor body are continuously improved, meanwhile, the development of a motor testing technology is also indispensable, and the traditional testing equipment and method have the defects that the operation time is long, a plurality of instruments are needed for observation, data need to be manually read, analyzed and calculated, and the quality and the precision of motor measurement are influenced to a certain extent. Along with the continuous improvement of the raw material performance and the design mode of the motor, the performance and the quality index of the motor are also greatly improved. Therefore, the development of motor tests is imminent.
The development of the motor test system can be divided into the following 4 stages:
1. shaking table type: the testing instruments used in the stage are pointer type, the data is inaccurate, only rough evaluation can be performed, the measuring range cannot be set, and meanwhile, the requirement on the professional performance of testing personnel is high.
2. The numerical expression is as follows: most of the testing instruments at the stage are in a digital display mode, mainly display is performed through an LCD (liquid crystal display), but the instruments at the moment are single in function and low in precision.
3. Integrated form: in the stage, a plurality of instrument manufacturers connect a plurality of single-chip microcomputers through the PLC to transmit data, so that the integration in appearance is realized, the volume of the whole platform is greatly reduced, and the test precision and speed are improved.
4. Physical linkage type: at this stage, the integration is achieved by a single device and the data of different devices is "integrated" into the instrument, which is a matter of thinking throughout society.
In recent years, motor testing technology is more and more applied in the field of flight control, and a traditional unmanned aerial vehicle tension test platform is taken as an example, the platform is mainly used for measuring tension of small and medium-sized motors, and parameters such as voltage current, torque and temperature of the motors can be measured, but the test platform can only measure specific parameters, and specific coefficients of intermediate links, such as tension coefficient and torque coefficient, cannot be obtained.
SUMMERY OF THE UTILITY MODEL
Utility model purpose: in order to overcome the defects of the existing platform, the utility model discloses an intelligent, simple and integrated motor test platform introducing system identification. The tension testing device is suitable for the occasions of tension testing of the unmanned aerial vehicle, and has the characteristics of simplicity in operation, high safety, large measuring range, ideal effect and integration.
The technical scheme of the utility model comprises the following steps: a motor tension test platform with a rotor wing comprises a static torque sensor 1, a tension sensor 2, a temperature sensor 3, a current sensor 4, a photoelectric rotating speed sensor 5, a connecting foot piece 6, a ball bearing 7, a polish rod 8, an installation platform 9, a vertical aluminum plate 10 and a single chip microcomputer 11, wherein all the components are arranged in the installation platform; one side of a motor with a rotor wing is connected with a carbon plate and a pipe clamp, the carbon plate and the pipe clamp are connected with one side of a static torque sensor 1, the other side of the static torque sensor 1 is connected with a vertical aluminum plate 10, and the vertical aluminum plate 10 is connected with a horizontal aluminum plate through a connecting foot piece 6; the tension sensor 2 is connected with the polished rod 8 through a built-in thread and then connected with the horizontal aluminum plate through a groove in the polished rod 8, the lower side of the whole horizontal aluminum plate is provided with a ball bearing 7, and two ends of the ball bearing 7 are provided with bearing seats which are fixed on the mounting platform 9; the temperature sensor 3 is aligned to the motor base with the rotor wing by extending a fixing plate on the bottom plate, so that the temperature monitoring of the motor is completed in real time and a high-temperature alarm is set; the rotating speed sensor 5 is arranged on a vertical carbon plate, the vertical carbon plate is fixed on a vertical aluminum plate 10 through a connecting piece, so that a light spot of the rotating speed sensor 5 is aligned to a blade of the rotor, the current sensor 4 is positioned between the electric controller and a motor with the rotor, and a power line of the motor with the rotor passes through the current sensor 4; the single chip microcomputer 11 is located at the edge of the whole platform, and the single chip microcomputer 11 is respectively electrically connected with the static torque sensor 1, the tension sensor 2, the temperature sensor 3, the current sensor 4 and the photoelectric rotating speed sensor 5 and is responsible for receiving and processing all data.
Furthermore, the whole mounting platform 9 is arranged in an aluminum frame built by aluminum profiles, so that the stability and the safety of the whole testing platform are ensured.
Further, the method comprises the following steps:
firstly, respectively acquiring tension T and rotation speed omega data of a motor with a rotor wing through a tension sensor 2 and a photoelectric rotation speed sensor 5; by observing the formula of the tension coefficient and simplifying the formulaAfter the conversion, the tension T and the square omega of the rotating speed can be obtained2Proportional, T and ω can be plotted2According to the measured T and ω2Coordinate points of the relational graph
Constructing a fitting function and a target function, arranging the fitting function and the target function, and solving the deviation of the target function so as to finally obtain a specific numerical value of the tension coefficient;
because an inertia delay link exists between the electric regulation signal and the motor completion instruction with the rotor after the signal is generated by the motor electric regulation, the identification method for the link firstly converts the relation between the input and output signals from the frequency domain to the time domain, then carries out integral processing on the time domain relation expression and arranges the integral processing into a least square method form, and finally obtains a group of estimation equations.
Further, the fitting function and the objective function are respectively:
fitting function h (ω)2)：h(ω2)＝Aω2+B
Objective function J (a, B):
where A, B are two parameters of the fitting function, TiThe magnitude of the pulling force is shown, and omega is the rotating speed.
Further, the time domain relation is integrated and arranged into a least square form, and a specific process of finally obtaining a group of estimation equations is as follows:
the relation between the input and the output of the delay link is as follows:
after converting the above equation from the frequency domain to the time domain, one can obtain:
wherein x (t) is an input signal, δ is a delay time, y (t) is a system output signal, τ, k are parameters to be identified, and the above equation is integrated for one time to obtain an estimation equation in an integrated form:
y[1](t)+τy(t)＝kx[1](t-δ)+c0,t≥δ
c0＝τy(0)
x(t-δ)＝αu(t-δ),t≥δ
c0with a non-zero constant, u (t- δ) being the step response signal and α being the amplitude, the above equations are integrated and arranged in a least squares form:
h1(t)＝A1(t)θ1
h1(t)＝y(t)
θ1＝[1 αk c0]
wherein h is1(t) is an objective function, A1(t) and θ1Are vector matrices, respectively, when t is ═ td+1,td+2,L,tn]Then, a set of estimation equations can be obtained:
Γ(t)＝Φ(t)θ1
phi (t) is a vector matrix set of n data points; d represents the hypothetical delay time δ1The number of points collected in, N represents the total number of data collected, where Γ (t) and Φ2(t) is directly observable data, θ1Is the parameter to be estimated.
The lower side of the whole horizontal aluminum plate is provided with a ball bearing 7, two ends of the ball bearing 7 are provided with bearing seats, the bearing seats are fixed on the mounting platform 9, so that the motor tension at different rotating speeds can be tested and the tension coefficient can be obtained when the motor rotates, and meanwhile, the air reaction torque coefficient of the motor with the propeller can be obtained through system identification according to the result of the static torque sensor 1.
The temperature sensor 3 is aligned to the motor base through the fixing plate extending out of the bottom plate, so that the temperature monitoring of the motor is completed in real time, and a high-temperature alarm is set; the rotating speed sensor 5 is arranged on a vertical carbon plate, the vertical carbon plate is fixed on a vertical aluminum plate 10 through a connecting piece, and a light spot of the rotating speed sensor 5 is aligned to a blade of a rotor wing, so that the rotating speed of the motor is accurately measured. The current sensor 4 is arranged between the electric regulator and the motor with the rotor wing, and a power line of the motor with the rotor wing penetrates through the current sensor 4, so that current information during working is measured.
On the main control board, according to the time of the single chip microcomputer 11 signal and the time of the motor reaching the target rotating speed, the middle lag link is measured, the response time of the motor is obtained, finally, an inertial sensor is arranged on the main control board and used for detecting the vibration quantity brought to the test bench by the rotation of the motor, meanwhile, the system identification of the whole test bench is completed on the main control board, and the transfer function corresponding to each function and the specific parameters are calculated through the oscillogram of the input output quantity.
In conclusion, the utility model discloses a motor tension test platform which is simple to operate, strong in safety, large in measurement range, ideal in effect and integrated with data.
Compared with the traditional motor test platform, the method of the utility model is characterized in that:
(1) by enlarging the size of the test board and reinforcing the whole platform through various connecting pieces such as aluminum pieces, foot pieces 6 and the like, the utility model can finish the tension test of a small motor and can also finish the tension test of a large motor of 50 inches at most.
(2) On the basis of the static sensor 1, the air reaction torque coefficient is obtained through calculation, and meanwhile, the test board is provided with a plurality of sensors, so that the function integration is realized.
(3) A system identification link is introduced on the basis of measured parameters, so that the test bench not only can observe the result of each sensor, but also can obtain a corresponding mathematical model according to the relation between the result and input.
Drawings
FIG. 1 is a schematic diagram of the basic structure of the present invention;
FIG. 2 is an enlarged partial schematic view of the present invention;
FIG. 3 is a block diagram of the system identification of the present invention.
In fig. 1, 1 is a static torque sensor, 2 is a tension sensor, 3 is a temperature sensor, 4 is a current sensor, 5 is a rotating speed sensor, 6 is a connecting foot piece, 7 is a ball bearing, 8 is a polished rod, 9 is an installation platform, 10 is a vertical aluminum plate, and 11 is a single chip microcomputer.
Detailed Description
The utility model is further described below with reference to the figures and examples.
The motor test platform shown in fig. 1-2 mainly comprises the following parts: the static torque sensor 1 is installed above the whole platform through a foot piece and an aluminum plate, so that the motor and the paddle can be conveniently installed, and the static torque sensor is connected with the whole installation platform 9 through an aluminum column, and the stability of the whole platform is guaranteed.
Photoelectric revolution speed transducer 5 and temperature sensor 4 are installed between aluminum plate and bottom plate, and wherein photoelectric revolution speed transducer 5's light spot aims at the paddle, and temperature sensor 4's probe aims at the motor base, and force sensor 2 passes through the fixed bolster and the foot spare is installed on mounting platform 9, connects force sensor 2 and static torque sensor 1's fixed plate simultaneously through a threaded polished rod 8 and horizontal aluminum plate.
Fig. 3 shows a single chip microcomputer 11 used in the present invention, the single chip microcomputer 11 is connected to different sensors through 485, serial and CAN buses, the single chip microcomputer 11 sends an input signal to an electric tuning drive motor, and then the hysteresis coefficients of each link are systematically identified by the least square method according to the sensor values updated in real time, including the air reaction torque coefficient, the current coefficient, the tension coefficient, and the hysteresis link from the signal generation to the expectation.
The utility model adopts a system identification method to establish a mathematical model between input and output, and the adopted method is mainly a least square method to carry out identification.
Taking the tension coefficient as an example: the formula of the known tension coefficient is shown as the formula (1)
Where ρ is the air density, R is the rotor radius, ω is the motor speed, and T is the tension, and where ρ, R, and π are known quantities, Q is used to replace these variables, which can be simplified to equation (2)
From the above formula, T and ω2In direct proportion, the known rotation speed omega can be measured by a rotation speed sensor, the tension T can be measured by a tension sensor, a graph of T and omega can be drawn, and then the C can be obtained by fitting through a least square methodTLet the measured point be
Let the fitting function be formula (3)
h(ω2)＝Aω2+B (3)
Then the objective function is the formula (4)
Wherein, J(A, B) is an objective function, TiIs the magnitude of the pulling force, hi(ω2) For the fitting function, A, B are separately subjected to partial derivatives
Wherein x isiAnd yiIs omega2Coordinate points of the coordinate system established with T are then
Other coefficients, such as the current coefficient and the air reaction torque coefficient, are the same.
Because the process from the signal generation to the complete target rotating speed of the motor is not immediately completed, and a certain delay link exists, the utility model also analyzes the process, after the signal is generated by the electric motor, an inertia delay link exists between the sending of the electric adjusting signal and the completion of the motor, and the relation between the two links is the formula (8):
after converting equation (8) from the frequency domain to the time domain, we can obtain:
where x (t) is an input signal, δ is a delay time, y (t) is a system output signal, τ, k are parameters to be identified, and equation (9) is integrated once to obtain an estimation equation in the form of an integral:
y[1](t)+τy(t)＝kx[1](t-δ)+c0,t≥δ (10)
c0＝τy(0) (11)
x(t-δ)＝αu(t-δ),t≥δ (13)
c0the non-zero constant u (t-delta) is a step response signal, alpha is an amplitude value, equations (11), (12) and (13) are substituted into equation (10), and then the equations are arranged into a least square form:
h1(t)＝A1(t)θ1 (14)
h1(t)＝y(t)
θ1＝[1 αk c0] (15)
wherein h is1(t) is an objective function, A1(t) and θ1Are vector matrices, respectively, when t is ═ td+1,td+2,L,tn]Then, a set of estimation equations is obtained according to equation (14):
Γ(t)＝Φ(t)θ1
d represents the hypothetical delay time δ1The number of points collected in, N represents the total number of data collected, where Γ (t) and Φ2(t) is directly observable data, θ1Is the parameter to be estimated.
Claims (2)
1. A motor tension test platform with a rotor wing is characterized by comprising a static torque sensor (1), a tension sensor (2), a temperature sensor (3), a current sensor (4), a photoelectric rotating speed sensor (5), a connecting foot piece (6), a ball bearing (7), a polished rod (8), an installation platform (9), a vertical aluminum plate (10) and a single chip microcomputer (11), wherein all the components are arranged in the installation platform;
one side of a motor with a rotor wing is connected with a carbon plate and a pipe clamp, the carbon plate and the pipe clamp are connected with one side of a static torque sensor (1), the other side of the static torque sensor (1) is connected with a vertical aluminum plate (10), and the vertical aluminum plate (10) is connected with a horizontal aluminum plate through a connecting foot piece (6);
the tension sensor (2) is connected with the polished rod (8) through a built-in thread and then connected with the horizontal aluminum plate through a groove in the polished rod (8), a ball bearing (7) is arranged on the lower side of the whole horizontal aluminum plate, bearing seats are arranged at two ends of the ball bearing (7), and the bearing seats are fixed on the mounting platform (9);
the temperature sensor (3) is aligned to the motor base with the rotor wing by extending a fixing plate on the bottom plate, so that the temperature monitoring of the motor is completed in real time and a high-temperature alarm is set; the rotating speed sensor (5) is installed on a vertical carbon plate, the vertical carbon plate is fixed on a vertical aluminum plate (10) through a connecting piece, so that a light spot of the rotating speed sensor (5) is aligned to a blade of the rotor, the current sensor (4) is positioned between the electric controller and a motor with the rotor, and a power line of the motor with the rotor passes through the current sensor (4);
the single chip microcomputer (11) is located at the edge of the whole platform, and the single chip microcomputer (11) is electrically connected with the static torque sensor (1), the tension sensor (2), the temperature sensor (3), the current sensor (4) and the photoelectric rotating speed sensor (5) respectively and is responsible for receiving and processing all data.
2. The motor tension test platform with the rotor wing as claimed in claim 1, wherein the whole installation platform (9) is arranged in an aluminum frame built by aluminum profiles, so that the stability and safety of the whole test platform are ensured.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
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| CN202121507461.XU CN215414146U (en) | 2021-07-01 | 2021-07-01 | Motor tension test platform with rotor wings |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202121507461.XU CN215414146U (en) | 2021-07-01 | 2021-07-01 | Motor tension test platform with rotor wings |
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| CN215414146U true CN215414146U (en) | 2022-01-04 |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113418644A (en) * | 2021-07-01 | 2021-09-21 | 江苏大学 | Motor tension test platform with rotor and identification method |
| CN115371741A (en) * | 2022-10-24 | 2022-11-22 | 华东交通大学 | System and method for detecting thrust, rotating speed and torque of propulsion motor |
-
2021
- 2021-07-01 CN CN202121507461.XU patent/CN215414146U/en active Active
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN113418644A (en) * | 2021-07-01 | 2021-09-21 | 江苏大学 | Motor tension test platform with rotor and identification method |
| CN115371741A (en) * | 2022-10-24 | 2022-11-22 | 华东交通大学 | System and method for detecting thrust, rotating speed and torque of propulsion motor |
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