JP2000155058A - Method and device for torque loading test - Google Patents

Abstract

PROBLEM TO BE SOLVED: To prevent loading of excessively intensive torque to a sample due to a response delay of a motor by finding a rotation angle command signal from a torsion spring constant of a torsion bar carrying a motor and a feedback signal for a rotation angle of a rotation axis and computing a difference between the rotation angle command signal and a feedback signal of a motor rotation angle. SOLUTION: A motor 6 is controlled according to a motor driving signal (e) from a computer 7. A torsion bar 2 provided with a set torsion spring constant and connected between a torque sensor 4 and a sample 1 gives torque proportional to a rotation angle difference between the sample 1 and the motor 5 to the sample 1. Rotation angles of the rotation axis of the sample 1 and the motor 6 are measured by means of a sample potentiometer 14 and a motor potentiometer 15 respectively and fed back to the computer 7 with the torque given to the sample 1. The computer 7 computes a motor driving signal from a difference between a rotation angle command signal for a rotation axis led from the feedback signals and a feedback signal of the motor rotation angle and outputs the motor driving signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a performance test and the like of a device having a rotating shaft such as a flying object steering device.
The present invention relates to a torque-added test method and a torque-added test apparatus for applying a non-linear torque to a rotation axis with respect to a rotation angle.

[0002]

2. Description of the Related Art FIGS. 7 and 8 show the structure of two examples of a conventional torque applying test device. These conventional torque adding test devices are used when it is necessary to apply torque (torsional force) to the rotating shaft for the performance test of a specimen having the function of driving the rotating shaft by its own power source. Have been.

[0003] A first conventional example shown in FIG.
A performance test and the like are carried out using the torsion bar 2 coupled to the fixed part 3 so that the other end does not rotate on the rotation shaft. The torsion bar 2 only needs to be twisted to generate a torque proportional to the twist angle. In this device, sample 1
However, since only a torque (linear) proportional to the rotation angle of the rotating shaft can be given, it has not been possible to provide an arbitrary torque independent of the rotation angle.

[0004] A second conventional example shown in FIG.
This is a device aimed at generating a (non-linear) torque independent of the rotation angle of the specimen 1, which is impossible in the conventional example. The torque sensor 4, the flexible coupling 5, the hydraulic motor, etc. It is composed of various types of motors 6 and the like.

The motor 6 is controlled so as to generate a torque by a motor drive signal e from the computer 7 and follow a torque command signal Tc input to the computer 7. This torque is applied to the specimen 1 via the flexible coupling 5 and the torque sensor 4. The flexible coupling 5 is for absorbing a deviation between the center of rotation of the motor 6 and the center of rotation of the specimen 1 so that torque can be transmitted normally.

The torque is measured by a torque sensor 4,
The measured value is fed back to the computer 7 as a torque feedback signal Tf. The computer 7 calculates a difference between the torque command signal Tc and the torque feedback signal Tf to generate a motor drive signal e, which is provided to the motor 6.

As described above, in the second conventional example, a torque according to a command input by the computer 7, that is, a torque non-linear with respect to the rotation angle of the specimen 1 is generated. This second conventional example is effective when the specimen 1 fluctuates at a sufficiently low speed, and can generate a torque substantially as specified by the torque command.

However, since the motor 6 normally has a response delay with respect to the DUT 1, if the DUT 1 fluctuates at a high speed, the angular error between the rotation angle of the DUT 1 and the rotation angle of the motor 6 increases. As a result, there is a problem that an excessive torque that does not follow the torque command is generated.

FIG. 9 and FIG. 10 show the above-mentioned first and second embodiments.
As an application example of the conventional example, a configuration of a torque adding test device in a case where the flying object steering device 11 is a specimen 1 is shown. As shown in FIGS. 9A and 10A, the flying object steering device 11 is a part of the components of the flying object 10,
As shown in the figure, the steering wheel 12 usually has four steering blades 12 and serves to change the flight direction by rotating and displacing the steering blade 12 when flying in an actual environment.

At this time, the steering blade 12 receives a torque (aerodynamic load torque) applied by the aerodynamic force 13. In the performance test of the flying object steering device 11 on the ground, a torque simulating an aerodynamic load torque is applied to the rotating shaft that drives the steering wing 12 in order to confirm whether or not the flying device operates normally during an actual flight. There is a need.

FIG. 9 (b) is a perspective view of the entire structure of the first conventional example shown in FIG. 7 applied to a flying object steering device 11. As shown in FIG. This device is obtained by removing the steering wings 12 of the respective rotating axes of the flying object steering device 11.
By attaching to the mounting plate 8 and connecting the torsion bar 2 to each rotating shaft and fixing it to the fixed portion 3, a linear torque is given to the rotating angle (steering angle) δ of the rotating shaft.

At this time, the steering angle is δ and the torque is T,
When each positive direction is defined as shown by an arrow in FIG. 11, T is expressed as T = −k · δ. Here, k is a twist constant of the torsion bar (a constant representing the hardness of the twist, the larger the value, the harder the twist). From this equation, it can be seen that a linear torque is applied to the flying object steering device 11 with respect to the steering angle.

However, the aerodynamic load torque T varies greatly depending on not only the steering angle δ but also the flying speed, the flying altitude, the flying body attitude angle, and the like. Become. In particular, a flying object launched from the ground toward a target at a high altitude has a remarkably large change in flying speed and flying altitude as compared with other flying objects.

Therefore, the aerodynamic load torque T for the steering angle δ
Therefore, the torsion bar 2 that can generate only a linear torque cannot faithfully reproduce the aerodynamic load torque T during an actual flight, as shown in FIG.
As a result, the performance of the flying object steering device 11 cannot be sufficiently checked by the device shown in FIG.

As an example, FIG. 12 shows how the steering angle δ and the aerodynamic load torque T actually change with time t under a certain flight condition for only one axis. The graph in FIG. 3A shows the steering angle δ, and the solid line in the graph in FIG. 3B shows the aerodynamic load torque T. It is required to simulate the aerodynamic load torque that changes as described above.
In an apparatus using a torsion bar as shown in FIG. 12A, the one shown by a broken line in the graph of FIG.
δ), indicating that the aerodynamic load torque cannot be faithfully simulated, and that the requirements cannot be satisfied.

On the other hand, FIG. 10B shows the second state shown in FIG.
FIG. 13 is a perspective view of a conventional example applied to a flying object steering device 11, and FIG. 13 shows an enlarged front view thereof.
A control block diagram for one axis including the computer 7 is shown in FIG.

In this device, the steering wings 12 of the respective rotating shafts of the flying object steering device 11 are removed to obtain a test sample 1,
The motor 6 is mounted on the mounting plate 8 via a flange 9, a torque sensor 4, and a flexible coupling 5 on each rotating shaft. The above-mentioned method using the torsion bar for each rotating shaft is not possible. The purpose is to provide a possible non-linear torque independent of the steering angle δ.

The operation will be described with reference to FIG. 13. The four motors 6 mounted and fixed to the mounting plate 8 with mounting brackets are independently controlled in torque by a motor drive signal e from a computer 7. Torque is flexible coupling 5, torque sensor 4, flange 9
Are transmitted to the four rotating shafts of the flying object steering device 11 which is the specimen 1 via.

This torque is measured by the torque sensor 3, and the measured value is fed back to the computer 7 as a torque feedback signal Tf. In the computer 7, the aerodynamic load torque command signal Tc and the torque feedback signal Tf
, A new motor drive signal e is generated.

In this device, if there is no delay in the response of the motor 6 to the fluctuation of the steering angle of the flying object steering device 11,
The torque according to the torque command Tc input to the computer 7 can be given to the flying object steering device 11.

In practice, however, the motor 6 always has a response delay, and the delay appears in the form of the generation of extra torque that does not follow the torque command. The generation of this torque becomes more remarkable when the steering angle fluctuation becomes faster, and sometimes an excessive torque that may damage the flying object steering device 11 may be generated.

As an example, FIG. 14 shows an excessive torque given to the flying object steering device 11 which has a certain response delay by the motor 6 having a certain response delay in the torque adding device as shown in FIG. 10 (b). The graph of FIG. 6A shows the rotation angles of the flying object steering device 11 and the motor 6, and the graph of FIG. 6B shows the torque generated at this time. From the torque graph, it can be seen that excessive torque is generated even though the torque command is set to zero.

[0023]

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems in the conventional torque applying test method and apparatus, and calculates a non-linear torque which is not proportional to the rotation angle on the rotation axis of the specimen. It is an object of the present invention to provide a method and an apparatus for applying a torque, which can be added as input to a test sample and do not give an excessive torque to a test sample due to a response delay of a motor or the like.

[0024]

SUMMARY OF THE INVENTION (1) The present invention has been made to solve the above-mentioned problems, and the invention of claim 1 provides a torque application test for applying torque to a rotating shaft of a specimen. In the method, the rotation axis is attached to the motor via a torsion bar, and a rotation angle command signal for the rotation axis is derived from a torque command signal, a torsion bar of the torsion bar, and a feedback signal of the rotation angle of the rotation axis. The difference between the obtained rotation angle command signal and the feedback signal of the rotation angle of the motor is calculated, and the signal of the calculation result is used as a motor drive signal to drive the motor, and the torsion bar is attached to the rotation axis of the sample. And a torque application test method characterized in that a torque is applied via the.

That is, according to the first aspect of the present invention, the motor can be driven and controlled so as to generate a torque to be applied regardless of the rotational angle of the rotating shaft of the specimen at any position.
Non-linear torque that is not proportional to the rotation angle of the specimen rotation axis can be added to the specimen rotation axis.Moreover, since the motor and the specimen are mounted via the torsion bar, excessive torque generated due to motor response delay can be reduced. Can be suppressed.

(2) A second aspect of the present invention is a torque-added test apparatus for applying torque to a rotating shaft of a specimen.
A motor attached to the rotating shaft via a torsion bar, a sample potentiometer for detecting the rotating angle of the rotating shaft, a motor potentiometer for detecting the rotating angle of the motor, a torque command signal and the torsion of the torsion bar A computer that derives a rotation angle command signal for the same rotation axis from a spring constant and a feedback signal of the rotation angle of the rotation axis, and calculates a difference between the obtained rotation angle command signal and the feedback signal of the rotation angle of the motor. The present invention also provides a torque-added test apparatus, wherein a signal of the result of the calculation is used as a motor drive signal of the motor.

In other words, according to the second aspect of the present invention, since the motor is attached to the sample through the torsion bar, excessive torque generated due to a response delay of the motor can be suppressed. The motor is controlled so as to generate the torque that should be given regardless of the rotation angle of the rotating shaft, so a non-linear torque that is not proportional to the rotating angle of the rotating shaft of the specimen is applied to the rotating shaft of the specimen. Can be added.

[0028]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS A torque adding test apparatus according to a first embodiment of the present invention will be described with reference to FIG. FIG. 2 is an explanatory diagram showing an example of a non-linear torque that can be given to the specimen 1 according to the present embodiment.
FIG. 4 is an explanatory diagram showing the effect of suppressing excessive torque by the torsion bar 2.

In FIG. 1, a motor 6 fixed to a base
Is controlled to follow the torque command signal Tc by the motor drive signal e from the computer 7 and rotates. Accordingly, the flexible coupling 5 and the torque sensor 4 attached to the motor 6 also rotate to twist the torsion bar 2. The torsion bar 2 has its twisting constant k set according to the situation to which the present invention is applied, and is coupled between the torque sensor 4 and the specimen 1. Then, a torque proportional to the difference between the rotation angle of the sample 1 and the motor 6 is applied to the sample 1.

The rotation angle of the rotating shaft of the sample 1 and the motor 5
Are measured by the specimen potentiometer 14 and the motor potentiometer 15, respectively, and the measured values are respectively the specimen rotation angle feedback signal δ.
f and the motor rotation angle feedback signal θf are fed back to the computer 7. The torque applied to the sample 1 is constant from the sample 1 to the motor 6 and is measured by the torque sensor 4. This measured value is also fed back to the computer 7 as a torque feedback signal Tf.

The computer 7 first calculates a motor rotation angle command signal θc from the torque command signal Tc, the torsion bar twist constant k and δf. Then, the difference between θc and θf is calculated, and a motor drive signal e is created and given to the motor 6.

In the embodiment of FIG. 1 configured as described above, when torque is applied to the rotating shaft of the specimen 1,
The rotation angle of the motor 5 is controlled by the computer 7, whereby the torsion angle of the torsion bar 2 connected to the motor 6 can be controlled arbitrarily. Any independent, non-linear torque can be provided.

That is, when the rotation angle of the specimen 1 is δ, the motor rotation angle is θ, the torsion bar twisting constant is k, and the torque is T, T is as follows: T = k · (θ−δ) It can be seen that T can be arbitrarily output by arbitrarily controlling θ regardless of the value of δ.

FIG. 2 shows this example. When it is desired to apply a non-linear torque T to the specimen 1 with respect to the rotation angle δ of the specimen 1 as shown by a solid line in FIG. FIG.
It is shown that this can be realized by controlling the motor rotation angle θ as shown in FIG.

Although the motor 6 normally has a response delay with respect to the DUT 1, when the DUT 1 fluctuates at a high speed, there is a concern that an excessive torque is generated due to the response delay.
In this case, the torsion bar 2 that is easily twisted with respect to other portions absorbs an angular error due to a response delay, so that generation of harmful excessive torque can be suppressed.

As an example of this, FIG. 3 shows a difference in torque generated depending on the presence or absence of the torsion bar 2 when the motor 6 has a certain response delay and the rotation angle of the specimen 1 is changed at high speed. The graph of FIG. 3A shows the rotation angle of the sample 1 and the motor 6, and the graph of FIG. 3B shows the torque generated at this time. Thus, in FIG. 3B, when the torsion bar 2 shown by the solid line is used, the generation of excessive torque can be suppressed more than when the torsion bar is not used shown by the dotted line, and the torque command (0 kgf · It can be seen that the value is closer to m).

That is, according to the torque application test device according to the first embodiment of the present invention, the first test device shown in FIG.
In contrast to the conventional example, a motor 6 is mounted instead of the fixing portion 3 for fixing one end of the torsion bar 2, and the drive of the motor 6 is controlled. In addition to being able to generate a non-linear torque that is not proportional to the rotation angle of the motor, in addition to the second conventional example shown in FIG. The excessive torque generated by the response delay of No. 6 can be suppressed.

Hereinafter, an example in which the torque application test device shown in the first embodiment is applied to a flying object steering device 11 of a flying object 10 as shown in FIG. This will be described as a second embodiment of the present invention. FIG.
FIG. 1B is a perspective view showing the outline of the overall configuration of the flying object steering device 11, in which the steering wings 12 are removed from the rotating shaft of the flying object steering device 11. Are similar to those of the first embodiment.

FIG. 5A is an enlarged front view of the second embodiment of the present invention shown in FIG. 4B, and FIG.
FIG. 5B is a side view taken along the line AA in FIG. FIG. 6 is a control block diagram for one axis including the computer 7.

In FIGS. 5 and 6, four motors 6 are mounted on the mounting plate 8 via mounting brackets.
Fixed. A flexible coupling 5, a torque sensor 4, and a torsion bar 2 are coaxially connected to each of the motors 6, and the ends thereof are connected to respective axes of a flying object steering device 11 which is the specimen 1.

Each of the four motors 6 is independently controlled so as to follow the aerodynamic load torque command by the motor drive signal e from the computer 7, and rotates. Accordingly, the flexible coupling 5 and the torque sensor 4 attached to the motor 6 also rotate to twist the torsion bar 2. The torsion bar 2 applies a torque proportional to the difference between the steering angle of the flying object steering device 11 as the specimen 1 and the rotation angle of the motor 6 to each axis of the flying object steering device 11.

The rotation angle of the motor 6 is measured by a motor potentiometer 15, and the steering angle of the flying object steering device 11 is measured by a flying object steering device potentiometer incorporated therein as the specimen potentiometer 14. The torque applied to the flying object steering device 11 is measured by the torque sensor 4. The measured values of these four axes are respectively the motor rotation angle feedback signal θ
f, the steering angle feedback signal δf as the specimen rotation angle feedback signal, and the torque feedback signal Tf are fed back to the computer 7.

The computer 7 calculates a motor rotation angle command signal θc (= Tc / k + δf) for each of the four axes from the aerodynamic load torque command Tc as a torque command signal, the torsion bar screw spring constant k, and the δf. Then, a predetermined torque can be added by calculating the motor drive signal e from the difference between θc and θf and applying the motor drive signal e to the four motors 5 to control the drive.

In the performance test of the flying object steering device, it is necessary to apply a torque simulating the aerodynamic load torque actually applied to the rotating shaft of each steering wing while flying. Although the aerodynamic load torque becomes nonlinear with respect to the steering angle as described above, in the above-described second embodiment of the present invention, the torsion bar 2 is the specimen 1 as shown in FIG. The torsion angle of the torsion bar 2 can be arbitrarily controlled because the rotation angle of the motor 6 can be controlled to an arbitrary angle by the computer 7. Therefore, the flying object steering device 11 can be given a non-linear torque independent of the steering angle.

Since the steering angle of the flying object steering device 11 fluctuates at a high speed, if the motor 6 has a slight response delay, an excessive torque may be generated due to an angular error, but the torsion bar 2 reduces the error. Absorption can be suppressed because of absorption.

That is, according to the torque applying test device according to the second embodiment of the present invention, in the first conventional example in which the flying object steering device 11 of FIG. In place of the fixing portion 3 for fixing one end of the motor 2, a motor 6 is mounted as shown in FIG. A non-linear torque can be generated, and a torsion bar 2 is provided between each motor of the flying object steering device 11 and the motor 6 in the second conventional example shown in FIG.
The generation of excessive torque due to the response delay of the motor 6 can be suppressed by incorporating.

Although the embodiment of the present invention has been described above, it is needless to say that the present invention is not limited to the above-described embodiment, and various changes may be made to the specific structure within the scope of the present invention. .

[0048]

(1) As described above, according to the first aspect of the present invention,
The torque addition test method is the same as the torque addition test method of applying a torque to the rotation axis of the specimen, but the rotation axis is attached to the motor via a torsion bar, the torque command signal, the torsion bar of the torsion bar, and the rotation axis A rotation angle command signal for the same rotation axis is derived from the rotation angle feedback signal, and the difference between the obtained rotation angle command signal and the feedback signal of the motor rotation angle is calculated. Since the motor is driven as a signal to apply a torque to the rotating shaft of the sample via the torsion bar, the torque to be applied regardless of the rotational angle of the rotating shaft of the sample is provided. The motor can be driven and controlled so as to generate the torque, and a nonlinear torque that is not proportional to the rotation angle of the rotation axis of the specimen can be added to the rotation axis of the specimen. , It is possible to suppress the excessive torque generated by the response delay of the motor due to the motor and specimen attached via a torsion bar.

(2) According to the second aspect of the present invention, in the torque applying test device for applying torque to the rotating shaft of the specimen, the torque applying test device is attached to the rotating shaft via a torsion bar. Motor, a sample potentiometer for detecting the rotation angle of the rotating shaft, a potentiometer for the motor for detecting the rotating angle of the motor, feedback of a torque command signal, a twist constant of the torsion bar, and a rotation angle of the rotating shaft. A computer for calculating a difference between the obtained rotation angle command signal and a feedback signal of the rotation angle of the motor, and a signal of the calculation result obtained by calculating a difference between the obtained rotation angle command signal and the feedback signal of the rotation angle of the motor. Since the motor is configured as a motor drive signal, the motor is mounted via the torsion bar with the DUT. In addition to suppressing excessive torque generated due to the response delay of the motor, the drive of the motor is controlled so as to generate the torque that should be applied regardless of the rotational angle of the rotating shaft of the specimen. Non-linear torque that is not proportional to the rotation angle of the rotating shaft of the sample can be added to the rotating shaft of the sample.

[Brief description of the drawings]

FIG. 1 is an explanatory diagram of an overall configuration diagram of a torque addition test device according to a first embodiment of the present invention.

FIGS. 2A and 2B are explanatory diagrams of examples of non-linear torque that can be given to a sample under test according to the first embodiment; FIG. 2A is a diagram illustrating a relationship between the rotation angle of the sample and torque; FIG. The relationship between the rotation angle of the sample and the rotation angle of the motor is shown.

FIGS. 3A and 3B are explanatory diagrams of an effect of suppressing an excessive torque by a torsion bar according to the first embodiment, wherein FIG. 3A shows a relationship between a specimen and a rotation angle of a motor, and FIG. 3B shows generated torque.

FIG. 4 is an explanatory diagram of a torque addition test device according to a second embodiment of the present invention, wherein (a) is an explanatory diagram of a flying object,
(B) is a perspective view of the entire configuration of the torque applying test device.

FIG. 5 (a) is a front view of a torque applying test device according to a second embodiment of the present invention, and FIG. 5 (b) is BB in FIG.
It is an arrow side view.

FIG. 6 is a control block diagram for one axis including a computer of a torque addition test device according to a second embodiment.

FIG. 7 is an explanatory diagram of a first conventional example of a torque adding test device.

FIG. 8 is an explanatory view of a second conventional example of the torque applying test device.

FIG. 9 shows a first case in which the flying object steering device is used as a test sample.
It is explanatory drawing of the application example of a prior art example, (a) is explanatory drawing of a flying object, (b) is a perspective view of the whole structure of a torque addition test apparatus.

FIGS. 10A and 10B are explanatory diagrams of an application example of the second conventional example in a case where a flying object steering device is used as a test sample, wherein FIG. 10A is an explanatory diagram of a flying object, and FIG. It is a perspective view of the whole structure.

FIG. 11 is an explanatory diagram of a steering angle and a torque of the flying object steering device.

12A is a diagram illustrating a time change of a steering angle of a flying object, and FIG. 12B is a diagram illustrating a time change of an aerodynamic load torque.

FIG. 13 is a control block diagram of one axis including a computer shown in the front view of the torque addition test device of FIG. 10 (b).

14A and 14B are explanatory diagrams of an example of excessive torque caused by a motor having a response delay in an application example of the second conventional example as shown in FIG. 13, where FIG.
(B) represents the generated torque.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 sample 2 torsion bar 3 fixing part 4 torque sensor 5 flexible coupling 6 motor 7 computer 8 mounting plate 10 projectile 11 projectile steering device 12 steering blade 14 sample potentiometer 15 motor potentiometer

Claims (2)

[Claims] In a method for applying a torque to a rotating shaft of a specimen, the rotating shaft is attached to a motor via a torsion bar, a torque command signal, a torsion bar constant of the torsion bar, and a torque of the rotating shaft. A rotation angle command signal for the same rotation axis is derived from the rotation angle feedback signal, a difference between the obtained rotation angle command signal and the feedback signal of the motor rotation angle is calculated, and a signal of the calculation result is a motor drive signal. A torque application test method comprising: driving the motor to apply a torque to the rotating shaft of the specimen via the torsion bar. 2. A torque adding test device for applying torque to a rotating shaft of a specimen, a motor mounted on the rotating shaft via a torsion bar, a potentiometer for the specimen for detecting a rotation angle of the rotating shaft, A motor potentiometer for detecting the rotation angle of the motor, a torque command signal, a rotation angle command signal for the rotation axis derived from the torsion bar twisting constant of the torsion bar, and a feedback signal of the rotation angle of the rotation axis are obtained. A torque-added test device, comprising: a calculator for calculating a difference between a rotation angle command signal and a feedback signal of the rotation angle of the motor, wherein a signal of the calculation result is used as a motor drive signal of the motor.