JP4081241B2 - Motor torque measuring device, motor torque measuring method, and control program therefor - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a torque measuring apparatus for a prime mover. For example, the torque measuring apparatus for a prime mover suitable for use in accurately and quickly measuring a driving torque (rotational force) of a prime mover, both statically and dynamically, is provided. The present invention relates to a torque measurement method and a control program thereof.
[0002]
[Prior art]
Of the prime movers that convert various types of natural energy into mechanical energy (for example, heat engines, hydraulic engines, electric motors, wind turbines, etc.), those that generate drive torque are driven using the torque measurement device of the prime mover. The performance is evaluated by measuring the torque.
[0003]
Conventionally, this type of motor torque measuring apparatus includes a dynamometer 1 to which a motor M is coupled, a filter 2, and a display 3, as shown in FIG. The dynamometer 1 has a load cell 1a, and converts the driving torque of the prime mover M into a torque detection signal S1 by the load cell 1a and outputs it. The filter 2 is composed of, for example, a low-pass filter, and when the torque detection signal S1 varies, the value of the torque detection signal S1 is smoothed and the torque detection signal S2 is output. The display 3 receives the torque detection signal S2 and displays the value.
[0004]
5A and 5B are waveform diagrams showing examples of the torque detection signals S1 and S2 in FIG.
In this motor torque measuring device, for example, a torque detection signal S1 as shown in FIG. 5A is output from the load cell 1a while the motor M is rotating. In this case, the value of the torque detection signal S1 may become unstable or a noise component may be superimposed due to vibration generated from the dynamometer 1, vibration generated from the prime mover M, or rotation unevenness. For this reason, the torque detection signal S1 is smoothed by the filter 2, and the torque detection signal S2 as shown in FIG. The torque detection signal S2 is input to the display 3 and displayed as an analog value or a digital value.
[0005]
FIG. 6 is a schematic configuration diagram of another conventional torque measuring apparatus for a prime mover. Elements common to those in FIG. 4 are denoted by common reference numerals.
As shown in FIG. 6, the motor torque measuring apparatus includes a torque detector 4 to which the motor M is coupled, a rotational load 5, a filter 2, and a display 3. The rotational load 5 is, for example, a screw used for propulsion of a ship, and a plurality of torque absorbing elements that absorb the drive torque transmitted from the prime mover M are provided for each fixed rotation angle. The torque detector 4 detects a point where the driving torque transmitted from the prime mover M and the control torque generated from the rotary load 5 are balanced, and generates and outputs a torque detection signal S4.
[0006]
In the motor torque measuring device, for example, a torque detection signal S4 similar to the torque detection signal S1 of FIG. 5A is output from the torque detector 4 while the motor M is rotating. In this case as well, the value of the torque detection signal S4 may become unstable due to the control torque generated from the rotational load 5 and the vibration and rotation unevenness generated from the prime mover M. For this reason, the torque detection signal S4 is smoothed by the filter 2, and the torque detection signal S2 as shown in FIG. The torque detection signal S2 is input to the display 3 and displayed as an analog value or a digital value.
[0007]
[Problems to be solved by the invention]
However, the conventional motor torque measuring apparatus has the following problems.
That is, since the torque detection signals S1 and S4 are smoothed by the filter 2, the torque detection signal S2 output from the filter 2 has a value lower than the true value, and an accurate value is displayed on the display 3. There was a problem of not being. Further, even when the load fluctuates and the torque detection signals S1 and S4 also fluctuate, there is a problem that the response of the torque detection signal S2 is dull because it is smoothed by the filter 2.
[0008]
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a torque measuring device for a motor, a torque measuring method for the motor, and a control program therefor that can display an accurate value of a torque detection signal.
[0009]
[Means for Solving the Problems]
In order to solve the above-mentioned problem, the invention according to claim 1 is directed to a prime mover having a rotational load in which a plurality of torque absorbing elements that absorb drive torque transmitted from the prime mover are provided at fixed rotation angles. in the connected state, it relates to a torque measuring device of the prime mover for measuring the driving torque of the prime mover, a torque detection unit that generates an analog torque detection signal by detecting the driving torque of the prime mover, the rotation of the prime mover A rotation detection unit that generates a rotation detection signal having a frequency proportional to the speed, and the torque detection signal is input from the torque detection unit without using a filter, and is sampled by a given sampling pulse to obtain a sampling signal. a sample / hold circuit to be generated, an analog / digital converter to produce a digital sampled signal said sampled signal to analog / digital conversion, before Based on the frequency of the rotation detection signal and calculates the rotational speed per second of the prime mover, and a frequency calculator that calculates a frequency of the torque detection signal based on the number of the rotational speed and the torque absorbing elements, the frequency together provided to the sample / hold circuit to generate the sampling pulse frequency higher than twice the frequency of the calculated the torque detection signal by calculating unit, any point of one period of the torque detection signal And a control unit that outputs the digital sampling signal collected as a torque detection value.
[0010]
Further, the invention according to claim 2 is in a state in which a rotational load in which a plurality of torque absorbing elements that absorb driving torque transmitted from the prime mover are provided at a certain rotational angle is connected to the prime mover. The present invention relates to a torque measuring device for a prime mover for measuring a driving torque of the prime mover, a torque detection unit that detects the driving torque of the prime mover and generates an analog torque detection signal, and a frequency proportional to the rotational speed of the prime mover. A rotation detection unit that generates a rotation detection signal, and a sample / hold circuit that receives the torque detection signal from the torque detection unit without using a filter, and samples the sample with a given sampling pulse to generate a sampling signal When an analog / digital converter to produce a digital sampled signal said sampled signal to analog / digital conversion, frequency of the rotation detection signal Calculated by the calculating the revolutions per second of the prime mover, and a frequency calculator that calculates a frequency of the torque detection signal based on the number of the rotational speed and the torque absorbing elements, the frequency calculator based on with been generated by the sampling pulse frequency higher than twice the frequency of the torque detection signal supplied to the sample / hold circuit, the digital sampled signal collected during the one period of the torque detection signal And a control unit that outputs a maximum value as a detected torque value.
[0011]
Further, the invention according to claim 3 is in a state where a rotational load in which a plurality of torque absorbing elements that absorb driving torque transmitted from the prime mover are provided for each fixed rotational angle is connected to the prime mover. The present invention relates to a torque measurement method for a prime mover for measuring the drive torque of the prime mover, a torque detection process for detecting the drive torque of the prime mover and generating an analog torque detection signal, and a frequency proportional to the rotational speed of the prime mover. A rotation detection process for generating a rotation detection signal, and calculating the number of rotations per second of the prime mover based on the frequency of the rotation detection signal, and the torque detection signal based on the number of rotations and the number of torque absorbing elements a frequency calculating process for calculating the frequency of target for generating the sampling pulse frequency higher than twice the frequency of the torque detection signal calculated by the frequency calculation process A pulse generation process, enter the torque detection signal generated by the torque detection process without passing through the filter, and the sampling signal generating process for generating a sampled signal by sampling by the sampling pulses, the an analog / digital conversion to produce a digital sampled signal sampled signals by analog / digital conversion, the digital sampled signal detected torque values taken at any time of one period of the torque detection signal And a torque detection value generation process generated as follows.
[0012]
Further, the invention according to claim 4 is in a state where a rotational load in which a plurality of torque absorbing elements that absorb driving torque transmitted from the prime mover are provided for each constant rotation angle is connected to the prime mover. The present invention relates to a torque measurement method for a prime mover for measuring the drive torque of the prime mover, a torque detection process for detecting the drive torque of the prime mover and generating an analog torque detection signal, and a frequency proportional to the rotational speed of the prime mover. A rotation detection process for generating a rotation detection signal, and calculating the number of rotations per second of the prime mover based on the frequency of the rotation detection signal, and the torque detection signal based on the number of rotations and the number of torque absorbing elements a frequency calculating process for calculating the frequency of generating the sampling pulse frequency higher than twice the frequency of the said torque detection signal calculated by the frequency calculation process And Honka pulse generation process, and the torque detection processing said torque detection signal generated by type without passing through the filter, the sampling signal generating process for generating a sampled signal by sampling by the sampling pulse, an analog / digital conversion to produce a digital sampled signal said sampled signal to an analog / digital converter, a torque maximum value of said digital sampled signal collected during the one period of the torque detection signal A torque detection value generation process for generating a detection value is performed.
[0013]
According to a fifth aspect of the invention, there is provided a control program for causing a computer to realize the function of the torque measuring device for a prime mover according to the first or second aspect.
[0014]
DETAILED DESCRIPTION OF THE INVENTION
Embodiments of the present invention will be described below with reference to the drawings.
FIG. 1 is a block diagram showing an electrical configuration of a torque measuring device for a prime mover according to an embodiment of the present invention.
As shown in the figure, the motor torque measuring device of this embodiment includes a rotational load 11, a torque detector (for example, a torque detector) 12, a rotation detector 13, and a sample / hold circuit (hereinafter referred to as "S"). / H circuit ”14, analog / digital conversion circuit (hereinafter referred to as“ ADC ”) 15, frequency calculation unit (for example, interface) 16, central processing unit (hereinafter referred to as“ CPU ”) 17, A ROM (Read Only Memory) 18 and a display unit (for example, a display) 19 are provided. The rotational load 11 is, for example, a screw used for propulsion of a ship, and a plurality of torque absorbing elements that absorb the driving torque transmitted from the prime mover M are provided for each fixed rotation angle.
[0015]
The torque detector 12 detects the drive torque of the prime mover M by detecting the point where the drive torque transmitted from the prime mover M and the control torque generated from the rotary load 11 are balanced, and generates an analog torque detection signal S12. To do. The rotation detection unit 13 includes a rotating plate 13a in which a plurality of slits are provided at equal intervals around the rotation plate 13a and a photo interrupter 13b that converts light passing through the slits into a digital electric signal. A rotation detection signal S13 having a proportional frequency is generated. The S / H circuit 14 receives the torque detection signal S12 and samples it with the given sampling pulse S17a to generate a sampling signal S14. The ADC 15 performs analog / digital conversion (hereinafter referred to as “A / D conversion”) of the sampling signal S14 to generate a digital torque detection signal S15a. This A / D conversion is started based on the A / D conversion start signal S17b. When A / D conversion is completed, an A / D conversion end signal S15b is output.
[0016]
The interface 16 receives the number P of slits of the rotating plate 13a and the number F of torque absorbing elements of the rotating load 11 based on the user's operation, and rotates the motor M per second based on the frequency of the rotation detection signal S13. The frequency S16 of the torque detection signal S12 is calculated based on the number of rotations and the number F of the same torque absorbing elements. Based on the sampling theorem, the CPU 17 generates a sampling pulse S17a having a frequency twice or more the frequency of the torque detection signal S12 based on the frequency of the torque detection signal S12, and supplies the sampling pulse S17a to the S / H circuit 14. For example, the maximum value in one cycle of the torque detection signal S15a is output as the torque detection value S17c. In the ROM 18, a control program for operating the CPU 17 is recorded. The CPU 17 and the ROM 18 constitute a control unit. The display 19 receives the torque detection value S17c and displays the value.
[0017]
FIG. 2 is a flowchart for explaining the operation of the torque measuring device for the prime mover shown in FIG. 1, and FIGS. 3A and 3B are diagrams showing examples of the sampling signal S14 and the torque detection value S17c.
With reference to these drawings, processing contents of a torque measurement method for the prime mover M using the torque measurement device for the prime mover M of this embodiment will be described.
While the prime mover M is rotating, the driving torque of the prime mover M is detected by the torque detector 12, and an analog torque detection signal S12 is generated (step A1, torque detection processing). Further, the rotation detection unit 13 generates a rotation detection signal S13 having a frequency proportional to the rotation speed of the prime mover M (step A2, rotation detection processing). Based on the user's operation, the number P of slits of the rotating plate 13 a and the number F of torque absorbing elements of the rotating load 11 are input to the interface 16. Then, the rotational speed N (= f / P) of the prime mover M is calculated based on the frequency f of the rotational detection signal S13, and the torque detection signal S12 is calculated based on the rotational speed N and the number F of torque absorbing elements. Frequency S16 (= F · N = F · f / P) is calculated (step A3, frequency calculation processing).
[0018]
The frequency S16 of the torque detection signal S12 is input to the CPU 17, and a sampling pulse S17a having a frequency that is, for example, twice the frequency S16 of the torque detection signal S12 is generated (step A4, sampling pulse generation processing). The torque detection signal S12 is input to the S / H circuit 14 and sampled by the sampling pulse S17a, and for example, a sampling signal S14 as shown in FIG. 3A is generated (step A5, sampling signal generation). processing). The sampling signal S14 is input to the ADC 15, A / D conversion is started based on the A / D conversion start signal S17b, and a digital torque detection signal S15a is generated. When A / D conversion ends, an A / D conversion end signal S15b is output (step A6, analog / digital conversion processing).
[0019]
After receiving the A / D conversion end signal S15b, the CPU 17 reads the torque detection signal S15a and detects, for example, the maximum value in one cycle of the torque detection signal S15a as shown in FIG. 3B, for example. It generates as value S17c (Step A7, torque detection value generation processing). The detected torque value S17c is input to the display 19 and displayed as an analog value or a digital value (step A8, display process).
[0020]
As described above, in this embodiment, the analog torque detection signal S12 is A / D converted to generate the digital torque detection signal S15a, and the maximum value in one cycle of the torque detection signal S15a is set as the torque detection value. Since it was generated as S17c and displayed on the display 19, the accurate value of the torque detection signal S12 is displayed. Further, since the frequency S16 of the torque detection signal S12 is calculated and the sampling pulse S17a is generated based on the frequency S16, the response quickly even when the load fluctuates and the torque detection signal S12 fluctuates. The value of the torque detection signal S12 is always displayed accurately.
[0021]
The embodiment of the present invention has been described in detail with reference to the drawings. However, the specific configuration is not limited to this embodiment, and the present invention can be changed even if there is a design change without departing from the gist of the present invention. include.
For example, the torque detector 12 may be arbitrary as long as it can detect the driving torque of the prime mover M, such as the dynamometer 1 in FIG. Further, the rotation detector 13 may be any device that detects the rotation of the prime mover M, such as a combination of a magnetic head and a gear. The rotational load 11 may be a gear or a windmill, for example. Further, the frequency of the sampling pulse S17a is not limited to twice the frequency S16 of the torque detection signal S12, and may be four times or eight times, for example. The torque detection value S17c is not limited to the maximum value in one cycle of the torque detection signal S15a, and may be a value at an arbitrary time in one cycle, for example, a minimum value. Thereby, the variation state of the detected torque value S17c can be displayed.
[0022]
【The invention's effect】
As described above, according to the configuration of the present invention, an analog torque detection signal is A / D converted to generate a digital torque detection signal, for example, the maximum value in one cycle of the digital torque detection signal. Is generated as a torque detection value and displayed on the display unit, so that an accurate value of the analog torque detection signal can be displayed. Furthermore, since the frequency of the analog torque detection signal is calculated and the sampling pulse is generated based on the frequency, even when the load fluctuates and the torque detection signal fluctuates, it responds quickly and the same. The value of the torque detection signal can always be displayed accurately. Therefore, the driving torque of the prime mover can be measured accurately and quickly both statically and dynamically.
[Brief description of the drawings]
FIG. 1 is a block diagram showing an electrical configuration of a torque measuring device for a prime mover according to an embodiment of the present invention.
FIG. 2 is a flowchart for explaining the operation of the torque measuring device for the prime mover shown in FIG. 1;
FIG. 3 is a diagram showing a sampling signal S14 and a detected torque value S17c.
FIG. 4 is a configuration diagram of a torque measuring device of a conventional prime mover M.
5 is a waveform diagram showing an example of torque detection signals S1, S2 in FIG.
FIG. 6 is a configuration diagram of another conventional torque measuring device for a prime mover.
[Explanation of symbols]
11 Rotating load 12 Torque detector (torque detector)
13 Rotation detector 14 S / H circuit (sample / hold circuit)
15 ADC (analog / digital conversion circuit)
16 Frequency calculator (interface)
17 CPU (control unit)
18 ROM (control unit)
19 Display (display unit)

Claims (5)

For measuring the driving torque of the prime mover in a state where a rotational load in which a plurality of torque absorbing elements that absorb the drive torque transmitted from the prime mover are provided at fixed rotational angles is connected to the prime mover. A torque measuring device for a prime mover,
A torque detector that detects the driving torque of the prime mover and generates an analog torque detection signal;
A rotation detection unit that generates a rotation detection signal having a frequency proportional to the rotation speed of the prime mover;
A sample / hold circuit that inputs the torque detection signal from the torque detection unit without using a filter, samples the received sampling pulse, and generates a sampling signal;
An analog / digital conversion circuit for analog / digital conversion of the sampled signal to generate a digital sampled signal ;
A frequency calculation unit that calculates the number of rotations per second of the prime mover based on the frequency of the rotation detection signal, and calculates the frequency of the torque detection signal based on the number of rotations and the number of torque absorbing elements ;
Generating the sampling pulse having a frequency twice or more the frequency of the torque detection signal calculated by the frequency calculation unit and supplying the sampling pulse to the sample / hold circuit;
Torque measuring device of the prime mover, characterized by comprising a control unit which outputs the digital sampled signal taken at any time as a torque detection value of one period of the torque detection signal. For measuring the driving torque of the prime mover in a state where a rotational load in which a plurality of torque absorbing elements that absorb the drive torque transmitted from the prime mover are provided at fixed rotational angles is connected to the prime mover. A torque measuring device for a prime mover,
A torque detector that detects the driving torque of the prime mover and generates an analog torque detection signal;
A rotation detection unit that generates a rotation detection signal having a frequency proportional to the rotation speed of the prime mover;
A sample / hold circuit that inputs the torque detection signal from the torque detection unit without using a filter, samples the received sampling pulse, and generates a sampling signal;
An analog / digital conversion circuit for analog / digital conversion of the sampled signal to generate a digital sampled signal ;
A frequency calculation unit that calculates the number of rotations per second of the prime mover based on the frequency of the rotation detection signal, and calculates the frequency of the torque detection signal based on the number of rotations and the number of torque absorbing elements ;
Generating the sampling pulse having a frequency twice or more the frequency of the torque detection signal calculated by the frequency calculation unit and supplying the sampling pulse to the sample / hold circuit;
And a controller for outputting a maximum value of the digital sampling signals collected during one cycle of the torque detection signal as a torque detection value. For measuring the driving torque of the prime mover in a state where a rotational load in which a plurality of torque absorbing elements that absorb the drive torque transmitted from the prime mover are provided at fixed rotational angles is connected to the prime mover. A torque measurement method for a prime mover,
Torque detection processing for detecting the driving torque of the prime mover and generating an analog torque detection signal;
Rotation detection processing for generating a rotation detection signal having a frequency proportional to the rotation speed of the prime mover;
Calculating the number of revolutions per second of the prime mover based on the frequency of the rotation detection signal, and calculating the frequency of the torque detection signal based on the number of revolutions and the number of torque absorbing elements ;
A sampling pulse generation process for generating a sampling pulse having a frequency of at least twice the frequency of the torque detection signal calculated in the frequency calculation process ;
The torque detection signal generated in the torque detection process is input without passing through a filter, and a sampling signal generation process for generating a sampling signal by sampling with the sampling pulse;
Analog / digital conversion processing for analog / digital conversion of the sampled signal to generate a digital sampled signal ;
Torque measurement method of the engine which is characterized in that the torque detection value generation process of generating the digital sampled signal taken at any time as a torque detection value of one period of the torque detection signal. For measuring the driving torque of the prime mover in a state where a rotational load in which a plurality of torque absorbing elements that absorb the drive torque transmitted from the prime mover are provided at fixed rotational angles is connected to the prime mover. A torque measurement method for a prime mover,
Torque detection processing for detecting the driving torque of the prime mover and generating an analog torque detection signal;
Rotation detection processing for generating a rotation detection signal having a frequency proportional to the rotation speed of the prime mover;
Calculating the number of revolutions per second of the prime mover based on the frequency of the rotation detection signal, and calculating the frequency of the torque detection signal based on the number of revolutions and the number of torque absorbing elements ;
A sampling pulse generation process for generating a sampling pulse having a frequency of at least twice the frequency of the torque detection signal calculated in the frequency calculation process ;
The torque detection signal generated in the torque detection process is input without passing through a filter, and a sampling signal generation process for generating a sampling signal by sampling with the sampling pulse;
Analog / digital conversion processing for analog / digital conversion of the sampled signal to generate a digital sampled signal ;
Torque measurement method of the prime mover, characterized in that the maximum value performing the torque detection value generation process of generating a torque detection value of said digital sampled signal collected during the one period of the torque detection signal.   A control program for causing a computer to realize the function of the torque measuring device for a prime mover according to claim 1 or 2.

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