KR101787233B1 - Method and Apparatus for Friction Characteristic Measurement of Electric Drive System - Google Patents
Method and Apparatus for Friction Characteristic Measurement of Electric Drive System Download PDFInfo
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- KR101787233B1 KR101787233B1 KR1020160004264A KR20160004264A KR101787233B1 KR 101787233 B1 KR101787233 B1 KR 101787233B1 KR 1020160004264 A KR1020160004264 A KR 1020160004264A KR 20160004264 A KR20160004264 A KR 20160004264A KR 101787233 B1 KR101787233 B1 KR 101787233B1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
- G01L3/26—Devices for measuring efficiency, i.e. the ratio of power output to power input
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
- G01L25/00—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency
- G01L25/006—Testing or calibrating of apparatus for measuring force, torque, work, mechanical power, or mechanical efficiency for measuring work or mechanical power or mechanical efficiency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
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Abstract
In the apparatus for measuring friction characteristics of the electric drive system of the present invention, parameters for automating the entire process of friction characteristic measurement are inputted, and a current drive profile used for measurement of static friction and a speed drive profile used for kinetic friction measurement A GUI (Graphic User Interface) 20 in which a control sequence is implemented; When the operation command of the GUI 20 is inputted, the electric drive apparatus 100 having the electric motor 110 and the drive apparatus 120 as the constituent elements is driven and controlled by the current drive profile and the speed drive profile, And a control device (10) for measuring the friction, wherein the parameters of the static friction characteristic measurement and the dynamic friction characteristic measurement are automated without the intervention of the measurer, so that the ratio of the error margin and the measuring time The uniformity of measurement and the improvement of accuracy can be ensured by eliminating the efficiency, and in particular, the uniform friction characteristic ensured by the environmental condition is made into a database so that it can be used as the quality evaluation means of the electric drive system 100 and the normal product Respectively.
Description
BACKGROUND OF THE
Generally, an electric drive system is composed of a drive device, which means a load, a motor that transmits power, and a control device that controls the motor to move the drive device to a desired angle or position. The electric drive device includes an electric vehicle, an elevator, And is designed to have the high accuracy required by automation systems that have been deployed throughout the industry.
In order for the electric drive system to have high precision, the drive unit must be uniformly machined, and in particular, the controller of the control unit should be adapted to the physical characteristics of the drive system.
For this purpose, the moment of inertia and stiffness of the physical characteristics are obtained by analyzing or experimenting with the mechanical design of the motor and the drive system, and these are reflected in the controller design. On the other hand, among the physical characteristics, the friction is measured by the torque at the moment when the drive device first moves the static friction, and the torque (Coulomb friction and viscous friction) , And then the torque of the static friction and the torque of the dynamic friction are applied to the friction torque-speed diagram, and these are reflected in the design of the controller.
Thus, the controller can precisely control the electric drive system with high precision by reflecting the physical characteristics such as the moment of inertia, friction and rigidity of the motor and the drive in the design.
However, frictional characteristics are difficult to assure the accuracy of the measurement results because the prediction of the single product state is variable not only due to the assembling step of the driving device and the assembled shape but also due to the environment such as temperature, driving position, operating range, driving speed, .
As a result, the static friction torque and the kinetic friction torque are measured by mechanical friction measurement or electric friction measurement, thereby increasing the accuracy. However, the mechanical and electrical methods have limitations in accurately measuring the friction characteristics that vary with environmental changes .
For example, when measuring static friction, a mechanical friction measuring system requires a force to be applied to a measuring position by a measuring position in a certain direction, and when measuring a kinetic friction, the measuring instrument measures the uniform velocity and direction along the rotating direction of the driving system The tool must be moved and measured. Therefore, the mechanical friction measuring method can not always be uniformly measured in the situation where the measuring person directly intervenes in the measurement.
For example, the electrical friction measuring method can be accurately measured by using a speed / current control means using a motor and a control device in comparison with a mechanical method. On the other hand, in the electric friction measuring method, the measurement of the static friction is performed by driving the driving system for each position to be measured, gradually increasing the current at each position, and measuring the current (torque) The measurement of the kinetic friction is carried out by the controller operating the control device so that the measuring device maintains the electric drive system at the constant speed for each measurement speed within the operating range, and the meter determines the portion at which the driving speed of the drive system becomes constant, Recording is performed. Therefore, in the electric friction measuring method, it is necessary to judge the measuring person in the process of measuring the frictional force while the measuring person artificially manipulates the control device every measurement. As a result, the electric friction measuring method can not uniformly measure the measurement result according to the judgment criteria of the measuring person, and there is a possibility that the measuring person makes a mistake in the measuring process, and the measurement time becomes long as the measuring person intervenes.
As described above, the frictional characteristics, which are very important for the design of the controller mounted on the control device, are difficult to measure accurately due to the variability due to environmental changes, and a solution is needed to solve this problem.
Accordingly, the present invention, which takes the above-mentioned points into account, automates the static friction measurement and the kinetic friction measurement of the electric drive apparatus driven by a motor without the intervention of the meter, thereby eliminating the inefficiency of measurement errors In particular, it is possible to provide an electric drive system in which a homogeneous friction characteristic secured for each environmental condition can be stored in a database so that the uniformity of measurement and the accuracy can be secured, And to provide a method and an apparatus for measuring friction characteristics.
According to an aspect of the present invention, there is provided an apparatus for measuring friction characteristics of an electric drive system, the apparatus comprising: a parameter input unit for inputting parameters for automating the friction characteristic measurement; A GUI (Graphic User Interface) in which a control sequence of a speed drive profile used for friction measurement is implemented; A control device for driving the electric driving device having the electric motor and the driving device as the constituent elements of the current driving profile and the speed driving profile, respectively, to measure the static friction and the kinetic friction when the GUI operation command is inputted; .
In a preferred embodiment, the control device sets the current drive profile using a ramp function of the motor, and sets the speed drive profile using a trapezoidal profile of the motor. The current drive profile measures the static friction with a pull-in current of the electric motor based on a time point at which the electric drive device reaches a specified displacement and speed. The control device drives and controls the electric driving device in the clockwise and counterclockwise directions, and measures the static friction for each of them. The speed drive profile measures the kinetic friction as an average of the pull-in current of the electric motor in a section where the profile maintains a constant speed at a time when the electric drive apparatus has passed the set transient response time. The control device drives and controls the electric driving device in the clockwise and counterclockwise directions, and measures the kinetic friction for each of them.
According to a preferred embodiment of the present invention, the controller includes a friction measurement control operation unit for receiving the operation command from the GUI and outputting a motor drive command according to the operation command, And a motor control arithmetic unit for outputting. The control device transmits the motor position, speed and current fed back from the electric motor and the load position and speed fed back from the driving device to the GUI.
In a preferred embodiment, the GUI graphically displays friction measurement data of the static friction and the kinetic friction transmitted from the control device in the form of a table, and stores the friction measurement results in a database. The GUI divides the parameter into parameters of the static friction and the kinetic friction.
According to another aspect of the present invention, there is provided a method of measuring friction characteristics of an electric drive system, the method comprising: (A) receiving an operation command of a GUI (Graphic User Interface) Controlling by the control device such that the electric motor associated with the drive device of the electric drive device is driven at an established start or end angle and then stopped; (B) controlling the motor current so that the motor current is increased in a forward direction in accordance with a set current increase slope while the electric motor is at a stop state, so that the set current upper limit value is not exceeded; (C) outputting measurement data to the GUI when the drive discrimination criterion is satisfied, and a reduction in the motor current for the stop of the electric motor is controlled by the control device; (D) being controlled by the control device to stop after the electric motor is driven to the next measured position set; (E) switching to a measurement of a reverse direction after completion of measurement of the forward direction of the electric motor, and the same process as that of the forward direction is performed by the control device until the completion of the measurement of the reverse direction .
As a preferred embodiment, the starting angle and the ending angle in the measurement of the reverse direction are the same as those in the forward direction. The parameter includes at least one of a start angle_stop_F [deg] of the electric motor, an end angle_stop_F [deg] of the electric motor, a positioning tolerance_stop_F [deg], a measurement interval_stop_F [deg], a current increase gradient _stop_F [A / s], the current upper limit value _stop_F [A], the current decay time _stop_F [sec], the measurement sensing speed _stop_F [deg / s], and the measurement sensing displacement _stop_F [deg].
In order to achieve the above object, there is provided a method of measuring friction characteristics of an electric drive system of the present invention, comprising the steps of: (F) receiving an operation command of a GUI (Graphic User Interface) , The electric motor associated with the driving device of the electric driving device is driven by the set start or end angle and then stopped, and the measuring position is controlled by the control device to reach the set position A; (G) The electric motor is increased from the stop state to the speed position by increasing the speed of the motor in the forward direction to reach the speed command, and reaches the measurement position B set at the measurement position A, Controlling by the control device to be applied to values sequentially extracted one by one; (H) measurement condition is satisfied, the measurement data is output to the GUI, the speed command is reduced so that the drive displacement does not exceed the displacement corresponding to the speed command in the measured displacement table, and the electric motor is stopped Controlled by the control device; (I) the electric motor is stopped after driving the electric motor with the measuring position B as an end point, and the electric motor is increased in the reverse direction in the reverse direction in the stop state to reach the speed command, B, and the speed command is controlled by the control device so that the speed command is sequentially extracted one by one in the speed command table; (J) the measured data is output to the GUI when the measurement condition is satisfied, the speed command is reduced so that the drive displacement does not exceed the displacement corresponding to the speed command in the measured displacement table, Being controlled by the control device to stop; And (K) performing the sequential process according to the order specified in the speed command table by the control device so as to be repeated and terminated.
In a preferred embodiment, the parameter includes at least one of a start angle_move_F [deg], an end angle_move_F [deg], an alignment tolerance_move_F [deg], a drive stop allowable displacement_move_F [deg] The slope _move_F [deg / s], the speed command table _move_F [deg / s], the measurement displacement table _move_F [deg], and the transient response time _move_F [sec].
The method and apparatus for measuring the friction characteristics of the electric drive system according to the present invention have the following advantages and effects in comparison with the conventional mechanical / electrical friction measuring method in which the intervention of the measurer lowers the efficiency, uniformity and accuracy of measurement have.
First, by automating the whole process of the electric friction measuring method, it is possible to eliminate the inefficiency of the measuring time and the error margin caused by the judgment of the measuring person at every moment, and the uniformity of the measurement and the improved accuracy can be secured. Secondly, it is possible to acquire the frictional characteristics uniformly according to the environmental conditions such as the temperature in the assembling step in the development process of the drive system, so that it can be converted into a database. Third, in case of manufacturing a large number of drive systems, the constructed database can be used as a quality evaluation means for manufacturing and normal products while analyzing friction data obtained by a uniform method in all systems.
FIG. 1 is a block diagram of an electric friction characteristic measuring apparatus for electrically measuring a friction characteristic of an electric drive system according to the present invention. FIG. 2 is a graph showing a current drive profile FIG. 3 is an input example for automating the measurement of the static friction characteristic in the electric friction characteristic measuring apparatus according to the present invention, and FIG. 4 is an example of the input of the present invention FIG. 5 is a flow chart of a method of measuring the static friction characteristic of an electric drive system according to an embodiment of the present invention. FIG. FIG. 6 is a graph showing an example of the measurement time of the electric friction characteristic according to the present invention FIG. 7 is a flow chart of a method of measuring the kinetic friction characteristic of the electric drive system with the electric friction characteristic measuring apparatus according to the present invention.
Hereinafter, exemplary embodiments of the present invention will be described in detail with reference to the accompanying drawings, which illustrate exemplary embodiments of the present invention. The present invention is not limited to these embodiments.
Fig. 1 shows the construction of an electric friction characteristic measuring apparatus for electrically measuring the friction characteristic of the electric drive system according to the present embodiment.
As shown in the figure, the electric friction
Specifically, the
Specifically, the
Specifically, the
2 to 4 show an embodiment of a method for measuring static friction characteristics according to the present invention.
Referring to FIG. 2, the static friction is measured by the current (torque) at the moment when the
Therefore, the parameters of the
Here, the start angle_stop_F is defined as a first measurement position set in a forward measurement (a final measurement position in a reverse measurement). The end angle < RTI ID = 0.0 > _stop_F < / RTI > is defined as the final measurement position that is set during forward measurement (the initial measurement position in the reverse measurement). The position alignment tolerance _stop_F is defined as an alignment error allowed when moving to the measurement position. The measurement interval _stop_F is defined as a measurement interval between a start angle and an end angle. The current increase slope _stop_F is defined as a set increase rate of the motor current. The current upper limit value _stop_F is defined as a motor current set so as not to exceed the allowable current of the motor. The current decay time _stop_F is defined as a designated time for decreasing all the motor currents after the drive determination. The measurement speed_stop_F determines that the motor current (torque) is larger than the static frictional force when the motor speed exceeds this value It is defined as a speed threshold value for the drive discrimination. In particular, this condition can be applied simultaneously or singly with the 'measurement sensing displacement' item. The measurement sensing displacement _stop_F is defined as an angular displacement value for driving determination that determines that the motor current (torque) is greater than the static frictional force when the motor displacement exceeds this value. In particular, Or may be applied alone.
Referring to FIG. 3, the electric friction
The parameter input of the
Next, when the
Referring to FIG. 4, S10 denotes a step of inputting a parameter into the
When the traction characteristic measurement is executed in accordance with the control sequence, the
5 to 7 show an embodiment of a method for measuring the dynamic friction characteristics according to the present invention.
Referring to Fig. 5, the kinetic friction is measured at current time (torque) at this point when the
Therefore, the parameters of the
Here, the start angle _move_F is defined as a set initial measurement position. The end angle _move_F is defined as the set measurement end position. The position alignment tolerance _move_F is defined as an alignment error allowed when moving to the measurement position. The drive-stop permissible displacement _move_F is defined as the allowable displacement for the stop position after measurement driving. The velocity increase slope _move_F is defined as a velocity increase slope for reaching the measurement motor velocity. The velocity command table_move_F is defined as a plurality of specified velocity command values. The measurement displacement table_move_F is defined as a measurement displacement designated for each velocity command to terminate the measurement if it is driven above a specified displacement in the kinetic friction measurement. The transient response time _move_F is defined such that data for a designated time after the motor speed enters the constant velocity section is excluded from the measurement result.
Referring to FIG. 6, the electric friction
The parameter input of the
Next, when the
7, the steps of S201 to S219 are automatically performed by the friction measurement control
When the measurement of the kinetic friction characteristic is performed according to the control sequence, the
As described above, in the apparatus for measuring friction characteristics of the electric drive system according to the present embodiment, parameters for automating the entire process of friction characteristic measurement are inputted, and the parameters such as the current drive profile and the kinetic friction measurement A GUI (Graphic User Interface) 20 in which a control sequence of the speed drive profile used in the
1: Electric friction characteristic measuring device
10: Control device 11: Friction measurement control operation part
13: Motor control operation section
20: GUI (Graphic User Interface)
100: electric drive device 110: electric motor
120: Driving device
Claims (15)
When the operation command of the GUI 20 is inputted, the electric driving device 100 having the electric motor 110 and the driving device 120 as the constituent elements is driven and controlled by the current driving profile and the speed driving profile, And a control device (10) for measuring friction and kinetic friction, respectively,
The GUI 20 divides the parameter into parameters of the static friction and the parameters of the kinetic friction, and the parameters of the static friction include the start angle _stop_F [deg] of the electric motor 110, the end angle _stop_F [ the current limit value _stop_F [A], the current decay time _stop_F [sec], the current increase slope _stop_F [A / s] A measurement sensing speed _stop_F [deg / s] and a measurement sensing displacement_stop_F [deg] are applied, and the parameter of the dynamic friction is applied to the start angle _move_F [deg], the end angle _move_F [ ], The position alignment tolerance _move_F [deg], the drive stop permissible displacement _move_F [deg], the velocity increase slope _move_F [deg / s], the speed command table _move_F [deg / s], the measurement displacement table _move_F [ deg], transient response time _move_F [sec]
Wherein the frictional characteristic measuring device is configured to measure the frictional characteristic of the electric drive system.
(B) being controlled by the control device (10) such that the motor current is increased in a forward direction in accordance with a set current increase slope while the electric motor (110)
(C) outputting measurement data to the GUI (20) when the drive discrimination criterion is satisfied, and a decrease in the motor current for stopping the electric motor (110) is controlled by the control device (10);
(D) being controlled by the control device (10) so that the electric motor (110) is stopped after the set next measurement position is stopped;
(E) switching to a measurement for the reverse direction after completion of the measurement of the forward direction of the electric motor (110), and the same process as the forward direction is performed by the control device (10) until the completion of the measurement for the reverse direction; Lt; / RTI >
The parameter includes a start angle _stop_F [deg] of the electric motor 110, an end angle _stop_F [deg] of the electric motor 110, a position tolerance_stop_F [deg] , The current increase slope _stop_F [A / s], the current upper limit value _stop_F [A], the current decay time _stop_F [sec], the measurement sensing speed _stop_F [deg / s], and the measurement sensing displacement _stop_F [deg]
Wherein the frictional characteristic of the electric drive system is determined based on the friction characteristic of the electric drive system.
(G) The electric motor (110) is caused to reach a speed command by increasing the motor speed in a forward direction in a forward direction according to a speed increasing gradient to reach the measuring position B set at the measuring position A, Being controlled by the controller (10) so as to be applied to values sequentially extracted one by one from an instruction table;
(H) measurement condition is satisfied, the measurement data is output to the GUI (20), the speed command is reduced so that the drive displacement does not exceed the displacement corresponding to the speed command in the measured displacement table, and the electric motor ) Is controlled by the control device (10) so as to stop after driving;
(I) the electric motor 110 is stopped after the electric motor 110 is stopped, the motor speed is increased in the reverse direction according to the speed increasing gradient, To reach the measurement position (B), and the speed command is controlled by the control device (10) so that the speed command is sequentially extracted one by one in the speed command table;
(J). When the measurement condition is satisfied, the measurement data is output to the GUI (20), the speed command is reduced so that the drive displacement does not exceed the displacement corresponding to the speed command in the measured displacement table, Controlled by the controller (10) so that the controller (110) stops after driving;
(K) being performed by the controller (10) so that a sequential process according to an order specified in the speed command table is repeated and terminated;
Wherein the friction characteristic of the electric drive system is determined based on the friction characteristic of the electric drive system.
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| KR1020160004264A KR101787233B1 (en) | 2016-01-13 | 2016-01-13 | Method and Apparatus for Friction Characteristic Measurement of Electric Drive System |
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| KR1020160004264A KR101787233B1 (en) | 2016-01-13 | 2016-01-13 | Method and Apparatus for Friction Characteristic Measurement of Electric Drive System |
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Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005351911A (en) * | 2005-09-09 | 2005-12-22 | Nsk Ltd | Device for measuring frictional force |
| JP2010133719A (en) | 2008-12-02 | 2010-06-17 | Sharp Corp | Friction tester, friction test method, and evaluation method of friction test |
| JP2010266297A (en) | 2009-05-14 | 2010-11-25 | Nippon Telegr & Teleph Corp <Ntt> | Friction coefficient measuring instrument |
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- 2016-01-13 KR KR1020160004264A patent/KR101787233B1/en active IP Right Grant
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2005351911A (en) * | 2005-09-09 | 2005-12-22 | Nsk Ltd | Device for measuring frictional force |
| JP2010133719A (en) | 2008-12-02 | 2010-06-17 | Sharp Corp | Friction tester, friction test method, and evaluation method of friction test |
| JP2010266297A (en) | 2009-05-14 | 2010-11-25 | Nippon Telegr & Teleph Corp <Ntt> | Friction coefficient measuring instrument |
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