SU838446A1

SU838446A1 - Method of measuring torque characteristics of electric motor

Info

Publication number: SU838446A1
Application number: SU792781159A
Authority: SU
Inventors: Рудольф Александрович Орещенко
Priority date: 1979-05-16
Filing date: 1979-05-16
Publication date: 1981-06-15

Description

Изобретение относится к измерительной технике и может быть использовано для измерения статического и динами-, ческого момента двигателя постоянного тока.The invention relates to measuring technique and can be used to measure the static and dynamic moment of a DC motor.

Известен способ измерения моментных характеристик электродвигателя, в котором динамический момент определяют путем дифференцирования сигнала, пропорционального скорости вращения вала, а статический - как разность сигналов, пропорциональных активному моменту и динамическому 03·A known method of measuring the torque characteristics of an electric motor, in which the dynamic moment is determined by differentiating a signal proportional to the speed of rotation of the shaft, and the static one as the difference of signals proportional to the active moment and dynamic 03 ·

Наиболее близким по технической сущности и достигаемому результату к изобретению является способ измерения моментных характеристик электродвигателя путем измерения активного момента и скорости вращения вала электродвигателя с последующей обработкой сигналов, пропорциональных им [2].The closest in technical essence and the achieved result to the invention is a method of measuring the torque characteristics of an electric motor by measuring the active moment and rotation speed of the motor shaft with subsequent processing of signals proportional to them [2].

Недостатком известных способов является низкая точность измерения.A disadvantage of the known methods is the low accuracy of the measurement.

Цель изобретения - повышение точности измерения статического и дйнамического момента.The purpose of the invention is to improve the accuracy of measuring static and dynamic moment.

Указанная цель достигается за счет того, что в нем одновременно производят алгебраическое суммирование указанных сигналов и интегрирование этой суммы с помощью апериодического звена, а затем суммируют сигнал с апериодического звена с сигналом, пропорциональным скорости вращения вала, а также за счет того, что в нем дополнительно пропускают сигнал, пропорциональный активному моменту через апериодический фильтр и суммируют его с суммой сигналов с апериодического звена и сигналом, пропорциональным скорости вращения вала.This goal is achieved due to the fact that it simultaneously produces the algebraic summation of these signals and integrates this sum using an aperiodic link, and then sums the signal from the aperiodic link with a signal proportional to the speed of rotation of the shaft, and also due to the fact that it additionally pass a signal proportional to the active moment through the aperiodic filter and sum it with the sum of the signals from the aperiodic link and the signal proportional to the shaft rotation speed.

На фиг. 1 представлена схема устройства для измерения статического момента, фиг. 2 - то же,, для измерения динамического момента электродвигателя.In FIG. 1 shows a diagram of a device for measuring static moment, FIG. 2 - the same, for measuring the dynamic moment of the electric motor.

Устройство для измерения статичес кого и динамического момента содержит усилитель I и апериодическое зве· но 2 (интегратор, охваченный жесткой отрицательной обратной связью по пер- 5 вому входу), выход которого соединен с первым входом усилителя.The device for measuring the static and dynamic moment contains an amplifier I and an aperiodic link · 2 (an integrator covered by hard negative feedback at the first input), the output of which is connected to the first input of the amplifier.

Способ осуществляется следующим образом.The method is as follows.

На вторые входы усилителя и апериодического звена поступает сигнал, пропорциональный скорости вращения вала электродвигателя, а на третий вход апериодического звена поступает сигнал, пропорциональный активному моменту М (фиг. 1). В устройстве для измерения динамического момента (фиг.2) сигнал,пропорциональный активному моменту М , поступает также на третий вход усилителя 1 через апериодический фильтр.A signal proportional to the rotation speed of the motor shaft is supplied to the second inputs of the amplifier and an aperiodic link, and a signal proportional to the active moment M is transmitted to the third input of the aperiodic link (Fig. 1). In the device for measuring the dynamic moment (Fig. 2), a signal proportional to the active moment M is also supplied to the third input of the amplifier 1 through an aperiodic filter.

Выходной сигнал И_с(фиг. 1), определяющий статический момент, находится из уравнения ^UC= ^_K4^U0’ а выходной сигнал Ид (фиг. 2),определяющий динамический момент)находится из уравненияThe output signal And _with (Fig. 1), which determines the static moment, is found from the equation ^U C = ^_K 4 ^U 0 'and the output signal Id (Fig. 2), which determines the dynamic moment) is found from the equation

Ха МHa M

и. = -K.LL,and. = -K.LL,

Д 5 Т Р+1 ⁴ где Uq^CK^M+K^w - выходной сигнал апериодического звена; · К^, К^, Кд, Кд· и - коэффициенты;D 5 T P + 1 ⁴ where Uq ^ CK ^ M + K ^ w is the output signal of the aperiodic link; · K ^, K ^, Kd, Kd · and - coefficients;

К^-коэффициент жесткой отрицательной обратной связи интегратора; Т? - постоянная времени интегратора;K ^ -coefficient of hard negative feedback of the integrator; T - time constant of the integrator;

Т -постоянная времени апериодического фильтра;T is the time constant of the aperiodic filter;

Р -независимая переменная преобразования Лапласа.P is an independent variable of the Laplace transform.

Выбирая коэффициенты K₇=Kg⁼y*> Kg= Kg« Кд=Кд=К^Т = £ выражения для «выходных сигналов И & (фиг. 1) и Ид (фиг. 2) после простых преобразований с учетом соотношения w=Mg-jp= ⁼ (M~Mc)jp примут вид 'где 3 - момент инерции вала;Choosing the coefficients K ₇ = Kg ⁼ y *> Kg = Kg "Kd = Kd = K ^ T = £ expressions for" output signals And & (Fig. 1) and Id (Fig. 2) after simple transformations, taking into account the relation w = Mg-jp = ⁼ (M ~ Mc) jp will take the form 'where 3 is the moment of inertia of the shaft;

К - коэффициент, величина которого может принимать любые положительные значения;K - coefficient, the value of which can take any positive values;

М_с - статический момент двигателя;M _s - the static moment of the engine;

Мд - динамический момент двигателя.MD - the dynamic moment of the engine.

Последние выражения показывают, что предлагаемый способ обеспечивает определение сигналов И_с и Ид, пропорциональных соответственно статис тическому М_с и динамическому Мд моментам, причем постоянную времени у можно практически свести к нулю, задаваясь достаточно большим значением КThese expressions show that the proposed method provides determination of signal and _c and Id, respectively statis tically proportional _to M and Mg dynamic moments, the time constant can have virtually reduced to zero, wondering sufficiently large value of K

Использование в предлагаемом способе только операций интегрирования с помощью апериодического звена и суммирования позволяет повысить точность измерения моментных характеристик электродвигателя.Using in the proposed method only integration operations with the help of an aperiodic link and summing allows to increase the accuracy of measuring the moment characteristics of the electric motor.

Claims

The invention relates to a measuring technique and can be used to measure the static and dynamic moment of a DC motor. There is a known method for measuring the torque characteristics of an electric motor, in which the dynamic torque is determined by differentiating a signal proportional to the speed of rotation of the shaft, and the static torque is defined as the difference of signals proportional to the active torque and dynamic 1J. The closest in technical essence and the achieved result to the invention is a method for measuring the torque characteristics of an electric motor by measuring the active moment and the rotation speed of the electric motor shaft followed by processing signals proportional to them 2. A disadvantage of the known methods is the low measurement accuracy. The purpose of the invention is to improve the accuracy of measuring the static and dynamic moment. This goal is achieved due to the fact that it simultaneously produces an algebraic summation of these signals and the integration of this sum using an aperiodic link, and then summarizes the signal from the aperiodic link with a signal proportional to the speed of rotation of the shaft in addition, a signal proportional to the active moment is passed through the aperiodic filter and summed with the sum of the signals from the aperiodic link and the signal proportional to the speed of rotation of the shaft. . FIG. 1 is a diagram of a device for measuring a static moment; FIG. 2 is the same for measuring the dynamic moment of an electric motor. The device for measuring the static and dynamic moment contains amplifier 1 and aperiodic 2 (integrator covered by rigidly. Negative feedback on the first input, the output of which is connected to the first input of the amplifier, The method is carried out next time. On the second inputs of the amplifier and The aperiodic link receives a signal proportional to the speed of rotation of the motor shaft, and a signal proportional to the active moment M is received at the third input of the aperiodic link. The signal moment proportional to the active moment M is also transmitted to the third input of the amplifier 1 through the aperiodic filter. The output signal 1), which determines the static moment, is found from the equation Uc Kjw -K4Uo. and the output signal Id (Fig. 2) j determines the dynamic moment, is found from the equation U. K, cjJ +, where Ug (l -jUg-) is the output signal of the aperiodic link K, Kl, Kc and K, is the coefficient. The co-coefficient of the integrator's hard negative feedback is the constant of the integrator time; T is a constant of aperiodic filter time; P is an independent variable for the transformation of Laplace. Choosing the coefficients, (4 f expressions "output signals E (Fig. 1) and Id (Fig. 2) after simple transformations taking into account the ratio w Mg-3i5 (M-Mj,) take the form -7 a (fp.) 64 where D By the moment of inertia of the shaft; coefficient, the value of which can take any positive value; MQ is the static moment of the engine; Md - Dynamic torque of the engine. The last expressions show that the proposed method provides for the determination of signals and Id proportional to the statistical MQ and dynamic Md MCJC cops, and the time constant is o almost reduced to zero, given a sufficiently large value of K Using in the proposed method only integration operations using aperiodic link and summation improves the accuracy of measuring the motor torque characteristics. The formula of the invention, 1. Method of measuring the motor torque characteristics by measuring the active moment and speed rotation of the motor shaft followed by processing of signals proportional to them, characterized in that, in order to increase the accuracy and Merényi static moment, it simultaneously produ algebraic summing said signals and integrating this amount via a delay element ;, then summed signal with a delay element with a signal proportional to the rotational speed,

2. The method according to claim 1, is also distinguished by the fact that, in order to increase the accuracy of measuring the dynamic moment, it additionally passes a signal proportional to the active moment through the aperiodic filter and summarizes it with the sum of the signals from the aperiodic link and the signal proportional to the speed of rotation of the shaft. Sources of information taken into account in the examination 1 of the USSR Copyright Certificate; № 420893, CL. G 01 L 3/22, 23.05.72 „2„ Proceedings of the Moscow Order of Lenin Energy Institute. Electromechanics. Issue 153, M., 1972, p. 4953 (prototype).

G

t

NO

M

M,

one

fpu.i