TW517439B - Method and apparatus for measuring motor torque - Google Patents

Abstract

A method and apparatus for measuring motor torque, especially for which applied to the mass production line, is described. The motor under testing is accelerated from the zero speed to the no-load speed by applying a constant voltage source. A reactive torque, which is equal to the motor torque, reacts on the motor stator during the acceleration process. The reactive torque is transmitted to the active torque meter containing a voice coil motor by a virtual-axis torque transmission mechanism consisting of a swing box, plural bearings, and an arm. To prevent the swing box from rotation, a balance torque equal to the reactive torque is applied, which is developed by the force of the voice coil motor and the arm. The force of the active torque meter is controlled by a position controller to apply an adequate current to the moving coil. The torque vs. speed curve is obtained by high-speed sampling the values of the current and the related speed.

Description

V. Description of the invention d) This creative department-‘Special I: Japanese method for detecting horse reading private mountain forks and ί; one can be used in production lines: batch ii: method and equipment (creative background) device. The motor output torque detection device of the motor product's power test should be controlled by a controllable Rio Tinto motor power meter. If it is negatively cut out, the load unit 51 with a controllable speed and the load unit 51 & The two ends of the shaft are directly tied = f early 7051, which is used to measure the shaft of the unit 51 under different revolutions. It is used to measure and measure: the two force gauge μ and ΛΛ are time consuming. i Ϊ ίMeasure the motor 5; Twist six 丄 J horse fine personal force meter 5 2 and Han Yiyi-mouth! , ≪ π How to wither horses, whole. And the load must be precise. The strict concentricity requirements of the three axes need to be precise. (B) If the braking deceleration is too fast during the reverse rotation kinetic energy test, the load unit 51 needs a longer inertia. After the speed is stable, perform the measurement. Therefore, the torque meter 52 used by the motor 53 (same as the step-by-step rotation motor power meter) is piezoelectric with the device under test. In addition, its sensing element is not easy, and 7 μ is likely to be instantaneously loaded or improper external force. Damage, maintenance disturbance. ', The output is a millivolt (mv) level signal, which is susceptible to noise. 2 The conventional motor output torque measurement device has the above installation d: two. Therefore, there is no effective method or device that can be implemented so far. Motors 忐, a large number of fast random inspections or full inspections, which will make motor products reported

Page 5 517439 V. Description of the invention (2) It is difficult to meet the high starting and the most set of motors (creation overview) The detection problems of this creation This creation imposes a large standard quality standard for the stator of the unloaded highest rotation motor of the horse to be tested The main force of torque output is the main performance of the output, so that it can reach the speed; One of the devices is made by the swing mechanism, in order to make the torque take different instantaneous seats at the voice coil speed. The pseudo shaft is transmitted to the cradle. The flat voice coil horse motor and the speed of the creative load are controlled by this. Of course, the torque transmission is due to the counterbalance force. The electric output device must be shaken. Marco equips the current equivalent basket, non-reacting moment, and the current and torque of the moving wire basket with a special virtual quantity. The anti-bearing touch torque of the anti-bearing should be relatively fast by the arm of the circle. The requirement of the non-axis force is neat. The process energy is neat. The motor torque is measured. The motor measures the force of the motor. The arm ring motor rotates. The active control of the electrical control cooperates with the speed detection of the production to transmit any torque to the test tool. For example, : Provide a certain number of check motor force level value (CPK value) for judgment. The rapid force detection of the rotor's moment of transmission constitutes a precise torque detection method. It is possible to block the force generated by the inverse of the force, which must be calculated by borrowing, to tie the zero moment, and act on the pseudo-axis to give the initiative Constantly speed up and reach the losing line. The constant speed will control the torque and torque equivalent position control through the process. The torque voltage source to be measured is accelerated to the value to be measured through the transmission force gauge; the balance controller is connected to the middle, and the high motor is born, here Speed, you can aim. The rotor inertia of the motor itself is used as a load unit, which includes a base mechanism and an active torque. The base includes at least a pair of brackets for carrying the virtual transmission mechanism.

Page 6 517439 V. Description of the invention (3) Of course, it is non-straight to connect or float the motor to be tested to the above-mentioned turn center. Of course, where 俾 is used to connect the cradle, of course, the sensor, and of course, the iron , And a plurality of permanent-moving coils generate a balance moment, of course, the position of the circle. Of course, the signal is controlled by the above-mentioned voice coil horse coil. Figure 1 Figure 2A Figure 2B Figure 3 Figure 3 The virtual shaft torque transmission mechanism includes a rocker t, and a plurality of bearings are rigidly connected to The cradle and slide the bracket so that the rotation center of the cradle is concentric with the rotation of the motor to be measured. The virtual shaft torque transmission mechanism may further include a force arm and an active torque meter. The active torque meter includes a voice coil motor and a position controller. The voice coil motor includes a stator composed of a magnetically permeable iron, a central pillar long magnet, and a plurality of coils to generate a force. The force can pass through the above-mentioned force arm, and the position sensor俾 It is used to measure the moving line of the voice coil motor. The position controller accepts the feedback ratio, differentiation and integration of the position sensor. Through the power amplifier, an appropriate current is passed to the movable coil to make the voice coil motor Controlled at a set balance position. It can be better by referring to the attached drawings by the following detailed description: is the functional diagram of the system of this creative installation;: is the schematic of the organization of this creative;: is the 2-2 cross-sectional schematic of Figure 2A; Structure of voice coil motor for active torque meter

Page 7 517439 V. Description of the invention (4) Figure; Figure 4: Functional block diagram of the positioning controller of the active torque meter; Figure 5: Schematic diagram of the conventional motor power meter. (Detailed description of the creation) Figure 1 shows the working principle of the motor output torque detection method. In Figure 1, the table, table, table, table, table, table, table, table, and table 111 112 121 122 123 130 131 132 133 134 140 150 160 170 Test motor rotor shows the motor to be tested. Place the cradle. The bearing between the cradle and the base. The arm between the cradle and the voice coil motor. / The active voice coil motor. The stator voice coil motor. The movable coil voice coil motor position. The position controller of the voice coil motor shows the base bracket shows the driving torque received by the rotor of the motor under test shows the reaction torque received by the stator of the motor under test shows the balance torque applied by the voice coil motor stator 1 1 1 after excitation , The motor rotor 1 1 2 must be applied, and the moment 1 50, so that the motor rotor 1 1 2 to be measured is accelerated from the static zero speed to the speed. According to Newton's third law of motion, the test is to be performed in this process.

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The 111 received by the motor rotor 1 1 2 generates an equivalent value and places the cradle 1 2 1 as the cradle 1 2 1 just connected to the base bracket 140 and the cradle of the rotor 1 1 2 to place the cradle. 1 2 1 Reverse action toward the rotor of the motor under test 1 1 2 The basket 121 does not rotate and the driving torque is 150. The motor to be tested and the stator Π / 60 must be connected due to the 111 of the motor under test. This reaction torque 160 must be transmitted in the same value and then placed and shaken. 121 Sliding or floating through the bearing 122 causes the rotation center of the shaker 1 2 1 to be non-straight concentric (virtual concentric) with the motor to be measured. Therefore, when using torque When 16 0 is applied, it must rotate around the opposite direction of the rotation direction of this virtual concentric axis. In order to place and shake, a balance torque (T) 170 equal to the reaction torque 1 6 〇 must be applied, and it is connected to the placing cradle. The force arm 123 of 121, when the voice coil motor movable coil 1 3 2 achieves the positioning control, the voice coil motor movable coil 1 3 2 Xin ^ | The force (F) generated by the voice coil motor movable coil 132 is imaginary and pseudo-concentric The product of the length (r) of the force arm 123 of the shaft must be equal to the required balancing torque (T) 170, T 2 FX r. At this time, the force (F) generated by the voice coil motor movable coil 1 3 2 is determined by the positioning controller. 1 3 4 The position sensor 1 3 3 detects the voice coil horse movable coil 1 3 2 The deviation (x) 'between the position of the voice coil and the set position is determined as a proportional, integral, and derivative operation (PID Control) to determine the sound to be applied. Appropriate control voltage (V) of the movable coil 132 of the coil motor, V = KPxx + KIx Sxdt + KVxd / dt x

Among them, KP, KI, and KV are gain values of proportional, integral, and derivative, respectively. The determination of the appropriate values has been detailed in many control theory books. 'I will not repeat them here. This voltage (v) is added to the voice coil motor. The movable coil 132 is caused to pass a current (i),

Page 9 517439 V. Description of the invention (6) V2 RX i + LX d / dt i ′ where R and L are the resistance and inductance of the movable coil 132 of the voice coil motor, respectively, and the current (i) is related to the voice coil The magnetic field of the motor stator 111 interacts to generate the above-mentioned force (F). The force (F) and the current (i) are completely proportional to the motor theory. F = Kf X i where K f is the force constant, so T can be obtained. = Fxr = Kfx ix r = KTx i where KT is a torque constant; therefore, the balance torque (T) 170 is completely proportional to the current (i) of the moving coil 1 2 of the voice coil motor. Therefore, the rotor of the motor to be measured is stationary. During the acceleration from zero speed to the maximum speed without load, high-speed sampling and recording of the current value and the corresponding motor speed value, that is, the output torque value of all speeds of the motor to be measured. The motor output torque detection device of this creation, as shown in FIG. 2, includes a base, a virtual shaft torque transmission mechanism, and an active torque meter. The base includes a base plate 211 and a pair of brackets 212, The virtual shaft torque transmission mechanism includes a motor placing cradle 2 2 1, a plurality of rolling bearings 2 22, and a force arm 223. The active torque meter includes a voice coil motor 2 3 1 and a position sensor. 2 3 2, a positioning controller 2 3 3. The following is a detailed description of each part of the detection device shown in this creation. The base includes a base plate 2 1 1 and a pair of brackets 212, which are symmetrically erected on the front and rear edges of the base plate 211. Each of the brackets 2 12 is provided with an arc-shaped guideway, and the center of the circle of the arc-shaped guideway is concentric with the rotation center of the motor rotor 20 to be measured.

Page 10 517439 V. Description of the invention (7) The virtual shaft torque transmission mechanism 'includes a motor placing cradle 承载 21 to carry the motor to be tested. The motor placing cradle 221 has front and rear walls 2 24, which are outward A plurality of rolling bearings 2 2 2 are provided on the vertical plane, and the plurality of rolling 'bearings 222 slide on the arc-shaped guideway of the aforementioned bracket 212, so that the motor is placed on the monitor 2 2 1 to rotate along the center of the aforementioned lonely-shaped guideway. Of course, the rotation center of this motor placement cradle 2 2 1 is concentric with the rotation center of the rotor of the motor to be tested. The rotation motion of this motor placement cradle 22 丨 is characterized by a small angle of rotation around the center of the arc-shaped track. One end of the virtual pumping torque transmission mechanism is a ruler ζ ζ 3 2 2 3 is rigidly connected to one side of the motor placement cradle 2 2 1, and the extension line of the force arm 2 2 3 passes through the motor rotor 2 to be tested. 〇 the rotation center. An active torque meter includes a voice coil motor 2 3 1. Please refer to FIG. 3, wherein the voice coil motor is composed of a magnetic yoke 31, a central pillar iron 3 2, and a plurality of permanent magnets. A stator composed of magnets 3 and 3, and a movable coil 34 made of a plurality of coils. An air gap is provided between the permanent magnet of the stator and the central pillar 32, and a magnetic field passes through the movable coil 3. 4 Surrounded by the central iron 3 2 and set in the air gap, the outer edge of the movable coil 3 is rigidly connected to the other end of the arm 2 2 3, which is characterized in that when the motor places the cradle 221 at a small angle The movable coil 34 can maintain no contact with any part of the stator 30, so when the movable coil 34 is energized, this current interacts with the air-gap magnetic field, and through the above-mentioned force arm 223, no contact can be achieved. Directly driving the motor to place the cradle 221 to rotate to form a balanced torque. The active torque meter further includes a position sensor 2 3 2 which can be

Page 11 517439 V. Description of the invention (8) A light reflection type optical coupler or a proximity distance sensor, which is fixedly connected to the yoke 31, and its detection surface is projected onto the contactlessly. A force arm 2 2 3 connected to the movable coil 34 is used to measure the position of the movable coil 34 and generate a position voltage signal. The active torque meter further includes a positioning controller 233, please refer to FIG. 4. The positioning controller 233 receives the position voltage signal and a set position voltage signal and subtracts it through a differential amplifier 40 to generate A position deviation signal, which simultaneously passes through a proportional amplifier 4 1, an integrating amplifier 4 2, and a differential amplifier 4 3 to generate three signals, and the three signals are added and synthesized through a summing amplifier 4 4 A control voltage signal is input to a power amplifier 45 to generate a driving voltage. The driving voltage is applied to the movable coil 34 to generate a 'required current to drive the movable coil 34. The current is measured and output by a current sensor 45 connected in series with the movable coil 34. In summary, the method and equipment for measuring motor torque as disclosed in this work have the following advantages: (a) Measurement of fast motor output torque: Because this work designs a virtual shaft torque transmission mechanism and completely omits the load unit, so The installation of the motor to be tested does not need to be centered. It only needs to be placed and locked, and the inertial rotation kinetic energy feedback of the no-load unit during the test can be measured from the zero speed of the motor at rest to the highest speed without load at full speed. The motor to be tested is installed in _ and it takes only a few seconds to complete the test. Compared with the conventional motor power meter, which takes several hours, it is a considerable improvement. (b) Small size and low cost: Because the load unit is completely omitted,

Page 12 517439 V. Description of the invention (9) The volume and installation area of this device are only one third of the conventional wattage. Of course, because the body and drive controller of the load unit are omitted, this device can Dramatically reduce manufacturing costs. (c) High measurement accuracy and easy installation: even if the center of rotation of the motor to be measured and the center of rotation of the cradle are eccentric, the design level is made with general clamps, exaggeratingly assumed 0.1 mm, compared with a 500mm arm , Its output torque measurement error is only 0.02%, which is far lower than the measurement accuracy of the conventional torque meter. In addition, even under this exaggerated eccentricity (generally the eccentricity of the shaft straight knot is required to be 0.03 mm Below), because the center of rotation of the cradle and the center of rotation of the rotor of the motor under test are not directly connected, there is no problem of attenuation of the output torque of the motor under test due to bearing interference. Therefore, the measurement accuracy and convenience of this creation are much higher. The motor output torque measuring device is known. This > Bu, the placement of the cradle does not rotate substantially, so it will not affect the measurement accuracy of the output torque of the motor under test due to the loss of bearing friction when the torque meter rotates at high speed with the motor under test. The active torque meter of this creation is used for position control, and the cradle is placed microscopically as a small swing, so its measurement error is only the dynamic friction of the bearing. If a needle roller bearing is used, its friction coefficient is only less than 0.05. Compared with the desired measured motor output torque, it is almost negligible. (d) The torque meter is anti-noise and easy to maintain: This creation uses the measurement of the current of the voice coil motor as the means to measure the output torque of the motor to be measured. Its full scale is amp level. Compared with the conventional torsion meter piezoelectric In terms of the full scale of several millivolts (mV) output by the component, it is better than the conventional torque meter in terms of measurement accuracy, resolution and noise immunity, or in the cost of the torque meter. And when the external torque exceeds the maximum, the active torque of this creation

Page 13 517439 V. Description of the invention (ίο) The meter can perform an overcurrent trip and issue a warning. When the controller is reset, it can continue to be used; and if the conventional torque meter has an applied torque exceeding the maximum value, the piezoelectric element The permanent deformation caused permanent damage, so the maintainability of the system created by this creation is better than the conventional motor output torque measurement device. In this way, this creation can be applied to the conventional motor power meter to improve the accuracy and maintainability of the measurement side. Most importantly, it can effectively solve the high-speed motion and rapid detection requirements of large-scale motor factory power detection. Creation is a practical, progressive, and novel invention. This case may be modified by any person skilled in the art, but none of them can be protected as attached to the scope of patent application.

Page 517439 Simple illustration of the drawing (simple description of the drawing) * Figure 1: Schematic diagram of the system function of the creative device; Figure 2A: Schematic diagram of the mechanism of the creative device; Figure 2B ... · Figure 2A Section 2-2 schematic diagram; Figure 3: Schematic diagram of the voice coil motor structure of this creative active torque meter; Figure 4: Functional block diagram of the positioning controller of this creative active torque meter, Figure 5: Department of Xi Know the structure of the motor power meter.

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Claims (1)

517439 VI. Application for patent scope 1. A method for measuring the output torque of a motor, characterized in that, no load is applied to α, and the rotor inertia of the motor under test is used as a load, and the motor under test is accelerated from a static zero speed to no load In the process of the highest speed, the method of synchronously measuring the reaction torque and corresponding speed of the output torque of the motor under test includes the following steps: (a) when the motor under test is stationary, supplying a constant voltage source to the motor under test; b) When the motor under test accelerates from the static zero speed to the maximum speed without load, the output torque of the motor under test will produce an equivalent reaction torque to the stator of the motor under test; (c) The reaction torque is The virtual shaft torque transmission mechanism is transmitted to an active torque meter composed of a non-contact voice coil motor. (D) The active torque meter passes a control current of the movable coil of the voice coil motor through a positioning control method to generate a The balance torque and the above reaction torque are equivalent; (e) During the acceleration process, the control current is sampled at a high speed and the corresponding speed is used to obtain the Measuring the motor output torque at different speeds. 2. The method for measuring the output torque of a motor as described in item 1 of the scope of patent application, wherein the positioning control method of the active torque meter is to feedback the position of the movable coil of the voice coil motor and subtract it from a set position. A position deviation amount is generated, and the position deviation amount generates a composite signal through proportional, integral, and differential operations respectively. The composite signal generates a driving voltage through power amplification, and the driving voltage is added to the movable coil to generate a required current to make the movable The coil is maintained at the set position. Page 16 517439 VI. Application patent scope 3 · A kind of reaction torque of the motor shaft torque transmission, which is characterized by the rotation of the rotor on the base 4 · If you apply for special installation, where one of the bottom plates is supported by one pair 5 If you apply for special installation, one of the motors has a plurality of vertical surfaces on the front and back walls; on one side of the rear wall, and if you apply for a special installation, the motor is equipped with an output torque detection device. It includes: 〆 基 f, a virtual mechanism to carry the torque measurement motor and transmit the output torque of the motor; an active force selection meter to measure the output force of the motor is: the virtual shaft torque transmission mechanism is free The rotation center sliding on the virtual shaft torque transmission mechanism coincides with the center of the motor to be measured. The base for detecting the output torque of a motor as described in the third item of the utility model. The base includes: a frame, and the pair of stands are symmetrically erected on the front and rear edges of the bottom plate. The detection device for the output torque of the motor as described in the fourth item of the scope of interest is provided with an arc-shaped track on the bracket, and the rotation center of the circular rotor of the solitary-shaped track is concentric. The virtual shaft torque transmission mechanism of the motor output torque detection device described in item 3 of the scope of interest includes: placing the shake blue 'which is arranged on both sides of the bracket parallel to the base for bearing the clam motor; the bearing' is provided on The front and rear walls of the motor placement cradle are rigidly connected to the front wall of the motor placement cradle for transmitting force. The 6th jg μ in the range of soil is the motor @ & torque detection device described in the bearing H. The cradle machine grasps and rolls on the lonely track of the bracket. The center of the L ν track rotates, so the motor is set to or 517439 VI. Scope of patent application The rotation center of the cradle is concentric with the rotation center of the motor rotor to be tested. 8. The device for detecting the output torque of a motor as described in item 6 of the scope of the patent application, wherein the extension line of the force arm passes through the rotation center of the motor rotor to be measured. 9. The detection device for output torque of a motor as described in item 3 of the scope of patent application, wherein the active torque meter includes a voice coil motor, a position sensor, and a positioning controller, which is characterized by the positioning control According to the signal of the position sensor, the voice coil motor generates a non-contact balance torque equivalent to the output torque of the motor to be measured. 10. The motor output torque detecting device according to item 9 of the scope of patent application, wherein the voice coil motor is composed of a stator and a movable coil. 1 I The device for detecting the output torque of a motor as described in item 10 of the scope of the patent application, wherein the stator of the voice coil motor is composed of a permeable yoke, a central pillar iron, and a plurality of permanent magnets, and is characterized by: : An air gap is set between the permanent magnet and the central pillar iron, and a magnetic field generated by the permanent magnet is passed through the air gap. 1 2 · The device for detecting the output torque of a motor as described in item 10 of the scope of patent application, wherein the movable coil of the voice coil motor is made of a plurality of coils, which is surrounded by the central pillar iron and is provided in the In the air gap, and its outer edge is rigidly connected to the other end of the force arm, it is characterized in that when the motor places the cradle at a small angle to swing, the movable coil can keep from contact with any part of the stator. 1 3 · The motor output torque detection device as described in Item 10 of the scope of patent application, wherein the movable coil is energized with current and interacts with the air-gap magnetic field. Through the force arm, the contactless direct drive of the device can be achieved. Motor placement cradle Page 18 517439 VI. Rotation of the patent application range produces a balance torque 1 4. As for the 9th position of the patent application range, the position sensor is connected to the voice coil motor and connected to the movable coil, and Generate a position voltage 15. If the patent application is in the ninth position, the position sensor 16 is used. In the patent application, the position is in the ninth position, wherein the positioning controller is a ratio of an electrical connection signal of a differential amplifier to a set voltage signal. Multiplying the amplifier electrical connection deviation signal by a gain-integral amplifier electrical connection deviation signal integral to generate a differential amplifier electrical connection deviation signal differential, generating a summing amplifier respectively, and the differential amplifier position deviation signal, the differential A voltage signal; a power amplifier is electrically connected to the voltage signal to generate a driving voltage item which may be the signal of the force arm. According to the item, the item may include the following: connected to the subtractive production and connected to the value, the detection of the output torque of the motor is installed with a light reflection type optical coupler, the fixed yoke, and the detection surface is projected, A proximity position sensor is installed for measuring the output torque of the motor at the position of the movable coil. The detection position of the motor output torque is generated by a differential, connected to the differential, an integrated position, connected to the differential, a differential position, and a proportional differential electrical connection, and the position is biased to the sensor, and the position voltage position is The deviation m number; the amplification is' is used to proportionally position the bit deviation signal; the amplifier is used to signal the bit deviation signal; the amplifier is used to signal the bit deviation signal; the proportional amplifier, the integral amplifier position deviation signal, The integral numbers are added to form a control circuit. Connected to the summing amplifier, receiving the control power, and applying the driving voltage to the movable coil Page 19 517439 VI. Scope of patent application Generates a current; used to measure the current in the movable-current sensor that is electrically connected to the movable coil.