CN105573145A - Magnetorheological fluid load simulator - Google Patents
Magnetorheological fluid load simulator Download PDFInfo
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- CN105573145A CN105573145A CN201510974768.3A CN201510974768A CN105573145A CN 105573145 A CN105573145 A CN 105573145A CN 201510974768 A CN201510974768 A CN 201510974768A CN 105573145 A CN105573145 A CN 105573145A
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- bevel gears
- clutch
- torque
- magnetorheological fluid
- magnetic
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B17/00—Systems involving the use of models or simulators of said systems
- G05B17/02—Systems involving the use of models or simulators of said systems electric
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
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Abstract
The invention provides a magnetorheological fluid load simulator and relates to a load simulation device. The magnetorheological fluid load simulator solves the problem in the prior art that the load moment of an existing load simulator is easily interfered by the motion of a test object. According to the technical scheme of the invention, a torque motor drives the driving members of two magnetorheological fluid clutches to rotate in opposite directions via a bevel gear set, and the driven members of the two magnetorheological fluid clutches are connected with the shaft of a to-be-tested motor. In this way, the torque is outputted and served as the load of the to-be-tested motor. Since the driving members of the two magnetorheological fluid clutches are driven to rotate in opposite directions, the output torques of the two driven members are also in opposite directions. Through controlling the energizing currents of the exciting coils of the two magnetorheological fluid clutches, the transmission torques of the two magnetorheological fluid clutches are changed. A torque signal on the shaft of the to-be-tested motor is acquired by a torque sensor, and the acquired torque signal is transmitted to an industrial control computer. In this way, the torque variation is realized and the torque can be precisely controlled. The magnetorheological fluid load simulator is not interfered by to-be-tested objects, and is high in loading accuracy and high in system bandwidth. Meanwhile, the control algorithm of the magnetorheological fluid load simulator is simple and reliable. The magnetorheological fluid load simulator can be used for testing the performances of motors.
Description
Technical field
The present invention relates to a kind of load simulating device simulating various load signal, belong to servocontrol and hardware-in-the-loop simulation field.
Background technology
At present, in the various high-quality precision and sophisticated technology field such as Aero-Space, weaponry, usually need to carry out dynamic test to driver element or other critical components of product, test its performance to ensure the reliability of designed product, and meet the requirement of product to performance by improving and optimizating product.Ensure to detect the confidence level of data, must to tested equipment Inspection under real load environment.But carry out the manpower and materials that Product checking needs at substantial in true environment, what have even can not realize, as seismic wave load.So need to simulate required load in laboratory environments, realize ground hardware-in-the-loop simulation, dynamic test is carried out to tested object.This technology has good controllability, has the advantages such as repeatable without destructive, round-the-clock and simple to operation, experiment, its economy be classical self destruction test incomparable.In order to the dynamic loading that the reproduction measurand realizing half material object is in laboratory conditions suffered in practical work process, simulation measurand is suffered dynamic loading environment in real work, the experiment of the self destruction of classics is converted into the forecasting research under laboratory condition, traditional load simulator arises at the historic moment.But there is a lot of technical barrier in traditional load simulator always: conventional load simulator is subject to the interference of tested object of which movement, has a strong impact on the loading performance of system, is difficult to ensure little moment loading performance and high-precision dynamic load; Real load change is various, and change is violent, and the bandwidth of conventional load simulator is difficult to meet the demands; For improving conventional load simulator performance, its control strategy is complicated, and control strategy versatility is poor.
In order to thoroughly eliminate the drawback of load simulator, being badly in need of new equipment and technology and going improve dynamic load performance and load bandwidth, realizing accurate load simulation.
Summary of the invention
The object of the invention is to be subject to the interference of tested object of which movement to solve existing load simulator, have a strong impact on the loading performance of system, be difficult to the problem of the dynamic load ensureing little moment loading performance, high precision and high bandwidth, a kind of magnetic flow liquid load simulator is provided.
Magnetic flow liquid load simulator of the present invention comprises torque sensor 13, torque motor 27, industrial computer 1, A/D board 5, D/A board 6, servoamplifier 7, constant current source 8, voltage stabilizer 9, clutch with magnetic rheologic liquid 17, No. two clutch with magnetic rheologic liquid 18 and an axle 31;
Torque motor 27 is for driving the reverse synchronized motion of the driving link of the driving link of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 by gear train, the driven member of a clutch with magnetic rheologic liquid 17 and the driven member of No. two clutch with magnetic rheologic liquid 18 are all connected with axle 31 key, the tested motor 11 that a described axle 31 is motion by two shaft couplings loads, torque sensor 13 is arranged between described two shaft couplings, for detecting the moment of an axle 31;
The torque signals detected is sent to industrial computer 1 by A/D board 5 by torque sensor 13, industrial computer 1 provides control signal by after this torque signals and given moment signal contrast, D/A board 6 is sent to servoamplifier 7 after carrying out DA conversion to this control signal, signal after servoamplifier 7 pairs of DA conversions amplifies, and the signal after amplifying is sent to constant current source 8, constant current source 8 controls the electric current of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 according to the signal received, and voltage stabilizer 9 is for the electric current of stable constant current source 8.
The Angle Position of tested motor is gathered by scrambler, and the position signalling of reality compares with given ideal position signal by industrial computer, controls tested motor move on request according to the deviation of the two.Magnetic flow liquid load simulator utilizes two clutch with magnetic rheologic liquid to realize moment transmission: torque motor drives the driving link reverse rotation of two clutch with magnetic rheologic liquid by bevel gear set, driven member is all connected with tested motor shaft, realize moment to export and act on and serve as load to tested motor, because two clutch with magnetic rheologic liquid driving link sense of rotation are contrary, so the moment of two clutch with magnetic rheologic liquid driven member outputs is reverse, by controlling magnetizing coil electrical current in two clutch with magnetic rheologic liquid, just the moment of two clutch with magnetic rheologic liquid transmission can be made to change.The torque signals gathered on tested motor shaft by torque sensor passes to industrial computer, realizes moment variations, accurate control moment.
The invention has the beneficial effects as follows, magnetic flow liquid its rheological behaviour and rheological characteristics under additional magnetic fields is utilized to occur sharply to change, the Rheologic duration is extremely short and reversible, after fluid stream there is certain funtcional relationship in shear yield stress own and applied field strengths, the moment of clutch with magnetic rheologic liquid transmission can be controlled by changing exciting curent, and then simulation moment load.The conventional load simulator that the flexible moment transmitted by magnetic flow liquid is like this different from the past, can not by the impact of tested object of which movement, realizes the dynamic load of more high precision more high frequency sound.
Accompanying drawing explanation
Fig. 1 is the systematic schematic diagram of the magnetic flow liquid load simulator described in embodiment one, and wherein 15,19,22,23,29 and 30 all represent bearing;
Fig. 2 is the principle schematic of the clutch with magnetic rheologic liquid in embodiment one, and wherein, 007 is shell;
Fig. 3 is the structural representation of the clutch with magnetic rheologic liquid in embodiment one, and wherein 001 represents driving link, and 002,006 and 015 is bearing, 003 is driven shaft, 004 is fluid hole, and 005 is plug screw, and 008 is coil bracket, 009 is coil, 010 gib screw, 012 is rotating plate, and 013 is driven disc, 014 is sleeve, and 016 is magnetic flow liquid;
Fig. 4 is the load curve in embodiment one, abscissa representing time, and ordinate represents size of current, is positioned to represent above X-axis and to be energized to a clutch with magnetic rheologic liquid 17, is positioned to represent below X-axis and to be energized to No. two clutch with magnetic rheologic liquid 18.
Embodiment
Embodiment one: composition graphs 1 to Fig. 3 illustrates present embodiment, the magnetic flow liquid load simulator described in present embodiment comprises torque sensor 13, torque motor 27, industrial computer 1, A/D board 5, D/A board 6, servoamplifier 7, constant current source 8, voltage stabilizer 9, clutch with magnetic rheologic liquid 17, No. two clutch with magnetic rheologic liquid 18 and an axle 31;
Torque motor 27 is for driving the reverse synchronized motion of the driving link of the driving link of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 by gear train, the driven member of a clutch with magnetic rheologic liquid 17 and the driven member of No. two clutch with magnetic rheologic liquid 18 are all connected with axle 31 key, the tested motor 11 that a described axle 31 is motion by two shaft couplings loads, torque sensor 13 is arranged between described two shaft couplings, for detecting the moment of an axle 31;
The torque signals detected is sent to industrial computer 1 by A/D board 5 by torque sensor 13, industrial computer 1 provides control signal by after this torque signals and given moment signal contrast, D/A board 6 is sent to servoamplifier 7 after carrying out DA conversion to this control signal, signal after servoamplifier 7 pairs of DA conversions amplifies, and the signal after amplifying is sent to constant current source 8, constant current source 8 controls the electric current of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 according to the signal received, and voltage stabilizer 9 is for the electric current of stable constant current source 8.
As shown in Figure 1, when adopting the magnetic flow liquid load simulator testing of electric motors described in present embodiment, the tested system with the use of being made up of scrambler 10, scrambler capture card 2, servo-driver 3 and Signal-regulated kinase 4 is needed.In described tested system, industrial computer 1 by artificially given signal after Signal-regulated kinase 4 processes, send to servo-driver 3, and then control tested motor 11 and move, scrambler is arranged on the axle head of tested motor 11 one end, detect motor message and be transferred to servo-driver 3, industrial computer 1 gathers the motor message of tested motor 11 by scrambler capture card 2 and servo-driver 3, and this motor message and Setting signal are made comparisons, draw control signal, and control signal is sent to Signal-regulated kinase 4, realize closed loop, control motor movement rule.
Wherein the function of Signal-regulated kinase 4 is that the voltage signal of input is transformed into current signal, and zooms in or out the scope to needing to the value of voltage signal.Such as industrial computer 1 sends to the signal of Signal-regulated kinase 4 to be-5 voltage signals arriving 5v, and servo-driver is it is desirable that the electric current of-10mA to 10mA, then the voltage signal of-5 to 5v is converted to the electric current of-10mA to 10mA by Signal-regulated kinase 4.
In load simulator, the stator coil of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 is all fixed.Required moment is exported by a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18.In clutch with magnetic rheologic liquid, driving link keeps rotating always, by changing the electric current in clutch with magnetic rheologic liquid coil, can change coil magnetic, makes driven member export the moment of continuous variable.Torque motor 27 exports certain torque and rotational speed, drive the driving link 36 of No. two clutch with magnetic rheologic liquid 18 and the driving link 41 of a clutch with magnetic rheologic liquid 17 with identical rotating speed reverse rotation by gear train, as long as at this moment continuously change the electrical current of the stator coil 38 of a clutch with magnetic rheologic liquid 17, the driven member of a clutch with magnetic rheologic liquid 17 can be made to export the moment in a direction, and the electric current continuously changed in No. two clutch with magnetic rheologic liquid 18 stator coils, the driven member of No. two clutch with magnetic rheologic liquid 18 can be made to export rightabout moment.The driven member of No. two clutch with magnetic rheologic liquid 18 and the driven member of a clutch with magnetic rheologic liquid 17 are all connected with axle 31 key, so just, can make an axle 31 can simulated dual to moment load, the tested motor 11 being motion by a shaft coupling 12 and No. two shaft couplings 14 loads.Torque sensor 13 on an axle 31 detects torque signals, industrial computer 1 is passed to by A/D board 5, control signal is provided with after given moment signal contrast, make digital signal serialization through D/A board 6, then after servoamplifier 7 amplifies, control the output of constant current source 8, a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 size of current are controlled with this, change moment, material is thus formed moment closed loop, accurately control output torque.
Composition graphs 2 and Fig. 3 illustrate the principle of work of clutch with magnetic rheologic liquid.In magnetic rheological clutch, driving link 001 keeps rotating under power outside always, by changing the electric current in magnetic rheological clutch coil 009, coil magnetic can be changed, magnetic flow liquid 016 its rheological behaviour and rheological characteristics under additional magnetic fields occur sharply to change, the Rheologic duration is extremely short and reversible, after fluid stream there is certain funtcional relationship in shear yield stress own and applied field strengths, the shear yield stress of clutch with magnetic rheologic liquid own can be controlled by changing exciting curent, and then control the moment of clutch with magnetic rheologic liquid transmission, driven member 003 is made to export continuously controlled moment.
Traditional load simulator is rigidly connected by measured motor and the motor (being equivalent to the torque motor in the present invention) serving as load, an electric machine rotation inherently affects another motor, and it is less to the signal of the motor applying of serving as load, tested motor movement is fiercer, and out of true is got in the realization of signal.And the present invention is linked together two motors by clutch with magnetic rheologic liquid, the principle of clutch coupling can have relative motion between driving link and driven member, but also can magnetic transmitting torque be passed through, clutch coupling driving link keeps a direction to rotate always, then the torque of driven member transmission is exactly a direction, the driving link rotation direction of two clutch couplinges is contrary, just can transmit the torque of both direction, load curve (as shown in Figure 4) is set to industrial computer, industrial computer gives two clutch with magnetic rheologic liquid energisings according to this load curve, can the little moment of proof load simulator well, high precision loading performance.During clutch with magnetic rheologic liquid energising, convert electric current to magnetic induction, then act on magnetic and form magnetic torque, from electric angle, response is rapid, in addition, the driven member inertia be connected with tested motor shaft is also smaller, thus can realize the dynamic load of high bandwidth.
Embodiment two: composition graphs 1 illustrates present embodiment, present embodiment is the further restriction to the magnetic flow liquid load simulator described in embodiment one, in present embodiment, described gear train comprises No. three shaft couplings 26, No. two axles 33, bevel gear 21, No. two bevel gears 25, No. three bevel gears 24, No. four bevel gears 20, No. five bevel gears 16, No. six bevel gears 28 and No. seven bevel gears 32;
The rotating shaft of torque motor 27 is connected with No. two axles 33 by No. three shaft couplings 26, No. two axles 33 are connected with No. two bevel gear 25 keys, No. two bevel gears 25 engage with a bevel gear 21 and No. three bevel gears 24 respectively, a bevel gear 21 and No. four bevel gears 20 are connected on same axis by key, No. three bevel gears 24 and No. six bevel gears 28 are connected on another root axle by key, No. four bevel gears 20 engage with No. five bevel gears 16, No. six bevel gears 28 engage with No. seven bevel gears 32, No. five bevel gears 16 are fixedly connected with the driving link of No. two clutch with magnetic rheologic liquid 18 with the driving link of a clutch with magnetic rheologic liquid 17 respectively with No. seven bevel gears 32.
The torque that torque motor 27 keeps enough large rotates by certain rotating speed, No. two axles 33 are driven to rotate by No. three shaft couplings 26, and then drive No. two bevel gears 25 to rotate, make a bevel gear 21 and No. three bevel gears 24 with identical rotating speed reverse rotation, No. four bevel gears 20 with No. six bevel gears 28 with identical rotating speed reverse rotation, No. five bevel gears 16 also with identical rotating speed reverse rotation, finally make the driving link of the driving link of a clutch with magnetic rheologic liquid 17 and No. two clutch with magnetic rheologic liquid 18 with identical rotating speed reverse rotation with No. seven bevel gears 32.
Claims (2)
1. magnetic flow liquid load simulator, comprise torque motor (27), it is characterized in that, it also comprises torque sensor (13), industrial computer (1), A/D board (5), D/A board (6), servoamplifier (7), constant current source (8), voltage stabilizer (9), clutch with magnetic rheologic liquid (17), No. two clutch with magnetic rheologic liquid (18) and an axle (31);
Torque motor (27) is for driving the reverse synchronized motion of the driving link of the driving link of a clutch with magnetic rheologic liquid (17) and No. two clutch with magnetic rheologic liquid (18) by gear train, the driven member of a clutch with magnetic rheologic liquid (17) and the driven member of No. two clutch with magnetic rheologic liquid (18) are all connected with axle (31) key, the tested motor (11) that a described axle (31) is motion by two shaft couplings loads, torque sensor (13) is arranged between described two shaft couplings, for detecting the moment of an axle (31),
The torque signals detected is sent to industrial computer (1) by A/D board (5) by torque sensor (13), industrial computer (1) provides control signal by after this torque signals and given moment signal contrast, D/A board (6) is sent to servoamplifier (7) after carrying out DA conversion to this control signal, servoamplifier (7) amplifies the signal after DA conversion, and the signal after amplifying is sent to constant current source (8), constant current source (8) controls the electric current of a clutch with magnetic rheologic liquid (17) and No. two clutch with magnetic rheologic liquid (18) according to the signal received, voltage stabilizer (9) is for the electric current of stable constant current source (8).
2. magnetic flow liquid load simulator according to claim 1, it is characterized in that, described gear train comprises No. three shaft couplings (26), No. two axles (33), a bevel gear (21), No. two bevel gears (25), No. three bevel gears (24), No. four bevel gears (20), No. five bevel gears (16), No. six bevel gears (28) and No. seven bevel gears (32);
The rotating shaft of torque motor (27) is connected with No. two axles (33) by No. three shaft couplings (26), No. two axles (33) are connected with No. two bevel gear (25) keys, No. two bevel gears (25) are engaged with a bevel gear (21) and No. three bevel gears (24) respectively, a bevel gear (21) is connected on same axis with No. four bevel gears (20) by key, No. three bevel gears (24) are connected on another root axle with No. six bevel gears (28) by key, No. four bevel gears (20) are engaged with No. five bevel gears (16), No. six bevel gears (28) are engaged with No. seven bevel gears (32), No. five bevel gears (16) are fixedly connected with the driving link of No. two clutch with magnetic rheologic liquid (18) with the driving link of a clutch with magnetic rheologic liquid (17) respectively with No. seven bevel gears (32).
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| Application Number | Priority Date | Filing Date | Title |
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| CN201510974768.3A CN105573145A (en) | 2015-12-22 | 2015-12-22 | Magnetorheological fluid load simulator |
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| CN201510974768.3A CN105573145A (en) | 2015-12-22 | 2015-12-22 | Magnetorheological fluid load simulator |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108334122A (en) * | 2018-05-02 | 2018-07-27 | 吉林大学 | The magnetorheological fluid power sense feedback device of monotubular planetary gear type and its application method |
| CN108415475A (en) * | 2018-05-02 | 2018-08-17 | 吉林大学 | The double rotating cylinder power sense feedback devices of planetary gear type magnetorheological fluid and its application method |
| CN111190096A (en) * | 2019-12-12 | 2020-05-22 | 平高集团有限公司 | Operating mechanism load simulation device and operating mechanism delivery test method |
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| CN105045134A (en) * | 2015-05-25 | 2015-11-11 | 哈尔滨工业大学 | Double-friction-disk loading mechanism and bidirectional friction loading-type no-additional-torque electro-hydraulic load simulator employing same |
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| CN2575371Y (en) * | 2002-07-12 | 2003-09-24 | 华侨大学 | Internal differential hydraulic cylinder |
| CN1987387A (en) * | 2006-12-14 | 2007-06-27 | 浙江工业大学 | Two-way torque detector |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108334122A (en) * | 2018-05-02 | 2018-07-27 | 吉林大学 | The magnetorheological fluid power sense feedback device of monotubular planetary gear type and its application method |
| CN108415475A (en) * | 2018-05-02 | 2018-08-17 | 吉林大学 | The double rotating cylinder power sense feedback devices of planetary gear type magnetorheological fluid and its application method |
| CN108415475B (en) * | 2018-05-02 | 2023-05-12 | 吉林大学 | Planetary gear type magnetorheological fluid double-drum force feedback device and application method thereof |
| CN111190096A (en) * | 2019-12-12 | 2020-05-22 | 平高集团有限公司 | Operating mechanism load simulation device and operating mechanism delivery test method |
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Application publication date: 20160511 |