CN106646219A - Inertia load simulation apparatus - Google Patents
Inertia load simulation apparatus Download PDFInfo
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- CN106646219A CN106646219A CN201510726426.XA CN201510726426A CN106646219A CN 106646219 A CN106646219 A CN 106646219A CN 201510726426 A CN201510726426 A CN 201510726426A CN 106646219 A CN106646219 A CN 106646219A
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- China
- Prior art keywords
- shaft coupling
- inertia
- slip ring
- analogue means
- inertia load
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
- G01R31/343—Testing dynamo-electric machines in operation
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- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention belongs to the field of a spaceflight servo motor loading test and specifically discloses an inertia load simulation apparatus. The apparatus comprises a first shaft coupling, a torque sensor, an acceleration transducer, a second shaft coupling, an electric slip ring and a loading motor, wherein the output end of the first shaft coupling is connected with the input shaft of the torque sensor, the output shaft of the torque sensor is connected with one end of the second shaft coupling, the second shaft coupling is internally provided with the accelerated speed sensor, and the other end of the second shaft coupling is connected with one end of the electric slip ring. Inertia simulation of the apparatus is simple and is easy to operate, the acceleration measurement is accurate and highly reliable, and the apparatus has the advantages of noise isolation function, compact structural layout and integrated design.
Description
Technical field
The invention belongs to space flight loads field tests with servomotor, and in particular to a kind of space flight servomotor is used to
Property load simulating device.
Background technology
Space flight servomotor, as the crucial dynamical element of electromechanical servo system, receives the position of control system
Instruction is put, airvane or jet pipe load is driven.Its typical condition is frequent acceleration and deceleration, except bearing driving load
Outside the elastic load and friction load of motion, also subject to inertia load.The dynamic characteristic of motor, becomes measurement
The important technical indicator of servomotor performance, is directly connected to electromechanical servo system and drives jet pipe or rudder face negative
The fan-out capability and acceleration and deceleration fast-response ability of load.
For the dynamic property of fully examination space flight servomotor, in laboratory's testing of electric motors performance stage, need
In motor variable working condition campaign, apply inertia load.Inertia load is big with servo motor rotor position, rotating speed
It is little unrelated, it is relevant with rotary speed direction, only produce during servomotor dynamic change, therefore, it is real
Existing inertia load simulation, it is necessary first to carry out that load inertia is equivalent, acceleration analysis.Meanwhile, space flight is with watching
Take power of motor grade and electric pressure is higher, in process of the test, in preventing servomotor running
Pwm pulse ripple peak voltage electromagnetic interference produces noise to inertia load analogue means.
Existing inertia load analogue means adopts low frequency large deflection adjustable inertia load analog piece, and its load is
Solar array, compared with jet pipe or rudder are loaded, frequency is low, is not suitable with space flight servomotor high frequency and significantly transports
Dynamic working condition；Also, it is single by loading disc or inertia block at present in inertia load analogue means
Loading or combine loading realize inertia simulation, need to constantly debug dismounting, it is cumbersome, waste time and energy.For
Acceleration analysis, current inertia load analogue means obtains acceleration using velocity differentials, by noise jamming
Too big, accekeration is inaccurate.
The content of the invention
The present invention is directed to space flight servomotor high frequency significantly typical condition, there is provided a kind of inertia load simulation
Device, the device inertia simulation is simple to operation, acceleration analysis is precisely highly reliable, with noise isolation work(
Energy, the integrated design advantage of compact conformation layout.
Realize the technical scheme of the object of the invention：A kind of inertia load analogue means, the device includes first
Axle device, torque sensor, acceleration transducer, second shaft coupling, electric slip ring, loading motor, first
The output end of axle device is connected with the input shaft of torque sensor, the output shaft and second shaft coupling of torque sensor
One end connection, acceleration transducer is installed in second shaft coupling, the other end and the electricity of second shaft coupling are slided
One end connection of ring.
The bottom of described torque sensor is fixed on the secondary support bracket, and second support bottom is fixed in track.
Described loading motor is fixed on the upper of the 3rd support, and the bottom of the 3rd support is fixed in track.
Annular groove is provided with the middle of described second shaft coupling, second shaft coupling both sides cylinder is each circumferentially equal
The multiple screwed holes of cloth, are each evenly distributed multiple tangent planes, on each tangent plane on the cylinder of second shaft coupling both sides
Each it is provided with a screwed hole；It is provided with a groove on the inner side of second shaft coupling side cylinder, the column body,
Install sensor fastening thread hole is provided with the inside of groove；Two adjacent tangent planes on second shaft coupling difference cylinder
On fix a compressing tablet.
Described acceleration transducer is installed in the groove of second shaft coupling.
Described electric slip ring includes rotor and the stator being enclosed within outside rotor, one end and the second shaft coupling of rotor
Connection.
It is provided with rotor through hole on the rotor of described electric slip ring vertically, is provided with vertically on the stator of electric slip ring
Stator through hole.
The Advantageous Effects of the present invention：(1) present invention adopts loading motor, low inertia shaft coupling, moment of torsion
The inertia simulation load inertia of sensor three, approaching to reality load inertia；Using switch board in load driver
Inertia backoff algorithm is implanted into device, is finely adjusted, fully equivalent real load inertia.(2) shaft coupling is used
Quantity is 2, and inertia accounts for the largest percentage in three, causes three's inertia to be far longer than load inertia,
For true approaching simulation load inertia, using resin material fabrication design shaft coupling, the low-density of resin material
Property, shaft coupling inertia is significantly declined, the high intensity of resin material so as to realize the connection work(of fastening
Can, it is most important that, the insulating properties of resin material has blocked tested motor pwm pulse ripple peak voltage electricity
Magnetic disturbance improves the reliability of system work by shaft coupling conduct radiation to torque sensor and tested motor
Property；Low inertia resin shaft coupling realizes the equivalent matched of simulated inertia and load inertia, physical isolation quilt
The conduction electromagnetic noise of measured motor, inertia backoff algorithm realizes the accurately mate of simulated inertia and load inertia,
Inertia simulation is simple to operation, can carry out inertia simulation for different loads.(3) present invention is micro- using paster
Type acceleration transducer, the acceleration of direct measurement inertia load analogue means；Using electric slip ring, solve
Winding problem of the cable of acceleration transducer in axle rotary system；Paster miniature acceleration sensor and electricity
Slip ring obtains the mode of acceleration, with traditional picking rate, compared with carrying out the mode that differential obtains acceleration,
More accurately and reliably, noise is little.(4) present invention adopts integrated structure design, realizes noise isolation and asks
Topic and acceleration transducer cable draw problem；Shaft coupling is built in using fluting design, acceleration transducer
In groove, electric slip ring is installed on axle, and it is sliding that acceleration transducer cable introduces electricity after winding in shaft coupling groove
Rotor, final cable Jing electric slip rings stator is drawn；Acceleration transducer is built in the structure isolation of shaft coupling
Impact of the tested motor to the electromagnetic radiation noise of acceleration transducer, acceleration transducer cable is in groove
The structure design that the rotor of electric slip ring is introduced after being inside fastened solves acceleration transducer in axle rotary system
In cable draw problem.(5) when carrying out inertial loads simulation using the device of the present invention, mend with inertia
Function is repaid, the shaft coupling of low inertia, torque sensor, the inertia approaching to reality load of loading motor three are used to
During amount, inertia compensation can be carried out by upper computer software, realize the fine setting of simulated inertia, make simulated inertia
Imitate completely with load inertia, meanwhile, when load changes, and inertia changes, it is not necessary to change inertia load mould
Intend device, it is only necessary to carry out inertia compensation, you can realize inertia equivalent simulation, it is simple to operation.
Description of the drawings
Fig. 1 is that a kind of inertia load analogue means provided by the present invention is arranged on servomotor dynamic load system
Schematic diagram in system；
Fig. 2 is the schematic three dimensional views of the inertia shaft coupling for not installing compressing tablet provided by the present invention；
Fig. 3 is the two-dimensional top-down view of the low inertia shaft coupling for not installing compressing tablet provided by the present invention；
Fig. 4 is the A-A of Fig. 3 to sectional view；
Fig. 5 is the schematic three dimensional views of the inertia shaft coupling for not installing compressing tablet provided by the present invention；
Fig. 6 is the X-Y scheme of Fig. 5；
Fig. 7 is the left view schematic three dimensional views of electric slip ring provided by the present invention；
Fig. 8 is that the right side of electric slip ring provided by the present invention regards schematic three dimensional views.
Fig. 9 is the schematic diagram of acceleration transducer provided by the present invention.
In figure：1. measured motor is treated, 2. first support, 3. first shaft coupling, 4. torque sensor, 5. second
Frame, 6. acceleration transducer, 7. second shaft coupling, 8. electric slip ring, 9. the 3rd support, 10. loading motor, 11.
Screw, 12. tracks, 13. tested motor drivers, 14. load driver devices, 15. first holding wires, 16. second
Holding wire, 17. the 3rd holding wires, 18. the 4th holding wires, 19. switch boards；
6-1. installing holes；
7-1. shaft coupling connection screw threads, 7-2. acceleration transducers lead-out wire fastens screwed hole, and 7-3. grooves, 7-4. cuts
Face, 7-5. acceleration transducer fastening thread holes, 7-6 grooves, 7-7 compressing tablets；
8-1. rotors, 8-2. stators, 8-3. rotor through holes, 8-4. stator through holes.
Specific embodiment
The present invention is described in further detail with reference to the accompanying drawings and examples.
As shown in figure 1, inertia load analogue means involved in the present invention is built in servomotor dynamic load
In system, servomotor dynamic loading system include treat measured motor 1, first support 2, first shaft coupling 3,
Torque sensor 4, second support 5, acceleration transducer 6, second shaft coupling 7, electric slip ring the 8, the 3rd
Support 9, loading motor 10, screw 11, track 12, tested motor driver 13, load driver device 14,
First holding wire 15, secondary signal line 16, the 3rd holding wire 17, the 4th holding wire 18, switch board 19.
First shaft coupling 3, torque sensor 4, second support 5, acceleration transducer 6, second shaft coupling 7,
Electric slip ring 8, the 3rd support 9, the composition inertia load charger of loading motor 10.Loading motor 10, plus
Carry driver 14, switch board 19 and inertia load analogue means and constitute torque closed loop loading system.
The output end of tested motor driver 13 is connected by the first holding wire 15 with the input for treating measured motor 1
Connect, the output shaft for treating measured motor 1 is fixedly connected by screw with one end of first shaft coupling 3, the first shaft coupling
The other end of device 3 is connected by screw with the input shaft of torque sensor 4.The side for treating measured motor 1 passes through
Screw is fixed on the side plate of first support 2, and the bottom of first support 2 is fixed in track 12 by screw 11,
The bottom of first support 2 is fixed in track 12 by screw 11；The bottom of torque sensor 4 passes through screw
It is fixed in second support 5, the bottom of second support 5 is fixed in track 12 by screw 11.Moment of torsion is passed
The output shaft of sensor 4 is fixedly connected by screw with one end of second shaft coupling 7, peace in second shaft coupling 7
Equipped with acceleration transducer 6.
As shown in Fig. 2,3,4,5,6, annular groove 7-6, the second shaft coupling are provided with the middle of second shaft coupling 7
Each it is evenly distributed 8 screwed hole 7-1 on the both sides cylinder of device 7, the respective edge of the both sides cylinder of second shaft coupling 7
Circumferential uniform 3 tangent plane 7-4, are each provided with an acceleration transducer lead-out wire and fasten on each tangent plane 7-4
Screwed hole 7-2；A groove 7-3, the column body, groove are provided with the inner side of the side cylinder of second shaft coupling 7
Installation acceleration transducer fastening thread hole 7-5 is provided with the inside of 7-3.Phase on the different cylinders of second shaft coupling 7
A compressing tablet 7-7 is fixed on two adjacent tangent plane 7-4, i.e., 3 compressing tablet 7-7 pass through screw, screwed hole 7-2
It is fixed on 6 tangent plane 7-4, second shaft coupling 7 and the axle upper coupling diaphragm on its lateral wall are logical
Cross screw, shaft coupling screwed hole 7-1 to be fixedly connected.
As shown in Figure 7 and Figure 8, electric slip ring 8 includes the rotor 8-1 and stator 8-2 being enclosed within outside rotor, rotor
Rolling bearing is provided between 8-1 and rotor 8-2, rotor 8-1 can be rotated around stator 8-2, the one of rotor 8-1
End is fixedly connected by screw with the other end of second shaft coupling 7, and the output shaft of loading motor 10 is inserted in rotor
In the centre bore of 8-1 and between the two by bonded.It is provided with vertically on the rotor 8-1 of electric slip ring 8 and turns
Sub-through hole 8-3, is provided with vertically stator through hole 8-4 on the stator 8-2 of electric slip ring 8.
As shown in figure 8, acceleration transducer 6 is respectively arranged at the two ends with a journal stirrup, acceleration transducer 6
Installing hole 6-1, acceleration transducer fastening thread hole 7-5 on ear is installed on the groove 7-3 of second shaft coupling 7
It is interior, the cable winds of acceleration transducer in the groove 7-6 of second shaft coupling 7, and in each tangent plane 7-4
It is upper that screwed hole 7-2 one compressing tablet 7-7 of fastening is fastened by screw, acceleration transducer lead-out wire so as to accelerate
The cable of degree sensor 6 is completely wound around being fixed in groove 7-6.The cable of acceleration transducer 6 is second
The rotor through hole 8-3 of entrance electric slip ring 8 is wound in the groove 7-6 of axle device 7, has been led to by the stator of electric slip ring 8
Hole 8-4 draws, it is therefore prevented that the cable winds of acceleration transducer 6 are on the output shaft of loading motor 10.
First shaft coupling 3, the material of second shaft coupling 7 are dielectric resin material.Acceleration transducer 6 is patch
Piece miniature acceleration sensor.
The side of loading motor 10 is fixed by screws on the side plate of the 3rd support 9, the bottom of the 3rd support 9
Portion is fixed in track 12 by screw 11.The input of loading motor 10 is by secondary signal line 16 and adds
The output end connection of driver 14 is carried, the input of load driver device 14 is by the 4th holding wire 18 and control
The output end connection of cabinet 19；The input of switch board 19 is by the 3rd holding wire 7-7 and torque sensor 4
Feedback end connection.
Such as Fig. 1, servomotor dynamic load is carried out using a kind of inertia load analogue means provided by the present invention
Operation principle：The electric motor starting signal of the output of tested motor driver 13 is transmitted by the first holding wire 15
To measured motor 1 is treated, drive treats that measured motor 1 starts, its output shaft rotation after measured motor 1 starts, electricity to be measured
The output shaft of machine 1 drives first axle shaft coupling 3 to rotate, the rotational band dynamic torque sensing of first axle shaft coupling 3
The pivot of device 4, and then drive second shaft coupling 7 to rotate, the rotation of second shaft coupling 7 drives electricity sliding
The rotor of ring 8 is rotated, and then drives the axis of rotation of loading motor 10.In the apparatus, first shaft coupling
3rd, torque sensor 4, second shaft coupling 7 (contain built-in paster acceleration transducer 6), electric slip ring 8,
Rotary inertia of the rotary inertia of loading motor 10 be close to load.Inertia is arranged in switch board by host computer to bear
The rotary inertia in parameter is carried, inertia compensation is carried out, makes the rotary inertia of simulation complete with the rotary inertia of load
It is complete consistent.Meanwhile, paster miniature acceleration sensor 6 carries out tested motor acceleration analysis, switch board root
According to inertia and acceleration, you can acquisition is applied to the inertia load in tested motor, and the inertia load is used as quilt
A kind of its load form of measured motor, with elastic load, friction load collectively as tested motor actual loading,
It is compared with the torque feedback of torque sensor 4, forms torque closed loop.
The present invention is explained in detail above in conjunction with drawings and Examples, but the present invention be not limited to it is above-mentioned
Embodiment, in the ken that those of ordinary skill in the art possess, can be with without departing from the present invention
Various changes can be made on the premise of objective.The content not being described in detail in the present invention can adopt existing skill
Art.
Claims (7)
1. a kind of inertia load analogue means, it is characterised in that：The device includes first shaft coupling (3), turns round
Square sensor (4), acceleration transducer (6), second shaft coupling (7), electric slip ring (8), loading motor
(10), the output end of first shaft coupling (3) is connected with the input shaft of torque sensor (4), torque sensing
The output shaft of device (4) is connected with one end of second shaft coupling (7), is provided with second shaft coupling (7) and adds
Velocity sensor (6), the other end of second shaft coupling (7) is connected with one end of electric slip ring (8).
2. a kind of inertia load analogue means according to claim 1, it is characterised in that：Described torsion
The bottom of square sensor (4) is fixed in second support (5), and second support (5) bottom is fixed on track
(12) on.
3. a kind of inertia load analogue means according to claim 2, it is characterised in that：Described adds
Carry motor (10) and be fixed on the upper of the 3rd support (9), the bottom of the 3rd support (9) is fixed on track (12)
On.
4. a kind of inertia load analogue means according to claim 3, it is characterised in that：Described
Annular groove (7-6) is provided with the middle of two shaft couplings (7), second shaft coupling (7) both sides cylinder is each circumferentially
Uniform multiple screwed holes (7-1), on the cylinder of second shaft coupling (7) both sides multiple tangent planes are each evenly distributed
(7-4), each it is provided with a screwed hole (7-2) on each tangent plane (7-4)；Second shaft coupling (7) side
A groove (7-3) is provided with the inner side of cylinder, installation sensing is provided with the inside of the column body, groove (7-3)
Device fastening thread hole (7-5)；It is solid on two adjacent tangent planes (7-4) on second shaft coupling (7) difference cylinder
A fixed compressing tablet (7-7).
5. a kind of inertia load analogue means according to claim 4, it is characterised in that：Described adds
Velocity sensor (6) is installed in the groove (7-3) of second shaft coupling (7).
6. a kind of inertia load analogue means according to claim 5, it is characterised in that：Described electricity
Slip ring (8) includes rotor (8-1) and the stator (8-2) being enclosed within outside rotor, one end of rotor (8-1) with
The connection of second shaft coupling (7).
7. a kind of inertia load analogue means according to claim 6, it is characterised in that：Described electricity
It is provided with rotor through hole (8-3), the stator (8-2) of electric slip ring (8) on the rotor (8-1) of slip ring (8) vertically
On be provided with stator through hole (8-4) vertically.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726426.XA CN106646219A (en) | 2015-10-30 | 2015-10-30 | Inertia load simulation apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510726426.XA CN106646219A (en) | 2015-10-30 | 2015-10-30 | Inertia load simulation apparatus |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN106646219A true CN106646219A (en) | 2017-05-10 |
Family
ID=58830654
Family Applications (1)
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|---|---|---|---|
| CN201510726426.XA Pending CN106646219A (en) | 2015-10-30 | 2015-10-30 | Inertia load simulation apparatus |
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Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN107525663A (en) * | 2017-09-18 | 2017-12-29 | 江苏科技大学 | A kind of dynamic load simulating test device and method of testing |
| CN110696044A (en) * | 2019-10-28 | 2020-01-17 | 浙江工业大学 | Experimental device for simulating dynamic variable load and variable inertia of joint of industrial robot |
| CN113740728A (en) * | 2020-05-28 | 2021-12-03 | 北京机械设备研究所 | Load simulator driven by arc motor |
| CN114414145A (en) * | 2021-12-21 | 2022-04-29 | 上海利正卫星应用技术有限公司 | Rotational inertia simulation device of sailboard driving mechanism |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN113740728A (en) * | 2020-05-28 | 2021-12-03 | 北京机械设备研究所 | Load simulator driven by arc motor |
| CN113740728B (en) * | 2020-05-28 | 2023-08-01 | 北京机械设备研究所 | Load simulator driven by arc motor |
| CN114414145A (en) * | 2021-12-21 | 2022-04-29 | 上海利正卫星应用技术有限公司 | Rotational inertia simulation device of sailboard driving mechanism |
| CN114414145B (en) * | 2021-12-21 | 2024-03-12 | 上海利正卫星应用技术有限公司 | Rotational inertia simulation device of sailboard driving mechanism |
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