CN106706185A - Electric steering engine reducer torque measurement error analysis and compensation method - Google Patents
Electric steering engine reducer torque measurement error analysis and compensation method Download PDFInfo
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- CN106706185A CN106706185A CN201510793878.XA CN201510793878A CN106706185A CN 106706185 A CN106706185 A CN 106706185A CN 201510793878 A CN201510793878 A CN 201510793878A CN 106706185 A CN106706185 A CN 106706185A
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Abstract
The invention discloses an electric steering engine reducer torque measurement error analysis and compensation method comprising the following steps that step one: the mathematical model of an electric steering engine system is established through a dynamic equation with a reducer acting as the research object, and the idea that the torque measurement error is separated is put forward; step two: mechanical installation and bearing friction act as the known system error so as to obtain the viewpoint of motor driver error; and step three: the actually measured static and dynamic data are preprocessed by using a curve fitting algorithm based on least squares so as to compensate the torque measurement error. According to the electric steering engine reducer torque measurement error analysis and compensation method, the motor driver nonlinearly introduced measurement error can be compensated so as to enhance the measurement accuracy.
Description
Technical field
The present invention relates to a kind of decelerator error analysis method, and in particular to a kind of electric steering engine decelerator torque measurement error analysis and compensation method, belong to deceleration product technical field.
Background technology
The gearratio of decelerator characterizes the power energy transmission characteristic of steering wheel, its computational accuracy is the important parameter for reflecting steering wheel performance indications, its calculating process needs to be analyzed decelerator input-output characteristic, direct measurement input and output speed are used the domestic and international calculating process about decelerator gearratio at present by measurement result moving average more, finally make correspondence physical quantity be divided by and obtain its ratio, because corner and rotating speed have integral relation, input and output corner can be measured in same time period, obtain gearratio, the transmission characteristic of moment of torsion is just opposite with rotating speed, both can be with the checksum reliability of the gearratio of other Physical Quantity Calculations using torque arithmetic gearratio, steering wheel power energy transmission characteristic can be directly obtained again, in test experiments, the measurement of moment of torsion is more complicated than corner and speed conditions；Quantitative analysis influences the influence factor of decelerator driving shaft and driven shaft torque measurement error, by torque measurement error carry out it is effective and reasonable decomposition be first have to solve problem, on this basis, error term for variety classes and source is carried out with targetedly compensating, and the torque measurement precision for improving decelerator driving shaft and driven shaft is the key issue for realizing improving decelerator gearratio certainty of measurement.
The content of the invention
（One）The technical problem to be solved
To solve the above problems, the present invention proposes a kind of electric steering engine decelerator torque measurement error analysis and compensation method, can compensate for the measurement error of the non-linear introducing of motor driver so as to improve certainty of measurement.
（Two）Technical scheme
Electric steering engine decelerator torque measurement error analysis of the invention and compensation method, comprise the following steps：
The first step：With decelerator as research object, the Mathematical Modeling of Electrodynamic Rudder System is set up by dynamical equation, proposition is separated torque measurement error；
Second step：Make mechanical erection with bearing friction as known systematic error, obtain the viewpoint of motor driver error；
3rd step：Using the curve fitting algorithm based on least square, and dynamic data static to actual measurement carries out pretreatment so as to be compensated to torque measurement error.
（Three）Beneficial effect
Compared with prior art, electric steering engine decelerator torque measurement error analysis of the invention and compensation method, can compensate for the measurement error of the non-linear introducing of motor driver so as to improve certainty of measurement.
Specific embodiment
A kind of electric steering engine decelerator torque measurement error analysis and compensation method, comprise the following steps：
The first step：With decelerator as research object, the Mathematical Modeling of Electrodynamic Rudder System is set up by dynamical equation, proposition is separated torque measurement error；
Second step：Make mechanical erection with bearing friction as known systematic error, obtain the viewpoint of motor driver error；
3rd step：Using the curve fitting algorithm based on least square, and dynamic data static to actual measurement carries out pretreatment so as to be compensated to torque measurement error.
Electric steering engine decelerator torque measurement error analysis of the invention and compensation method, there is a problem of that torque measurement error influences precision using the experiment that measurement input and output torque determine gearratio for electric steering engine decelerator, using Electrodynamic Rudder System as research object, the various factors two for analyzing influence torque measurement error is proposed the mechanical erection torque error that coaxial and bearing friction torque is not introduced as systematic error, actual measurement torque measurement error is successively decomposed, obtain the viewpoint of motor driver nonlinearity erron, using the curve fitting algorithm based on least square, actual measurement loading data are pre-processed so as to improve the new method of torque measurement precision, simulation result and results of calculation illustrate that the method can compensate for the non-linear torque measurement error brought of motor driver.
Embodiment described above is only that the preferred embodiment of the present invention is described, and not the spirit and scope of the present invention are defined.On the premise of design concept of the present invention is not departed from; the all variations and modifications that this area ordinary person makes to technical scheme; protection scope of the present invention all should be dropped into, claimed technology contents of the invention have all been recorded in detail in the claims.
Claims (1)
1. a kind of electric steering engine decelerator torque measurement error analysis and compensation method, it is characterised in that：Comprise the following steps：
The first step：With decelerator as research object, the Mathematical Modeling of Electrodynamic Rudder System is set up by dynamical equation, proposition is separated torque measurement error；
Second step：Make mechanical erection with bearing friction as known systematic error, obtain the viewpoint of motor driver error；
3rd step：Using the curve fitting algorithm based on least square, and dynamic data static to actual measurement carries out pretreatment so as to be compensated to torque measurement error.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510793878.XA CN106706185A (en) | 2015-11-17 | 2015-11-17 | Electric steering engine reducer torque measurement error analysis and compensation method |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510793878.XA CN106706185A (en) | 2015-11-17 | 2015-11-17 | Electric steering engine reducer torque measurement error analysis and compensation method |
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| CN106706185A true CN106706185A (en) | 2017-05-24 |
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| CN201510793878.XA Pending CN106706185A (en) | 2015-11-17 | 2015-11-17 | Electric steering engine reducer torque measurement error analysis and compensation method |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089667A (en) * | 2019-12-20 | 2020-05-01 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
| CN114986380A (en) * | 2022-05-30 | 2022-09-02 | 上海华力微电子有限公司 | Method for improving grinding efficiency and grinding system |
-
2015
- 2015-11-17 CN CN201510793878.XA patent/CN106706185A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111089667A (en) * | 2019-12-20 | 2020-05-01 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
| CN111089667B (en) * | 2019-12-20 | 2021-01-12 | 深圳市山卓谐波传动科技有限公司 | Torque testing method and system for harmonic reducer |
| CN114986380A (en) * | 2022-05-30 | 2022-09-02 | 上海华力微电子有限公司 | Method for improving grinding efficiency and grinding system |
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| WD01 | Invention patent application deemed withdrawn after publication |
Application publication date: 20170524 |
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| WD01 | Invention patent application deemed withdrawn after publication |