CN106896837A - A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system - Google Patents
A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system Download PDFInfo
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- CN106896837A CN106896837A CN201710124963.6A CN201710124963A CN106896837A CN 106896837 A CN106896837 A CN 106896837A CN 201710124963 A CN201710124963 A CN 201710124963A CN 106896837 A CN106896837 A CN 106896837A
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D17/00—Control of torque; Control of mechanical power
- G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Force Measurement Appropriate To Specific Purposes (AREA)
Abstract
The invention provides a kind of friction disturbance torque adjusting means of electric steering engine servo-drive system.Mainly include：Adjusting rod, moment of friction regulation spring and moment of friction fixture；Adjusting rod, moment of friction regulation spring and moment of friction fixture are linked in sequence successively, and friction plate is set in moment of friction fixture, and friction plate is in contact with reducer output shaft.Regulation process includes：Adjusting rod, band dynamic friction torque regulation spring is pulled to deform upon, the moment of friction regulation spring after deformation applies pressure to reducer output shaft by moment of friction fixture, and friction plate produces moment of friction to the reducer output shaft for rotating.Adjusting rod in dynamic regulation device of the present invention, the fixture action of band dynamic friction torque, it is that the analysis of friction characteristic of electric steering engine servo-drive system and Compensation Control research provide supporting condition to reducer output shaft loading consecutive variations, the friction disturbance torque of different qualities.
Description
Technical field
A kind of friction the present invention relates to servo-control system technical field, more particularly to electric steering engine servo-drive system is disturbed
Moment regulating device.
Background technology
In servo-drive system, friction interference mostlys come from the friction between motor reel and support shaft, between power transmission shaft
Friction, the friction between travelling gear, and the friction between gear and support shaft.
In high-precision electric Rudder Servo System, friction may cause steady-state error, limit cycles oscillations, creeping phenomenon
Deng.Influence of the friction disturbance torque to systematic function mainly includes：
1st, in step response, friction disturbance torque causes that system produces big overshoot, causes the regulating time of system to increase
Plus；
2nd, in ramp response, friction disturbance torque can increase the tracking error of system；
3rd, in sinusoidal response system, in low cruise, friction disturbance torque makes system produce creeping phenomenon, and then produces
Raw position tracking " flat-top " phenomenon and speed tracing " dead band " phenomenon.Position tracking " flat-top " phenomenon make system in sinusoidal position most
Larger steady-state error is produced at big value, the tracking performance of system is had a strong impact on.In addition, " dead band " phenomenon of speed tracing make be
Unite and larger error is produced at the minimum value of sinusoidal velocity.
Friction disturbance torque compensation control is a study hotspot in high-precision servo control field.Therefore, it is electronic
Rudder Servo System provides the friction disturbance torque of consecutive variations, for analysis electric steering engine servo system friction characteristic, research
Friciton compensation control algolithm, has great importance.
The content of the invention
The embodiment provides a kind of friction disturbance torque adjusting means of electric steering engine servo-drive system, Neng Gouwei
Electric steering engine servo-drive system provides the friction disturbance torque of consecutive variations.
To achieve these goals, this invention takes following technical scheme：
A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system, including：Adjusting rod, moment of friction regulation bullet
Spring, moment of friction fixture and fixing nut, the two ends of moment of friction regulation spring respectively with the adjusting rod and frictional force
Square fixture is connected, and the fixing nut is sleeved on the adjusting rod, and the moment of friction fixture connects with reducer output shaft
Touch.
Further, the moment of friction fixture includes：Friction connecting rod, clamp pull rod, friction jig arm, friction plate, axle 1,
Axle 2 and axle 3, the friction plate are arranged in the friction jig arm, and the moment of friction adjusts spring and the clamp pull rod phase
Even, the clamp pull rod is connected by the axle 3 with the friction connecting rod, and the friction connecting rod is rubbed by the axle 2 with described
Jig arm connection is wiped, the friction jig arm is fixed by the axle 1 and base.
Further, the friction plate is arranged on the end of each friction jig arm.
Further, when the adjusting rod under tension is moved, the moment of friction regulation spring is driven to deform upon, it is right
The clamp pull rod produces pulling force, when the clamp pull rod under tension is moved, the friction link motion is driven by axle 3,
The friction connecting rod drives the axle 2 to move, and the axle 1 is fixed, and the friction jig arm rotates so that described two frictions
Angle between jig arm changes, and changes the pressure that the friction plate is produced to the reducer output shaft, when servo electricity
When motivation rotates, the reducer output shaft rotation is driven, the friction plate produces moment of friction to reducer output shaft.
Further, described device also includes tensiometer, and the tensiometer is connected with the adjusting rod, when the regulation
After bar drives the moment of friction regulation spring to deform upon, the tensiometer measures the external force value that the adjusting rod is subject to,
And then calculate friction disturbance torque value.
Further, after the adjusting rod drives the moment of friction regulation spring to deform upon, the fixing nut quilt
Tighten, the adjusting rod is fixed, the deformation quantity of the moment of friction regulation spring is kept constant, and then make friction perturbed force
Square keeps constant.
The friction disturbance torque adjusting means of electric steering engine servo-drive system provided in an embodiment of the present invention can be with dynamic regulation
The moment of friction of electric steering engine servo-drive system, so as to provide the friction disturbance torque of consecutive variations for servo-drive system, simulates electronic
Friction phenomenon in steering wheel servo-control system, is that the modeling analysis of electric steering engine servo system friction torque interference and friction are mended
Repay control algolithm research and supporting condition is provided.
The additional aspect of the present invention and advantage will be set forth in part in the description, and these will become from the following description
Obtain substantially, or recognized by practice of the invention.
Brief description of the drawings
Technical scheme in order to illustrate more clearly the embodiments of the present invention, below will be to that will use needed for embodiment description
Accompanying drawing be briefly described, it should be apparent that, drawings in the following description are only some embodiments of the present invention, for this
For the those of ordinary skill of field, without having to pay creative labor, other can also be obtained according to these accompanying drawings
Accompanying drawing.
Fig. 1 is a kind of knot of the friction disturbance torque adjusting means of electric steering engine servo-drive system provided in an embodiment of the present invention
Composition；
Fig. 2, Fig. 3 are the structure chart of friction disturbance torque fixture provided in an embodiment of the present invention；
Fig. 4 is friction disturbance torque fixture Principles of Regulation schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Embodiments of the present invention are described below in detail, the example of the implementation method is shown in the drawings, wherein ad initio
Same or similar element or element with same or like function are represented to same or similar label eventually.Below by ginseng
The implementation method for examining Description of Drawings is exemplary, is only used for explaining the present invention, and is not construed as limiting the claims.
Those skilled in the art of the present technique are appreciated that unless expressly stated, singulative " " used herein, " one
It is individual ", " described " and " being somebody's turn to do " may also comprise plural form.It is to be further understood that what is used in specification of the invention arranges
Diction " including " refer to the presence of the feature, integer, step, operation, element and/or component, but it is not excluded that in the presence of or addition
One or more other features, integer, step, operation, element, component and/or combinations thereofs.It should be understood that when we claim
Element is " connected " or during " coupled " to another element, and it can be directly connected or coupled to other elements, or can also deposit
In intermediary element.Additionally, " connection " used herein or " coupling " can include wireless connection or coupling.Wording used herein
"and/or" includes one or more associated any cells for listing item and all combines.
Those skilled in the art of the present technique are appreciated that unless otherwise defined, all terms used herein (including technology art
Language and scientific terminology) have with art of the present invention in those of ordinary skill general understanding identical meaning.Should also
Understand, those terms defined in such as general dictionary should be understood that the meaning having with the context of prior art
The consistent meaning of justice, and unless defined as here, will not be with idealizing or excessively formal implication be explained.
For ease of the understanding to the embodiment of the present invention, done by taking several specific embodiments as an example further below in conjunction with accompanying drawing
Explanation, and each embodiment does not constitute the restriction to the embodiment of the present invention.
For the ease of influence of the disturbance torque to systematic function that rubbed in research electric steering engine servo-drive system, and to solve
This influence provides control program, and the present invention devises a kind of friction disturbance torque adjusting means of electric steering engine servo-drive system.
When the motor of servo-drive system rotates, servomotor drives reducer output shaft rotation, due to the presence of friction plate, to subtracting
Fast device output shaft produces the moment of resistance, hinders the rotation of reducer output shaft, reaches the effect of loading friction disturbance torque.
Structure such as Fig. 1 institutes of the friction interference apparatus for adjusting force of electric steering engine servo-drive system provided in an embodiment of the present invention
Show, including：Adjusting rod, fixing nut, moment of friction regulation spring and moment of friction fixture, adjusting rod adjust bullet with moment of friction
Spring and moment of friction fixture are linked in sequence successively, i.e., the two ends of moment of friction regulation spring press from both sides with adjusting rod and moment of friction respectively
Tool connection, the two ends of moment of friction regulation spring are connected with the adjusting rod and moment of friction fixture respectively, the fixing nut
It is sleeved on the adjusting rod, the moment of friction fixture is in contact with reducer output shaft.
Fig. 2, Fig. 3 are the structure chart of moment of friction fixture provided in an embodiment of the present invention.The moment of friction fixture includes：
Friction connecting rod, clamp pull rod, friction jig arm, friction plate, axle 1, axle 2 and axle 3, the friction plate are arranged on the friction jig arm
On, the moment of friction regulation spring is connected with the clamp pull rod, and the clamp pull rod is connected by the axle 3 with the friction
Bar is connected, and the friction connecting rod is connected by the axle 2 with the friction jig arm, and the friction jig arm passes through the axle 1 and bottom
Seat is fixed.Usual friction plate is arranged on the end of the friction jig arm so that friction plate is in contact with reducer output shaft.
When adjusting rod under tension is moved, the moment of friction regulation spring is driven to deform upon, to the clamp pull rod
Pulling force is produced, when the clamp pull rod under tension is moved, the friction link motion, the friction connecting rod is driven by axle 3
The axle 2 is driven to move, the axle 1 is fixed, the friction jig arm rotates so that the folder between described two friction jig arm
Angle changes, and changes the pressure that the friction plate is produced to the reducer output shaft, when servomotor rotates, band
The dynamic reducer output shaft rotation, pressure makes friction plate to reducer output shaft generation moment of friction, and this moment of friction can be made
It is the disturbance torque of electric steering engine servo-drive system.Dynamic regulation spring deformation amount, can provide consecutive variations for servo-drive system
Friction disturbance torque.
Fixing nut is sleeved on adjusting rod, after adjusting rod band dynamic friction torque regulation spring is deformed upon, is tightened solid
Determine nut, secured adjusted bar and moment of friction adjust the position of spring.Using fixing nut secured adjusted bar, adjust frictional force
The elastic force of spring keeps constant.Even if now removing external force, moment of friction regulation spring is still elastic, i.e., moment of friction fixture is still
Pressure is applied to reducer output shaft, and then friction plate is persistently produced moment of friction to reducer output shaft.
For the ease of determining moment of friction value, adjusting means can external tensiometer, tensiometer is connected with adjusting rod top.When
External force F puts on moment of friction regulation spring when on adjusting rod, being attached thereto and deforms upon, and produces elastic force F1, uses pulling force
Meter can measure the exact value of external force F.The direction of the F=F1 in elastic limit, elastic force F1 is that moment of friction regulation spring recovers shape
The direction of change.The measured value of tensiometer is that can be considered the torque size that moment of friction regulation spring is produced.It is solid using fixing nut
Set the tone after pole, without continuing to external force to adjusting rod, moment of friction adjusts spring still through moment of friction fixture to subtracting
Fast device output shaft applies pressure.
Fig. 4 is the Principles of Regulation schematic diagram of moment of friction fixture provided in an embodiment of the present invention, and moment of friction fixture is installed
In reducer output shaft outside.When servomotor rotates, servomotor drives reducer output shaft rotation, friction plate pair
Reducer output shaft produces pressure, forms moment of friction FC, and the friction that the moment of friction can be regarded as in Rudder Servo System is done
Disturb torque.
Rub disturbance torque adjusting method be：Adjusting rod is stretched out, when adjusting rod is subject to external force F actions, is led to
Axle 3 is crossed with dynamic friction link motion, friction connecting rod band moving axis 2 is moved, and the one end for the jig arm that rubs is fixed by axle 1 and base, when
When connecting rod band moving axis 2 is moved, due to the fixation of axle 1, friction jig arm rotates, and the angle between two friction jig arm becomes therewith
Change, band movable friction plate action, the pressure FN increases that friction plate is produced to reducer output shaft, friction disturbance torque increases therewith.
Conversely, the pressure FN that friction plate is produced to reducer output shaft reduces, friction disturbance torque reduces therewith.
The moment of friction that above-mentioned adjusting method is produced, can simulate the frictional behavior in electric steering engine servo-drive system, be rudder
Machine servo system provides the friction interference link of different parameters.From kinetic force of friction formula F=μ × FN, reducer output shaft
The pressure being subject to is bigger, and the moment of friction that servo-drive system is subject to is bigger.Therefore, the size of regulation external force F, you can the electronic rudder of regulation
Friction disturbance torque in machine servo system.
In sum, the adjusting means of the friction disturbance torque of electric steering engine servo-drive system provided in an embodiment of the present invention can
With the moment of friction of dynamic regulation electric steering engine servo-drive system, so as to provide the friction perturbed force of consecutive variations for servo-drive system
Square, the friction phenomenon in simulation electric steering engine servo-control system is the modeling of electric steering engine servo system friction torque interference
Analysis and the research of friciton compensation control algolithm provide supporting condition.
One of ordinary skill in the art will appreciate that：Accompanying drawing is the schematic diagram of one embodiment, module in accompanying drawing or
Flow is not necessarily implemented necessary to the present invention.For the electric steering engine servo-drive system of decelerator-free, can be by frictional force
The friction plate of square fixture is in contact with servomotor output shaft.
One of ordinary skill in the art will appreciate that：The part in device in embodiment can be according to embodiment description point
It is distributed in the device of embodiment, it is also possible to carry out respective change and be disposed other than in one or more devices of the present embodiment.On
Stating the part of embodiment can merge into a part, it is also possible to be further split into multiple subassemblies.
Each embodiment in this specification is described by the way of progressive, identical similar portion between each embodiment
Divide mutually referring to what each embodiment was stressed is the difference with other embodiment.Especially for device or
For system embodiment, because it is substantially similar to embodiment of the method, so describing fairly simple, related part is referring to method
The part explanation of embodiment.Some or all of module therein can be according to the actual needs selected to realize this implementation
The purpose of example scheme.Those of ordinary skill in the art are without creative efforts, you can to understand and implement.
The above, the only present invention preferably specific embodiment, but protection scope of the present invention is not limited thereto,
Any one skilled in the art the invention discloses technical scope in, the change or replacement that can be readily occurred in,
Should all be included within the scope of the present invention.Therefore, protection scope of the present invention should be with scope of the claims
It is defined.
Claims (6)
1. the friction disturbance torque adjusting means of a kind of electric steering engine servo-drive system, it is characterised in that including：Adjusting rod, friction
Torque adjusting spring, moment of friction fixture and fixing nut, the two ends of moment of friction regulation spring respectively with the regulation
Bar and moment of friction fixture are connected, and the fixing nut is sleeved on the adjusting rod, the moment of friction fixture and decelerator
Output shaft is in contact.
2. device according to claim 1, it is characterised in that the moment of friction fixture includes：Friction connecting rod, fixture draw
Bar, friction jig arm, friction plate, axle 1, axle 2 and axle 3, the friction plate are arranged in the friction jig arm, and the moment of friction is adjusted
Section spring is connected with the clamp pull rod, and the clamp pull rod is connected by the axle 3 with the friction connecting rod, and the friction connects
Bar is connected by the axle 2 with the friction jig arm, and the friction jig arm is fixed by the axle 1 and base.
3. device according to claim 2, it is characterised in that the friction plate is arranged on the end of each friction jig arm.
4. the device according to Claims 2 or 3, it is characterised in that when the adjusting rod under tension is moved, drives described
Moment of friction regulation spring is deformed upon, and produces pulling force, when the clamp pull rod under tension is moved, lead to the clamp pull rod
Cross axle 3 and drive the friction link motion, the friction connecting rod drives the axle 2 to move, and the axle 1 is fixed, the friction clamp
Arm rotates so that the angle between described two friction jig arm changes, and changes the friction plate to the deceleration
The pressure that device output shaft is produced, when servomotor rotates, drives the reducer output shaft rotation, and the friction plate is to subtracting
Fast device output shaft produces moment of friction.
5. device according to claim 4, it is characterised in that described device also includes tensiometer, the tensiometer with
The adjusting rod connection, after the adjusting rod drives the moment of friction regulation spring to deform upon, the tensiometer measurement
Go out the external force value that the adjusting rod is subject to, and then calculate friction disturbance torque value.
6. device according to claim 5, it is characterised in that when the adjusting rod drives the moment of friction regulation spring
After deforming upon, the fixing nut is tightened, and the adjusting rod is fixed, and the moment of friction is adjusted the deformation quantity of spring
Keep constant, and then friction disturbance torque is kept constant.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124963.6A CN106896837A (en) | 2017-03-03 | 2017-03-03 | A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710124963.6A CN106896837A (en) | 2017-03-03 | 2017-03-03 | A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system |
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| Publication Number | Publication Date |
|---|---|
| CN106896837A true CN106896837A (en) | 2017-06-27 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201710124963.6A Pending CN106896837A (en) | 2017-03-03 | 2017-03-03 | A kind of friction disturbance torque adjusting means of electric steering engine servo-drive system |
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Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4611682A (en) * | 1983-08-08 | 1986-09-16 | Aisin Seiki Kabushiki Kaisha | Motor-driven power steering system |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| CN103976765A (en) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
| TW201532749A (en) * | 2014-02-25 | 2015-09-01 | Techway Ind Co Ltd | Power tool torque control device |
-
2017
- 2017-03-03 CN CN201710124963.6A patent/CN106896837A/en active Pending
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US4611682A (en) * | 1983-08-08 | 1986-09-16 | Aisin Seiki Kabushiki Kaisha | Motor-driven power steering system |
| CN103499444A (en) * | 2013-10-24 | 2014-01-08 | 北京航空航天大学 | Actuator performance tester |
| TW201532749A (en) * | 2014-02-25 | 2015-09-01 | Techway Ind Co Ltd | Power tool torque control device |
| CN103976765A (en) * | 2014-05-16 | 2014-08-13 | 天津理工大学 | Master end operator device of master slave minimal invasive blood vessel interventional surgical assistant system |
| CN203901287U (en) * | 2014-06-18 | 2014-10-29 | 陕西科技大学 | Joint type mechanism arm |
Non-Patent Citations (1)
| Title |
|---|
| 兰远锋: "《电动舵机伺服***的间隙与摩擦补偿控制》", 《中国优秀硕士学位论文全文数据库 工程科技Ⅱ》 * |
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Application publication date: 20170627 |