CN104122035A - Direct-set load torque and rotational inertia simulating system and control method thereof - Google Patents

Abstract

The invention provides a direct setting type load torque and moment of inertia simulation system and its control method, which provides a torque sensor to measure the driving torque of the input shaft and collects the driving torque signal. The load torque, moment of inertia and drive torque signal calculate the target torque of the load motor, send the target torque command of the load motor to the direct torque controller of the motor, receive and control the target torque command of the load motor through the direct torque controller of the motor The load motor outputs the corresponding torque. The present invention takes torque as the control target, avoids the influence of acceleration calculation error on the control accuracy; does not need to adjust the control parameters according to different bench controllers, is simple to use, and has better dynamic response performance; can control the operation of the bench controller Redundant monitoring is carried out to improve the reliability of the bench.

Description

A direct setting type load torque and moment of inertia simulation system and its control method

technical field

The invention belongs to the field of test instruments, and in particular relates to a direct setting type load torque and moment of inertia simulation system and a control method thereof.

Background technique

In the mechanical transmission test bench, the inertia flywheel is a commonly used equipment, such as the brake test bench, the automobile transmission system test bench, etc., all need the inertia flywheel. Different test occasions require different moment of inertia, but the moment of inertia of the processed inertial flywheel has been fixed and cannot be adjusted. required moment of inertia. However, the flywheel is expensive, heavy, and has high requirements for dynamic balance, which brings inconvenience to the installation of the test bench and has potential safety hazards during high-speed rotation. With the development of motor control technology, the method of electrical simulation of mechanical inertia was proposed, using the driving torque and loading torque of the motor to simulate the flywheel inertia moment. Taking the brake test bench as an example, a small flywheel is used to replace the original large flywheel, and the drive motor continues to provide driving torque during the braking process to make up for the difference between the inertia moment of the small flywheel and the inertia moment of the large flywheel. For another example, in the vehicle transmission test bench, the flywheel is canceled, and the load motor simulates the driving resistance and the inertia of the whole vehicle. At present, the realization method of the electrical simulation of the moment of inertia is to list the dynamic equation of the transmission system, calculate the target acceleration, and track the target acceleration through the double closed-loop control of the motor, that is, to achieve the same acceleration as when the moment of inertia is installed. However, there are several problems with this method: (1) Since the acceleration is the differential of the rotational speed, it can amplify the measurement error of the rotational speed, and this method takes the acceleration as the control target, which is not conducive to improving the control accuracy and also increases the difficulty of control; (2) The control algorithm in the double closed-loop control needs to adjust the control parameters according to different transmission benches, which is inconvenient to use; (3) Due to the closed-loop control, there are often contradictions in dynamic response, overshoot, stabilization time and other indicators, and only a compromise can be taken processing, sacrificing the accuracy of the electrical simulation of the moment of inertia.

Contents of the invention

The purpose of the present invention is to provide a direct setting type load torque and moment of inertia simulation system, aiming to solve the complex use of simulation devices in the prior art, poor dynamic response performance, double closed-loop control and adjustment of control parameters, and A problem with calculation errors that depend on acceleration.

Another object of the present invention is to provide a control method for the above-mentioned direct setting type load torque and moment of inertia simulation system.

The present invention is achieved in this way, a direct setting type load torque and moment of inertia simulation system, including a simulation device, the simulation device includes: input shaft, torque sensor, flywheel, load motor, according to the set load rotation Torque and moment of inertia, the collected driving torque signal calculates the bench controller of the target torque of the load motor, and controls the motor direct torque controller of the load motor to output the corresponding torque according to the received torque command; among them,

The input shaft is sequentially provided with a torque sensor, a flywheel, and a load motor; the torque sensor, the stand controller, the motor direct torque controller, and the load motor are sequentially connected by signal lines; the motor direct torque controller Electrically connected to the load motor.

Preferably, the direct setting type load torque and moment of inertia simulation system also includes a redundant monitoring system, and the redundant monitoring system also includes a rotational speed sensor on the basis of the original device of the simulation system, and the rotational speed sensor It is arranged on the input shaft, and the rotational speed sensor is connected with the platform controller for signals.

Preferably, the direct setting type load torque and moment of inertia simulation system also includes an accuracy calibration system, and the accuracy calibration system includes other devices in the redundant monitoring system except the flywheel and the bench controller. Including: driving motor, driving motor controller, sending speed command to driving motor controller, sending torque command to motor direct torque controller, reading speed sensor and torque sensor signal; among them,

The speed sensor, torque sensor, drive motor controller, and motor direct torque controller are all connected to the host computer signal, and the drive motor controller and the drive motor include signal connection and electrical connection, and the motor direct torque controller and There are signal connections and electrical connections between load motors.

The present invention further provides a control method for the above-mentioned direct setting type load torque and moment of inertia simulation system, comprising the following steps:

S1. Measure the driving torque of the input shaft and collect the driving torque signal;

S2. Calculate the target torque of the load motor through the bench controller according to the set load torque, moment of inertia and drive torque signal, and send the target torque command of the load motor to the motor direct torque controller;

S3. Receive the target torque command of the load motor through the motor direct torque controller and control the load motor to output a corresponding torque.

Preferably, before step S3, it also includes:

S30. Provide accurate motor model parameters for the motor direct torque controller, or calibrate the torque control accuracy of the motor direct torque controller through the motor drive test bench.

Preferably, in step S30, said calibrating the torque control accuracy of the motor direct torque controller through the motor drive test bench includes the following specific process:

(1) The upper computer sets the driving motor controller to the speed control mode, and sets the working speed of the driving motor, that is, the working speed of the bench;

(2) The upper computer sets the output torque of the load motor through the motor direct torque controller, and waits for the operation to stabilize;

(3) read the actual speed and torque measured by the sensor;

(4) Comparing the error between the set torque and the actual torque, the correction coefficient of the direct torque controller of the motor is obtained;

(5) Repeatedly set different speeds and torques to obtain the correction coefficient table;

(6) Input the correction coefficient table into the torque control parameters of the motor direct torque controller to compensate the original control error.

Preferably, after step S3, it also includes:

S4. Redundantly monitor the running state of the simulation device through the rotational speed sensor.

Preferably, the step S4 includes the following specific processes:

(1) Read the rotational speed of the rotational speed sensor, and calculate the actual acceleration and theoretical acceleration;

(2) Compare the difference between the actual acceleration and the theoretical acceleration with the allowable error value. If the allowable error is exceeded and the duration exceeds the allowable time, an error alarm will be processed, and the operation will continue within the allowable error.

Preferably, in step S2, the calculation formula of the load motor torque is:

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}$

In the formula, T _m is the torque of the load motor, T _r is the load torque, T _d is the driving torque, J _s is the moment of inertia of the flywheel, J _m is the moment of inertia of the load motor, and J _r is the moment of inertia of the load.

Compared with the shortcomings and deficiencies of the prior art, the present invention has the following beneficial effects:

(1) The conventional method uses acceleration as the control target, and the calculated acceleration is more sensitive to the rotational speed measurement error. The present invention uses the torque as the control target, which avoids the influence of the calculation error of the acceleration on the control accuracy;

(2) The conventional method adopts double closed-loop control, wherein the speed control algorithm needs to adjust the control parameters according to different transmission stands, which is inconvenient to use, but the present invention adopts the direct torque control mode, and the stand controller adopts open-loop control, directly Send the target torque command to the motor direct torque controller, no need to adjust the control parameters according to different bench controllers, easy to use, and better dynamic response performance;

(3) In the control flow of the present invention, only the driving torque sensor signal is collected, and the rotational speed signal is not a necessary signal. If there is a rotational speed sensor on the bench controller, it can be used to calculate the acceleration, and compare it with the theoretical acceleration to control the bench. Redundant monitoring of the operating conditions of the machine is carried out to improve the reliability of the bench.

Description of drawings

Fig. 1 is a schematic diagram of the working state of the simulation system in the direct setting type load torque and moment of inertia simulation system of the present invention;

Fig. 2 is a schematic diagram of the simplified workflow of the direct setting type load torque and moment of inertia simulation system of the present invention;

Fig. 3 is a schematic diagram of the working state of the redundant monitoring system in the direct setting type load torque and moment of inertia simulation system of the present invention;

Fig. 4 is a schematic diagram of the working state of the precision calibration system in the direct setting type load torque and moment of inertia simulation system of the present invention;

Fig. 5 is a flow chart of the steps of the control method of the direct setting type load torque and moment of inertia simulation system of the present invention;

Figure 6 is a simplified diagram of the actual working conditions;

Figure 7 is a simplified diagram of the simulated working conditions;

Fig. 8 is a work flow diagram of the bench controller;

Fig. 9 is a flowchart of the steps of redundancy monitoring.

Detailed ways

In order to make the object, technical solution and advantages of the present invention clearer, the present invention will be further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described here are only used to explain the present invention, not to limit the present invention.

A direct setting type load torque and moment of inertia simulation system, as shown in Figure 1, includes a simulation device, the simulation device includes an input shaft, a torque sensor, a flywheel, a load motor, according to the set load torque and The moment of inertia and the collected drive torque signal are used to calculate the target torque of the load motor by the bench controller, and the motor direct torque controller that controls the load motor to output the corresponding torque according to the received load motor target torque command; wherein, The input shaft is sequentially provided with a torque sensor, a flywheel, and a load motor; the torque sensor, the stand controller, the motor direct torque controller, and the load motor are sequentially connected by signal lines, and the motor direct torque controller Electrically connected to the load motor.

In the embodiment of the present invention, the simulation device is a part of the transmission system test bench, as shown in FIG. 2, and is used to simulate the load torque and moment of inertia of the load equipment. The driving equipment is the power source of the actual bench. For example, when building a test bench for an automobile transmission system, the driving equipment is an automobile engine. In addition, gearboxes and brakes are installed according to the actual test objects. The moment of inertia of the flywheel of the simulated system is smaller than that of the actual system.

In the embodiment of the present invention, the flywheel with smaller inertia is used to replace the original flywheel, the motor direct torque controller is used to replace the original motor double-closed-loop speed controller, the speed sensor is canceled, and the torque sensor is installed.

In the embodiment of the present invention, the design specifications of the simulation system (as shown in FIG. 1 ) are first clarified, including: the maximum input torque T _dmax and the maximum speed n _dmax of the input shaft; the maximum load power P _rmax that can be simulated, Speed n _prmax , maximum load torque T _rmax , and maximum moment of inertia J _rmax at maximum load power.

1. Selection of torque sensor: the torque range is greater than the maximum input torque of the input shaft, the torque measurement accuracy meets the accuracy requirements of the analog device, and the maximum allowable operating speed of the torque sensor is greater than or equal to the maximum speed of the input shaft.

2. Load motor selection: Selecting industrial standard frequency conversion motors has better cost performance. International brands include ABB, Siemens, etc., domestic brands include Beijing Super Synchronization, Shanghai Tomita, etc. Motor specification requirements include: load motor rated power P _mmax Greater than or equal to the maximum load power P _rmax that can be simulated, that is, P _mmax ≥ P _rmax , the maximum speed n _mmax of the load motor is greater than or equal to the maximum speed n _dmax of the input shaft, that is, n _mmax ≥ n _dmax , and the rated torque T _mmax of the load motor is greater than or equal to $(1-\frac{J_{\mathrm{the\; s}}+J_m}{J_{r\max }})T_{d\max }+\frac{J_{\mathrm{the\; s}}+J_m}{J_{r\max }}{T}_{r\max },$ Right now $T_{m\max }\&Greater\; Equal;(1-\frac{J_{\mathrm{the\; s}}+J_m}{J_{r\max }})T_{d\max }+\frac{J_{\mathrm{the\; s}}+J_m}{J_{r\max }}{T}_{r\max },$ In the formula, J _s is the moment of inertia of the flywheel, and J _m is the moment of inertia of the motor.

3. Selection of motor direct torque controller: ABB company’s ACS800 series inverter is selected, which has a communication control interface and a terminal control interface connected with the bench controller, receives the target torque command issued by the bench controller, and converts the frequency The running status information of the controller and the motor is transmitted to the bench controller.

4. Flywheel type selection: The flywheel adopts customized processing to meet the requirements of external dimensions, moment of inertia and maximum speed. In terms of external dimensions, the center height of the stand determines the maximum diameter of the flywheel, and the axial dimension of the stand determines the maximum thickness of the flywheel; in terms of moment of inertia, it needs to match the selection of the load motor to meet See the load motor selection; the maximum speed is determined by the maximum speed of the bench, which puts forward requirements for the dynamic balance of the flywheel and the selection of bearings.

5. Type selection of the bench controller: There are many ways to implement the bench controller, either an industrial control computer or an embedded controller. The industrial control computer method is introduced here: the data acquisition card and communication card are installed on the motherboard slot of the industrial control computer, the data acquisition card is used to collect the signal of the torque sensor, and the communication interface on the communication card sends the target to the direct torque controller of the motor Torque command, data acquisition card and communication interface can all be used as the interface for setting load torque and moment of inertia.

In a further implementation process, in order to perform redundant monitoring on the operating state of the simulation system, in the embodiment of the present invention, the direct setting type load torque and moment of inertia simulation system also includes a redundant monitoring system, as shown in Figure 3 As shown, the redundant monitoring system further includes a rotational speed sensor on the basis of the original device of the analog system, the rotational speed sensor is arranged on the input shaft, and the rotational speed sensor is signal-connected to the bench controller. Installing a speed sensor can perform redundant monitoring of the operating status of the analog system.

In the further implementation process, in order to ensure the calibration of the control accuracy of the bench, in the embodiment of the present invention, the direct setting type load torque and moment of inertia simulation system also includes an accuracy calibration system, and the accuracy calibration system That is, the motor drive test bench, including other devices in the redundant monitoring system except the flywheel and the bench controller, also includes: the driving motor, the driving motor controller, sending speed commands to the driving motor controller, and sending speed commands to the motor Direct torque controller sends torque command, reads the upper computer of torque sensor and rotational speed sensor signal; As shown in Fig. A torque sensor, a load motor, a motor direct torque controller, a speed sensor, a drive motor controller, a host computer, and a drive motor; wherein, the input shaft of the drive motor is provided with a torque sensor, a speed sensor, and a load motor in sequence; The torque sensor and the speed sensor are connected to the signal line of the host computer, and the host computer is respectively connected to the drive motor controller and the signal line of the motor direct torque controller, and the drive motor controller is connected to the signal line of the drive motor and electrically connection, the motor direct torque controller and load motor signal line connection and electrical connection.

In the embodiment of the present invention, the options of each device are specifically:

1. Drive motor type selection: It is required to cover the working range of the load motor, and the same type of motor as the load motor can be used.

2. Type selection of the drive motor controller: the frequency converter that matches the power of the drive motor has a speed control mode (the current industrial frequency converters all have a speed control mode).

3. Speed sensor selection: Generally, a magnetoelectric speed sensor or an encoder disc speed sensor is used.

4. Upper computer type selection: industrial control computer is used. If the bench controller also uses an industrial control computer, the upper computer can use this computer, but because of different functions, the software of the upper computer is different from that of the bench controller. The acquisition card is used to collect the signals of the speed sensor and the torque sensor, and the communication port is used to send the speed command to the drive motor controller and the torque command to the motor direct torque controller.

The present invention further provides a control method for the above-mentioned directly-set load torque and moment of inertia simulation system, and performs simulation control through the simulation system shown in Figure 1, as shown in Figure 5, including the following steps:

S1. Measure the driving torque of the input shaft and collect the driving torque signal

In step S1, the driving torque of the input shaft is measured by a torque sensor and a driving torque signal is collected.

S2. Calculate the target torque of the load motor through the bench controller according to the set load torque, moment of inertia and drive torque signal, and send the target torque command of the load motor to the motor direct torque controller

In step S2, the required load motor torque is calculated by the platform controller according to the set load torque, moment of inertia and driving torque signal. Wherein, the calculation method of the required load motor torque specifically includes the following steps:

As shown in Figure 6, Figure 6 is a simplified diagram of the force under actual working conditions. In the figure, w _r is the angular velocity of the load, T _d is the driving torque, T _r is the load torque, and J _r is the moment of inertia of the load. The angular acceleration calculation formula of the actual working condition is

$\frac{{\mathrm{<span\; class="notranslate">\; dw</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; )</span>$

As shown in Figure 7, Figure 7 is a simplified diagram of the force of the simulated working condition. In the figure, w _m is the angular velocity of the load, T _d is the driving torque, T _m is the torque of the load motor, J _s is the moment of inertia of the flywheel, and J _m is the moment of inertia of the load motor. The angular acceleration calculation formula of the simulated working condition is

$\frac{{\mathrm{<span\; class="notranslate">\; dw</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; -</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 2</span>}<span\; class="notranslate">\; )</span>$

It is required that the simulated working condition and the actual working condition have the same angular acceleration, that is,

$\frac{{\mathrm{<span\; class="notranslate">\; dw</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; =</span>\frac{{\mathrm{<span\; class="notranslate">\; dw</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}{\mathrm{<span\; class="notranslate">\; dt</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 3</span>}<span\; class="notranslate">\; )</span>$

From equations (1), (2) and (3), the load motor torque required to ensure that the simulated working condition is the same as the actual working condition can be deduced, that is, the torque control target is

${\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}<span\; class="notranslate">\; =</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 1</span>}<span\; class="notranslate">\; -</span>\frac{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}<span\; class="notranslate">\; )</span>{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; d</span>}}<span\; class="notranslate">\; +</span>\frac{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; the\; s</span>}}<span\; class="notranslate">\; +</span>{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; m</span>}}}{{\mathrm{<span\; class="notranslate">\; J</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}}{\mathrm{<span\; class="notranslate">\; T</span>}}_{\mathrm{<span\; class="notranslate">\; r</span>}}<span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; -</span><span\; class="notranslate">\; (</span>\mathrm{<span\; class="notranslate">\; 4</span>}<span\; class="notranslate">\; )</span>$

The angular acceleration signal is not included in the formula (4), so the load motor adopts the torque control mode, adopts the motor direct torque controller, and the current advanced frequency converter has provided the direct torque control function, which can be used as the direct torque control function of the motor in the present invention. Torque controller.

In step S2, the work flow of the bench controller is shown in Figure 8, and it goes round and round, each cycle includes 4 steps, and the third step calculates the torque control target of the load motor using the formula (4).

S3. Receive the load motor target torque command through the motor direct torque controller and control the load motor to output the corresponding torque

In step S3, the load motor torque is received through the motor direct torque controller and the load motor is controlled to output a corresponding torque. In the embodiment of the present invention, the torque is used as the control target to avoid the influence of the acceleration calculation error on the control accuracy; the direct torque control mode is adopted, and the platform controller adopts open-loop control to directly send the target torque command to Motor direct torque controller, no need to adjust control parameters according to different bench controllers, easy to use, better dynamic response performance.

In the further implementation process, in order to carry out redundant monitoring on the operating state of the simulation system, in the embodiment of the present invention, in the control method of the direct setting type load torque and moment of inertia simulation system of the present invention, as shown in Figure 5 Shown, after step S3 also includes:

S4. Redundant monitoring of the running state of the bench controller through the rotational speed sensor

In step S4, redundant monitoring of the analog system is performed through the redundant monitoring system shown in FIG. 3 , more specifically, as shown in FIG. 9 , including the following specific processes:

(1) Read the rotational speed of the rotational speed sensor, and calculate the actual acceleration and theoretical acceleration;

(2) Compare the difference between the actual acceleration and the theoretical acceleration with the allowable error, if the allowable error is exceeded, and the duration exceeds the allowable time (the time exceeding the allowable error lasts longer than the allowable time, for example, the error is greater than 50rad/s for 10 consecutive seconds ² ), do error alarm processing, and continue to run within the allowable error.

In the embodiment of the present invention, only the driving torque sensor signal is collected in the control flow, and the speed signal is not a necessary signal. There is a speed sensor on the simulation system, which can be used to calculate the acceleration and compare it with the theoretical acceleration, so as to improve the operation of the simulation system. Redundant monitoring is carried out to improve the reliability of the simulation system.

Explanation: The equipment that is often prone to failure is the "torque sensor" and "motor direct torque controller", and other equipment are relatively reliable. Acceleration is obtained by collecting the speed signal through the speed sensor (more reliable, not easy to break), and comparing the error between the theoretical value and the actual value is used to verify whether the torque sensor is collected correctly, or whether the direct torque controller of the motor is faulty, that is, whether Accurately achieve the torque control target.

In the further implementation process, since the simulation accuracy of the simulation system depends on the control accuracy of the motor direct torque controller, there are two measures to improve the control accuracy: (1) provide an accurate motor model for the motor direct torque controller (2) Calibrate the torque control accuracy of the motor direct torque controller through the motor drive test bench. Among them, the current motor direct torque controllers all have the function of automatic identification of motor parameters, and can obtain basically accurate motor model parameters, which will not be repeated here.

In the embodiment of the present invention, the torque control accuracy of the motor direct torque controller is calibrated through the motor drive test bench shown in Figure 4, including the following specific processes:

(1) The upper computer sets the driving motor controller to the speed control mode, and sets the working speed of the driving motor, that is, the working speed of the bench;

(2) The upper computer sets the output torque of the load motor through the motor direct torque controller, and waits for the operation to stabilize;

(3) read the actual speed and torque measured by the sensor;

(4) Comparing the error between the set torque and the actual torque, the correction coefficient of the direct torque controller of the motor is obtained;

(5) Repeatedly set different speeds and torques to obtain the correction coefficient table;

(6) Input the correction coefficient table into the torque control parameters of the motor direct torque controller to compensate the original control error.

It should be noted that the existing motor control (including drive motor control and motor direct torque controller) has the function of automatically identifying the motor speed, but there is a small error, usually no more than 1%; some motors are equipped with a code The device can accurately measure the motor speed and can be used as a speed sensor.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present invention should be included in the protection of the present invention. within range.

Claims (9)

1. A direct-set load torque and moment of inertia simulation system, comprising a simulation device, the simulation device comprising: the system comprises an input shaft, a torque sensor, a flywheel, a load motor, a rack controller for calculating a target torque of the load motor according to a set load torque, a set moment of inertia and a collected driving torque signal, and a motor direct torque controller for controlling the load motor to output a corresponding torque according to a received torque command; wherein,

the input shaft is sequentially provided with a torque sensor, a flywheel and a load motor; the torque sensor, the rack controller, the motor direct torque controller and the load motor are connected in sequence through signal wires; the motor direct torque controller is electrically connected with the load motor.

2. The direct setup load torque and moment of inertia simulation system of claim 1, further comprising a redundant monitoring system, the redundant monitoring system further comprising a rotational speed sensor based on the original device of the simulation system, the rotational speed sensor being disposed on the input shaft and in signal connection with the gantry controller.

3. The direct setup load torque and moment of inertia simulation system of claim 2, further comprising a precision calibration system based on devices other than the flywheel, the gantry controller, including the redundant monitoring system, further comprising: the driving motor is used for driving the motor controller, and the upper computer is used for sending a rotating speed command to the driving motor controller, sending a torque command to the motor direct torque controller and reading signals of the rotating speed sensor and the torque sensor; wherein,

the rotating speed sensor, the torque sensor, the driving motor controller and the motor direct torque controller are all in signal connection with the upper computer, the driving motor controller and the driving motor are in signal connection and electrical connection, and the motor direct torque controller and the load motor are in signal connection and electrical connection.

4. A control method of a direct-set load torque and moment of inertia simulation system according to claim 3, comprising the steps of:

s1, measuring the driving torque of the input shaft and collecting a driving torque signal;

s2, calculating a target torque of a load motor through the rack controller according to the set load torque, the set moment of inertia and the set driving torque signal, and sending a target torque command of the load motor to the direct motor torque controller;

and S3, receiving the target torque command of the load motor through the motor direct torque controller and controlling the load motor to output corresponding torque.

5. The control method of the direct-set load torque and moment of inertia simulation system according to claim 4, further comprising, before step S3:

and S30, providing accurate motor model parameters for the motor direct torque controller, or calibrating the torque control precision of the motor direct torque controller through a motor transmission test bed.

6. The control method of the direct setup type load torque and moment of inertia simulation system according to claim 5, wherein the calibrating the torque control accuracy of the motor direct torque controller through the motor drive test bench in step S30 comprises the following specific procedures:

(1) the upper computer sets the driving motor controller into a rotating speed control mode and sets the working rotating speed of the driving motor, namely the working rotating speed of the rack;

(2) the upper computer sets the output torque of the load motor through the motor direct torque controller and waits for stable operation;

(3) reading the actual rotating speed and torque measured by the sensor;

(4) comparing the error between the set torque and the actual torque to obtain a correction coefficient of the direct torque controller of the motor;

(5) repeatedly setting different rotating speeds and torques to obtain a correction coefficient table;

(6) and inputting the correction coefficient table into a torque control parameter of the motor direct torque controller to compensate the original control error.

7. The control method of the direct-set load torque and moment of inertia simulation system according to claim 6, further comprising, after step S3:

and S4, carrying out redundant monitoring on the running state of the simulation device through the rotating speed sensor.

8. The control method of a direct-set load torque and moment of inertia simulation system according to claim 7, wherein the step S4 includes the following specific processes:

(1) reading the rotating speed of a rotating speed sensor, and calculating actual acceleration and theoretical acceleration;

(2) and comparing the difference between the actual acceleration and the theoretical acceleration with an error allowable value, if the allowable error is exceeded and the duration exceeds the allowable time, performing error alarm processing, and continuing to operate within the allowable error.

9. The control method of the direct setup type load torque and moment of inertia simulation system of claim 6, wherein the load motor torque is calculated as:

$T_m=(1-\frac{J_s+J_m}{J_r})T_d+\frac{J_s+J_m}{J_r}{T}_r$

in the formula, T_mFor loading motor torque, T_rFor load torque, T_dTo drive torque, J_sIs the moment of inertia of the flywheel, J_mFor loading the moment of inertia of the motor, J_rIs the moment of inertia of the load.