Torque loading device for mechanical power closed test bench and method of use

Abstract

The application discloses a torque loading device for a mechanical power closed test bench and a use method, relates to the field of mechanical transmission, and comprises a shell, a controller assembly and a torque loading assembly. A U-shaped groove for fixation is arranged at the bottom of the shell and is fixed on the mechanical power closed test bench through the U-shaped groove. The controller assembly is installed outside the shell and comprises a controller and a touch screen. The controller assembly collects torque speed sensor information in the test bench and displays the information on the touch screen, adjusts the output torque of the torque loading assembly in real time, and ensures the stability of the torque of the test bench. The torque loading assembly is installed inside the shell and comprises a servo motor and a speed reducer. The torque loading assembly is connected to the mechanical power closed test bench through a shaft coupling, and the servo motor and the speed reducer provide torque for the mechanical power closed test bench. The application utilizes single-chip computer calculation and touch screen man-machine interaction, is easy to operate, and can adjust the torque at will during the operation process, thereby improving the running stability of the device.

Description

Technical Field

[0001] This invention relates to the field of mechanical transmission, and in particular to a torque loading device and its method of use for a closed mechanical power test bench. Background Technology

[0002] Mechanical transmission devices require testing for stability, durability, transmission efficiency, and service life during the design and manufacturing phases. Specific experimental setups are needed to simulate operating conditions such as speed, load, temperature, and lubrication. Loading experiments are also necessary for transmission systems. Considering power consumption during these experiments, power-enclosed test benches are typically used, such as electric power-enclosed and mechanical power-enclosed systems. Compared to electric power-enclosed systems, mechanical power-enclosed test benches are less expensive to manufacture and more reliable. During operation, mechanical power-enclosed systems inevitably experience power losses due to friction and oil agitation. This power loss is compensated for by the drive unit. This means that the power input to the enclosed system by the drive unit is only the power needed to keep the system running, i.e., the power used to compensate for frictional losses within the enclosed system. Because frictional power losses are very small, the required power of the drive unit is also very small, typically only 10% of the enclosed system's power, significantly reducing energy consumption.

[0003] However, existing mechanical power closed systems have certain shortcomings when applying torque, such as the inability to observe the applied torque, inconvenience in real-time torque adjustment, low torque adjustment resolution, poor torque loading stability, small torque loading range, low loading accuracy, and complex loading device structure. Furthermore, existing devices cannot adjust the applied torque while the closed system is running and must be stopped before adjusting the torque.

[0004] Therefore, those skilled in the art are dedicated to developing a torque loading device and its usage method for a closed mechanical power test bench. Summary of the Invention

[0005] In view of the above-mentioned deficiencies of the prior art, the technical problem to be solved by the present invention is that the existing device cannot adjust the loading torque while the closed system is in operation, and the torque adjustment needs to be performed after the operation is stopped.

[0006] To achieve the above objectives, the present invention provides a torque loading device for a closed mechanical power test bench, characterized in that it includes a housing, a controller assembly, and a torque loading assembly, wherein...

[0007] The outer casing has a U-shaped groove at the bottom for fixing, through which the torque loading device is fixed on the mechanical power closed test bench;

[0008] The controller assembly, installed outside the housing, includes a controller and a touch screen. The controller assembly collects torque and speed sensor information from the mechanical power closed test bench and displays the collected torque information on the touch screen in real time. It also adjusts the output torque of the torque loading assembly in real time to ensure the stability of the torque of the mechanical power closed test bench.

[0009] The torque loading component, installed inside the housing, includes a servo motor and a reducer. The torque loading component is connected to the mechanical power closed test bench via a coupling, and provides torque to the mechanical power closed test bench through the servo motor and the reducer.

[0010] Furthermore, the controller assembly is fixedly mounted on the top of the housing, and the torque loading assembly is connected to both sides of the housing.

[0011] Furthermore, the bottom of the outer shell is provided with four U-shaped grooves, and the four U-shaped grooves of the torque loading device are fixed to the mechanical power closed test bench by bolts.

[0012] Furthermore, the touchscreen provides human-computer interaction, through which the torque output of the torque loading device can be set.

[0013] Furthermore, the servo motor is a servo motor with a brake. The controller controls the operation of the servo motor by sending a specific pulse sequence to the controller of the servo motor, including controlling the step size and speed of the servo motor rotation. The controller changes the output torque by controlling the speed of the servo motor.

[0014] Furthermore, the controller includes a microcontroller, which sends a specific pulse sequence to the servo motor controller via an interface chip to control the servo motor. By changing the frequency and duty cycle of the pulse sequence, the speed and direction of the servo motor are changed.

[0015] Furthermore, the controller is provided with an expansion interface for connecting to a PC. The controller connects to the PC via a serial port through the microcontroller and transmits the information collected from the torque and speed sensor to the PC.

[0016] Furthermore, the reducer is a planetary reducer. The servo motor reduces its speed and increases its torque through the reducer, thereby increasing the torque range that the torque loading device can provide.

[0017] Furthermore, the torque loading assembly also includes a motor fixed shaft, a first motor fixed sleeve, a second motor fixed sleeve, a reducer extension shaft, a left-end flange bearing, a left-end slewing bearing, a right-end slewing bearing, a right-end flange bearing, and a fixed flange; the left-end slewing bearing and the right-end slewing bearing are connected to both sides of the housing; the left-end flange bearing is fixed to the inner ring of the left-end slewing bearing; the right-end flange bearing is fixed to the inner ring of the right-end slewing bearing; the motor fixed shaft is connected to the inner ring of the left-end flange bearing; the first motor fixed sleeve is connected to the right end of the motor fixed shaft; the servo motor is connected to the inner side of the first motor fixed sleeve; the reducer is connected to the outer side of the first motor fixed sleeve; the fixed flange is connected to the outer ring of the first motor fixed sleeve; the second motor fixed sleeve is connected to the inner ring of the fixed flange; the right-end slewing bearing is connected to the inner ring of the right-end flange bearing; the reducer extension shaft is fixed to the inner ring of the right-end flange bearing; and the reducer extension shaft is connected to the reducer.

[0018] On the other hand, the present invention also provides a method for using a torque loading device for a mechanical power closed test bench, characterized in that the method includes the following steps:

[0019] S101: Connect the motor connecting shaft and the reducer extension shaft to the mechanical power closed test bench through a coupling, and fix the U-shaped groove of the torque loading device on the plane of the mechanical power closed test bench with bolts;

[0020] S103: Power on the torque loading device, set the loading torque X1 through the touch screen, and transmit the torque to the reducer extension shaft through the servo motor and the reducer. The torque output by the reducer extension shaft is transmitted to the mechanical power closed test bench.

[0021] S105: The closed testing equipment is turned on, the motor of the closed testing equipment rotates, the inner shaft of the torque loading device rotates with the transmission shaft of the mechanical power closed test bench, and the torque is generated through the extension shaft of the reducer and loaded onto the mechanical power closed test bench;

[0022] S107: The controller periodically collects the torque value X2 inside the mechanical power closed test bench, compares the torque value X2 with the loading torque X1, and adjusts the current of the servo motor in real time to always keep X2 and X1 close with a small difference.

[0023] In a preferred embodiment of the present invention, compared with the prior art, the present invention has the following beneficial effects:

[0024] 1. This invention utilizes a single-chip microcomputer for calculation and a touch screen for human-computer interaction, making it convenient to use and easy to operate. The loaded torque can be displayed in real time, and the torque can be adjusted arbitrarily during operation.

[0025] 2. The torque designed in this invention is increased by a factor of two through the motor and reducer, resulting in high resolution and a wide adjustable range;

[0026] 3. This invention utilizes a microcontroller to collect information from torque and speed sensors in a closed system, adjusts the motor output torque in real time, ensures loading accuracy, and improves the operational stability of the device.

[0027] The following will further explain the concept, specific structure, and technical effects of the present invention in conjunction with the accompanying drawings, so as to fully understand the purpose, features, and effects of the present invention. Attached Figure Description

[0028] Figure 1 This is a schematic diagram illustrating an application scenario of the torque loading device according to a preferred embodiment of the present invention;

[0029] Figure 2 This is an isometric schematic diagram of a torque loading device according to a preferred embodiment of the present invention;

[0030] Figure 3 This is an exploded view of the inner shaft of a torque loading device according to a preferred embodiment of the present invention.

[0031] The components are: 1-Controller, 2-Housing, 3-Left flange bearing, 4-Left slewing bearing, 5-Brush slip ring, 6-Motor connecting shaft, 7-Servo motor, 8-Motor first fixed sleeve, 9-Connecting flange, 10-Reducer, 11-Motor second fixed sleeve, 12-Right slewing bearing, 13-Right flange bearing, 14-Reducer extension shaft, 15-First gearbox, 16-Torque loading device, 17-Second gearbox, 18-Rotating motor. Detailed Implementation

[0032] The following description, with reference to the accompanying drawings, illustrates several preferred embodiments of the present invention to make its technical content clearer and easier to understand. The present invention can be embodied in many different forms, and the scope of protection of the present invention is not limited to the embodiments mentioned herein.

[0033] In the accompanying drawings, components with the same structure are indicated by the same numerical designation, and components with similar structures or functions are indicated by similar numerical designations. The dimensions and thicknesses of each component shown in the drawings are arbitrary, and the present invention does not limit the dimensions and thicknesses of each component. To make the illustrations clearer, the thickness of some components has been appropriately exaggerated in the drawings.

[0034] like Figure 1 and Figure 2As shown, this invention addresses the issue that existing devices cannot adjust the loading torque while the closed system is running and require the system to be stopped before torque adjustment. This invention provides a torque loading device 16 for a mechanical power closed test bench, which includes a housing 2, a controller assembly, and a torque loading assembly. The controller assembly is fixedly installed on the top of the housing 2, and the torque loading assembly is connected to both sides of the housing 2.

[0035] The bottom of the outer shell 2 is provided with a U-shaped groove for fixing, through which the torque loading device 16 is fixed to the mechanical power closed test bench.

[0036] Preferably, the bottom of the outer casing 2 has four U-shaped grooves, and the four U-shaped grooves of the torque loading device 16 are fixed to the mechanical power closed test bench by bolts.

[0037] The controller assembly is installed outside the housing 2 and includes a controller 1 and a touch screen. The controller assembly collects information from the torque and speed sensors in the mechanical power closed test bench and displays the collected torque information on the touch screen in real time. It adjusts the output torque of the torque loading component in real time to ensure the stability of the torque of the mechanical power closed test bench.

[0038] The touchscreen provides human-computer interaction, and the torque output of the torque loading device 16 can be set through the touchscreen.

[0039] Preferably, the controller 1 includes a microcontroller and is provided with an expansion interface for connecting to a PC. The controller 1 is connected to the PC via a serial port through the microcontroller and transmits the information collected from the torque and speed sensor to the PC.

[0040] The torque loading assembly is installed inside the housing 2, including a servo motor 7 and a reducer 10, such as... Figure 3 As shown. The torque loading assembly is connected to the mechanical power closed test bench via a coupling, and provides torque to the mechanical power closed test bench through the servo motor 7 and the reducer 10, as shown. Figure 1 As shown.

[0041] Preferably, the servo motor 7 is a servo motor with a brake. The controller 1 controls the operation of the servo motor 7 by sending a specific pulse sequence to the controller of the servo motor 7, including controlling the step size and speed of the servo motor 7's rotation. The controller 1 changes the output torque by controlling the rotational speed of the servo motor 7. The controller 1 includes a microcontroller, which sends a specific pulse sequence to the controller of the servo motor 7 through an interface chip to control the servo motor 7. By changing the frequency and duty cycle of the pulse sequence, the controller changes the rotational speed and direction of the servo motor 7.

[0042] Preferably, the reducer 10 is a planetary reducer. The servo motor 7 reduces its speed and increases its torque through the reducer 10, thereby increasing the torque range that the torque loading device 16 can provide.

[0043] like Figure 3 As shown, the torque loading assembly also includes a motor fixed shaft 6, a first motor fixed sleeve 8, a second motor fixed sleeve 11, a reducer extension shaft 14, a left flange bearing 3, a left slewing bearing 4, a right slewing bearing 12, a right flange bearing 13, a brush slip ring 5, and a fixed flange 9. The outer casing 2 is connected to the left end slewing bearing 4 and the right end slewing bearing 12 on both sides. The inner ring of the left end slewing bearing 4 is fixed to the left end flange bearing 3. The inner ring of the right end slewing bearing 12 is fixed to the right end flange bearing 13. The inner ring of the left end flange bearing 3 is connected to the motor coupling shaft 6. The right end of the motor coupling shaft 6 is connected to the first motor fixing sleeve 8. The inner side of the first motor fixing sleeve 8 is connected to the servo motor 7. The outer side of the first motor fixing sleeve 8 is connected to the reducer 10. The outer ring of the first motor fixing sleeve 8 is connected to the fixing flange 9. The inner ring of the fixing flange 9 is connected to the second motor fixing sleeve 11. The outer ring of the right side of the fixing flange 9 is connected to the right end slewing bearing 12. The inner ring of the right end bearing 12 is connected to the right end flange bearing 13. The inner ring of the right end flange bearing 13 is fixed to the reducer extension shaft 14. The reducer extension shaft 14 is connected to the reducer 10.

[0044] On the other hand, embodiments of the present invention also provide a method for using the torque loading device 16, including the following steps:

[0045] S101: Connect the motor fixed shaft 6 and the reducer extension shaft 14 to the mechanical power closed test bench through a coupling, and fix the U-shaped groove of the torque loading device 16 to the plane of the mechanical power closed test bench with bolts;

[0046] S103: Power on the torque loading device 16, set the loading torque X1 through the touch screen, and transmit the torque to the reducer extension shaft 14 through the servo motor 7 and the reducer 10. The torque output by the reducer extension shaft 14 is transmitted to the mechanical power closed test bench.

[0047] S105: The closed testing equipment is turned on. The motor of the closed testing equipment rotates, and the inner shaft of the torque loading device 16 rotates with the transmission shaft of the mechanical power closed test bench. The torque is generated through the reducer extension shaft 14 and loaded onto the mechanical power closed test bench.

[0048] S107: Controller 1 periodically collects the torque value X2 inside the mechanical power closed test bench, compares the torque value X2 with the applied torque X1, and adjusts the current of servo motor 7 in real time to always keep X2 and X1 close with a small difference.

[0049] To address the problem that existing devices cannot adjust the loading torque while the closed system is in operation and require torque adjustment after stopping operation, this invention uses a single-chip microcomputer to collect torque and speed sensor information in the closed system, adjusts the motor output torque in real time, and displays the loading torque reading in real time. The torque can be adjusted arbitrarily during operation, ensuring loading accuracy and improving the stability of device operation.

[0050] In addition, considering that power consumption needs to be taken into account during the design and manufacturing stage of mechanical transmission devices, the power input to the closed system by the torque loading device provided by the present invention is only the power to make the closed system operate, that is, the power used to compensate for friction loss in the closed system, thereby reducing the power loss caused by friction in the closed system, reducing power consumption.

[0051] The present invention will now be described in detail with reference to preferred embodiments.

[0052] like Figure 2 , Figure 3 As shown, a torque loading device for a closed mechanical power test bench includes a housing 2, a controller 1 fixed on the housing 2, four U-shaped grooves fixed at the bottom of the housing 2, a left-end slewing bearing 4 and a right-end slewing bearing 12 connected to both sides of the housing 2, a left-end flange bearing 3 fixed to the inner ring of the left-end slewing bearing 4, a right-end flange bearing 13 fixed to the inner ring of the right-end slewing bearing 12, a motor coupling shaft 6 connected to the inner ring of the left-end flange bearing 3, a first motor fixing sleeve 8 connected to the right end of the motor coupling shaft 6, a servo motor 7 connected to the inner side of the first motor fixing sleeve 8, and a reducer 10 (a planetary reducer) connected to the outer side of the first motor fixing sleeve 8. A fixing flange 9 connected to the outer ring of the first motor fixing sleeve 8, a second motor fixing sleeve 11 connected to the inner ring of the fixing flange 9, a right-end slewing bearing 12 connected to the right-end slewing bearing 12, a right-end flange bearing 13 connected to the inner ring of the right-end flange bearing 13, a reducer extension shaft 14 fixed to the inner ring of the right-end flange bearing 13, and a reducer extension shaft 14 connected to the reducer 10.

[0053] Controller 1 includes a microcontroller, which sends a specific pulse sequence to the controller of servo motor 7 via an interface chip to control servo motor 7, controlling the step size and speed of servo motor 7's rotation. Each pulse represents a specific distance that servo motor 7 needs to move. The microcontroller changes the frequency and duty cycle of the pulses to change the speed and direction of servo motor 7. The microcontroller changes the output torque by controlling the speed of servo motor 7. Information collected by the torque and speed sensor is transmitted to the microcontroller chip. The microcontroller connects to the PC via a serial port to transmit the collected information to the PC. The torque loading device 16 uses a servo motor with a brake to provide torque. It is self-locking when power is off to maintain torque and ensure that the torque of the torque loading device 16 is not lost. The servo motor 7 reduces its speed and increases its torque through the reducer 10, thereby increasing the overall torque range that the torque loading device can provide.

[0054] The microcontroller in controller 1 generally includes a microprocessor (CPU), a data memory composed of RAM, a program memory composed of ROM, a timer / counter, various input / output (I / O) interfaces, and functional units. It can operate independently. The microprocessor reads and analyzes each instruction, controlling the various functions of the microcontroller to execute the specified operations and calculations according to the instruction's function. The CPU includes a controller, an arithmetic logic unit (ALU), and registers. The controller fetches instructions from memory, analyzes them, and issues a series of operation commands specified by the instruction to complete the instruction's function. The ALU is the component that performs arithmetic and logical operations using binary data. Registers are used to store the binary data participating in the operations and to save the results; they are generally divided into general-purpose registers and special-purpose registers.

[0055] The present invention also provides a method of using the torque loading device for the above-mentioned mechanical power closed test bench, the specific steps of which include:

[0056] Step 1: First, connect the motor fixed shaft 6 and the reducer extension shaft 14 to the mechanical power closed system through a coupling. At the same time, fix the four U-shaped grooves of the torque loading device 16 to the test bench plane with bolts.

[0057] Step 2: The torque loading device 16 is powered on, and the microcontroller in the controller 1 is powered on. The loading torque X1 is set through the touch screen. At this time, the servo motor 7 is powered on, the motor spindle rotates, and the torque is output. The torque is increased through the reducer 10 and transmitted to the reducer extension shaft 14. Since the servo motor 7 housing is fixedly connected to the motor connecting shaft 6, and the motor connecting shaft 6 is fixedly connected to the transmission shaft inside the mechanical power closed test bench, the servo motor 7 is considered to be stationary. The torque output by the reducer extension shaft 14 is transmitted to the mechanical power closed test bench.

[0058] Step 3: Turn on the closed testing equipment. The equipment motor rotates. Since the reducer extension shaft 14 and the motor fixed shaft 6 are both fixedly connected to the transmission shaft of the mechanical power closed test bench, the inner shaft of the torque loading device 16 follows the rotation speed V1 of the transmission shaft of the mechanical power closed test bench. The reducer extension shaft 14 and the motor fixed shaft 6 have formed a relative rotation angle difference, and a torque is generated from the shaft end and loaded into the mechanical power closed test bench.

[0059] Step 4: During the rotation process, the mechanical power closed test bench will be subject to external factors such as vibration, which will cause changes in the internal torque of the mechanical power closed test bench. The controller 1 periodically collects the information value of the torque speed sensor inside the mechanical power closed test bench, that is, the output torque value X2 of the reducer extension shaft 14. At the same time, X2 is compared with the set loading torque X1, and the current of the servo motor 7 is adjusted to keep X2 and X1 close with a small difference.

[0060] The torque loading device and its usage method for a mechanical power closed test bench provided in this invention have the advantages of being easy to use. They utilize a single-chip microcomputer for calculation and a touch screen for human-computer interaction, making operation simple. The loading torque reading can be displayed in real time, and the torque can be adjusted arbitrarily during operation. The torque is increased by a multiple through the motor and reducer, resulting in high resolution and a wide adjustable range. The single-chip microcomputer collects information from the torque and speed sensors in the closed system and adjusts the motor output torque in real time to ensure loading accuracy and improve the stability of the device operation.

[0061] The preferred embodiments of the present invention have been described in detail above. It should be understood that those skilled in the art can make numerous modifications and variations based on the concept of the present invention without creative effort. Therefore, all technical solutions that can be obtained by those skilled in the art based on the concept of the present invention through logical analysis, reasoning, or limited experimentation on the basis of existing technology should be within the scope of protection defined by the claims.

Claims

1. A torque loading device for a closed mechanical power test bench, characterized in that, Includes a housing, controller assembly, and torque loading assembly, among which, The outer shell is an integrated protective mounting shell with a U-shaped groove at the bottom for fixing. The torque loading device is fixed to the mechanical power closed test bench by means of the U-shaped groove and bolts. The controller assembly, which is installed outside the housing, includes a controller and a touch screen. The controller assembly collects torque and speed sensor information in the mechanical power closed test bench in real time, displays the collected real-time torque information on the touch screen in real time, and dynamically adjusts the output torque of the torque loading component in real time based on the measured data to ensure the stability of the torque of the mechanical power closed test bench. The torque loading component, which is installed inside the housing, includes a servo motor and a reducer. The torque loading component is connected to the mechanical power closed test bench via a coupling, and provides torque to the mechanical power closed test bench through the servo motor and the reducer. The torque loading assembly further includes a motor fixed shaft, a first motor fixed sleeve, a second motor fixed sleeve, a reducer extension shaft, a left-end flange bearing, a left-end slewing bearing, a right-end slewing bearing, a right-end flange bearing, and a fixed flange. The entire transmission structure is arranged in series and built into the housing. The left-end slewing bearing and the right-end slewing bearing are connected to both sides of the housing. The left-end slewing bearing has its inner ring fixed to the left-end flange bearing, and the right-end slewing bearing has its inner ring fixed to the right-end flange bearing. The inner ring of the left-end flange bearing is connected to the motor fixed shaft. The right end of the motor fixed shaft is connected to the first motor fixed sleeve. The servo motor is connected to the inner side of the first motor fixed sleeve. The reducer is connected to the outer side of the first motor fixed sleeve. The fixed flange is connected to the outer ring of the first motor fixed sleeve. The second motor fixed sleeve is connected to the inner ring of the fixed flange. The right outer ring of the fixed flange is connected to the right-end slewing bearing. The right-end flange bearing has its inner ring fixed to the reducer extension shaft, and the reducer extension shaft is connected to the reducer.

2. The torque loading device as described in claim 1, characterized in that, The controller assembly is fixedly mounted on the top of the housing, and the torque loading assembly is connected to both sides of the housing.

3. The torque loading device as described in claim 1, characterized in that, The bottom of the outer shell has four U-shaped grooves, and the four U-shaped grooves of the torque loading device are fixed to the mechanical power closed test bench by bolts.

4. The torque loading device as described in claim 1, characterized in that, The touchscreen provides human-computer interaction, through which the torque output of the torque loading device can be set.

5. The torque loading device as described in claim 1, characterized in that, The servo motor is a servo motor with a brake. The controller controls the operation of the servo motor by sending a specific pulse sequence to the controller of the servo motor, including controlling the step size and speed of the servo motor rotation. The controller changes the output torque by controlling the speed of the servo motor.

6. The torque loading device as described in claim 5, characterized in that, The controller includes a microcontroller, which sends a specific pulse sequence to the servo motor controller through an interface chip to control the servo motor. By changing the frequency and duty cycle of the pulse sequence, the speed and direction of the servo motor can be changed.

7. The torque loading device as described in claim 6, characterized in that, The controller is equipped with an expansion interface for connecting to a PC. The controller connects to the PC via a serial port through the microcontroller and transmits the information collected from the torque and speed sensor to the PC.

8. The torque loading device as described in claim 5, characterized in that, The reducer is a planetary reducer. The servo motor reduces its speed and increases its torque through the reducer, thereby increasing the torque range that the torque loading device can provide.

9. A method of using the torque loading device for a closed mechanical power test bench as described in any one of claims 5-8, characterized in that, The method includes the following steps: S101: Connect the motor connecting shaft and the reducer extension shaft to the mechanical power closed test bench through a coupling, and fix the U-shaped groove of the torque loading device on the plane of the mechanical power closed test bench with bolts; S103: Power on the torque loading device, set the loading torque X1 through the touch screen, and transmit the torque to the reducer extension shaft through the servo motor and the reducer. The torque output by the reducer extension shaft is transmitted to the mechanical power closed test bench. S105: The closed testing equipment is turned on, the motor of the closed testing equipment rotates, the inner shaft of the torque loading device rotates with the transmission shaft of the mechanical power closed test bench, and the torque is generated through the extension shaft of the reducer and loaded onto the mechanical power closed test bench; S107: The controller periodically collects the torque value X2 inside the mechanical power closed test bench, compares the torque value X2 with the loading torque X1, and adjusts the current of the servo motor in real time to always keep X2 and X1 close with a small difference.

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