A torque detection method, system, device and storage medium for a hydraulic motor

Abstract

The present application relates to a torque detection method, system, device and storage medium for a hydraulic motor, the method comprising obtaining a braking critical value of the hydraulic motor from starting to a rotating state under the action of multiple loads, calculating several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value, and then adjusting the dynamic measurement variables of the hydraulic motor, calculating the torque rotation angle deviation before and after the dynamic measurement reverse torque and the dynamic test variable adjustment, analyzing the motor speed change and motor current change corresponding to each group of dynamic measurement variables according to the torque rotation angle deviation, and constructing a torque detection model in combination with the performance parameter correlation relationship, inputting multiple groups of static measurement torques and corresponding dynamic measurement torques into the torque detection model, performing data analysis on the torque detection results of the hydraulic motor under different loads, and obtaining the torque detection data of the hydraulic motor. The present application has the effect of improving the torque detection adaptability and detection accuracy of the hydraulic motor.

Description

Technical Field

[0001] The present invention relates to the technical field of torque detection, and in particular to a torque detection method, system, device and storage medium for a hydraulic motor. Background Art

[0002] At present, hydraulic motors are widely used in various mechanical processing fields, providing convenience for high-precision and high-speed processing applications of equipment. Motor torque occupies an important position in the operation of hydraulic motors. Motor torque can help users choose appropriate motor specifications to ensure the normal operation of hydraulic motors. Therefore, it is necessary to accurately detect the torque of hydraulic motors.

[0003] The existing torque detection method of hydraulic motors is usually to detect the torque by measuring the lever arm of the hydraulic motor's rotating shaft and the force acting on the lever arm. However, this method is only applicable to hydraulic motors working at a uniform speed. As for the measurement of dynamic torque, the corresponding torque is usually detected by detecting the changes in physical parameters of elastic components during torque transmission. However, due to the dynamic changes of the hydraulic motor, the reliability of dynamic detection is easily poor, and the detection results are easily disturbed by changes in the working state of the hydraulic motor. Therefore, there is room for further optimization of the torque detection method of the above hydraulic motor. Summary of the invention

[0004] In order to improve the adaptability and accuracy of torque detection of a hydraulic motor, the present application provides a torque detection method, system, device and storage medium for a hydraulic motor.

[0005] In the first aspect, the above-mentioned invention objective of the present application is achieved through the following technical solutions:

[0006] A method for detecting torque of a hydraulic motor, comprising:

[0007] Obtaining the braking critical value of the hydraulic motor from starting to rotating state under the action of multiple loads, and calculating several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load;

[0008] Adjusting the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculating the reverse torque of the dynamic measurement variable, and obtaining the torque rotation angle deviation before and after the dynamic measurement variable is adjusted;

[0009] According to the torque rotation angle deviation, the motor speed change and motor current change corresponding to each group of dynamic measurement variables are analyzed, and a torque detection model of the hydraulic motor is constructed in combination with the correlation relationship of the performance parameters;

[0010] A plurality of sets of static measurement torques and corresponding dynamic measurement torques are input into the torque detection model, and data analysis is performed on the torque detection results of the hydraulic motor under different loads to obtain the torque detection data of the hydraulic motor.

[0011] By adopting the above technical scheme, multiple groups of loads are set to perform test condition variables for static torque measurement of hydraulic motors, and the braking critical value of the starting value rotation state of the hydraulic motor under different loads is measured, and then the corresponding static measurement torque is calculated, which helps to improve the measurement accuracy of the static measurement torque, and the static measurement torque is used as the condition variable for dynamic measurement of the hydraulic motor, and the dynamic measurement variable is adjusted. Combined with the reverse torque calculation result of the dynamic measurement variable, the torque rotation angle deviation before and after the dynamic measurement variable is adjusted is calculated to improve the accuracy of the torque rotation angle deviation calculation, and the torque detection model of the hydraulic motor is constructed in combination with the performance parameter changes and the corresponding correlation relationship, which helps to perform rapid torque analysis through the model, and the torque detection data of the hydraulic motor is obtained through the analysis results of multiple groups of measurement data under different loads by the model, and the static torque measurement results obtained by load change are used to adjust the dynamic torque conditions to perform multiple groups of dynamic torque measurements, and the torque measurement results are jointly analyzed in combination with the torque detection model to improve the torque detection adaptability and detection accuracy of the hydraulic motor.

[0012] In a preferred example, the present application can be further configured as follows: the dynamic measurement variable of the hydraulic motor is adjusted according to the static measurement torque, and the reverse torque calculation of the dynamic measurement variable is performed, specifically including:

[0013] Adjusting the measurement voltage and the measurement current of the hydraulic motor according to the static measurement torque to obtain the dynamic measurement variables of the hydraulic motor corresponding to each set of static measurement torques;

[0014] The reverse torque of each set of dynamic measurement variables is calculated by formula (1), which is as follows:

[0015] T n反 =K n I n U n +K n-1 I n-1 U n-1 (1)

[0016] Among them, T n反 Represents the reverse torque of the nth group of dynamic measurement variables, K n , K n-1 Respectively represent the measurement power coefficients of the nth group and the n-1th group of dynamic measurement variables, I n ,I n-1Respectively represent the measurement current adjustment values ​​of the nth group and the n-1th group of dynamic measurement variables, U n , U n-1 They respectively represent the measured voltage adjustment values ​​of the nth group and the n-1th group of dynamic measured variables.

[0017] In a preferred example, the present application can be further configured as follows: the dynamic measurement variable of the hydraulic motor is adjusted according to the static measurement torque, the reverse torque of the dynamic measurement variable is calculated, and the torque rotation angle deviation before and after the dynamic test variable is adjusted is obtained, and further includes:

[0018] The torque rotation angle deviation before and after the adjustment of each group of dynamic test variables is calculated by formula (2), and formula (2) is as follows:

[0019]

[0020] Where Δθ represents the torque rotation angle deviation before and after the adjustment of the nth group of dynamic measurement variables, L n Represents the torsion axis length of the nth group of dynamic measurement variables, T n静 represents the static measurement torque of the nth group of static measurements, L n静 represents the length of the torque shaft corresponding to the nth group of static measurement torque, G represents the shear elastic modulus of the motor shaft material, and D represents the diameter of the motor torque shaft.

[0021] By adopting the above technical scheme, the parameter variables of the measurement voltage and the measurement current of the hydraulic motor are adjusted correspondingly through the static measurement torque, so as to obtain the dynamic measurement variables corresponding to each group of static measurement torques. During the rotation of the hydraulic motor, the dynamic measurement variables are changed so that the motor generates the corresponding reverse torque to perform dynamic measurement of the torque. This helps to improve the rationality of the adjustment of the dynamic measurement variables through multiple groups of static measurement torques, and analyze the degree of deviation between the dynamic measurement and the static measurement in combination with the torque rotation angle deviation before and after the dynamic measurement variable adjustment, so as to better perform torque measurement analysis on the hydraulic motor under different working conditions, and improve the correlation between the torque analysis parameters of the hydraulic motor and the corresponding working conditions.

[0022] In a preferred example, the present application can be further configured as follows: according to the torque rotation angle deviation, the motor speed change and motor current change corresponding to each group of dynamic measurement variables are analyzed, and the torque detection model of the hydraulic motor is constructed in combination with the performance parameter correlation relationship, specifically including:

[0023] The rated power of the hydraulic motor is obtained, and combined with the torque rotation angle deviation of the corresponding dynamic measurement variable, the motor speed change value corresponding to the torque rotation angle deviation is analyzed. The motor speed change value is expressed by formula (3), which is as follows:

[0024]

[0025] Among them, η n represents the motor speed change value corresponding to the nth group of torque rotation angle deviation, α represents the deformation coefficient caused by the torque deviation, P 额 Indicates the rated power of the hydraulic motor, T n正 Represents the positive torque for each set of dynamic measurement variables;

[0026] The motor current change value of each dynamic measurement variable is expressed by formula (4), which is as follows:

[0027]

[0028] Among them, ΔI n Indicates the motor current change value corresponding to the nth group of torque rotation angle deviation, U n Indicates the measured voltage adjustment value of the nth group of dynamic measured variables.

[0029] According to the motor speed change value and motor current change value corresponding to each group of dynamic measurements, a motor performance change curve related to the dynamic measurement variables is constructed;

[0030] According to the motor performance change curve and in combination with the performance parameter correlation relationship between the hydraulic motor performance parameters, a torque detection model of the hydraulic motor is constructed.

[0031] By adopting the above technical scheme, combined with the rated power and torque rotation angle deviation of the hydraulic motor, the motor speed change value and the motor current change value are calculated separately, and the order between each group of dynamic measurements is used as the correlation point, and the corresponding motor speed change value and motor current change value are constructed into a motor performance change curve. In combination with the performance parameter correlation relationship between the hydraulic motor performance parameters, a torque detection model for the hydraulic motor is built, which helps to improve the rationality of model construction through the correlation relationship between dynamic measurement variables, and through the torque detection model, the torque detection of the hydraulic motor can be more quickly analyzed in a dynamic and static manner, thereby improving the rate of torque measurement and data analysis.

[0032] In a preferred example, the present application can be further configured as follows: the multiple sets of static measurement torques and corresponding dynamic measurement torques are input into the torque detection model, and data analysis is performed on the torque detection results of the hydraulic motor under different loads to obtain the torque detection data of the hydraulic motor, specifically including:

[0033] The torque detection data of the hydraulic motor under different loads is expressed by formula (5), which is as follows:

[0034]

[0035] Among them, T 检 Indicates the torque detection value of the hydraulic motor under the action of the nth group of loads, F n Indicates the load value of the nth load group, d n Represents the torque arm of the nth set of loads.

[0036] By adopting the above technical solution, based on the external load of each group of torque detection and the corresponding torque arm change, the static torque measurement results and the dynamic torque measurement results are jointly analyzed, and multiple analyses of torque detection are performed from multiple parameter dimensions of the hydraulic motor, which helps to further improve the analysis accuracy of the torque detection results.

[0037] In the second aspect, the above invention objective of the present application is achieved through the following technical solutions:

[0038] A torque detection system for a hydraulic motor is applied to the torque detection method for the hydraulic motor, and the system comprises:

[0039] A data acquisition module is used to obtain the braking critical value of the hydraulic motor from starting to rotating state under the action of multiple loads, and calculate several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load;

[0040] A data calculation module, used to adjust the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculate the reverse torque of the dynamic measurement variable, and obtain the torque rotation angle deviation before and after the dynamic test variable is adjusted;

[0041] A model building module, used to analyze the motor speed change and motor current change corresponding to each group of dynamic measurement variables according to the torque rotation angle deviation, and to build a torque detection model of the hydraulic motor in combination with the performance parameter correlation relationship;

[0042] The data analysis module is used to input multiple groups of static measurement torques and corresponding dynamic measurement torques into the torque detection model, perform data analysis on the torque detection results of the hydraulic motor under different loads, and obtain the torque detection data of the hydraulic motor.

[0043] By adopting the above technical scheme, multiple groups of loads are set to perform test condition variables for static torque measurement of hydraulic motors, and the braking critical value of the starting value rotation state of the hydraulic motor under different loads is measured, and then the corresponding static measurement torque is calculated, which helps to improve the measurement accuracy of the static measurement torque, and the static measurement torque is used as the condition variable for dynamic measurement of the hydraulic motor, and the dynamic measurement variable is adjusted. Combined with the reverse torque calculation result of the dynamic measurement variable, the torque rotation angle deviation before and after the dynamic measurement variable is adjusted is calculated to improve the accuracy of the torque rotation angle deviation calculation, and the torque detection model of the hydraulic motor is constructed in combination with the performance parameter changes and the corresponding correlation relationship, which helps to perform rapid torque analysis through the model, and the torque detection data of the hydraulic motor is obtained through the analysis results of multiple groups of measurement data under different loads by the model, and the static torque measurement results obtained by load change are used to adjust the dynamic torque conditions to perform multiple groups of dynamic torque measurements, and the torque measurement results are jointly analyzed in combination with the torque detection model to improve the torque detection adaptability and detection accuracy of the hydraulic motor.

[0044] On the third aspect, the above-mentioned purpose of the present application is achieved through the following technical solutions:

[0045] A computer device comprises a memory, a processor and a computer program stored in the memory and executable on the processor, wherein the processor implements the steps of the torque detection method of the hydraulic motor when executing the computer program.

[0046] Fourthly, the above-mentioned purpose of the present application is achieved through the following technical solutions:

[0047] A computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the torque detection method of the hydraulic motor are implemented.

[0048] In summary, the present application includes at least one of the following beneficial technical effects:

[0049] 1. By setting multiple groups of loads to measure the test condition variables of the static torque of the hydraulic motor, the braking critical value of the hydraulic motor's starting value rotation state under different loads is measured, and then the corresponding static measurement torque is calculated, which is helpful to improve the measurement accuracy of the static measurement torque, and the static measurement torque is used as the condition variable of the dynamic measurement of the hydraulic motor, and the dynamic measurement variable is adjusted. Combined with the reverse torque calculation result of the dynamic measurement variable, the torque rotation angle deviation before and after the dynamic measurement variable is adjusted is calculated to improve the accuracy of the torque rotation angle deviation calculation, and the torque detection model of the hydraulic motor is constructed in combination with the performance parameter changes and the corresponding correlation relationship, which is helpful to perform rapid torque analysis through the model. Through the analysis results of multiple groups of measurement data under different loads, the torque detection data of the hydraulic motor is obtained, and the static torque measurement results obtained by load change are adjusted to perform multiple groups of dynamic torque measurements, and the torque measurement results are jointly analyzed in combination with the torque detection model to improve the torque detection adaptability and detection accuracy of the hydraulic motor;

[0050] 2. By adjusting the parameter variables of the hydraulic motor's measurement voltage and measurement current corresponding to the static measurement torque, the dynamic measurement variables corresponding to each set of static measurement torque are obtained. During the rotation of the hydraulic motor, the motor is made to generate corresponding reverse torque by changing the dynamic measurement variables to perform dynamic measurement of torque. This helps to improve the rationality of the adjustment of dynamic measurement variables through multiple sets of static measurement torques, and analyze the degree of deviation between dynamic measurement and static measurement in combination with the torque rotation angle deviation before and after the dynamic measurement variable adjustment, so as to better perform torque measurement analysis on hydraulic motors under different working conditions and improve the correlation between the torque analysis parameters of the hydraulic motor and the corresponding working conditions.

[0051] 3. Combined with the rated power and torque rotation angle deviation of the hydraulic motor, the motor speed change value and the motor current change value are calculated separately, and the order of each group of dynamic measurements is used as the correlation point to construct the corresponding motor speed change value and motor current change value into a motor performance change curve. Combined with the performance parameter correlation relationship between the hydraulic motor performance parameters, a torque detection model for the hydraulic motor is built, which helps to improve the rationality of model construction through the correlation between dynamic measurement variables. Through the torque detection model, the torque detection of the hydraulic motor can be more quickly analyzed by combining dynamic and static synergy, thereby improving the rate of torque measurement and analysis. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1 This is a flow chart of the implementation of a torque detection method for a hydraulic motor in this embodiment.

[0053] Figure 2 This is a flowchart of the implementation of step S30 of the torque detection method of a hydraulic motor in this embodiment.

[0054] Figure 3 This is a block diagram of an implementation of a torque detection system for a hydraulic motor in this embodiment.

[0055] Figure 4 The present invention is a schematic diagram of the internal structure of a computer device for implementing a torque detection method of a hydraulic motor. DETAILED DESCRIPTION

[0056] The present application is further described in detail below in conjunction with the accompanying drawings.

[0057] In one embodiment, if Figure 1 As shown, the present application discloses a method for detecting torque of a hydraulic motor, which specifically includes the following steps:

[0058] S10: Obtaining a braking critical value of the hydraulic motor when it is started to rotate under the action of multiple loads, and calculating a plurality of groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load.

[0059] Specifically, under the action of multiple sets of external loads, the hydraulic motor is controlled to start from 0 to the rotation state, and the motor braking critical value when reaching the rotation state is collected through a preset torque sensor, and combined with the torque under the corresponding load value, the product of the motor braking critical value and the corresponding torque is used as the corresponding static measurement torque.

[0060] S20: adjusting the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculating the reverse torque of the dynamic measurement variable, and obtaining the torque rotation angle deviation before and after the dynamic measurement variable is adjusted.

[0061] Specifically, the measurement voltage and the measurement current of the hydraulic motor are adjusted according to the static measurement torque to obtain the dynamic measurement variables of the hydraulic motor corresponding to each set of static measurement torques.

[0062] Combined with the static measurement torque, a certain measurement voltage or measurement current is applied to the hydraulic motor during the movement process to make the motor generate a reverse torque until the motor stops running. The reverse torque of each group of dynamic measurement variables is calculated by formula (1), which is as follows:

[0063] T n反 =K n I n U n +K n-1 I n-1 U n-1 (1)

[0064] Among them, T n反 Represents the reverse torque of the nth group of dynamic measurement variables, K n , Kn-1 Respectively represent the measurement power coefficients of the nth group and the n-1th group of dynamic measurement variables, I n ,I n-1 Respectively represent the measurement current adjustment values ​​of the nth group and the n-1th group of dynamic measurement variables, U n , U n-1 They respectively represent the measured voltage adjustment values ​​of the nth group and the n-1th group of dynamic measured variables.

[0065] Specifically, the torque rotation angle deviation before and after the adjustment of each group of dynamic test variables is calculated by formula (2), and formula (2) is as follows:

[0066]

[0067] Where Δθ represents the torque rotation angle deviation before and after the adjustment of the nth group of dynamic measurement variables, L n Represents the torsion axis length of the nth group of dynamic measurement variables, T n静 represents the static measurement torque of the nth group of static measurements, L n静 represents the length of the torque shaft corresponding to the nth group of static measurement torque, G represents the shear elastic modulus of the motor shaft material, and D represents the diameter of the motor torque shaft.

[0068] S30: Analyze the motor speed change and motor current change corresponding to each group of dynamic measurement variables according to the torque rotation angle deviation, and build a torque detection model of the hydraulic motor in combination with the correlation relationship of the performance parameters.

[0069] Specifically, Figure 2 As shown, step S30 includes:

[0070] S301: Obtain the rated power of the hydraulic motor, and analyze the motor speed change value corresponding to the torque rotation angle deviation in combination with the torque rotation angle deviation of the corresponding dynamic measurement variable. The motor speed change value is expressed by formula (3), which is as follows:

[0071]

[0072] Among them, η n represents the motor speed change value corresponding to the nth group of torque rotation angle deviation, α represents the deformation coefficient caused by the torque deviation, P 额 Indicates the rated power of the hydraulic motor, T n正 Represents the positive torque for each set of dynamic measured variables.

[0073] S302: The motor current change value of each dynamic measurement variable is expressed by formula (4), and formula (4) is as follows:

[0074]

[0075] Among them, ΔI n Indicates the motor current change value corresponding to the nth group of torque rotation angle deviation, U n Indicates the measured voltage adjustment value of the nth group of dynamic measured variables.

[0076] S303: Constructing a motor performance change curve related to the dynamic measurement variables according to the motor speed change value and the motor current change value corresponding to each group of dynamic measurements.

[0077] Specifically, the number of measurement groups of dynamic measurement is used as a correlation index, and the motor speed change and motor current change values ​​of each group are sequentially correlated to obtain a motor performance change curve based on the dynamic measurement sequence and related to the dynamic measurement variables.

[0078] S304: Constructing a torque detection model of the hydraulic motor according to the motor performance change curve and in combination with the performance parameter correlation relationship between the hydraulic motor performance parameters.

[0079] Specifically, according to the motor performance change curve and combined with the performance parameter correlation relationship between the hydraulic motor performance parameters, such as the relationship between current and voltage, the performance parameters are data-correlated according to the motor performance change curve, and the torque detection model of the hydraulic motor is constructed based on the correlated data.

[0080] S40: Inputting multiple sets of static measurement torques and corresponding dynamic measurement torques into a torque detection model, performing data analysis on torque detection results of the hydraulic motor under different loads, and obtaining torque detection data of the hydraulic motor.

[0081] Specifically, multiple sets of static measurement torques and corresponding dynamic measurement torques are input into the torque detection model. In the torque model, the torque detection results are analyzed in combination with the corresponding loads. The torque detection data of the hydraulic motor under different loads is represented by formula (5), which is as follows:

[0082]

[0083] Among them, T 检 Indicates the torque detection value of the hydraulic motor under the action of the nth group of loads, F n Indicates the load value of the nth load group, d n Represents the torque arm of the nth set of loads.

[0084] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0085] In one embodiment, a torque detection system for a hydraulic motor is provided, and the torque detection system for the hydraulic motor corresponds one-to-one with the torque detection method for the hydraulic motor in the above embodiment. Figure 3 As shown, the torque detection system of the hydraulic motor includes a data acquisition module, a data calculation module, a model building module and a data analysis module. The detailed description of each functional module is as follows:

[0086] The data acquisition module is used to obtain the braking critical value of the hydraulic motor from starting to rotating state under the action of multiple loads, and calculate several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load.

[0087] The data calculation module is used to adjust the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculate the reverse torque of the dynamic measurement variable, and obtain the torque rotation angle deviation before and after the dynamic test variable is adjusted.

[0088] The model building module is used to analyze the motor speed change and motor current change corresponding to each group of dynamic measurement variables according to the torque rotation angle deviation, and to build a torque detection model for the hydraulic motor in combination with the correlation relationship of performance parameters.

[0089] The data analysis module is used to input multiple sets of static measurement torques and corresponding dynamic measurement torques into the torque detection model, perform data analysis on the torque detection results of the hydraulic motor under different loads, and obtain the torque detection data of the hydraulic motor.

[0090] Preferably, the data calculation module specifically includes:

[0091] The variable adjustment submodule is used to adjust the measurement voltage and measurement current of the hydraulic motor according to the static measurement torque to obtain the dynamic measurement variables of the hydraulic motor corresponding to each set of static measurement torque.

[0092] The reverse torque calculation submodule is used to calculate the reverse torque of each group of dynamic measurement variables through formula (1). Formula (1) is as follows:

[0093] T n反 =K n I n U n +K n-1 I n-1 U n-1 (1)

[0094] Among them, T n反 Represents the reverse torque of the nth group of dynamic measurement variables, K n , K n-1 They represent the measurement power coefficients of the nth group of dynamic measurement variables and the n-1th group of dynamic measurement variables, respectively. n ,In-1 Respectively represent the measurement current adjustment values ​​of the nth group of dynamic measurement variables and the n-1th group of dynamic measurement variables, U n , U n-1 They respectively represent the measurement voltage adjustment values ​​of the nth group of dynamic measurement variables and the n-1th group of dynamic measurement variables.

[0095] Preferably, the data calculation module also includes:

[0096] The angle deviation calculation submodule is used to calculate the torque rotation angle deviation before and after each group of dynamic test variables are adjusted by formula (2). Formula (2) is as follows:

[0097]

[0098] Where Δθ represents the torque rotation angle deviation before and after the adjustment of the nth group of dynamic measurement variables, L n Represents the torsion axis length of the nth group of dynamic measurement variables, T n静 represents the static measurement torque of the nth group of static measurements, L n静 represents the length of the torque shaft corresponding to the nth group of static measurement torque, G represents the shear elastic modulus of the motor shaft material, and D represents the diameter of the motor torque shaft.

[0099] Preferably, the model building module specifically includes:

[0100] The speed change analysis submodule is used to obtain the rated power of the hydraulic motor and analyze the motor speed change value corresponding to the torque rotation angle deviation in combination with the torque rotation angle deviation of the corresponding dynamic measurement variable. The motor speed change value is expressed by formula (3), which is as follows:

[0101]

[0102] Among them, η n represents the motor speed change value corresponding to the nth group of torque rotation angle deviation, α represents the deformation coefficient caused by the torque deviation, P 额 Indicates the rated power of the hydraulic motor, T n正 Represents the positive torque for each set of dynamic measured variables.

[0103] The current change analysis submodule is used to express the motor current change value of each dynamic measurement variable through formula (4), and formula (4) is as follows:

[0104]

[0105] Among them, ΔI n Indicates the motor current change value corresponding to the nth group of torque rotation angle deviation, U nIndicates the measured voltage adjustment value of the nth group of dynamic measured variables.

[0106] The curve construction submodule is used to construct a motor performance change curve related to the dynamic measurement variables according to the motor speed change value and the motor current change value corresponding to each group of dynamic measurements.

[0107] The model building submodule is used to build a torque detection model of the hydraulic motor according to the motor performance change curve and in combination with the performance parameter correlation relationship between the hydraulic motor performance parameters.

[0108] Preferably, the data analysis module specifically includes:

[0109] The torque detection submodule is used to express the torque detection data of the hydraulic motor under different loads through formula (5), and formula (5) is as follows:

[0110]

[0111] Among them, T 检 Indicates the torque detection value of the hydraulic motor under the action of the nth group of loads, F n Indicates the load value of the nth load group, d n Represents the torque arm of the nth set of loads.

[0112] The specific definition of the torque detection system of the hydraulic motor can be found in the definition of the torque detection method of the hydraulic motor mentioned above, which will not be repeated here. Each module in the torque detection system of the hydraulic motor can be implemented in whole or in part by software, hardware and a combination thereof. Each of the above modules can be embedded in or independent of the processor in the computer device in the form of hardware, or can be stored in the memory of the computer device in the form of software, so that the processor can call and execute the operations corresponding to each of the above modules.

[0113] In one embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as follows: Figure 4 As shown. The computer device includes a processor, a memory, a network interface and a database connected through a system bus. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store data of the liquid motor during the torque detection process. The network interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a torque detection method for a hydraulic motor is implemented.

[0114] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps of a method for detecting torque of a hydraulic motor are implemented.

[0115] Those skilled in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory can include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory can include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in many forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link (Synchlink) DRAM (SLDRAM), memory bus (Rambus) direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM).

[0116] Those skilled in the art will clearly understand that for the sake of convenience and brevity of description, only the division of the above-mentioned functional units and modules is used as an example. In actual applications, the above-mentioned functions can be distributed and completed by different functional units and modules as needed, that is, the internal structure of the system can be divided into different functional units or modules to complete all or part of the functions described above.

[0117] The embodiments described above are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, a person skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. Such modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be included in the protection scope of the present application.

Claims

1. A method for detecting torque of a hydraulic motor, characterized in that: include: Obtaining the braking critical value of the hydraulic motor from starting to rotating state under the action of multiple loads, and calculating several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load; Adjusting the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculating the reverse torque of the dynamic measurement variable, and obtaining the torque rotation angle deviation before and after the dynamic measurement variable is adjusted; According to the torque rotation angle deviation, the motor speed change and motor current change corresponding to each group of dynamic measurement variables are analyzed, and a torque detection model of the hydraulic motor is constructed in combination with the correlation relationship of the performance parameters; Inputting multiple sets of static measurement torques and corresponding dynamic measurement torques into the torque detection model, performing data analysis on the torque detection results of the hydraulic motor under different loads, and obtaining torque detection data of the hydraulic motor; Among them, according to the torque rotation angle deviation, analyzing the motor speed change and motor current change corresponding to each group of dynamic measurement variables, and building a torque detection model of the hydraulic motor in combination with the performance parameter correlation relationship, specifically includes: The rated power of the hydraulic motor is obtained, and combined with the torque rotation angle deviation of the corresponding dynamic measurement variable, the motor speed change value corresponding to the torque rotation angle deviation is analyzed. The motor speed change value is expressed by formula (3), which is as follows: ； in, Indicates The motor speed change value corresponding to the torque rotation angle deviation of the group, Indicates the deformation coefficient caused by torque deviation, Indicates the rated power of the hydraulic motor. represents the positive torque of each set of dynamic measurement variables, ; The motor current change value of each dynamic measurement variable is expressed by formula (4), which is as follows: （4）； in, Indicates The motor current change value corresponding to the group torque rotation angle deviation, Indicates The measured voltage adjustment value of the group dynamic measured variable; According to the motor speed change value and motor current change value corresponding to each group of dynamic measurements, a motor performance change curve related to the dynamic measurement variables is constructed; According to the motor performance change curve and in combination with the performance parameter correlation relationship between the hydraulic motor performance parameters, a torque detection model of the hydraulic motor is constructed; The step of adjusting the dynamic measurement variable of the hydraulic motor according to the static measurement torque and calculating the reverse torque of the dynamic measurement variable specifically includes: Adjusting the measurement voltage and the measurement current of the hydraulic motor according to the static measurement torque to obtain the dynamic measurement variables of the hydraulic motor corresponding to each set of static measurement torques; The reverse torque of each set of dynamic measurement variables is calculated by formula (1), which is as follows: （1）； in, Indicates The reverse torque of the group dynamic measurement variable, , Respectively represent Group, The measured power factor of the group dynamic measured variables, , Respectively represent Group, The measured current adjustment value of the group dynamic measured variable, , Respectively represent Group, The measured voltage adjustment value of the group dynamic measured variable; The method of adjusting the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculating the reverse torque of the dynamic measurement variable, and obtaining the torque rotation angle deviation before and after the dynamic measurement variable is adjusted also includes: The torque rotation angle deviation before and after the adjustment of each set of dynamic test variables is calculated by formula (2), and formula (2) is as follows: ； in, Indicates The torque rotation angle deviation before and after the group dynamic measurement variable adjustment, Indicates Torque axis length, T n静 Indicates Static measurement torque of the group static measurement, L n静 Indicates The length of the torque shaft corresponding to the static measurement torque of the group, represents the shear elastic modulus of the motor shaft material, Indicates the diameter of the motor's torque shaft.

2. The torque detection method of a hydraulic motor according to claim 1, characterized in that: The multiple sets of static measurement torques and corresponding dynamic measurement torques are input into the torque detection model, and data analysis is performed on the torque detection results of the hydraulic motor under different loads to obtain the torque detection data of the hydraulic motor, specifically including: The torque detection data of the hydraulic motor under different loads is expressed by formula (5), which is as follows: ； in, Indicates that the hydraulic motor is Torque detection value under group load, Indicates The load value of the group load, Indicates The torque arm of the group load.

3. A torque detection system for a hydraulic motor, characterized in that: The torque detection method for the hydraulic motor according to any one of claims 1 to 2 above, the system comprising: A data acquisition module is used to obtain the braking critical value of the hydraulic motor from starting to rotating state under the action of multiple loads, and calculate several groups of static measurement torques corresponding to the hydraulic motor according to the braking critical value corresponding to each load; A data calculation module, used to adjust the dynamic measurement variable of the hydraulic motor according to the static measurement torque, calculate the reverse torque of the dynamic measurement variable, and obtain the torque rotation angle deviation before and after the dynamic test variable is adjusted; A model building module, used to analyze the motor speed change and motor current change corresponding to each group of dynamic measurement variables according to the torque rotation angle deviation, and to build a torque detection model of the hydraulic motor in combination with the performance parameter correlation relationship; A data analysis module, used to input multiple sets of static measurement torques and corresponding dynamic measurement torques into the torque detection model, perform data analysis on the torque detection results of the hydraulic motor under different loads, and obtain torque detection data of the hydraulic motor; The model building module specifically includes: The speed change analysis submodule is used to obtain the rated power of the hydraulic motor, and analyze the motor speed change value corresponding to the torque rotation angle deviation in combination with the torque rotation angle deviation of the corresponding dynamic measurement variable. The motor speed change value is expressed by formula (3), which is as follows: ； in, Indicates The motor speed change value corresponding to the torque rotation angle deviation of the group, Indicates the deformation coefficient caused by torque deviation, Indicates the rated power of the hydraulic motor. represents the positive torque of each set of dynamic measurement variables, ; The current change analysis submodule is used to express the motor current change value of each dynamic measurement variable through formula (4), and formula (4) is as follows: （4）； in, Indicates The motor current change value corresponding to the group torque rotation angle deviation, Indicates The measured voltage adjustment value of the group dynamic measured variable; A curve construction submodule, for constructing a motor performance change curve related to dynamic measurement variables according to the motor speed change value and the motor current change value corresponding to each group of dynamic measurements; A model building submodule, used to build a torque detection model of the hydraulic motor according to the motor performance change curve and in combination with the performance parameter correlation relationship between the hydraulic motor performance parameters; The data calculation module specifically includes: A variable adjustment submodule, used to adjust the measurement voltage and measurement current of the hydraulic motor according to the static measurement torque, so as to obtain the dynamic measurement variables of the hydraulic motor corresponding to each set of static measurement torque; The reverse torque calculation submodule is used to calculate the reverse torque of each group of dynamic measurement variables through formula (1). Formula (1) is as follows: （1）； in, Indicates The reverse torque of the group dynamic measurement variable, , Respectively represent Group, The measured power factor of the group dynamic measured variables, , Respectively represent Group, The measured current adjustment value of the group dynamic measured variable, , Respectively represent Group, The measured voltage adjustment value of the group dynamic measured variable; Wherein, the data calculation module also includes: The angle deviation calculation submodule is used to calculate the torque rotation angle deviation before and after each group of dynamic test variables are adjusted by formula (2). Formula (2) is as follows: ； in, Indicates The torque rotation angle deviation before and after the group dynamic measurement variable adjustment, Indicates Torque axis length, T n静 Indicates Static measurement torque of the group static measurement, L n静 Indicates The length of the torque shaft corresponding to the static measurement torque of the group, represents the shear elastic modulus of the motor shaft material, Indicates the diameter of the motor's torque shaft.

4. A computer device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of the torque detection method of the hydraulic motor according to any one of claims 1 to 2 are implemented.

5. A computer-readable storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the torque detection method of a hydraulic motor as claimed in any one of claims 1 to 2 are implemented.

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