Method and device for determining torque of power shaft, electronic equipment and storage medium

Abstract

The invention provides a power shaft torque determination method and device, electronic equipment and a storage medium, relates to the technical field of sensors, and is applied to a power shaft torque determination system which comprises a power shaft and two signal trigger wheels installed at the two ends of the power shaft respectively, and the two signal trigger wheels are detected by at least one pair of sensors respectively. The two sensors in each pair of sensors are symmetrically arranged about the rotating center of the power shaft; the determination method comprises the following steps: acquiring output signals corresponding to each pair of sensors; determining current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors; and determining the torque of the power shaft through the current deflection angle. By adopting the technical scheme provided by the invention, the measurement precision of the current deflection angle can be improved through the output signal obtained in real time without waiting for one circle of rotation of the power shaft through complementarity of each pair of sensors symmetrically arranged about the rotating center of the power shaft, so that the real-time performance and accuracy of torque detection are improved.

Description

Technical Field

[0001] The present application relates to the technical field of sensors, and particularly to a method, device, electronic device, and storage medium for determining the torque of a power shaft. Background Art

[0002] Torque, as a core parameter in mechanical power transmission, its accurate measurement is crucial for system control, efficiency optimization, and fault diagnosis. In fields such as motor drive, vehicle transmission, and industrial robots, real-time and accurate torque data directly affects the response speed of equipment, energy consumption control, and operation reliability. For example, electric vehicles need to dynamically distribute the power between wheels according to torque to improve handling performance, while wind turbines rely on torque monitoring to prevent blade overload. Therefore, improving the efficiency (real-time performance) and accuracy (anti-interference ability) of torque detection is a key technical issue for enhancing the performance of mechanical systems.

[0003] Currently, the mainstream method for determining torque is mainly to perform averaging processing on the signals of one or more rotations of the power shaft, and use the mutual cancellation effect of the data within the period to suppress noise, thereby outputting a stable value. However, this method has obvious defects: First, time delay - it is necessary to accumulate complete cycle data for calculation, resulting in poor real-time performance and being difficult to meet the requirements of high-speed dynamic control; Second, signal distortion - the averaging process may smooth out the actual torque spikes (such as motor startup transients or abnormal gear impacts), masking key fault features. Therefore, there is an urgent need for a torque determination scheme that takes into account both real-time performance and accuracy, while retaining transient details during rapid response. Summary of the Invention

[0004] In view of this, the purpose of the present application is to provide a method, device, electronic device, and storage medium for determining the torque of a power shaft, which can, through the complementarity of each pair of sensors symmetrically arranged about the rotation center of the power shaft, achieve improving the measurement accuracy of the current deflection angle by obtaining the output signals in real time without waiting for the power shaft to rotate one week, thereby improving the real-time performance and accuracy of torque detection.

[0005] The present application mainly includes the following aspects: In the first aspect, the present application provides a method for determining the torque of a power shaft, which is applied to a system for determining the torque of a power shaft. The determination system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged about the rotation center of the power shaft. The determination method includes: Obtain the output signals corresponding to each pair of sensors on the two signal trigger wheels; Determine the current deflection angles of the two signal trigger wheels based on the output signals corresponding to each pair of sensors on the two signal trigger wheels; Determine the torque of the power shaft based on the current deflection angles of the two signal trigger wheels.

[0006] Further, when the two sensors in each pair of sensors are connected in series, obtain the output signals corresponding to each pair of sensors on the two signal trigger wheels through the following steps: For each signal trigger wheel, obtain the signals detected by each sensor on the signal trigger wheel; For each pair of sensors on the signal trigger wheel, superimpose the signals detected by the two sensors in the pair of sensors on the signal trigger wheel to obtain the output signal corresponding to the pair of sensors on the signal trigger wheel.

[0007] Further, when the two sensors in each pair of sensors are independently deployed, the output signals corresponding to each pair of sensors are the signals detected by the two sensors in each pair of sensors respectively.

[0008] Further, the step of determining the current deflection angles of the two signal trigger wheels based on the output signals corresponding to each pair of sensors on the two signal trigger wheels includes: Determine the time difference between the output signals corresponding to each two pairs of sensors respectively based on the output signals corresponding to each two pairs of sensors with corresponding deployment positions on the two signal trigger wheels; Obtain the period of the output signals and the number of teeth of the signal trigger wheels; Determine the current deflection angles of the two signal trigger wheels based on the time difference between the output signals corresponding to each two pairs of sensors respectively, the period of the output signals, and the number of teeth of the signal trigger wheels.

[0009] Further, the step of determining the current deflection angles of the two signal trigger wheels based on the output signals corresponding to each pair of sensors on the two signal trigger wheels includes: Determine the time difference and voltage value between the output signals corresponding to each two pairs of sensors respectively based on the output signals corresponding to each two pairs of sensors with corresponding deployment positions on the two signal trigger wheels; Obtain the period of the output signals and the number of teeth of the signal trigger wheels; Determine the current deflection angles of the two signal trigger wheels based on the time difference and voltage value between the output signals corresponding to each two pairs of sensors respectively, the period of the output signals, and the number of teeth of the signal trigger wheels.

[0010] Further, the current deflection angle is less than the included angle between the teeth of the signal trigger wheel.

[0011] Further, when the two signal trigger wheels are respectively detected by at least two pairs of sensors, at least two pairs of sensors on each signal trigger wheel are evenly distributed around the rotation center.

[0012] In a second aspect, the present application further provides a device for determining the torque of a power shaft, which is applied to a system for determining the torque of a power shaft. The determining system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged with respect to the rotation center of the power shaft. The determining device includes: An acquisition module, configured to acquire the output signals corresponding to each pair of sensors on the two signal trigger wheels; A processing module, configured to determine the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; A determination module, configured to determine the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

[0013] In a third aspect, the present application further provides an electronic device, including: a processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are executed by the processor, the steps of the method for determining the torque of the power shaft as described above are executed.

[0014] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is run by a processor, the steps of the method for determining the torque of the power shaft as described above are executed.

[0015] A method, device, electronic device, and storage medium for determining the torque of a power shaft provided by the present application are applied to a system for determining the torque of a power shaft. The determining system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged with respect to the rotation center of the power shaft. The determining method includes: acquiring the output signals corresponding to each pair of sensors on the two signal trigger wheels; determining the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; and determining the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

[0016] In this way, by adopting the technical solution provided by the present application, through the complementarity of each pair of sensors symmetrically arranged about the rotation center of the power shaft, it is possible to improve the measurement accuracy of the current deflection angle by using the output signals obtained in real time without waiting for the power shaft to rotate one week, thereby improving the real-time performance and accuracy of torque detection.

[0017] To make the above objects, features, and advantages of the present application more obvious and understandable, the following specifically gives preferred embodiments and detailed descriptions in conjunction with the accompanying drawings as follows. Brief Description of the Drawings

[0018] To more clearly illustrate the technical solutions of the embodiments of the present application, the following will briefly introduce the drawings required for use in the embodiments. It should be understood that the following drawings only show some embodiments of the present application and should not be regarded as limiting the scope. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0019] Figure 1 Shows a schematic diagram of the principle of measuring torque in the prior art; Figure 2 Shows a schematic diagram of a torque determination system in the prior art; Figure 3 Shows a schematic diagram of the theoretical output waveform of a magnetoelectric torque sensor; Figure 4 Shows a schematic diagram of the actual output waveform of a magnetoelectric torque sensor; Figure 5 Shows one of the structural schematic diagrams of a power shaft torque determination system provided by an embodiment of the present application; Figure 6 Shows another structural schematic diagram of a power shaft torque determination system provided by an embodiment of the present application; Figure 7 Shows a flowchart of a power shaft torque determination method provided by an embodiment of the present application; Figure 8 Shows one of the schematic diagrams of a signal trigger wheel simulation model provided by an embodiment of the present application; Figure 9 Shows another schematic diagram of a signal trigger wheel simulation model provided by an embodiment of the present application; Figure 10 Shows one of the schematic diagrams of a simulation calculation result provided by an embodiment of the present application; Figure 11 Shows another schematic diagram of a simulation calculation result provided by an embodiment of the present application; Figure 12The figure shows a schematic diagram of a device for determining the torque of a power shaft provided by an embodiment of the present application; Figure 13 The figure shows a schematic structural diagram of an electronic device provided by an embodiment of the present application.

[0020] Icons: 210 - Elastic shaft; 220 - Signal trigger wheel; 230 - Magnetoelectric torque sensor; 240 - Signal processor; 500 - Determination system; 510 - Power shaft; 520 - Sensor; 221 - Signal trigger wheel A; 222 - Signal trigger wheel B; 521 - Sensor A; 522 - Sensor B; 531 - Sensor C; 532 - Sensor D; 1210 - Determination device; 1211 - Acquisition module; 1212 - Processing module; 1213 - Determination module; 1300 - Electronic device; 1310 - Processor; 1320 - Memory; 1330 - Bus. Detailed implementation manners

[0021] To make the objectives, technical solutions, and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. It should be understood that the accompanying drawings in the present application are only for the purposes of illustration and description, and are not used to limit the protection scope of the present application. Additionally, it should be understood that the schematic drawings are not drawn to actual scale. The flowcharts used in the present application illustrate the operations implemented according to some embodiments of the present application. It should be understood that the operations in the flowchart may not be implemented in sequence, and steps without logical context relationships may be reversed in order or implemented simultaneously. In addition, those skilled in the art can add one or more other operations to the flowchart or remove one or more operations from the flowchart under the guidance of the content of the present application.

[0022] In addition, the described embodiments are only some embodiments of the present application, rather than all of the embodiments. The components of the embodiments of the present application usually described and illustrated in the accompanying drawings here can be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of the present application provided in the accompanying drawings is not intended to limit the scope of the present application claimed, but merely represents the selected embodiments of the present application. Based on the embodiments of the present application, all other embodiments obtained by those skilled in the art without creative efforts fall within the protection scope of the present application.

[0023] To enable those skilled in the art to use the content of the present application, in combination with the specific application scenario of "determining the torque of a power shaft", the following implementation manners are given. For those skilled in the art, without departing from the spirit and scope of the present application, the general principles defined here can be applied to other embodiments and application scenarios.

[0024] The following methods, devices, electronic devices, or computer-readable storage media in the embodiments of this application can be applied to any scenario that requires determining the torque of a power shaft. The embodiments of this application do not limit the specific application scenarios. Any solution that uses the method, device, electronic device, and storage media for determining the torque of a power shaft provided by the embodiments of this application is within the protection scope of this application.

[0025] It should be noted that the power shaft can be a drive shaft, a driving shaft, or an elastic shaft, etc. The power shaft is an important component for the equipment to achieve its functions. Serious consequences may occur when the power shaft is damaged. For example, the main rotor drive shaft and the tail rotor drive shaft of a helicopter are both components with high safety requirements. Major accidents will occur if these two components are damaged. In order to monitor the usage status of the drive shaft, sensors are installed to monitor its torque value to prevent the power shaft from being damaged due to excessive torque. Please refer to Figure 1 , Figure 1 which shows a schematic diagram of the principle of measuring torque in the prior art. As Figure 1 shown, there are two points A and B at both ends of a drive shaft. When there is no torque transmission on the drive shaft, points A and B are on the same generatrix of the drive shaft. When there is non-zero torque transmission, point B deflects to point B' under the action of the torque. The end face where point B is located will generate a torsional angle relative to the end face where point A is located. For a power shaft with a specific stiffness K, according to the relevant principles of material mechanics, within the elastic working range of the drive shaft, the torque M has the following relationship with the torsional angle and the stiffness K of the drive shaft: ; Therefore, by measuring the torsional angles generated by two specific cross-sections of the rigid drive shaft during transmission, the torque borne by the drive shaft can be linearly calculated.

[0026] Please refer to Figure 2 , Figure 2 which shows a schematic diagram of a torque determination system in the prior art. As Figure 2 shown, a signal trigger wheel 220 is installed at each end of the elastic shaft 210, and a magneto-electric torque sensor 230 is installed at the corresponding position of each signal trigger wheel 220. When the elastic shaft 210 drives the two identical signal trigger wheels 220 to rotate, it will cause Figure 2 each of the two magneto-electric torque sensors 230 in

[0027] to output a sinusoidal-like signal. The signal processor 240 receives the sinusoidal-like signals collected by the two magneto-electric torque sensors 230 respectively and finally outputs the torque. Figure 3 , Figure 3Shows a schematic diagram of the output waveform of a magnetoelectric torque sensor. These two signals, signal A and signal B, output a stable phase time difference under certain rotational speed and certain torque. And the same signal period t. When the externally applied torque changes, the torsional angle change generated by the elastic shaft 210 causes the relative positions of the teeth of the two signal trigger wheels 220 to change, and this change will cause the phase time difference of the two signals To change accordingly. Let the number of teeth of the signal trigger wheel 220 be z, and the phase time difference between signal A and signal B detected by the signal processor 240 at a specific rotational speed without torque is , and the period at this time is , then the initial deflection angle Of the teeth of the two signal trigger wheels 220 in the torque-free state and , Have the following relationship: ; Here, the initial deflection angle Is a fixed value determined by the installation. After the magnetoelectric torque sensor 230 is installed, the magnetoelectric torque sensor 230 is initially calibrated to obtain , and it is stored in the signal processor 240 for subsequent processing.

[0028] After applying torque M to the elastic shaft 210, the deflection angles of the two signal trigger wheels 220 change from To , and the phase time difference between the two signals at this time is , and the period of the detected signal is , then , , Have the following relationship: ; According to Figure 1 Principle, the torsional angle Of the elastic shaft 210 has: ; By multiplying the torsional angle By the preset stiffness K, the torque M can be determined.

[0029] However, Figure 3 The waveform shown is a theoretical regular waveform. The magnetoelectric torque sensor 230 has the characteristic that the closer the distance in the interaction with the signal trigger wheel 220, the stronger the output electrical signal, and the farther the distance, the weaker the output electrical signal. This is also the basic measurement principle of the magnetoelectric torque sensor 230. Based on this principle, when the tooth tops and tooth grooves of the signal trigger wheel 220 pass through the magnetoelectric torque sensor 230 in sequence, it will generate as Figure 3The AC signal shown. In actual use, since the pitch circle of the signal trigger wheel 220 is not concentric with the rotation center (which will definitely occur during installation and use), the magnetoelectric torque sensor 230 will output Figure 4 the signal shown. In Figure 4 the horizontal axis is time T (milliseconds ms), and the vertical axis is the output voltage U (volts V). From Figure 4 it can be seen that the peak value of the voltage shows periodic changes, and this period is exactly the time for the signal trigger wheel 220 to rotate one week. This signal with a constant rotation speed and a periodic change in peak value will cause the signal processor 240 to measure the periodic time difference, resulting in repeated data jumps when comparing the phase differences of the two signals, and it cannot accurately and quickly reflect the real-time torque. In the prior art, in order to eliminate the torque value with periodic data changes, the common method is to average the signals for one or more rotations, which can cancel out the values that change back and forth to achieve the purpose of stable output. However, this method will cause a delay in the obtained data in terms of time, and it may also smooth out the actual torque spikes. For example, when measuring the torque value of the drive shaft of a helicopter tail rotor, due to the long-term influence of the main rotor airflow on the tail rotor blades, when making flight attitude adjustments and encountering environmental gusts, there will be a torque mutation at the millisecond level. However, the rotation speed of the drive shaft is usually around 2500 rpm, and the time for the drive shaft to rotate one week is 24 ms. Therefore, the time for averaging one week of data is longer than the torque mutation time, and the measured data will also be smaller than the actual value. The situation where the drive shaft is subjected to excessive torque may not be monitored, making the monitoring effectiveness doubtful and bringing potential safety hazards. When connected to the flight control system for flight control decision-making, the traditional method of averaging the signals for one or more rotations of the drive shaft to stabilize the signal may cause incorrect control decisions due to time delay.

[0030] Based on this, the present application proposes a method, device, electronic device, and storage medium for determining the torque of a power shaft, which is applied to a power shaft torque determination system 500 as shown in Figure 5 The determination system 500 includes a power shaft 510, two signal trigger wheels 220, and at least two pairs of sensors 520. The two signal trigger wheels 220 are respectively installed at both ends of the power shaft 510, and the two signal trigger wheels 220 are respectively detected by at least one pair of sensors 520. The two sensors 520 in each pair of sensors 520 are symmetrically arranged about the rotation center of the power shaft 510; the determination method includes: obtaining the output signals corresponding to each pair of sensors 520 on the two signal trigger wheels 220; determining the current deflection angles of the two signal trigger wheels 220 according to the output signals corresponding to each pair of sensors 520 on the two signal trigger wheels 220; and determining the torque of the power shaft 510 through the current deflection angles of the two signal trigger wheels 220.

[0031] In this way, by using the technical solution provided in this application, through the complementarity of each pair of sensors 520 symmetrically arranged about the rotation center of the power shaft 510, it is possible to improve the measurement accuracy of the current deflection angle by obtaining the output signal in real time without waiting for the power shaft 510 to rotate one week, thereby improving the real-time performance and accuracy of torque detection.

[0032] To facilitate the understanding of this application, the technical solution provided in this application will be described in detail below in conjunction with specific embodiments.

[0033] A method for determining the torque of a power shaft provided in an embodiment of this application is applied to a system 500 for determining the torque of a power shaft. The determining system 500 includes a power shaft 510, two signal trigger wheels 220, and at least two pairs of sensors 520. The two signal trigger wheels 220 are respectively installed at both ends of the power shaft 510, and the two signal trigger wheels 220 are respectively detected by at least one pair of sensors 520. The two sensors 520 in each pair of sensors 520 are symmetrically arranged about the rotation center of the power shaft 510.

[0034] Among them, the power shaft 510 can be any one of rotating components for transmitting torque, such as an elastic shaft 210, a transmission shaft, or a drive shaft.

[0035] Among them, the sensor 520 can be a magnetoelectric torque sensor 230 or an optoelectronic sensor.

[0036] Exemplarily, please refer to Figure 6 , Figure 6 which shows a second structural schematic diagram of a system for determining the torque of a power shaft provided in an embodiment of this application. As Figure 6 shown, the determining system 500 includes an elastic shaft 210, a signal trigger wheel A 221, and a signal trigger wheel B 222. There is a pair of sensors 520 symmetrically arranged about the rotation center of the elastic shaft 210 on the signal trigger wheel A 221, namely a sensor A 521 and a sensor B 522, and there is a pair of sensors 520 symmetrically arranged about the rotation center of the elastic shaft 210 on the signal trigger wheel B 222, namely a sensor C 531 and a sensor D 532. The two sensors 520 in a pair of sensors 520 triggered by the same signal trigger wheel 220 have the same characteristics. Here, that is, the sensor A 521 and the sensor B 522 have the same characteristics, and the sensor C 531 and the sensor D 532 have the same characteristics. In this way, the signals output by the sensor A 521 and the sensor B 522 are complementary, and the signals output by the sensor C 531 and the sensor D 532 are complementary, which can improve the measurement accuracy of the rotation phase of the corresponding signal trigger wheel 220 in real time. The signal processor 240 obtains the torque according to the signals output by each pair of sensors 520, improves the measurement accuracy of the torque of the elastic shaft 210, and improves the signal response speed.

[0037] Exemplarily, when at least two pairs of sensors 520 respectively detect two signal trigger wheels 220, at least two pairs of sensors 520 on each signal trigger wheel 220 are evenly distributed around the rotation center.

[0038] For example, there are two pairs of sensors 520 on each signal trigger wheel 220, and these two pairs of sensors 520 are evenly distributed around the rotation center, that is, the two pairs of sensors 520 are in a cross-shaped distribution.

[0039] Please refer to Figure 7 , Figure 7 which shows a flowchart of a method for determining the torque of a power shaft provided by an embodiment of the present application. As Figure 7 shown, the determination method includes: S701. Obtain the output signals corresponding to each pair of sensors on two signal trigger wheels.

[0040] In some embodiments, when two sensors 520 in each pair of sensors 520 are connected in series, for each signal trigger wheel 220, obtain the signals respectively detected by each sensor 520 on this signal trigger wheel 220; for each pair of sensors 520 on this signal trigger wheel 220, superimpose the signals respectively detected by the two sensors 520 in this pair of sensors 520 on this signal trigger wheel 220 to obtain the output signal corresponding to this pair of sensors 520 on this signal trigger wheel 220.

[0041] Exemplarily, there is a pair of sensors 520 on signal trigger wheel A221, namely sensor A521 and sensor B522. Sensor A521 and sensor B522 are connected in series, and this pair of sensors 520 outputs one path of signal. The corresponding output signal is the signal after superimposing the signal 1 detected by sensor A521 and the signal 2 detected by sensor B522.

[0042] Exemplarily, in order to more clearly illustrate the real-time complementary function of a pair of sensors 520, a simulation model with only four teeth is established for signal trigger wheel A221 as Figure 8 shown, and the state after signal trigger wheel A221 rotates 90 degrees in the rotation direction is as Figure 9 shown. For the convenience of description, the four teeth are respectively numbered as tooth C1, tooth C2, tooth C3, and tooth C4. The center of the addendum circle is marked as Q, the center hole of the rotation center is marked as P, and the eccentricity is marked as d. In Figure 8 this state, due to the existence of the eccentricity d caused by the non-concentricity of the center Q of the addendum circle and the center hole P of the rotation center, the distance between sensor A521 and tooth C1 is closer than the distance between sensor B522 and tooth C3. Due to the characteristics of sensor 520, the signal peak value of sensor A521 will be higher than that of sensor B522. After rotating 90 degrees to Figure 9When in the state where the distances between the two sensors, sensor A521 and sensor B522, and the teeth C2 and C4 are equal, there are obvious cases of angular phase lead and lag at this time. In the figure, tooth C2 is in the lead and tooth C4 is in the lag. Continuing to rotate the signal trigger wheel A221 by 90 degrees, tooth C1 will be in a close state with sensor B522, while tooth C3 will be in a far state with sensor A521. Subsequently, the states of sensor A521 and sensor B522 alternate and cycle repeatedly as described above. The simulation calculation results established according to this model are as Figure 10 shown, Figure 10 The medium long dashed line is the signal detected by sensor A521, and the short dashed line is the signal detected by sensor B522. From Figure 10 it can be seen that the waveform around 0 ms corresponds to the waveform before and after the time point shown in Figure 8 . It can be seen that the voltage signal detected by sensor A521 is high. At the time point of 30 ms, the voltage signal detected by sensor B522 is high. At the time point around 15 ms, the waveform corresponds to the waveform before and after the time point shown in Figure 9 . It can be seen that the voltage values of the two electrical signals are almost equal, but the signal of sensor A521 is ahead of the signal of sensor B522 in time. Further back, it is the repeated alternation and cycle of the usage states of sensor A521 and sensor B522. From Figure 10 it can be seen that if only the signal detection period t and the signal time phase difference γ of sensor A521 or sensor B522 are used, large jumps in the data will occur at 15 ms and 30 ms. By comparing the two signals, it can be seen that there is complementarity at the same moment. Superimposing the two signals can not only increase the voltage value for signal acquisition, but also reduce the voltage fluctuation of the output signal through complementarity. For the sake of easy display, the situation where the superimposed signal (i.e., the output signal) is attenuated by half and placed in the same chart with the signals detected by the two sensors 520 respectively is as Figure 11 shown. The solid line shows the effect of the superimposed signal. From Figure 11 it can be seen that where there are voltage amplitude fluctuations, the voltage fluctuation decreases after superimposition, and where there is a phase time difference, it returns to the median value of the two signals. Therefore, after two sensors 520 with the same characteristics are installed in central symmetry, using the superimposed signal can improve the measurement accuracy of the sensors and reduce the data jitter. Theoretical analysis shows that the two sensors 520 in each pair of sensors 520 may be used in series to eliminate the influence caused by eccentric rotation in real time. For the example of 4 teeth, under the condition of achieving the same measurement accuracy, the response time can be four times faster than the traditional method. In practical applications, the number of teeth often exceeds 20 teeth. Therefore, this method is very effective for improving the response speed.

[0043] Here, for Figure 8 and Figure 9The states in the two figures respectively generate voltage fluctuations and phase time differences. In order to better complement these two mechanisms of voltage and time difference, multiple pairs of uniformly distributed sensors 520 can be arranged around a single signal trigger wheel 220. For example, two pairs of sensors 520. In this way, at the same moment, the complementarity of the two mechanisms can be improved, further enhancing the accuracy of torque measurement and reducing the time delay.

[0044] In some other embodiments, when the two sensors 520 in each pair of sensors 520 are independently deployed, the output signal corresponding to each pair of sensors 520 is the signal detected by the two sensors 520 in each pair of sensors 520 respectively.

[0045] Exemplarily, each independently deployed sensor 520 outputs a signal. In this way, each pair of sensors 520 outputs two signals. For example, there is a pair of sensors 520 on the signal trigger wheel A221, namely sensor A521 and sensor B522. Sensor A521 outputs signal 1, and sensor B522 outputs signal 2. Signal 1 and signal 2 are the output signals corresponding to this pair of sensors 520.

[0046] S702. Determine the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels.

[0047] In some embodiments, when the two sensors 520 in each pair of sensors 520 are connected in series, that is, when the output signal corresponding to each pair of sensors 520 is one signal, determine the time difference between the output signals respectively corresponding to every two pairs of sensors 520 according to the output signals respectively corresponding to every two pairs of sensors 520 with corresponding deployment positions on the two signal trigger wheels 220; obtain the period of the output signal and the number of teeth of the signal trigger wheel 220; determine the current deflection angles of the two signal trigger wheels 220 according to the time difference between the output signals respectively corresponding to every two pairs of sensors 520, the period of the output signal, and the number of teeth of the signal trigger wheel 220.

[0048] Exemplarily, there is a pair of sensors A521 and sensor B522 connected in series on the signal trigger wheel A221, and the output signal corresponding to sensor A521 and sensor B522 is signal 1. There is a pair of sensors C531 and sensor D532 connected in series on the signal trigger wheel B222, and the output signal corresponding to sensor C531 and sensor D532 is signal 2. Through signal 1 and signal 2, obtain the time difference between signal 1 and signal 2 obtain the period of signal 1 and / or signal 2 and the number of teeth z of the signal trigger wheel A221 or the signal trigger wheel B222, and determine the current deflection angles of the two signal trigger wheels 220 through the following formula: 。

[0049] Exemplarily, the signal trigger wheel A221 and the signal trigger wheel B222 each have n pairs of sensors 520. The two sensors 520 in each pair of sensors 520 are connected in series. For each pair of sensors 520 on the signal trigger wheel A221, the time difference between the output signals corresponding to this pair of sensors 520 and the output signals corresponding to a pair of sensors 520 at the corresponding position on the signal trigger wheel B222 is obtained from the output signals corresponding to this pair of sensors 520. Thereby, the current deflection angle corresponding to this pair of sensors 520 is obtained. Similarly, the current deflection angles corresponding to the n pairs of sensors 520 can be obtained. 、 、……、 And the average of these n current deflection angles is calculated to obtain the current deflection angle of the two signal trigger wheels 220, That is: 。

[0050] In some other embodiments, when the two sensors 520 in each pair of sensors 520 are independently deployed, that is, when the output signals corresponding to each pair of sensors 520 are two signals, the time difference and voltage value of the output signals corresponding to each two pairs of sensors 520 respectively are determined according to the output signals corresponding to each two pairs of sensors 520 deployed at the corresponding positions on the two signal trigger wheels 220; the period of the output signal and the number of teeth of the signal trigger wheel 220 are obtained; according to the time difference and voltage value of the output signals corresponding to each two pairs of sensors 520 respectively, the period of the output signal, and the number of teeth of the signal trigger wheel 220, the current deflection angle of the two signal trigger wheels 220 is determined.

[0051] Exemplarily, in actual use, the two sensors 520 in a pair of sensors 520 are often not exactly the same. Manufacturing and installation will both bring differences in distance and angular phase. Simulation analysis and actual measurement show that the signal after being connected in series is more affected by the one with a higher voltage. Further, the two sensors 520 in each pair of sensors 520 can be independently deployed. Each pair of sensors 520 outputs two signals, and the deviation caused by the manufacturing and installation of the sensors 520 is corrected by the voltage values of the two signals respectively. For example, in the application scenario, the rotational speeds of the helicopter tail rotor and the main rotor do not change much during actual flight. The period of the signal can be obtained by averaging the periods of the real-time four signals (the two signals output by a pair of sensors 520 on the signal trigger wheel A221 and the two signals output by a pair of sensors 520 at the corresponding positions on the signal trigger wheel B222). The voltage values change little when the signal trigger wheel 220 rotates one week or multiple weeks, and the effective value of the output voltage (the voltage value at the zero crossing point) changes very little during the entire flight. The average of multiple weeks can also be used to track the differences in the manufacturing and installation of the two sensors 520.

[0052] For example, if there is a pair of independently deployed sensors 520 (sensor A521 and sensor B522) on the signal trigger wheel A221, and a pair of independently deployed sensors 520 (sensor C531 and sensor D532) on the signal trigger wheel B222, in order to improve the measurement accuracy of the real-time deflection angle the following formula is used to determine the current deflection angle of the two signal trigger wheels 220: ; where , , , are the time differences between the arrival of the zero points of the output signals of sensor A521, sensor B522, sensor C531, and sensor D532 detected by the signal processor 240 (which can also be a certain fixed voltage value designed) and the unified time point set for the system. For the convenience of measurement, the side where the signal arrives first can also be set as the reference point for the current measurement time. Assuming that the signal on the signal trigger wheel A221 triggers earlier than the signal on the signal trigger wheel B222, that is , one of the two time differences is zero. , , , are the effective values of the output signals of sensor A521, sensor B522, sensor C531, and sensor D532 respectively. t is the period of the signal, z is the number of teeth, is the current deflection angle measured in real time by two signal trigger wheels 220 during use. Since the signal is a periodic signal, if γ is greater than the period t, the measurement time point will enter the next period, and there will be a problem of adding or subtracting a period in the phase time difference at this time, which is prone to errors. In actual use, to prevent this situation from occurring, the maximum value of

[0053] should be less than an inter-tooth angle and a margin should be left during use. For example, if there are n pairs of independently deployed sensors 520 on the signal trigger wheel A221 and the signal trigger wheel B222 respectively, and each pair of sensors 520 on the signal trigger wheel A221 corresponds to each pair of sensors 520 on the signal trigger wheel B222 in terms of deployment position. Through the time difference and effective voltage of the output signals of the th pair of sensors 520 and a pair of sensors 520 corresponding to the deployment position, the th pair of sensors 520 corresponding current deflection angle is obtained. For 1, 2, ……, n, the average of these n

[0054] current deflection angles is calculated to obtain the current deflection angle

[0055] of the two signal trigger wheels 220. S703. Determine the torque of the power shaft based on the current deflection angles of the two signal trigger wheels. In some embodiments, the difference between the current deflection angle and the initial deflection angle is determined as the torsion angle

[0056] of the power shaft 510. The preset stiffness K is obtained, and the product of the torsion angle

[0057] In addition, when the signal trigger wheel 220 is vibrated during use, a displacement will be generated relative to the sensor 520, and this displacement is also differentially complementary for the two centrally symmetrically mounted sensors 520. Therefore, the embodiment provided in the present application can not only be used for the eccentric rotation of the signal trigger wheel 220, but also for an anti-vibration environment. Whether it is the eccentric rotation of the signal trigger wheel 220 or the displacement offset of the signal trigger wheel 220, the method provided in this embodiment can be used to improve the accuracy of torque measurement.

[0058] Based on the same inventive concept, an apparatus for determining the torque of a power shaft corresponding to the method for determining the torque of a power shaft provided in the above embodiment is further provided in the embodiments of the present application. Since the principle of solving problems by the apparatus in the embodiments of the present application is similar to that of the method for determining the torque of a power shaft in the above embodiments of the present application, the implementation of the apparatus can refer to the implementation of the method, and the repeated parts will not be described again.

[0059] An apparatus for determining the torque of a power shaft provided in the embodiments of the present application is applied to a system for determining the torque of a power shaft. The determination system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged about the rotation center of the power shaft; please refer to Figure 12 , Figure 12 which is a schematic diagram of an apparatus for determining the torque of a power shaft provided in the embodiments of the present application. As shown in Figure 12 , the determination apparatus 1210 includes: An acquisition module 1211, configured to acquire output signals corresponding to each pair of sensors on the two signal trigger wheels; A processing module 1212, configured to determine the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; A determination module 1213, configured to determine the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

[0060] Optionally, when the two sensors in each pair of sensors are connected in series, the acquisition module 1211 is specifically configured to: For each signal trigger wheel, acquire the signals respectively detected by each sensor on the signal trigger wheel; For each pair of sensors on the signal trigger wheel, superimpose the signals respectively detected by the two sensors in the pair of sensors on the signal trigger wheel to obtain the output signal corresponding to the pair of sensors on the signal trigger wheel.

[0061] Optionally, when the two sensors in each pair of sensors are independently deployed, the output signals corresponding to each pair of sensors are the signals detected by the two sensors in each pair of sensors respectively.

[0062] Optionally, the processing module 1212 is specifically configured to: Determine the time difference between the output signals respectively corresponding to each two pairs of sensors corresponding to the deployment positions on the two signal trigger wheels according to the output signals respectively corresponding to each two pairs of sensors; Obtain the period of the output signal and the number of teeth of the signal trigger wheel; Determine the current deflection angles of the two signal trigger wheels according to the time difference between the output signals respectively corresponding to each two pairs of sensors, the period of the output signal, and the number of teeth of the signal trigger wheel.

[0063] Optionally, the processing module 1212 is further configured to: Determine the time difference and voltage value between the output signals respectively corresponding to each two pairs of sensors according to the output signals respectively corresponding to each two pairs of sensors corresponding to the deployment positions on the two signal trigger wheels; Obtain the period of the output signal and the number of teeth of the signal trigger wheel; Determine the current deflection angles of the two signal trigger wheels according to the time difference and voltage value between the output signals respectively corresponding to each two pairs of sensors, the period of the output signal, and the number of teeth of the signal trigger wheel.

[0064] Optionally, the current deflection angle is less than the included angle between the teeth of the signal trigger wheel.

[0065] Optionally, when the two signal trigger wheels are respectively detected by at least two pairs of sensors, at least two pairs of sensors on each signal trigger wheel are evenly distributed around the rotation center.

[0066] A device for determining the torque of a power shaft provided by an embodiment of the present application is applied to a system for determining the torque of a power shaft. The determining system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft. The two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged with respect to the rotation center of the power shaft. The determining device includes: an acquisition module, configured to acquire the output signals corresponding to each pair of sensors on the two signal trigger wheels; a processing module, configured to determine the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; a determination module, configured to determine the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

[0067] In this way, by adopting the technical solution provided by this application, the complementarity of each pair of sensors symmetrically arranged about the rotation center of the power shaft can be utilized to achieve the improvement of the measurement accuracy of the current deflection angle by obtaining the output signal in real time without waiting for the power shaft to rotate one full circle, thereby enhancing the real-time performance and accuracy of torque detection.

[0068] Please refer to Figure 13 , Figure 13 which is a schematic structural diagram of an electronic device provided by an embodiment of this application. As Figure 13 shown in

[0069] the electronic device 1300 includes a processor 1310, a memory 1320, and a bus 1330. Figure 7 The memory 1320 stores machine-readable instructions executable by the processor 1310. When the electronic device 1300 runs, the processor 1310 communicates with the memory 1320 through the bus 1330. When the machine-readable instructions are executed by the processor 1310, the steps of the method for determining the torque of the power shaft in the method embodiment as shown above

[0070] can be executed. For the specific implementation manner, reference can be made to the method embodiment, which will not be elaborated here. Figure 7 An embodiment of this application further provides a computer-readable storage medium. A computer program is stored on the computer-readable storage medium. When the computer program is run by a processor, the steps of the method for determining the torque of the power shaft in the method embodiment as shown above

[0071] can be executed. For the specific implementation manner, reference can be made to the method embodiment, which will not be elaborated here.

[0072] Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the systems, devices, and units described above can refer to the corresponding processes in the foregoing method embodiments, which will not be elaborated here.

[0073] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0074] In addition, in each embodiment of the present application, each functional unit may be integrated in a processing unit, may exist separately as individual physical units, or two or more units may be integrated in one unit.

[0075] If the above functions are implemented in the form of software functional units and sold or used as independent products, they can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such an understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art or a part of this technical solution can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions for causing a computer device (which may be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical discs that can store program codes.

[0076] Finally, it should be noted that the above-described embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting them. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded in the foregoing embodiments or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A method for determining the torque of a power shaft, characterized in that, A determination system applied to the torque of a power shaft. The determination system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged about the rotation center of the power shaft. The determination method includes: Obtain the output signals corresponding to each pair of sensors on the two signal trigger wheels; Determine the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; Determine the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

2. The determination method according to claim 1, wherein When the two sensors in each pair of sensors are connected in series, obtain the output signals corresponding to each pair of sensors on the two signal trigger wheels through the following steps: For each signal trigger wheel, obtain the signals respectively detected by each sensor on the signal trigger wheel; For each pair of sensors on the signal trigger wheel, superimpose the signals respectively detected by the two sensors in the pair of sensors on the signal trigger wheel to obtain the output signal corresponding to the pair of sensors on the signal trigger wheel.

3. The determination method according to claim 1, wherein When the two sensors in each pair of sensors are independently deployed, the output signal corresponding to each pair of sensors is the signals respectively detected by the two sensors in each pair of sensors.

4. The determination method according to claim 2, characterized in that The step of determining the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels includes: Determine the time difference between the output signals corresponding to each two pairs of sensors according to the output signals corresponding to each two pairs of sensors at the corresponding deployment positions on the two signal trigger wheels; Obtain the period of the output signal and the number of teeth of the signal trigger wheel; Determine the current deflection angles of the two signal trigger wheels according to the time difference between the output signals corresponding to each two pairs of sensors, the period of the output signal, and the number of teeth of the signal trigger wheel.

5. The determination method according to claim 3, characterized in that, The step of determining the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels includes: Determine the time difference and voltage value of the output signals corresponding to each two pairs of sensors according to the output signals corresponding to each two pairs of sensors at the corresponding deployment positions on the two signal trigger wheels; Obtain the period of the output signal and the number of teeth of the signal trigger wheel; Determine the current deflection angles of the two signal trigger wheels according to the time difference and voltage value of the output signals corresponding to each two pairs of sensors, the period of the output signal, and the number of teeth of the signal trigger wheel.

6. The determination method according to claim 1, characterized in that, The current deflection angle is less than the angle between teeth of the signal trigger wheel.

7. The determination method according to claim 1, wherein When the two signal trigger wheels are respectively detected by at least two pairs of sensors, at least two pairs of sensors on each signal trigger wheel are evenly distributed around the rotation center.

8. A device for determining the torque of a power shaft, characterized in that, A determination system applied to the torque of a power shaft. The determination system includes a power shaft, two signal trigger wheels, and at least two pairs of sensors. The two signal trigger wheels are respectively installed at both ends of the power shaft, and the two signal trigger wheels are respectively detected by at least one pair of sensors. The two sensors in each pair of sensors are symmetrically arranged about the rotation center of the power shaft. The determination device includes: An acquisition module for acquiring the output signals corresponding to each pair of sensors on the two signal trigger wheels; A processing module for determining the current deflection angles of the two signal trigger wheels according to the output signals corresponding to each pair of sensors on the two signal trigger wheels; A determination module for determining the torque of the power shaft through the current deflection angles of the two signal trigger wheels.

9. An electronic device, characterized in that, Including: A processor, a memory, and a bus. The memory stores machine-readable instructions executable by the processor. When the electronic device runs, the processor communicates with the memory through the bus. When the machine-readable instructions are run by the processor, the steps of the method for determining the torque of the power shaft according to any one of claims 1 to 7 are executed.

10. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium. When the computer program is run by the processor, the steps of the method for determining the torque of the power shaft according to any one of claims 1 to 7 are executed.

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