Inertia test method and system of dynamic torque sensor calibration device

Abstract

The invention provides an inertia test method and system for a dynamic torque sensor calibration device, and relates to the technical field of inertia test. The method comprises the following steps: acquiring a plurality of angular acceleration waveforms; extracting frequency characteristics according to the plurality of angular acceleration waveforms through a signal processing mode, and correspondingly obtaining a plurality of frequency measured values when the frequency is gentle; performing linear fitting by taking the quantity containing the frequency measured value as an independent variable and taking the inertia of the standard inertia disc corresponding to the plurality of angular acceleration waveforms as a dependent variable to obtain a linear fitting function; and obtaining an inertia value of the load shaft system according to the linear fitting function. According to the method, the waveform data of the dynamic sensor calibration test can be used as a basis to calculate the inertia of the load shaft system, and independent measurement is not needed, so that the dynamic torque amplitude measurement is compensated by the inertia value of the load shaft system, and on one hand, the measurement accuracy of the dynamic torque sensor can be effectively improved; and on the other hand, the calibration time of the dynamic torque sensor can be effectively saved.

Description

Technical Field

[0001] The present invention relates to the technical field of inertia testing, and more specifically, to an inertia testing method and system for a dynamic torque sensor calibration device. Background Art

[0002] The measurement of dynamic torque parameters is widely used in measurement activities such as material testing and engine performance testing. The measurement accuracy of the dynamic torque sensor directly determines the performance evaluation of the test object. At present, there is no metrological verification regulation for dynamic torque parameters issued in China, and various types of dynamic torque sensor calibration devices are still in the research and development stage or performance verification stage.

[0003] Currently, Patent ZL201911285482.9 discloses a braking sine method dynamic torque sensor calibration device. The basic principle of this device is as follows: Rigidly connect the torque sensor to be calibrated with a standard inertia device to form a first-order inertia-torsion bar system, and then connect it to a magnetic powder brake and a servo driver. When the inertia-torsion bar system has kinetic energy, apply a braking torque to it, and use a circular grating angular measurement instrument to measure the angular acceleration of the standard inertia device, and trace the dynamic torque parameters to the inertia and angular acceleration parameters. Generally, the inertia of the load shaft system is the sum of the inertia of the air-bearing rotor (belonging to the air bearing), the upper coupler, the circular grating, the upper clamping tooling, and the upper end of the shaft of the torque sensor to be calibrated (belonging to the torque sensor to be calibrated); the inertia of the drive shaft system is the sum of the inertia of the lower end of the shaft of the torque sensor to be calibrated, the lower clamping tooling, the lower coupler, the main shaft of the magnetic powder brake, and the driven part of the electromagnetic clutch.

[0004] According to the calculation formula of dynamic torque (i.e., , where T is the dynamic torque; I is the inertia; ε is the angular acceleration), it can be seen that during the operation of the braking sine method dynamic torque calibration device, it is necessary to measure the values of the inertia of the standard inertia disk and the load shaft system and their angular acceleration values. The angular acceleration value can be directly measured and calculated by a circular grating angular acceleration measurement instrument. The inertia of the standard inertia disk has been calibrated, but the value of the inertia of the load shaft system is unknown. The measurement accuracy of the value of the inertia of the load shaft system will have a greater impact on the dynamic torque measurement result. Therefore, after calibrating different torque sensors or changing the clamping tooling, this value needs to be measured again. In addition, the inertia of the drive shaft system is an important reference quantity for the braking torque loading value and also needs to be accurately measured. Summary of the Invention

[0005] The purpose of the present invention is to provide an inertia testing method for a dynamic torque sensor calibration device, which can solve the problem that the inertia of the braking sine method dynamic torque sensor calibration device cannot be directly measured.

[0006] Embodiments of the present invention are implemented as follows: On the one hand, the present invention provides an inertia test method for a dynamic torque sensor calibration device, which is used to measure the inertia of the dynamic torque sensor calibration device, mainly including: Obtain a plurality of angular acceleration waveforms, which are obtained by measuring with a dynamic torque sensor calibration device, and the plurality of angular acceleration waveforms respectively correspond to a plurality of different standard inertia disks; Through signal processing, according to the plurality of angular acceleration waveforms, extract frequency characteristics, and correspondingly obtain a plurality of frequency measured values when the frequency is flat; Taking the quantity containing the frequency measured value as the independent variable and the inertia of the standard inertia disks corresponding to the plurality of angular acceleration waveforms as the dependent variable, perform linear fitting to obtain a linear fitting function; According to the linear fitting function, obtain the inertia value of the load shafting.

[0007] On the other hand, the present invention provides an inertia test system for a dynamic torque sensor calibration device, mainly including: An acquisition module, which is used to obtain a plurality of angular acceleration waveforms, which are obtained by measuring with a dynamic torque sensor calibration device, and the plurality of angular acceleration waveforms respectively correspond to a plurality of different standard inertia disks; A processing module, which is used to extract frequency characteristics through signal processing according to the plurality of angular acceleration waveforms, and correspondingly obtain a plurality of frequency measured values when the frequency is flat; A fitting module, which is used to take the quantity containing the frequency measured value as the independent variable and the inertia of the standard inertia disks corresponding to the plurality of angular acceleration waveforms as the dependent variable, perform linear fitting to obtain a linear fitting function; An obtaining module, which is used to obtain the inertia value of the load shafting according to the linear fitting function.

[0008] Embodiments of the present invention have at least the following advantages or beneficial effects: The inertia test method for the dynamic torque sensor calibration device can calculate the inertia of the load shafting based on the waveform data of the dynamic sensor calibration test during the calibration process of the dynamic torque sensor, without the need for separate measurement. Thus, the dynamic torque amplitude measurement is compensated with the shafting inertia value. On the one hand, it can effectively improve the measurement accuracy of the dynamic torque sensor, and on the other hand, it can effectively save the calibration time of the dynamic torque sensor. It can be seen that the above method can provide a basis for the structural parameter identification of the dynamic torque sensor calibration device and the accurate measurement of the dynamic torque amplitude. Description of the Drawings

[0009] To more clearly illustrate the technical solutions of the embodiments of the present invention, the following will briefly introduce the accompanying drawings required for the embodiments. It should be understood that the following drawings only show some embodiments of the present invention, and thus 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.

[0010] Figure 1 Schematic diagram of the structure of the dynamic torque sensor calibration device provided by the present invention; Figure 2 Schematic diagram of the flow of the inertia test method of the dynamic torque sensor calibration device provided by the present invention; Figure 3 Schematic diagram of the angular acceleration waveform provided by the present invention; Figure 4 Schematic diagram of the relationship between the ordinal number and the frequency provided by the present invention; Figure 5 Schematic diagram of the microscopic relationship between the ordinal number and the frequency provided by the present invention; Figure 6 Schematic diagram of the inertia test system of the dynamic torque sensor calibration device provided by the present invention.

[0011] Reference numerals: 1, standard inertia disk; 2, air bearing; 3, upper coupler; 4, circular grating; 5, upper clamping tooling; 6, torque sensor to be calibrated; 7, lower clamping tooling; 8, lower coupler; 9, magnetic powder brake; 10, electromagnetic clutch; 11, connecting shaft; 12, driving mechanism; 13, support plate; 14, column. Detailed implementation manners

[0012] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Generally, the components of the embodiments of the present invention described and illustrated in the drawings here can be arranged and designed in various different configurations.

[0013] Please refer to Figures 1 to 4 , an embodiment of the present invention provides an inertia test method for a dynamic torque sensor calibration device, mainly including: Step 102, obtain a plurality of angular acceleration waveforms, which are measured by a dynamic torque sensor calibration device, and the plurality of angular acceleration waveforms respectively correspond to a plurality of different standard inertia disks; Step 104, through a signal processing method, extract frequency characteristics according to the plurality of angular acceleration waveforms, and correspondingly obtain a plurality of measured frequency values when the frequency is flat; Step 106: Using the quantity containing the measured frequency value as the independent variable and the inertia of the standard inertia disk corresponding to multiple angular acceleration waveforms as the dependent variable, perform linear fitting to obtain a linear fitting function. Step 108: Obtain the inertia value of the load shafting according to the linear fitting function.

[0014] In this embodiment, the schematic diagram of the mechanical structure of the existing braking sine method dynamic torque calibration device is as shown in the appendix Figure 1 as shown. Among them, the rotating components include a standard inertia disk 1, an air bearing 2, an upper coupler 3, a circular grating 4, an upper clamping tooling 5, a torque sensor to be calibrated 6, a lower clamping tooling 7, a lower coupler 8, a magnetic powder brake 9, an electromagnetic clutch 10, a connecting shaft 11, a driving mechanism 12, a column 14, and a support plate 13. The inertia of the standard inertia disk is the inertia value of the standard inertia disk 1; the inertia of the load shafting is the sum of the inertia of the air bearing rotor (belonging to the air bearing 2), the upper coupler 3, the circular grating 4, the upper clamping tooling 5, and the upper end of the shaft of the torque sensor to be calibrated (belonging to the torque sensor to be calibrated 6); the inertia of the transmission shafting is the sum of the inertia of the lower end of the shaft of the torque sensor to be calibrated, the lower clamping tooling 7, the lower coupler 8, the main shaft of the magnetic powder brake, and the driven part of the electromagnetic clutch.

[0015] In this embodiment, the above-mentioned standard inertia disk 1, air bearing 2, upper coupler 3, circular grating 4, upper clamping tooling 5, torque sensor to be calibrated 6, lower clamping tooling 7, lower coupler 8, magnetic powder brake 9, and electromagnetic clutch 10 are coaxially arranged from top to bottom, and the torque sensor to be calibrated 6 is installed between the upper coupler 3 and the lower coupler 8 through the upper clamping tooling 5 and the lower clamping tooling 7.

[0016] Specifically, the above method can calculate the inertia of the load shafting based on the waveform data of the dynamic sensor calibration test during the calibration process of the dynamic torque sensor, without the need for separate measurement. Thus, the dynamic torque amplitude measurement is compensated with the shafting inertia value. On the one hand, it can effectively improve the measurement accuracy of the dynamic torque sensor, and on the other hand, it can effectively save the calibration time of the dynamic torque sensor. It can be seen that the above method can provide a basis for the structural parameter identification of the dynamic torque sensor calibration device and the accurate measurement of the dynamic torque amplitude.

[0017] In this embodiment, one implementation manner of step 102 is as follows: Step 112: Determine multiple standard inertia disks with different inertias. Step 114: Perform braking excitation through the dynamic torque sensor calibration device under the conditions of multiple standard inertia disks with different inertias to obtain the output signals corresponding to the multiple standard inertia disks with different inertias. Step 116: Synthesize angular vibration waveforms with each of the output signals respectively. Step 118: Perform a second derivative calculation on each of the angular vibration waveforms to obtain a plurality of the angular acceleration waveforms.

[0018] In this embodiment, the above-mentioned different standard inertia disks refer to inertia disks with different specifications. Step 112 determines at least two standard inertia disks with different specifications, and divides them into the following types according to the inertia values: ,in, is the number of standard inertia disks.

[0019] In other embodiments, the arrangement basis of the above-mentioned ordinal numbers can be determined according to actual test experiments.

[0020] In this embodiment, the plurality of angular acceleration waveforms correspond to standard inertia disks of different specifications, respectively, and the order in which the plurality of angular acceleration waveforms correspond to the ordinal number.

[0021] In this embodiment, the installation steps and test steps of the above standard inertia disk are specifically as follows: The inertia value of the air bearing 2 is The standard inertia disk 1 is then used to install the calibrated torque sensor 6 between the upper coupler 3 and the lower coupler 8 of the braking type sinusoidal method dynamic torque sensor calibration device through the upper clamping fixture 5. The regulated power supply is used to power the circular grating reading head. The calibrated torque sensor 6 is then braked and excited. The output signal of the circular grating reading head is collected by a data acquisition analyzer, and the output signal is synthesized into an angular vibration waveform. The inertia value is The standard inertia disk 1 is tested in the above manner to obtain the angular vibration waveform corresponding to each inertia value, and the angular acceleration waveform corresponding to each inertia value is obtained through secondary differential calculation.

[0022] In this embodiment, the braking excitation method of the dynamic torque sensor is a sine method. Further, an implementation of step 104 is as follows: Step 122, intercepting the sinusoidal attenuation segment in the angular acceleration waveform to obtain a first intercepted data segment; Step 124: filtering the first intercepted data segment; Step 126: Select the continuous sine waveform of the filtered first intercepted data segment to obtain a second intercepted data segment, wherein the second intercepted data segment can reflect the frequency change trend of the angular acceleration waveform; Step 128, calculating the upper and lower envelopes of the second intercepted data segment; Step 130: shaping the second intercepted data segment according to the upper and lower envelopes of the second intercepted data segment to obtain a first shaped data segment; Step 132: extract frequency features according to the first shaped data segment, and obtain a corresponding frequency measured value when the frequency is flat.

[0023] In this embodiment, by intercepting the sine decay band in the angular acceleration waveform, please specifically refer to Figure 3 the BC segment in. It can be seen that through the above interception method, the first intercepted data segment can reflect the sine decay trend of the frequency, and the effective frequency characteristics can be further extracted, avoiding the influence of the unstable waveform signal at the beginning of the test on the subsequent fitting result and calculation result.

[0024] In this embodiment, the initial frequency of the first intercepted data segment is preliminarily estimated by the period method, that is:

[0025] where and are the ordinals corresponding to the adjacent peak points or adjacent valley points of the first intercepted data segment respectively, and is the sampling frequency.

[0026] In this embodiment, the cut-off frequency of the filter when filtering the first intercepted data segment is , and through the above filtering, the waveform of the first intercepted data segment can be regularized, and the noise can be reduced at the same time.

[0027] In this embodiment, taking the a point shown in Figure 3 as the starting position of the interception (this point is the minimum value point of the angular acceleration amplitude) for interception, the above second intercepted data segment is obtained. It can be seen that intercepting with the sine start position in the above manner can make the waveform of the second intercepted data segment a complete and continuous sine waveform, which is convenient for subsequent calculation and fitting.

[0028] In this embodiment, the number of sine waveforms in the above second intercepted data segment should be a continuous plurality, so that the second intercepted data segment can fully reflect the frequency change trend of the angular acceleration waveform.

[0029] In this embodiment, the upper and lower envelopes are obtained from the waveform data of the second intercepted data segment, and the average value of the upper and lower envelopes is calculated. The waveform data of the second intercepted data segment is subtracted from the above average value to obtain the first shaped data segment, denoted as where , and is the data length of the first shaped data segment.

[0030] It can be seen that the first shaped data segment obtained through the above signal processing method can further extract effective frequency characteristics and avoid many interference factors in the extracted frequency characteristics.

[0031] In this embodiment, an implementation manner of step 132 is as follows: Step 142: Obtain a phase data segment by means of Hilbert transform according to the first shaping data segment; Step 144: Calculate the instantaneous frequency corresponding to each data point according to the phase data segment, and each of the data points corresponds to a data point of the phase data segment; Step 146: Fit the instantaneous frequencies corresponding to multiple data points in the form of a logarithmic function to obtain a logarithmic fitting function; Step 148: Determine the slope corresponding to the logarithmic fitting function when the frequency is flat; Step 150: Determine the function value corresponding to the slope corresponding to the logarithmic fitting function when the frequency is flat, and the measured value of the frequency when the frequency is flat can be obtained.

[0032] Specifically, the above method uses the slope of the logarithmic fitting function as the judgment basis to determine the above-mentioned measured value of the frequency.

[0033] In this embodiment, the phase data segment is , where , , and is the data length of the phase data segment, then the instantaneous frequency

[0034] where .

[0035] Perform exponential function fitting on the continuous instantaneous frequency data segment, and the form of the exponent is to obtain a logarithmic fitting function, where a is the coefficient of the above exponential function, b is the base of the above exponential function, and c is the constant term of the above exponential function.

[0036] In this embodiment, for the above-mentioned instantaneous frequency curve, please specifically refer to Figure 4 for segment 22, and for the above-mentioned exponential fitting curve, please specifically refer to Figure 4 for segment 23.

[0037] In this embodiment, one implementation manner of step 148 is as follows: Step 162: Determine a curve ordinal segment according to the sampling frequency and the initial frequency of the angular acceleration waveform; Step 164: Perform logarithmic fitting according to the curve ordinal segment and the instantaneous frequencies corresponding to the data points of the curve ordinal segment to obtain the logarithmic fitting function; In this embodiment, the above-mentioned sampling frequency is the frequency at which the data acquisition card acquires data points, and the above-mentioned initial frequency is determined according to the sampling frequency and the angular acceleration waveform.

[0038] In this embodiment, the above-mentioned curve ordinal:

[0039] Perform logarithmic fitting on the instantaneous frequency corresponding to the above curve ordinal segment to obtain the above logarithmic fitting function, and use the point with a slope of 0.0001 as the frequency flat point to calculate the function value corresponding to the above logarithmic fitting function, which is the measured frequency value obtained. 。

[0040] In this embodiment, the above 20 in is the number of cycles of the angular acceleration waveform.

[0041] In this embodiment, the inertia values of each standard inertia disk are calculated respectively by the above method corresponding measured frequency values 。

[0042] In other embodiments, the slope at the time of frequency flatness can be determined according to the curve characteristics of the logarithmic fitting function, and the above slope can also be determined according to the measurement accuracy.

[0043] It can be seen that the above method can effectively and accurately extract the frequency characteristics of the angular acceleration waveform through curve fitting.

[0044] In this embodiment, one implementation manner of step 142 is as follows: Step 172, perform mirror processing on the first shaped data segment to obtain a mirror data segment; Step 174, form a transformed data segment with the first shaped data segment and the mirror data segment; Step 176, perform Hilbert transform on the transformed data segment to obtain a phase data segment.

[0045] In this embodiment, mirror processing is performed on the first shaped data segment to obtain a mirror data segment, and the mirror data segment and the above first shaped data segment are combined to form a transformed data segment.

[0046] In this embodiment, Hilbert transform is performed on the above transformed data segment to obtain a phase data segment.

[0047] Through the above mirror processing method, the edge effect of the first shaped data segment can be effectively avoided, thereby effectively improving the waveform data quality of the phase data segment and effectively improving the accuracy of frequency characteristic extraction.

[0048] In this embodiment, the quantity containing the measured frequency value is used as the independent variable as:

[0049] Among them, are respectively the measured frequency values corresponding to multiple angular acceleration waveforms, is the number of angular acceleration waveforms, that is, the number of standard inertia disks.

[0050] In this embodiment, the above-mentioned quantity containing the measured frequency value is used as the independent variable, and is used as the dependent variable to perform linear fitting to obtain a linear function. The constant term of this linear function is the inertia value of the load shafting , and the coefficient of the first-order term of the above linear function is the stiffness value of the dynamic sensor .

[0051] In this embodiment, one implementation manner of step 108 is as follows: Step 182: Obtain the inertia value of the load shafting according to the constant term of the linear fitting function; Step 184: Obtain the stiffness value of the dynamic sensor according to the coefficient of the first-order term of the linear fitting function.

[0052] Specifically, the above method sequentially performs waveform data segment interception, waveform signal processing, curve fitting, and linear fitting based on the measured angular acceleration waveforms to obtain the inertia value of the above load shafting.

[0053] In this embodiment, after step 108, the following steps are further included: Step 192: Obtain the frequency results corresponding to each angular acceleration waveform by extracting frequency characteristics based on multiple angular acceleration waveforms; Step 194: Calculate the inertia of the transmission shafting according to the inertia value of the load shafting, the stiffness value of the dynamic sensor, and the inertia values of the standard inertia disks corresponding to multiple angular acceleration waveforms.

[0054] Specifically, intercept a partial data segment corresponding to the rising and continuous segments of the angular acceleration value in the above angular acceleration waveform. Please refer to Figure 3 the AB segment in. Perform upper and lower envelope extraction on this AB data segment (which can be divided into the third intercepted data segment), and calculate the average value of the upper and lower envelopes of this data segment. Subtract the above average value from the waveform data of the AB data segment to obtain the second shaped data segment, which is , where , is the length of the above second shaped data segment.

[0055] In this embodiment, perform windowed FFT calculation on the above second shaped data segment to obtain the frequency result , and calculate the frequency results for the angular acceleration waveforms corresponding to in sequence .

[0056] Calculate the inertia of the transmission shafting according to the above frequency results , that is:

[0057] Among them, .

[0058] Please refer to Figure 6 , Another embodiment of the present invention provides an inertia test system for a dynamic torque sensor calibration device, mainly including: An acquisition module 202, configured to acquire a plurality of angular acceleration waveforms, the angular acceleration waveforms are obtained by measuring with a dynamic torque sensor calibration device, and the plurality of angular acceleration waveforms respectively correspond to a plurality of different standard inertia disks; A processing module 204, configured to extract frequency characteristics according to the plurality of angular acceleration waveforms by means of signal processing, and correspondingly obtain a plurality of measured frequency values when the frequency is flat; A fitting module 206, configured to perform linear fitting with the quantity containing the measured frequency value as the independent variable and the inertia of the standard inertia disk corresponding to the plurality of angular acceleration waveforms as the dependent variable, to obtain a linear fitting function; An obtaining module 208, configured to obtain the inertia value of the load shafting according to the linear fitting function.

[0059] Specifically, the above method can calculate the inertia of the load shafting based on the waveform data of the dynamic sensor calibration test during the calibration process of the dynamic torque sensor, without the need for separate measurement, so as to compensate the measurement of the dynamic torque amplitude with the shafting inertia value. On the one hand, it can effectively improve the measurement accuracy of the dynamic torque sensor, and on the other hand, it can effectively save the calibration time of the dynamic torque sensor. It can be seen that the above method can provide a basis for the structural parameter identification of the dynamic torque sensor calibration device and the accurate measurement of the dynamic torque amplitude.

[0060] In this embodiment, the acquisition module 202 is configured to determine a plurality of standard inertia disks with different inertias; perform braking excitation under the conditions of a plurality of standard inertia disks with different inertias through the dynamic torque sensor calibration device to obtain output signals corresponding to the plurality of standard inertia disks with different inertias; synthesize angular vibration waveforms with the respective output signals; perform second-order differential calculation on the respective angular vibration waveforms to obtain the plurality of angular acceleration waveforms.

[0061] In this embodiment, the braking excitation method of the dynamic torque sensor is the sine method. The processing module 204 is configured to intercept the sine attenuation segment in the angular acceleration waveform to obtain a first intercepted data segment; filter the first intercepted data segment; select the continuous sine waveform of the filtered first intercepted data segment to obtain a second intercepted data segment, and the second intercepted data segment can reflect the frequency change trend of the angular acceleration waveform; calculate the upper and lower envelopes of the second intercepted data segment; shape the second intercepted data segment according to the upper and lower envelopes of the second intercepted data segment to obtain a first shaped data segment; extract frequency features according to the first shaped data segment, and correspondingly obtain the measured frequency value when the frequency is flat. According to the first shaped data segment, a phase data segment is obtained through the Hilbert transform method; according to the phase data segment, the instantaneous frequency corresponding to each data point is calculated, and each of the data points corresponds to the data point of the phase data segment; the instantaneous frequencies corresponding to multiple data points are fitted in the form of a logarithmic function to obtain a logarithmic fitting function; determine the slope corresponding to the logarithmic fitting function when the frequency is flat; determine the function value corresponding to the slope corresponding to the logarithmic fitting function when the frequency is flat, and the measured frequency value when the frequency is flat can be obtained. According to the sampling frequency and the initial frequency of the angular acceleration waveform, a curve ordinal segment is determined; logarithmic fitting is performed according to the curve ordinal segment and the instantaneous frequencies corresponding to the data points of the curve ordinal segment to obtain the logarithmic fitting function. The first shaped data segment is subjected to mirror processing to obtain a mirror data segment; the first shaped data segment and the mirror data segment form a transformed data segment; the transformed data segment is subjected to Hilbert transform to obtain a phase data segment. It can be seen that through the above mirror processing method, the edge effect of the first shaped data segment can be effectively avoided, thereby effectively improving the waveform data quality of the phase data segment and effectively improving the accuracy of frequency feature extraction.

[0062] In this embodiment, the obtaining module 208 is configured to obtain the inertia value of the load shafting according to the constant term of the linear fitting function; obtain the stiffness value of the dynamic sensor according to the first-order coefficient of the linear fitting function. According to multiple angular acceleration waveforms, by extracting frequency features, the frequency results corresponding to each angular acceleration waveform are obtained; according to the inertia value of the load shafting, the stiffness value of the dynamic sensor, and the inertia of the standard inertia disc corresponding to multiple angular acceleration waveforms, the inertia of the transmission shafting is calculated. Specifically, the above method sequentially performs waveform data segment interception, waveform signal processing, curve fitting, and linear fitting based on the measured angular acceleration waveform to obtain the inertia value of the load shafting.

[0063] Another embodiment of the present invention further provides a computer-readable storage medium. The computer-readable storage medium stores one or more programs. When the one or more programs are executed by an electronic device including a plurality of application programs, the electronic device is caused to execute Figure 2 the inertia test method of the dynamic torque sensor calibration device provided by the corresponding embodiment.

[0064] Each embodiment of the present invention is described in a progressive manner. The same or similar parts among the embodiments can be referred to each other, and the differences between each embodiment and other embodiments are emphasized. In particular, for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiment.

[0065] The specific embodiments of the present invention are described above. Other embodiments are within the scope of the appended claims. In some cases, the actions or steps recited in the claims can be performed in a different order than in the embodiments and still achieve the desired result. Additionally, the processes depicted in the figures do not necessarily require the particular order or sequential order shown to achieve the desired result. In certain embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0066] Those skilled in the art will understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0067] The present invention is described with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and computer program products according to embodiments of the present invention. It should be understood that each flow and / or block in the flowcharts and / or block diagrams, as well as the combination of flows and / or blocks in the flowcharts and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, such that the instructions executed by the processor of the computer or other programmable data processing device generate means for implementing the functions specified in Figure 1 one flow or multiple flows and / or blocks Figure 1 the blocks.

[0068] These computer program instructions can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including an instruction device that implements the functions specified in the process Figure 1 step or steps and / or block Figure 1 or blocks specified in the process.

[0069] These computer program instructions can also be loaded onto a computer or other programmable data processing device, such that a series of operational steps are performed on the computer or other programmable device to produce a computer-implemented process, thereby providing steps for implementing the functions specified in the process Figure 1 step or steps and / or block Figure 1 or blocks specified in the process.

[0070] In a typical configuration, a computing device includes one or more processors (CPUs), an input / output interface, a network interface, and memory.

[0071] The memory may include non-permanent memory in the form of computer-readable media, random access memory (RAM), and / or non-volatile memory such as read-only memory (ROM) or flash RAM. The memory is an example of computer-readable media.

[0072] The above are only examples of the embodiments of the present application and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and changes. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included within the scope of the claims of the present invention.

Claims

1. An inertia testing method for a dynamic torque sensor calibration device, which is used to measure the inertia of the dynamic torque sensor calibration device, is characterized in that Including: Obtain multiple angular acceleration waveforms, which are measured by a dynamic torque sensor calibration device, and the multiple angular acceleration waveforms respectively correspond to multiple different standard inertia discs; Through signal processing, according to the multiple angular acceleration waveforms, extract frequency characteristics, and correspondingly obtain multiple frequency measurement values when the frequency is flat; Using the quantity containing the frequency measurement values as the independent variable and the inertia of the standard inertia discs corresponding to the multiple angular acceleration waveforms as the dependent variable, perform linear fitting to obtain a linear fitting function; According to the linear fitting function, obtain the inertia value of the load shafting.

2. The inertia test method of the dynamic torque sensor calibration device according to claim 1, characterized in that The obtaining of the multiple angular acceleration waveforms includes: Determine multiple standard inertia discs with different inertias; Perform braking excitation through the dynamic torque sensor calibration device under the conditions of multiple standard inertia discs with different inertias to obtain output signals corresponding to the multiple standard inertia discs with different inertias; Synthesize angular vibration waveforms with each of the output signals respectively; Perform second-order differential calculation on each of the angular vibration waveforms to obtain the multiple angular acceleration waveforms.

3. The inertia test method of the dynamic torque sensor calibration device according to claim 1, characterized in that The excitation method of the dynamic torque sensor is the braking sine method. The extracting of frequency characteristics according to the multiple angular acceleration waveforms through signal processing and correspondingly obtaining multiple frequency measurement values when the frequency is flat includes: Intercept the sine decay segment in the angular acceleration waveform to obtain a first intercepted data segment; Filter the first intercepted data segment; Select the continuous sine waveform of the filtered first intercepted data segment to obtain a second intercepted data segment, and the second intercepted data segment can reflect the frequency change trend of the angular acceleration waveform; Calculate the upper and lower envelopes of the second intercepted data segment; According to the upper and lower envelopes of the second intercepted data segment, shape the second intercepted data segment to obtain a first shaped data segment; According to the first shaped data segment, extract frequency characteristics and correspondingly obtain the frequency measurement values when the frequency is flat.

4. The inertia test method of the dynamic torque sensor calibration device according to claim 3, characterized in that The extracting of frequency characteristics according to the first shaped data segment and correspondingly obtaining the frequency measurement values when the frequency is flat includes: According to the first shaped data segment, obtain a phase data segment through Hilbert transform; According to the phase data segment, calculate the instantaneous frequency corresponding to each data point, and each data point corresponds to the data point of the phase data segment; Fit the instantaneous frequencies corresponding to the multiple data points in the form of a logarithmic function to obtain a logarithmic fitting function; Determine the slope corresponding to the logarithmic fitting function when the frequency is flat; Determine the function value corresponding to the slope corresponding to the logarithmic fitting function when the frequency is flat, and the frequency measurement value when the frequency is flat can be obtained.

5. The inertia test method of the dynamic torque sensor calibration device according to claim 4, characterized in that The fitting of the instantaneous frequencies corresponding to the multiple data points in the form of a logarithmic function to obtain a logarithmic fitting function includes: According to the sampling frequency and initial frequency of the angular acceleration waveform, determine a curve ordinal segment; Perform logarithmic fitting according to the curve ordinal segment and the instantaneous frequencies corresponding to the data points of the curve ordinal segment to obtain the logarithmic fitting function.

6. The inertia test method of the dynamic torque sensor calibration device according to claim 4, characterized in that The obtaining of a phase data segment through Hilbert transform according to the first shaped data segment includes: Mirror process the first shaped data segment to obtain a mirrored data segment; Use the first shaped data segment and the mirrored data segment to form a transformed data segment; Perform a Hilbert transform on the transformed data segment to obtain a phase data segment.

7. The inertia test method of the dynamic torque sensor calibration device according to any one of claims 1-6, characterized in that, The quantity containing the measured frequency value is used as the independent variable as follows: ; wherein, are respectively the measured frequency values corresponding to the multiple angular acceleration waveforms, is the number of standard inertia disks.

8. The inertia testing method of the dynamic torque sensor calibration device according to claim 1, wherein The obtaining the inertia value of the load shafting according to the linear fitting function includes: Obtain the inertia value of the load shafting according to the constant term of the linear fitting function; Obtain the stiffness value of the dynamic sensor according to the coefficient of the first-order term of the linear fitting function.

9. The inertia testing method of the dynamic torque sensor calibration device according to claim 8, characterized in that After obtaining the inertia value of the load shafting according to the linear fitting function, it further includes: According to the multiple angular acceleration waveforms, obtain the frequency results corresponding to each angular acceleration waveform by extracting frequency characteristics; Calculate the inertia of the drive shafting according to the inertia value of the load shafting, the stiffness value of the dynamic sensor, and the inertia of the standard inertia disks corresponding to the multiple angular acceleration waveforms.

10. An inertia test system for a dynamic torque sensor calibration device, characterized in that, It includes: An acquisition module for acquiring multiple angular acceleration waveforms, which are measured by a dynamic torque sensor calibration device, and the multiple angular acceleration waveforms respectively correspond to multiple different standard inertia disks; A processing module for extracting frequency characteristics according to the multiple angular acceleration waveforms by means of signal processing, and correspondingly obtaining multiple frequency measurement values when the frequency is flat; A fitting module for performing linear fitting with the quantity containing the frequency measurement values as the independent variable and the inertia of the standard inertia disks corresponding to the multiple angular acceleration waveforms as the dependent variable to obtain a linear fitting function; An obtaining module for obtaining the inertia value of the load shafting according to the linear fitting function.

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