A torque and speed sensor multi-parameter synchronous calibration device and method

Abstract

The present invention discloses a multi-parameter synchronous calibration device and method for a torque and speed sensor. The device includes a drive motor, a multi-dimensional force sensor group, a tachometer, a first flexible coupling, a multi-degree-of-freedom translation platform, a second flexible coupling, and a simulated load. The simulated load is used to generate a torque load. The speed of the drive motor measured by the tachometer is used as a standard value and compared with the speed value output by the measured torque and speed sensor to achieve speed calibration. The multi-dimensional force sensor group measures the static torque of the drive motor stator. The static torque measured by the multi-dimensional force sensor group is used as a standard value and compared with the torque value output by the measured sensor to achieve torque calibration. The multi-degree-of-freedom translation platform can adjust the spatial position of the measured sensor according to the output of the multi-dimensional force sensor group to achieve adjustment for poor dynamic balance and poor installation posture. The present invention can achieve high-precision synchronous calibration of the torque and speed parameters of the torque and speed sensor.

Description

Technical Field

[0001] The present invention belongs to the technical field of torque and speed calibration, and in particular relates to a device and method for synchronously calibrating multiple parameters of a torque and speed sensor. Background Art

[0002] Torque-speed sensors are used for the simultaneous measurement of torque and speed, and can directly output power parameters. They are widely used in fields such as motor experiments and power testing. In the synchronous calibration of torque and torque parameters of torque-speed sensors, existing technologies use simulated loads or standard torque-speed sensors to generate standard torque values. However, when using simulated loads, the simulated loads need to generate highly accurate torque, which has poor measurability, high cost, and high design difficulty. When using standard torque-speed sensors to generate standard torque values, the traceability problem of the standard torque sensor cannot be solved. That is, the torque index of the standard torque-speed sensor is measured by a static torque machine, and there is no way to guarantee the accuracy of the sensor output in the rotating state, resulting in the problem of static calibration. Furthermore, the calibration devices of existing technologies can only measure dynamic balance by attaching dynamic balancing test equipment, which places high demands on the operator's quality and test equipment. These devices are also unable to eliminate the problem of shaft system vibration introduced by different shafts due to factors such as installation and clamping, resulting in the inability to achieve high-precision calibration of the torque-speed sensor. Summary of the Invention

[0003] The purpose of the present invention is to address the problems existing in the prior art and to provide a device and method for synchronously calibrating multiple parameters of a torque and speed sensor, which can achieve high-precision synchronous calibration of the torque and speed parameters of the torque and speed sensor.

[0004] One aspect of the present invention provides a multi-parameter synchronous calibration device for a torque and speed sensor, comprising a drive motor, a multi-dimensional force sensor group, a tachometer, a first flexible coupling, a multi-degree-of-freedom translation stage, a second flexible coupling, and a simulated load.

[0005] The measured torque and speed sensor is connected to the output shaft of the drive motor through a first flexible coupling and is connected to a simulated load through a second flexible coupling. The drive motor is used to drive the measured torque and speed sensor to rotate through the first flexible coupling, applying a speed parameter to the measured torque and speed sensor. The tachometer is used to measure the speed of the drive motor. The speed measured by the tachometer is used as a standard value and compared with the speed value output by the measured torque and speed sensor to achieve calibration of the speed value of the measured torque and speed sensor.

[0006] The simulated load is used to generate a torque load, which is transmitted to the measured torque and speed sensor through the second flexible coupling, applying a torque parameter to the measured torque and speed sensor. The measured torque and speed sensor transmits the torque load to the rotor of the drive motor through the first flexible coupling, and the drive motor converts the torque load into a static torque. The multi-dimensional force sensor group is fixedly connected to the stator of the drive motor and is used to measure the static torque of the stator. The static torque measured by the multi-dimensional force sensor group is used as a standard value and compared with the torque value output by the measured torque and speed sensor to achieve calibration of the torque value of the measured torque and speed sensor.

[0007] The measured torque and speed sensor is placed on a multi-degree-of-freedom translation platform. The multi-degree-of-freedom translation platform can adjust the spatial position of the measured torque and speed sensor according to the output of the multi-dimensional force sensor group, thereby adjusting the poor dynamic balance state and poor installation posture.

[0008] Another aspect of the present invention provides a method for synchronously calibrating multiple parameters of a torque and speed sensor, which utilizes the above-mentioned device to calibrate the torque and speed parameters of the torque and speed sensor, comprising:

[0009] The torque and speed sensor to be measured is connected to the output shaft of the driving motor through a first flexible coupling, and is connected to the simulated load through a second flexible coupling;

[0010] The driving motor drives the measured torque and speed sensor to rotate through the first flexible coupling, and the speed measured by the tachometer is used as a standard value, which is compared with the speed value output by the measured torque and speed sensor to achieve calibration of the speed value of the measured torque and speed sensor;

[0011] The simulated load generates a torque load, which is transmitted to the measured torque and speed sensor through the second flexible coupling. The static torque measured by the multi-dimensional force sensor group is used as the standard value and compared with the torque value output by the measured torque and speed sensor to achieve calibration of the torque value of the measured torque and speed sensor.

[0012] The apparatus and method for synchronously calibrating multiple parameters of a torque and speed sensor according to the above aspects of the present invention can achieve high-precision synchronous calibration of the torque and speed parameters of the torque and speed sensor. BRIEF DESCRIPTION OF THE DRAWINGS

[0013] In order to more clearly illustrate the technical solutions of the present invention, the following briefly introduces the drawings used in the description of the embodiments of the present invention. Obviously, the drawings described below are only some embodiments of the present invention. Those skilled in the art can also derive other drawings based on these drawings without inventive efforts.

[0014] Figure 12 is a schematic structural diagram of a multi-parameter synchronous calibration device for a torque and speed sensor according to an embodiment of the present invention;

[0015] Figure 2 1 is a schematic structural diagram of a multi-degree-of-freedom translation platform according to an embodiment of the present invention;

[0016] Figure 3 FIG. 1 is a schematic diagram of the layout of a multi-dimensional force sensor group according to an embodiment of the present invention. DETAILED DESCRIPTION

[0017] To make the objectives, technical solutions, and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the embodiments described are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts shall fall within the scope of protection of the present invention.

[0018] One embodiment of the present invention provides a multi-parameter synchronous calibration device for a torque and speed sensor, such as Figure 1 As shown, the multi-parameter synchronous calibration device of the torque and speed sensor of an embodiment of the present invention includes a drive motor 1, a multi-dimensional force sensor group 2, a tachometer 3, a first flexible coupling 4, a multi-degree-of-freedom translation table 6, a second flexible coupling 7, and a simulated load 8. In the figure, 5 represents the torque and speed sensor to be measured.

[0019] Measured torque and speed sensor 5 is connected to the output shaft of drive motor 1 via first flexible coupling 4 and to dummy load 8 via second flexible coupling 7. Drive motor 1 is used to rotate measured torque and speed sensor 5 via first flexible coupling 4, applying a speed parameter to measured torque and speed sensor 5. Tachometer 3 is used to measure the speed of drive motor 1. The speed measured by tachometer 3 is used as a standard value and compared with the speed value output by measured torque and speed sensor 5 to calibrate the speed value of measured torque and speed sensor 5. Using tachometer 3 for speed measurement can effectively improve speed measurement accuracy.

[0020] The simulated load 8 is used to generate a torque load, which is transmitted to the measured torque and speed sensor 5 through the second flexible coupling 7, and a torque parameter is applied to the measured torque and speed sensor 5. The measured torque and speed sensor 5 transmits the torque load to the rotor of the drive motor 1 through the first flexible coupling 4, and the drive motor 1 converts the torque load into a static torque. The multi-dimensional force sensor group 2 is fixedly connected to the stator of the drive motor 1 and is used to measure the static torque of the stator. The static torque measured by the multi-dimensional force sensor group 2 is used as a standard value and compared with the torque value output by the measured torque and speed sensor 5 to realize calibration of the torque value of the measured torque and speed sensor 5.

[0021] The torque and speed sensor 5 under test is placed on a multi-degree-of-freedom translation platform 6, which has the ability to generate six degrees of freedom in space. Based on the multi-dimensional force load output by the multi-dimensional force sensor group 2, it can adjust the spatial position of the torque and speed sensor under test, achieving precise adjustment for poor dynamic balance, misalignment, and other installation issues. This allows the multi-dimensional force sensor group 2 to adjust the dynamic balance of the shaft system and compensate for and eliminate non-axial vibration, thereby improving experimental efficiency, reducing test risks, and enhancing the accuracy of the multi-parameter synchronous calibration of the torque and speed sensors.

[0022] Since the present invention does not use a simulated load end to measure torque, the simulated load 8 can be selected from various forms such as a pumping type simulated load, a clutch type simulated load, etc. Regardless of the form, whether a cooling mechanism is provided, and what form of contact with the outside world occurs, it does not affect the calibration of the torque and speed sensor.

[0023] In one embodiment, Figure 2 As shown, the multi-degree-of-freedom translation platform 6 has a two-layer structure, including an upper plate 6-1, a lower plate 6-5, a fixed block 6-2, a horizontal displacement generating system 6-3, and a vertical displacement generating system 6-4. It can achieve motion in the X, Y, and Z axes in space, as well as rotational motion around these three axes. When the multi-dimensional force sensor group 2 generates a load-bearing additional vibration output, the horizontal and vertical displacements between the upper plate 6-1 and the lower plate 6-5 can adjust the position of the sensor under test until the load-bearing additional vibration output is zero, eliminating the impact on torque measurement.

[0024] The multi-parameter synchronous calibration device of the torque and speed sensor in an embodiment of the present invention may also include a support mechanism 9 and a base 10, the support mechanism 9 is used to support the simulated load 8, and the multi-degree-of-freedom translation platform 6, the multi-dimensional force sensor group 2, the tachometer 3 and the support mechanism 9 are arranged on the base 10.

[0025] An embodiment of the present invention further provides a method for synchronously calibrating multiple parameters of a torque and speed sensor, which utilizes the apparatus for synchronously calibrating multiple parameters of a torque and speed sensor according to the above embodiment of the present invention to calibrate the torque and speed parameters of the torque and speed sensor, including the following steps S1 to S3.

[0026] In step S1 , the torque and speed sensor 5 to be measured is connected to the output shaft of the drive motor 1 and the dummy load 8 through the first flexible coupling 4 and the second flexible coupling 7 , respectively.

[0027] In step S2 , the driving motor 1 is turned on to drive the measured torque and speed sensor 5 to rotate via the first flexible coupling 4 , thereby applying a speed parameter to the measured torque and speed sensor 5 .

[0028] The direction of speed transmission is: driving motor 1 to generate speed n , the first flexible coupling 4 drives the measured torque speed sensor 5 to generate a speed n 1. The measured torque and speed sensor 5 transmits the speed to the simulated load 8 through the second flexible coupling 7. The shaft system of the simulated load 8 rotates at a speed of n 2. The tachometer 3 measures the speed of the drive motor 1 by non-contact measurement, and the output is n 3. Since the above speeds are all transmitted through the shaft system, the speeds of all components are equal.

[0029]

[0030] Speed ​​measured by tachometer 3 n 3 is a standard value, which is compared with the output speed of the torque and speed sensor 5 to calibrate the speed value of the torque and speed sensor 5.

[0031] In step S3, the simulated load 8 generates a torque load. When the simulated load 8 rotates, it applies a braking load to its internal shaft system through electromagnetic force, friction force or other forms. At this time, the internal shaft system will be subjected to a torque load in the rotating state. T The load is transmitted to the measured torque and speed sensor 5 through the second flexible coupling 7. The torque load on the measured torque and speed sensor 5 is T 1, the measured torque and speed sensor 5 transmits the torque load to the drive motor 1 through the first flexible coupling 4. The torque load on the drive motor rotor shaft is T 2. The torque load on the stator shaft of the drive motor is T 3. The driving motor stator is fixed on the multi-dimensional force sensor group 2 and the multi-dimensional force sensor group 2 provides a counterforce to balance the torque load on the driving motor stator shaft system. The torque load is T 4.

[0032] Since the simulated load 8, the drive motor 1, the second flexible coupling 7, the measured torque and speed sensor 5, and the first flexible coupling 4 are connected through a shaft system, the torques of the components are equal, and thus:

[0033]

[0034] The torque on the rotor of the driving motor 1 during rotation T 2. The load is applied to the stator of the drive motor 1 through the electromagnetic force inside the drive motor. The stator does not rotate and the torque is converted into static torque through the electromagnetic force. T 3. The loads on the rotor and stator are equal, and they are:

[0035]

[0036] The stator of the drive motor 1 is fixed on the multi-dimensional force sensor group 2. All the loads on the drive motor are transferred to the multi-dimensional force sensor group 2.

[0037]

[0038] The system converts rotational torque into static torque, and uses the torque measured by the multi-dimensional force sensor group 2 as a standard value, which is compared with the torque value output by the measured torque and speed sensor 5 to complete the calibration of the torque value of the measured torque and speed sensor 5.

[0039] The multi-dimensional force sensor group 2 can be selected from a variety of forms such as one six-dimensional force sensor, two six-dimensional force sensors, three three-dimensional force sensors, four three-dimensional force sensors, and six three-dimensional force sensors. Figure 3 , the torque value measurement method of the multi-dimensional force sensor group 2 is described based on the case of using four three-dimensional force sensors.

[0040] Four three-dimensional force sensors 2-1, 2-2, 2-3, and 2-4 are arranged between the drive motor 1 and the base 10. Each three-dimensional force sensor can output force loads in the X, Y, and Z directions. Each sensor takes the direction perpendicular to the base 10 and pointing to the base as the positive direction of the Z axis, and the direction parallel to the axis of the measured torque and speed sensor 5 and pointing to the measured torque and speed sensor 5 as the positive direction of the X axis. A coordinate system is established according to the right-hand rule and the positive direction of the Y axis is defined. The spacing between the sensors in the Y and X axis directions is respectively l 1 and l 2. When the stator of the driving motor 1 is subjected to the torque transmitted by the rotor of the driving motor 1, the torque is applied to the four three-dimensional force sensors. The outputs of the four three-dimensional force sensors 2-1, 2-2, 2-3, and 2-4 in the Z-axis direction are respectively 、 、 、 , the torque value of the stator of the drive motor 1 can be calculated as:

[0041]

[0042] According to the shaft system torque balance principle, the standard torque applied to the measured torque and speed sensor 5 can be obtained, thereby completing the calibration of the measured torque and speed sensor 5.

[0043] In order to adjust the poor dynamic balance state and poor installation posture and improve the calibration accuracy, the multi-parameter synchronous calibration method of the torque and speed sensor in the embodiment of the present invention can also include adjustment for poor dynamic balance state and poor installation posture.

[0044] Assume that the outputs of the four three-dimensional force sensors 2-1, 2-2, 2-3, and 2-4 in the X-axis direction are 、 、 、 The outputs of the four three-dimensional force sensors 2-1, 2-2, 2-3, and 2-4 in the Y-axis direction are 、 、 、 When the calibration status is that the measured torque and speed sensor 5 is in a good dynamic balance state and the shaft system is in a good installation state, the Z-axis output state of the multi-dimensional force sensor group 2 is:

[0045]

[0046] The X-axis output status of multi-dimensional force sensor group 2 is:

[0047]

[0048] The Y-axis output status of the multi-dimensional force sensor group 2 is:

[0049]

[0050] When the dynamic balance state of the measured torque and speed sensor 5 is poor, the output states of the four sensors in the multi-dimensional force sensor group 2 in the Z-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curve are equal in size and opposite in direction. The output states of the four sensors in the Y-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curve are equal in size and opposite in direction. The output states of the four sensors in the X-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curve are equal in size and opposite in direction. The dynamic balance state can be monitored by this criterion. When the dynamic balance state is poor, the dynamic balance state of the measured torque and speed sensor 5 can be adjusted to a good state by adjusting the dynamic balance state through counterweights, using the multi-degree-of-freedom displacement platform 6 for posture adjustment, etc. After each adjustment, the multi-dimensional force sensor group 2 can be used to monitor the adjustment effect, and adjustments can be made multiple times until the calibration requirements are met.

[0051] When the shaft system is in a bad installation state, the output states of the four sensors in the multi-dimensional force sensor group 2 in the Z-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curves are not equal. The output states of the four sensors in the Y-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curves are not equal. The output states of the four sensors in the X-axis direction are respectively a group of sinusoidal curves, and the peak-to-peak value and the peak-to-valley value of the curves are not equal. The monitoring of the installation state can be achieved through this criterion. When the installation state is bad, the installation state of the measured torque and speed sensor 5 can be adjusted by adjusting the posture using the multi-degree-of-freedom displacement platform 6. The adjustment method is as follows: when the output in the X-axis and Y-axis directions is large, it is necessary to judge the main problem of the installation state based on the output phase, and stop the rotation of the drive motor 1 to disassemble and adjust the coupling and the measured sensor. When the directional output is not large, a signal for a micro-displacement in the X+ direction is sent to the multi-degree-of-freedom translation stage 6, causing the multi-degree-of-freedom translation stage 6 to drive the measured torque and speed sensor 5 to displace in the X+ direction. If the output in the X and Y axes decreases, the movement is continued until the output in the X and Y axes shows an increasing trend. If the output in the X and Y axes increases, a signal for a micro-displacement in the X- direction is sent to the multi-degree-of-freedom translation stage 6, causing the multi-degree-of-freedom translation stage 6 to drive the measured torque and speed sensor 5 to displace in the X- direction. If the output in the X and Y axes decreases, the movement is continued until the output in the X and Y axes shows an increasing trend. If the output in the X and Y axes shows an increasing trend regardless of whether the multi-degree-of-freedom translation stage 6 drives the measured torque and speed sensor 5 to displace in the X+ or X- direction, the multi-degree-of-freedom translation stage 6 is not used to drive the measured torque and speed sensor 5 to displace in the X- direction, and the Y and Z axes and the direction of rotation along the X, Y, and Z axes are tested and adjusted using the same method until the output in the X and Y axes decreases to a level that has no effect on the calibration results in the installed state (meeting the calibration requirements).

[0052] The high-precision torque and speed sensor multi-parameter synchronous calibration device according to the embodiment of the present invention has the following beneficial effects:

[0053] 1. Use a multi-dimensional force sensor group to measure the torque of the torque and speed sensor in the rotating state, converting the torque measurement problem in the rotating state into a static force measurement problem. The load reproduced by the simulated load is not used as the standard torque value. This can effectively solve the problem of inaccurate torque measurement caused by insufficient torque accuracy of the simulated load. At the same time, it can significantly reduce the difficulty of designing, processing, manufacturing, and debugging the simulated load. There are no requirements for the generation principle of the simulated load. In addition, a cooling mechanism can be installed at the simulated load end, without worrying about the influence of cooling, supporting and other mechanisms installed on the simulated load on the torque generation accuracy.

[0054] 2. The loads in other directions besides torque measured during the calibration of the torque and speed sensors can be used for dynamic balance adjustment without the need for additional dynamic balance test equipment.

[0055] 3. The multi-dimensional force sensor group is used to measure the loads in other directions besides torque during the calibration process of the torque and speed sensor. This can be used to control the multi-degree-of-freedom translation stage to adjust the posture of the test piece during the calibration process, eliminate the vibration problem of the test piece introduced by different axes due to factors such as dynamic balancing, installation, and clamping, and improve the measurement accuracy.

[0056] The above description is merely illustrative of certain exemplary embodiments of the present invention. It goes without saying that those skilled in the art will be able to modify the described embodiments in various ways without departing from the spirit and scope of the present invention. Therefore, the above drawings and description are illustrative in nature and should not be construed as limiting the scope of protection of the claims.

Claims

1. A torque and speed sensor multi-parameter synchronous calibration device, characterized in that: It includes a driving motor, a multi-dimensional force sensor group, a tachometer, a first flexible coupling, a multi-degree-of-freedom translation table, a second flexible coupling and a simulated load. The measured torque and speed sensor is connected to the output shaft of the drive motor through a first flexible coupling and is connected to a simulated load through a second flexible coupling. The drive motor is used to drive the measured torque and speed sensor to rotate through the first flexible coupling, applying a speed parameter to the measured torque and speed sensor. The tachometer is used to measure the speed of the drive motor. The speed measured by the tachometer is used as a standard value and compared with the speed value output by the measured torque and speed sensor to achieve calibration of the speed value of the measured torque and speed sensor. The simulated load is used to generate a torque load, which is transmitted to the measured torque and speed sensor through the second flexible coupling, applying a torque parameter to the measured torque and speed sensor. The measured torque and speed sensor transmits the torque load to the rotor of the drive motor through the first flexible coupling, and the drive motor converts the torque load into a static torque. The multi-dimensional force sensor group is fixedly connected to the stator of the drive motor and is used to measure the static torque of the stator. The static torque measured by the multi-dimensional force sensor group is used as a standard value and compared with the torque value output by the measured torque and speed sensor to achieve calibration of the torque value of the measured torque and speed sensor. The torque and speed sensor to be measured is placed on a multi-degree-of-freedom translation platform. The multi-degree-of-freedom translation platform can adjust the spatial position of the torque and speed sensor to be measured according to the multi-dimensional force load output by the multi-dimensional force sensor group, thereby achieving adjustment for poor dynamic balance and poor installation posture. The multi-degree-of-freedom translation platform includes an upper plate, a lower plate, and a horizontal displacement generating system and a vertical displacement generating system arranged between the upper plate and the lower plate. It can realize movement in the X, Y, and Z axes and rotational movement around the three axes, thereby adjusting the spatial position of the torque and speed sensor being measured.

2. The device according to claim 1, wherein It also includes a supporting mechanism and a base. The supporting mechanism is used to support the simulated load. The multi-degree-of-freedom displacement table, the multi-dimensional force sensor group, the tachometer and the supporting mechanism are arranged on the base.

3. A method for synchronously calibrating multiple parameters of a torque and speed sensor, characterized in that: Calibration of torque and speed parameters of a torque and speed sensor using the device according to claim 1 or 2 comprises: The torque and speed sensor to be measured is connected to the output shaft of the driving motor through a first flexible coupling, and is connected to the simulated load through a second flexible coupling; The driving motor drives the measured torque and speed sensor to rotate through the first flexible coupling, and the speed measured by the tachometer is used as a standard value, which is compared with the speed value output by the measured torque and speed sensor to achieve calibration of the speed value of the measured torque and speed sensor; The simulated load generates a torque load, which is transmitted to the measured torque and speed sensor through the second flexible coupling. The static torque measured by the multi-dimensional force sensor group is used as the standard value and compared with the torque value output by the measured torque and speed sensor to achieve calibration of the torque value of the measured torque and speed sensor.

4. The method according to claim 3, wherein Also includes: When the dynamic balance state is judged to be poor, the spatial posture of the torque and speed sensor under test is adjusted using a multi-degree-of-freedom translation platform to adjust the dynamic balance state to a good state. After each adjustment, the adjustment effect is monitored using a multi-dimensional force sensor group, and adjustments are made multiple times until the calibration requirements are met.

5. The method according to claim 4, wherein Four three-dimensional force sensors are used as a multi-dimensional force sensor group. When the output states of the four three-dimensional force sensors in the X, Y or Z axis directions are respectively a set of sinusoidal curves and the peak-to-peak value and the peak-to-valley value of the curve are equal in magnitude and opposite in direction, it is judged that the dynamic balance state is poor.

6. The method according to any one of claims 3 to 5, wherein: Four three-dimensional force sensors are used as a multi-dimensional force sensor group, and the method further includes: When the installation state is judged to be poor, the multi-degree-of-freedom translation stage drives the torque and speed sensor to be measured to move in a direction that causes the output of the four three-dimensional force sensors in the X, Y or Z axis direction to first decrease and then increase until the calibration requirements are met.

7. The method according to claim 6, wherein When the output states of the four three-dimensional force sensors in the X, Y or Z axis directions are respectively a set of sinusoidal curves and the peak-to-peak value and the peak-to-valley value of the curves are not equal, it is determined that the installation state is poor.

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