Brake excitation torque measurement and control method

Abstract

The invention discloses a brake excitation torque measurement and control method, and relates to the field of dynamic torque calibration. Comprising the steps that a braking torque loading curve of the braking type sine method dynamic torque calibration device is subjected to normalization processing and then fitted, and a braking excitation fitting function is obtained; modeling a mechanical main body of the braking type sine method dynamic torque calibration device, substituting a braking excitation fitting function into the model, and calculating displacement response functions of inertia I1 and inertia I2; subtracting the displacement response functions of the inertia I1 and the inertia I2 to obtain a third displacement response function, and taking a maximum value and a time sequence point corresponding to the maximum value; performing derivation and simulation on the displacement response function of the inertia I2 to obtain an angular velocity simulation curve of the inertia I2; calculating a rotating speed set value of the servo driving system and a braking torque set value of the magnetic powder brake; and brake torque excitation is carried out on the calibrated dynamic torque sensor. The method is used for achieving accurate loading control over the braking type sine method dynamic torque calibration device.

Description

Technical Field

[0001] This application relates to the technical fields of dynamic torque calibration, braking torque loading, and electromagnetic clutch testing, and particularly relates to a method for measuring and controlling braking excitation torque. Background Art

[0002] A braking sine method dynamic torque sensor calibration device is a device that uses braking to generate excitation torque and realizes the calibration of a dynamic torque sensor through the measurement of inertia and angular acceleration. During the calibration process of the dynamic torque sensor, the amplitude of the dynamic torque excitation needs to be output according to a set value.

[0003] Currently, effective excitation data is obtained by relying on multiple tests. This method has low efficiency and is prone to causing overload of the torque sensor to be calibrated. Therefore, accurately controlling the braking excitation torque is the key to the effective operation of the braking sine method dynamic torque calibration device. Summary of the Invention

[0004] The purpose of this application is to provide a method for measuring and controlling braking excitation torque to solve the problem of accurate loading control of a braking sine method dynamic torque calibration device.

[0005] To achieve the above purpose, this application adopts the following technical solutions: On the one hand, this application provides a method for measuring and controlling braking excitation torque, including: S1. Normalize the braking torque loading curve of the braking sine method dynamic torque calibration device and use the least squares method for fitting to obtain a braking excitation fitting function; S2. Model the mechanical main body of the braking sine method dynamic torque calibration device and substitute the braking excitation fitting function into the model to calculate the displacement response functions of inertia I 1 and inertia I 2; where inertia I 1 is used to describe the sum of the inertia of the standard inertia disc, air bearing rotating shaft, upper coupler, and circular grating and the equivalent inertia at the upper end of the torque sensor to be calibrated, and inertia I 2 is used to describe the sum of the inertia of the lower coupler, magnetic powder brake rotating shaft, and electromagnetic clutch excitation part and the equivalent inertia at the lower end of the torque sensor to be calibrated; S3. Subtract the displacement response functions of inertia I 1 and inertia I 2 to obtain a third displacement response function, and take the maximum value in the third displacement response function and its corresponding time series points; S4. Differentiate and simulate the displacement response function of inertia I 2 to obtain the angular velocity simulation curve of inertia I 2; S5. According to the inertiaI The angular velocity simulation curve of 2, the maximum value in the third displacement response function, and the corresponding time series points are used to calculate the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake. S6. According to the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake, a braking torque excitation is applied to the dynamic torque sensor to be calibrated.

[0006] On the other hand, the present application also provides a braking excitation torque measurement and control device, including: A function fitting module, which is used to normalize the braking torque loading curve of the braking sinusoidal method dynamic torque calibration device and perform fitting using the least squares method to obtain a braking excitation fitting function; A displacement calculation module, which is used to model the mechanical main body of the braking sinusoidal method dynamic torque calibration device and substitute the braking excitation fitting function into the model to calculate the inertia I 1 and the inertia I 2 displacement response functions; where the inertia I 1 is used to describe the sum of the inertia of the standard inertia disk, the air-bearing rotating shaft, the upper coupler, and the circular grating and the equivalent inertia at the upper end of the dynamic torque sensor to be calibrated, and the inertia I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake rotating shaft, and the electromagnetic clutch excitation part and the equivalent inertia at the lower end of the dynamic torque sensor to be calibrated; An extreme value selection module, which is used to subtract the displacement response functions of the inertia I 1 and the inertia I 2 to obtain a third displacement response function, and take the maximum value in the third displacement response function and the corresponding time series points; An angular velocity simulation module, which is used to simulate the derivative of the displacement response function of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2; A setting value calculation module, which is used to calculate the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake according to the angular velocity simulation curve of the inertia I 2, the maximum value in the third displacement response function, and the corresponding time series points; A torque excitation module, which is used to apply a braking torque excitation to the dynamic torque sensor to be calibrated according to the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0007] Based on the above technical solutions, the present application can achieve the following technical effects: Through the measurement of the torque loading curve, the braking torque excitation characteristics of the calibration device for the braking sinusoidal method dynamic torque sensor can be obtained. Each time the dynamic torque sensor is calibrated, the calibration device is modeled and numerically analyzed and calculated. For different stiffnesses of the torque sensors to be calibrated and the standard inertia disks installed, the rotational speed values that should be set for the servo drive system of the calibration device and the braking torque values that should be set for the magnetic powder brake are obtained. During the calibration of the dynamic torque sensor, the system is set according to the calculated rotational speed and braking torque values, and the dynamic torque sensor can be accurately excited. According to the test, the error between the torque value applied by this method and the theoretical calculated value is not greater than 2%, which can effectively improve the test efficiency, avoid the problem of overloading of the excitation torque, improve the performance and working efficiency of the calibration device for the braking sinusoidal method dynamic torque, and ensure the safety of the dynamic torque sensor to be calibrated. Description of the Drawings

[0008] Figure 1 is a schematic flow chart of a braking excitation torque measurement and control method provided by an embodiment of the present application; Figure 2 is a schematic diagram of the mechanical main body of the calibration device for the braking sinusoidal method dynamic torque sensor provided by an embodiment of the present application; Figure 3 is a simplified model of the force-bearing part of the mechanical main body of the calibration device for the braking sinusoidal method dynamic torque provided by an embodiment of the present application; Figure 4 is a flow chart of the braking torque loading curve measurement provided by an embodiment of the present application; Figure 5 is a schematic diagram of the composition of the angular acceleration measurement device provided by an embodiment of the present application; Figure 6 is an angular acceleration waveform curve provided by an embodiment of the present application; Figure 7 is an angular acceleration waveform shaping curve provided by an embodiment of the present application; Figure 8 is a braking torque loading simulation and measured curve provided by an embodiment of the present application; Figure 9 is a schematic diagram of a braking excitation torque measurement and control device provided by an embodiment of the present application; 1 - Standard inertia disk, 2 - Air bearing, 3 - Upper coupler, 4 - Circular grating, 5 - Elastic torsion bar, 6 - Lower coupler, 7 - Magnetic powder brake, 8 - Electromagnetic clutch, 9 - Servo driver, 10 - Circular grating reading head, 11 - High-speed data acquisition instrument. Detailed Embodiments

[0009] The present application will be further described in detail below in conjunction with the accompanying drawings and specific embodiments. According to the following description and claims, the advantages and features of the present application will be clearer. It should be noted that the accompanying drawings are all in very simplified forms and are all applicable to non-precise scales, only for conveniently and clearly assisting in explaining the purpose of the embodiments of the present application.

[0010] It should be noted that, in order to clearly illustrate the content of the present application, the present application specifically provides multiple embodiments to further illustrate different implementation manners of the present application. Among them, the multiple embodiments are enumerative rather than exhaustive. In addition, for the sake of simplicity of description, the content already mentioned in the previous embodiments is often omitted in the subsequent embodiments. Therefore, the content not mentioned in the subsequent embodiments can be correspondingly referred to the previous embodiments.

[0011] Embodiment 1 As Figure 1 shown is a schematic flowchart of a braking excitation torque measurement and control method provided by this embodiment. It includes: S1. Normalize the braking torque loading curve of the braking sine method dynamic torque calibration device, and perform fitting using the least squares method to obtain a braking excitation fitting function; It should be noted that one implementation manner of S1 can be: Normalize the braking torque loading curve, and then perform least squares fitting to obtain a braking excitation fitting function:

[0012] In the formula, n is the ordinal number of the braking torque loading curve, n = 1, 2, …, N , N is the length of the curve array; ε m is the coefficient of the m th term of the fitting function, M is the number of terms of the fitting polynomial; x n is the discrete time series corresponding to the braking torque loading curve array.

[0013] S2. Model the mechanical main body of the braking sine method dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the displacement response functions of the inertia I 1 and the inertia I 2; where the inertia I 1 is used to describe the sum of the inertia of the standard inertia disk, the air bearing rotating shaft, the upper coupler and the circular grating and the equivalent inertia at the upper end of the dynamic torque sensor to be calibrated, and the inertia I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake rotating shaft and the excitation part of the electromagnetic clutch and the equivalent inertia at the lower end of the dynamic torque sensor to be calibrated; It should be noted that one implementation of S2 can be as follows: S21. Model the part of the mechanical body of the braking sinusoidal method dynamic torque calibration device that is excited by the braking torque. The part excited by the braking torque includes a standard inertia disk, an air-bearing rotating shaft, an upper coupler, a circular grating, an elastic torsion bar, a lower coupler, a magnetic powder brake rotating shaft, and an electromagnetic clutch excitation part; S22. Determine the stiffness between the inertia I 1 and the inertia I 2 as the stiffness value of the dynamic torque sensor to be calibrated; S23. Calculate the angular frequency of vibration of the dynamic torque sensor to be calibrated according to the stiffness value of the dynamic torque sensor to be calibrated, the inertia I 1, and the inertia I 2; S24. Substitute the braking excitation fitting function into the model according to the angular frequency of vibration of the dynamic torque sensor to be calibrated, and calculate the displacement response functions of the inertia I 1 and the inertia I 2 respectively.

[0014] In a specific embodiment, as shown in Figure 2 , the schematic diagram of the mechanical body of the braking sinusoidal method dynamic torque sensor calibration device is shown. Model the part of the mechanical body of the braking sinusoidal method dynamic torque calibration device that is excited by the braking torque, including the standard inertia disk 1, the rotating shaft of the air-bearing 2, the upper coupler 3, the circular grating 4, the elastic torsion bar 5, the lower coupler 6, the rotating shaft of the magnetic powder brake 7, and the electromagnetic clutch 8 excitation part. The modeling is as shown in Figure 3 . The sum of the inertia of the standard inertia disk 1, the rotating shaft of the air-bearing 2, the upper coupler 3, and the circular grating 4 and the equivalent inertia at the upper end of the torque sensor to be calibrated is simplified as the inertia I 1, and the sum of the inertia of the lower coupler 6, the rotating shaft of the magnetic powder brake 7, and the electromagnetic clutch 8 excitation part and the equivalent inertia at the lower end of the torque sensor to be calibrated is simplified as the inertia I 2. I The stiffness I 0 between k 1 and

[0015] 2 is the stiffness value of the torque sensor to be calibrated. I Load the braking torque described in S1 on the model described in S21. The braking torque loading position is at the lower end of

[0016]

[0017] In the formula, u 1( n ) is the displacement response function of inertia I 1, u 2( n ) is the displacement response function of inertia I 2, M is the number of terms of the braking excitation fitting function, m = 1, 2, ···, M, ε m is the coefficient of the m -th term of the braking excitation fitting function, P m , Q m are both M the values obtained by rounding down divided by 2, P m , = -1, 0, ···, Q m , is the discrete time series corresponding to the braking torque loading curve array, is the angular frequency of the vibration of the dynamic torque sensor under calibration.

[0018] S3. Subtract the displacement response functions of the inertia I 1 and the inertia I 2 to obtain the third displacement response function, and take the maximum value in the third displacement response function and its corresponding time series point; It should be noted that one implementation of S3 can be: Let u 3( n ) = u 2( n ) - u 1( n )( n = 1, 2, …, N ), search for the maximum value in u 3( n )( n = 1, 2, …, N ), let this value be u 3max , and record the corresponding time series point as x u3 .

[0019] S4. Differentiate and simulate the displacement response function of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2; It should be noted that one implementation of S4 can be: S41. Take the first derivative of the displacement response function of the inertia I 2; S42. Substitute the discrete time series corresponding to the braking torque loading curve array into the first derivative of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2.

[0020] In a specific embodiment, take the first derivative of u 2( n ) to obtain , and substitute x n ( n = 1, 2, …, N ) into to obtain the angular velocity simulation curve of the inertia I 2.

[0021] S5. Calculate the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake according to the angular velocity simulation curve of the inertia I 2, the maximum value in the third displacement response function, and its corresponding time series points; It should be noted that one implementation of S5 can be: S51. Determine the value corresponding to the time series point corresponding to the maximum value in the third displacement response function in the angular velocity simulation curve of the inertia I 2 as the rotational speed setting value of the servo drive system; S52. Determine the braking torque setting value of the magnetic powder brake according to the maximum value in the third displacement response function and the braking torque loading target value.

[0022] In a specific embodiment, take the value corresponding to I in the angular velocity simulation curve of the inertia x u3 and denote it as the rotational speed setting value ω 0 of the servo drive system. According to u 3max and the braking torque loading target value T 0, determine the braking torque setting value of the magnetic powder brake to be .

[0023] S6. Apply a braking torque excitation to the dynamic torque sensor to be calibrated according to the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0024] It should be noted that one implementation of S6 can be: S61. Install the dynamic torque sensor to be calibrated between the upper coupler and the lower coupler, power on the electromagnetic clutch to make it in the engaged state; S62. Start the servo drive system, set the rotational speed of the servo motor, so that the rotational speed of the shafting composed of the standard inertia disc, the air-floating bearing shaft, the upper coupler, the circular grating, the lower coupler, the magnetic powder brake shaft and the dynamic torque sensor to be calibrated is the set rotational speed value; S63. When the rotational speed of the shafting reaches the set rotational speed value and stabilizes, set the loading torque of the magnetic powder brake, so that the torque loading value is the set braking torque value, and keep the output rotational speed of the servo drive system always as the set rotational speed value during the torque loading process; S64. When the torque loading value reaches the braking torque loading target value, cut off the power supply of the electromagnetic clutch to achieve accurate loading of the braking torque.

[0025] In a specific embodiment, install the torque sensor to be calibrated between the upper coupler 3 and the lower coupler 6, power on the electromagnetic clutch 8 to make it in the engaged state; start the servo driver 9, set the rotational speed of the servo motor, so that the rotational speed of the shafting composed of the standard inertia disc 1, the air-floating bearing 2 shaft, the upper coupler 3, the circular grating 4, the lower coupler 6, the magnetic powder brake 7 shaft and the torque sensor to be calibrated is ω 0. When the rotational speed of the shafting reaches ω 0 and stabilizes, set the loading torque of the magnetic powder brake 7, so that the torque loading value is , keep the output rotational speed of the servo driver unchanged during the torque loading process. When the torque loading value reaches the target value, cut off the power supply of the electromagnetic clutch 8, that is, achieve accurate loading of the braking torque, and the braking torque loading value can reach T 0.

[0026] Furthermore, this embodiment also provides a method for measuring the torque loading curve, including: S01. Make an elastic torsion bar with a stiffness meeting the requirements, install it between the upper coupler and the lower coupler, power on the electromagnetic clutch to make it in the engaged state; S02. Start the servo drive system, make the shafting composed of the standard inertia disc, the air-floating bearing shaft, the upper coupler, the circular grating, the elastic torsion bar, the lower coupler, and the magnetic powder brake shaft rotate at a constant speed, increase the loading torque of the magnetic powder brake, and the loading target value is not less than 20% of the rated torque of the electromagnetic clutch. Keep the output rotational speed of the servo driver unchanged during the torque loading process; S03. After the output torque of the magnetic powder brake reaches the target value, cut off the power supply of the electromagnetic clutch, and record the output signal of the circular grating reading head during the whole process from when the electromagnetic clutch is powered off to when the angular velocity of the standard inertia disc drops to zero. Calculate the sampled data to obtain the angular acceleration waveform; S04. Obtain the upper and lower envelopes of the angular acceleration waveform, and use the least squares method to extend the endpoint data so that the data lengths of the upper and lower envelopes are the same as that of the angular acceleration waveform. Calculate the average of the upper and lower envelope data to obtain the angular acceleration shaping curve. Analyze the angular acceleration shaping curve, and record the time when the angular acceleration reaches the maximum value from zero as t 1; S05. Keep the output torque value of the magnetic powder brake unchanged, increase the speed of the servo drive system, repeat S02 to S04 for multiple tests, and measure t 1 after each test until t the value of 1 remains unchanged. Multiply the data between the zero time and t the 1 time in the angular acceleration shaping curve by the sum of the inertia of the shafting and the inertia of the standard inertia disk to obtain the braking torque loading curve.

[0027] As Figure 4 shown, an implementation manner of S01 - S05 can be as follows: Step 1. Make an elastic torsion bar using alloy steel and install it between the upper coupler and the lower coupler. The stiffness of the torsion bar k needs to satisfy:

[0028] In the formula, I a is the inertia of the shafting, that is, the sum of the inertia of the air - floating bearing 2 rotating shaft, the upper coupler 3, the circular grating 4, the equivalent upper part of the elastic torsion bar 5 and the fasteners; I b is the inertia of the standard inertia disk 1; I c is the sum of the inertia of the lower coupler 6, the magnetic powder brake 7 rotating shaft and the exciting part of the electromagnetic clutch 8; t 0 is the disconnection time constant of the magnetic powder brake 7.

[0029] Step 2. As Figure 5 shown, power on the electromagnetic clutch 8 to make it in the engaged state; start the servo driver 9 to make the shafting composed of the standard inertia disk 1, the air - floating bearing 2 rotating shaft, the upper coupler 3, the circular grating 4, the elastic torsion bar 5, the lower coupler 6 and the magnetic powder brake 7 rotating shaft rotate at a constant speed. Increase the loading torque of the magnetic powder brake 7, and the loading target value is not less than 20% of the rated torque of the electromagnetic clutch 8. Keep the output speed of the servo driver 9 unchanged during the torque loading process.

[0030] Step 3: After the output torque of the magnetic powder brake 7 reaches the set value, cut off the power supply of the electromagnetic clutch 8, and use the high-speed data acquisition instrument 11 to record the output signal of the circular grating reading head 10 during the whole process from the power-off of the electromagnetic clutch 8 to the angular velocity of the standard inertia disc 1 dropping to zero. Calculate the sampled data to obtain the angular acceleration waveform, as Figure 6 shown.

[0031] Step 4: Find the upper and lower envelopes of the angular acceleration waveform, and use the least squares method to extend the end point data so that the data lengths of the upper and lower envelopes are the same as that of the angular acceleration waveform. Calculate the average of the upper and lower envelope data to obtain the angular acceleration shaping curve, as Figure 7 shown. Analyze the angular acceleration shaping curve, and take the time when the angular acceleration reaches the maximum value from zero, denoted as t 1.

[0032] Step 5: Keep the output torque value of the magnetic powder brake 7 unchanged, increase the speed of the servo drive system, repeat the operations in Steps 2 to 4 for multiple tests. After each test, measure t 1 until t the value of 1 remains unchanged. In the angular acceleration shaping curve, the data between the zero moment and the t 1 moment is multiplied by the sum of the inertia value and to obtain the braking torque loading curve, which is also the action characteristic curve of the electromagnetic clutch 8.

[0033] So far, accurate loading of the braking torque is achieved, as shown in the braking torque loading simulation curve (see the solid line segment in Figure 8 ) and the measured curve (see the dashed line segment in Figure 8 ). According to the test, the error between the torque value applied by this method and the theoretically calculated value is no more than 2%. Figure 8 In summary, through the measurement of the torque loading curve, the braking torque excitation characteristics of the braking sinusoidal method dynamic torque sensor calibration device can be obtained. Each time the dynamic torque sensor is calibrated, the calibration device is modeled and numerically analyzed and calculated. For different calibrated torque sensor stiffnesses and installed standard inertia discs, the rotational speed value that should be set for the servo drive system of the calibration device and the braking torque value that should be set for the magnetic powder brake are obtained. During the calibration of the dynamic torque sensor, the system is set according to the calculated rotational speed and braking torque values, so that the dynamic torque sensor can be accurately excited, improving the working efficiency and performance of the braking sinusoidal method dynamic torque sensor calibration device and ensuring the safety of the calibrated dynamic torque sensor, avoiding the problem of overloading of the excitation torque.

[0034] Example 2

[0035] Please refer to Please refer to Figure 9, Figure 9 The figure shows a schematic diagram of a braking excitation torque measurement and control device provided by this embodiment. The device includes: A function fitting module 202, configured to normalize the braking torque loading curve of the braking sine method dynamic torque calibration device, and perform fitting using the least squares method to obtain a braking excitation fitting function; A displacement calculation module 204, configured to model the mechanical main body of the braking sine method dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the inertia I 1 and the inertia I 2 displacement response functions; where the inertia I 1 is used to describe the sum of the inertia of the standard inertia disk, air bearing rotating shaft, upper coupler, and circular grating and the equivalent inertia at the upper end of the dynamic torque sensor to be calibrated, and the inertia I 2 is used to describe the sum of the inertia of the lower coupler, magnetic powder brake rotating shaft, and electromagnetic clutch excitation part and the equivalent inertia at the lower end of the dynamic torque sensor to be calibrated; An extreme value selection module 206, configured to subtract the displacement response functions of the inertia I 1 and the inertia I 2 to obtain a third displacement response function, and take the maximum value in the third displacement response function and its corresponding time series points; An angular velocity simulation module 208, configured to perform derivation and simulation on the displacement response function of the inertia I 2 to obtain an angular velocity simulation curve of the inertia I 2; A setting value calculation module 210, configured to calculate the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake according to the angular velocity simulation curve of the inertia I 2, the maximum value in the third displacement response function, and its corresponding time series points; A torque excitation module 212, configured to perform braking torque excitation on the dynamic torque sensor to be calibrated according to the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake. Embodiment 3

[0036] In another feasible embodiment, this embodiment provides a device for measuring and controlling braking excitation torque. The device may specifically include: A processor; and a memory for storing computer-executable instructions, where the executable instructions, when executed, cause the processor to execute the steps in any of the above method embodiments. Embodiment 4

[0037] In another feasible embodiment, this embodiment provides a storage medium for measuring and controlling braking excitation torque. The storage medium may specifically include: A processing program for measuring and controlling braking excitation torque is stored on the storage medium. When the processing program for measuring and controlling braking excitation torque is executed by a processor, the steps in any of the above method embodiments are implemented.

[0038] The above are only embodiments of the present application and are not intended to limit the present application. For those skilled in the art, the present application can be subject to various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application shall be included within the scope of the claims of the present application.

Claims

1. A method for measuring and controlling braking excitation torque, characterized in that, Including: S1. Normalize the braking torque loading curve of the braking sine method dynamic torque calibration device, and use the least squares method for fitting to obtain the braking excitation fitting function; S2. Model the mechanical body of the braking sine method dynamic torque calibration device, substitute the braking excitation fitting function into the model, and calculate the inertia I 1 and the displacement response function of inertia I 2; where inertia I 1 is used to describe the sum of the inertia of the standard inertia disk, the air bearing rotating shaft, the upper coupler and the circular grating and the equivalent inertia at the upper end of the dynamic torque sensor to be calibrated, and inertia I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic particle brake rotating shaft and the electromagnetic clutch excitation part and the equivalent inertia at the lower end of the dynamic torque sensor to be calibrated; S3. Subtract the displacement response functions of the inertia I 1 and the inertia I 2 to obtain a third displacement response function, and take the maximum value in the third displacement response function and its corresponding time series points; S4. Differentiate and simulate the displacement response function of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2. S5. According to the inertia I the angular velocity simulation curve of 2, the maximum value in the third displacement response function and its corresponding time series points, calculate the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic particle brake; S6. According to the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake, apply a braking torque excitation to the dynamic torque sensor to be calibrated.

2. The method according to claim 1, characterized in that The modeling of the mechanical main body of the braking sine method dynamic torque calibration device includes: Model the part of the mechanical main body of the braking sine method dynamic torque calibration device that is subjected to the braking torque excitation. The part subjected to the braking torque excitation includes a standard inertia disk, an air bearing rotating shaft, an upper coupler, a circular grating, an elastic torsion bar, a lower coupler, a magnetic powder brake rotating shaft, and an electromagnetic clutch excitation part.

3. The method according to claim 1, characterized in that, Substituting the braking excitation fitting function into the model to calculate the inertia I 1 and the inertia I 2 displacement response functions, including: Determine the stiffness between the inertia I 1 and the inertia I 2 as the stiffness value of the dynamic torque sensor to be calibrated; Based on the stiffness value and inertia of the dynamic torque sensor to be calibrated I 1 and inertia I 2, calculate the angular frequency of the vibration of the dynamic torque sensor to be calibrated; Substitute the braking excitation fitting function into the model according to the angular frequency of the vibration of the dynamic torque sensor to be calibrated, and calculate the displacement response functions of inertia I 1 and inertia I 2 respectively.

4. The method according to claim 1, characterized in that, Substituting the braking excitation fitting function into the model to calculate the inertia I 1 and the inertia I 2 displacement response functions, including: Calculate through the following formula: ； wherein, u 1( n ) is the displacement response function of inertia I 1, u 2( n ) is the displacement response function of inertia I 2, M is is the number of terms of the braking excitation fitting function, m = 1, 2, ···, M, is the coefficient of the m -th term of the braking excitation fitting function, P m , Q m are both M the value obtained by rounding down divided by 2, P m , = -1, 0, ···, Q m , is the discrete time series corresponding to the braking torque loading curve array, is the angular frequency of the vibration of the dynamic torque sensor to be calibrated.

5. The method according to claim 1, wherein The said S4 includes: S41. Take the first derivative of the displacement response function of the inertia I 2; S42. Substitute the discrete time series corresponding to the braking torque loading curve array into the first derivative of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2.

6. The method according to claim 1, characterized in that The said S5 includes: S51. Determine the value corresponding to the time series point corresponding to the maximum value in the third displacement response function in the angular velocity simulation curve of I 2 as the rotational speed setting value of the servo drive system; S52. Determine the braking torque setting value of the magnetic powder brake according to the maximum value in the third displacement response function and the braking torque loading target value.

7. The method according to claim 1, wherein The said S6 includes: S61. Install the dynamic torque sensor to be calibrated between the upper coupler and the lower coupler, power on the electromagnetic clutch to make it in the engaged state; S62. Start the servo drive system, set the rotational speed of the servo motor, so that the rotational speed of the shaft system composed of the standard inertia disk, the air bearing rotating shaft, the upper coupler, the circular grating, the lower coupler, the magnetic powder brake rotating shaft, and the dynamic torque sensor to be calibrated is the rotational speed setting value; S63. When the rotational speed of the shaft system reaches the rotational speed setting value and stabilizes, set the loading torque of the magnetic powder brake to make the torque loading value the braking torque setting value, and keep the output rotational speed of the servo drive system always the rotational speed setting value during the torque loading process; S64. When the torque loading value reaches the braking torque loading target value, cut off the power supply of the electromagnetic clutch to achieve accurate loading of the braking torque.

8. The method according to claim 1, characterized in that Before the said S1, it also includes: S01. Make an elastic torsion bar with a stiffness meeting the requirements, install it between the upper coupler and the lower coupler, power on the electromagnetic clutch to make it in the engaged state; S02. Start the servo drive system, make the shaft system composed of the standard inertia disk, the air bearing rotating shaft, the upper coupler, the circular grating, the elastic torsion bar, the lower coupler, and the magnetic powder brake rotating shaft rotate at a constant speed, increase the loading torque of the magnetic powder brake, and the loading target value is not less than 20% of the rated torque of the electromagnetic clutch. Keep the output rotational speed of the servo driver unchanged during the torque loading process; S03. After the output torque of the magnetic powder brake reaches the target value, cut off the power supply of the electromagnetic clutch, and record the output signal of the circular grating reading head during the whole process from when the electromagnetic clutch is powered off to when the angular velocity of the standard inertia disk drops to zero, and calculate the sampled data to obtain the angular acceleration waveform; S04. Obtain the upper and lower envelopes of the angular acceleration waveform, and use the least squares method to extend the endpoint data so that the data lengths of the upper and lower envelopes are the same as the data length of the angular acceleration waveform. Calculate the average of the upper and lower envelope data to obtain the angular acceleration shaping curve. Analyze the angular acceleration shaping curve, and take the time when the angular acceleration reaches the maximum value from zero, denoted as t 1; S05. Keep the output torque value of the magnetic powder brake unchanged, increase the rotational speed of the servo drive system, repeat S02 to S04 for multiple tests, and measure t 1 after each test until t the value of 1 remains unchanged. Multiply the data between the zero moment and t the moment of 1 in the angular acceleration shaping curve by the sum of the inertia of the shafting and the inertia of the standard inertia disk to obtain the braking torque loading curve.

9. A braking excitation torque measurement and control device, characterized in that, Including: A function fitting module, which is used to normalize the braking torque loading curve of the braking sine method dynamic torque calibration device, and use the least squares method for fitting to obtain the braking excitation fitting function; A displacement calculation module, which is used to model the mechanical body of the braking sine method dynamic torque calibration device, substitute the braking excitation fitting function into the model, and calculate the inertia I 1 and the displacement response function of inertia I 2; where inertia I 1 is used to describe the sum of the inertia of the standard inertia disc, the air bearing rotating shaft, the upper coupler and the circular grating and the equivalent inertia at the upper end of the dynamic torque sensor to be calibrated, and inertia I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake rotating shaft and the electromagnetic clutch excitation part and the equivalent inertia at the lower end of the dynamic torque sensor to be calibrated; An extreme value selection module, which is used to subtract the displacement response functions of the inertia I 1 and the inertia I 2 to obtain a third displacement response function, and take the maximum value in the third displacement response function and its corresponding time series points; The angular velocity simulation module is used to simulate the derivative of the displacement response function of the inertia I 2 to obtain the angular velocity simulation curve of the inertia I 2; A setting value calculation module for calculating, according to the angular velocity simulation curve of 2, the maximum value in the third displacement response function and its corresponding time series points, the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic particle brake; I 2, the maximum value in the third displacement response function and its corresponding time series points, to obtain the rotational speed setting value of the servo drive system and the braking torque setting value of the magnetic particle brake; A torque excitation module is configured to perform braking torque excitation on a dynamic torque sensor to be calibrated according to a speed set value of the servo drive system and a braking torque set value of the magnetic particle brake.

10. An electronic device, characterized in that, It includes: a processor; and a memory for storing computer-executable instructions, which when executed cause the processor to perform the steps of the method according to any one of claims 1 to 8.

Images