A method for measuring and controlling braking excitation torque

Abstract

This application discloses a method for measuring and controlling braking excitation torque, relating to the field of dynamic torque calibration. It includes: normalizing and fitting the braking torque loading curve of a braking sinusoidal dynamic torque calibration device to obtain a braking excitation fitting function; modeling the mechanical body of the braking sinusoidal dynamic torque calibration device and substituting the braking excitation fitting function into the model to calculate the inertia. I 1 and inertia I Displacement response function of 2; inertia I 1 and inertia I Subtracting the displacement response functions of the two displacement functions yields the third displacement response function; the maximum value and its corresponding time series point are then taken; for inertia... I The displacement response function of 2 is differentiated and simulated to obtain the inertia. I The angular velocity simulation curve of 2 is obtained; the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake are calculated; and the braking torque excitation is applied to the dynamic torque sensor under calibration. This is used to solve the problem of accurate loading control for the braking-type sinusoidal dynamic torque calibration device.

Description

Technical Field

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

[0002] The braking-type sinusoidal dynamic torque sensor calibration device is a device that uses braking to generate excitation torque and achieves dynamic torque sensor calibration through inertia and angular acceleration measurement. During the calibration process of the dynamic torque sensor, the amplitude of the dynamic torque excitation needs to be output according to the set value.

[0003] Currently, effective excitation data is obtained by relying on multiple experiments. This method is inefficient and can easily cause overload of the torque sensor being calibrated. Therefore, accurate control of the braking excitation torque is the key to the effective operation of the braking sinusoidal 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, so as to solve the problem of accurate loading control of a braking sinusoidal dynamic torque calibration device.

[0005] To achieve the above objectives, this application adopts the following technical solution:

[0006] On the one hand, this application provides a method for measuring and controlling braking excitation torque, including:

[0007] S1. The braking torque loading curve of the braking sinusoidal dynamic torque calibration device is normalized and fitted using the least squares method to obtain the braking excitation fitting function.

[0008] S2. Model the mechanical body of the braking sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the inertia. I 1 and inertia I The displacement response function of 2; where inertia I 1. Used to describe the sum of the inertia of the standard inertia disk, air bearing shaft, upper coupler, and circular grating, and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated. I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake shaft and the excitation part of the electromagnetic clutch and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated;

[0009] S3, the inertia I 1 and inertia I The third displacement response function is obtained by subtracting the displacement response functions of the two displacement response functions. The maximum value of the third displacement response function and its corresponding time series point are then taken.

[0010] S4, regarding the inertia IThe displacement response function of 2 is differentiated and simulated to obtain the inertia. I Simulated angular velocity curve of 2;

[0011] S5. Based on 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 are used to calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0012] S6. Apply braking torque excitation to the dynamic torque sensor being calibrated based on the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0013] On the other hand, this application also provides a braking excitation torque measurement and control device, comprising:

[0014] The function fitting module is used to normalize the braking torque loading curve of the braking sinusoidal dynamic torque calibration device and fit it using the least squares method to obtain the braking excitation fitting function.

[0015] The displacement calculation module is used to model the mechanical body of the braking-type sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the inertia. I 1 and inertia I The displacement response function of 2; where inertia I 1. Used to describe the sum of the inertia of the standard inertia disk, air bearing shaft, upper coupler, and circular grating, and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated. I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake shaft and the excitation part of the electromagnetic clutch and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated;

[0016] The extreme value selection module is used to select the inertia I 1 and inertia I The third displacement response function is obtained by subtracting the displacement response functions of the two displacement response functions. The maximum value of the third displacement response function and its corresponding time series point are then taken.

[0017] Angular velocity simulation module, used to calculate the inertia I The displacement response function of 2 is differentiated and simulated to obtain the inertia. I Simulated angular velocity curve of 2;

[0018] The value calculation module is set to calculate the inertia based on 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 are used to calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0019] The torque excitation module is used to excite the dynamic torque sensor under calibration with braking torque according to the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0020] Based on the above technical solution, this application can achieve the following technical effects:

[0021] By measuring the torque loading curve, the braking torque excitation characteristics of the braking sinusoidal dynamic torque sensor calibration device can be obtained. Each time the dynamic torque sensor is calibrated, the calibration device is modeled and numerically analyzed. For different stiffnesses of the torque sensors being calibrated and the standard inertia disks installed, the required rotational speed and braking torque values ​​for the servo drive system and magnetic powder brake of the calibration device are determined. During the calibration process, the system is set according to the calculated rotational speed and braking torque values, allowing for accurate excitation of the dynamic torque sensor. According to test experiments, the error between the applied torque value and the theoretical calculated value using this method is no greater than 2%, effectively improving test efficiency and avoiding overload of the excitation torque. This enhances the performance and efficiency of the braking sinusoidal dynamic torque calibration device and ensures the safety of the dynamic torque sensor being calibrated. Attached Figure Description

[0022] Figure 1 This is a flowchart illustrating a braking excitation torque measurement and control method according to an embodiment of this application;

[0023] Figure 2 This is a schematic diagram of the mechanical body of a braking-type sinusoidal dynamic torque sensor calibration device according to an embodiment of this application;

[0024] Figure 3 This is a simplified model of the mechanical body force-bearing part of the braking sinusoidal dynamic torque calibration device provided in one embodiment of this application;

[0025] Figure 4 This is a flowchart of the braking torque loading curve measurement provided in one embodiment of this application;

[0026] Figure 5 This is a schematic diagram of the angular acceleration measuring device provided in one embodiment of this application;

[0027] Figure 6 This is an angular acceleration waveform curve provided in an embodiment of this application;

[0028] Figure 7 This is an angular acceleration waveform shaping curve provided in an embodiment of this application;

[0029] Figure 8 These are simulation and measured curves of braking torque loading provided in one embodiment of this application;

[0030] Figure 9 This is a schematic diagram of a braking excitation torque measurement and control device provided in an embodiment of this application;

[0031] 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 Implementation

[0032] The present application will be further described in detail below with reference to the accompanying drawings and specific embodiments. The advantages and features of the present application will become clearer from the following description and claims. It should be noted that the drawings are all in a very simplified form and are not to scale, and are only used to facilitate and clarify the illustration of the embodiments of the present application.

[0033] It should be noted that, in order to clearly illustrate the content of this application, several embodiments are provided to further explain the different implementations of this application. These embodiments are enumerated rather than exhaustive. Furthermore, for the sake of brevity, content mentioned in the preceding embodiments is often omitted in the following embodiments. Therefore, content not mentioned in the following embodiments can be referred to in the preceding embodiments.

[0034] Example 1

[0035] like Figure 1 The diagram shown is a flowchart illustrating a braking excitation torque measurement and control method provided in this embodiment. It includes:

[0036] S1. The braking torque loading curve of the braking sinusoidal dynamic torque calibration device is normalized and fitted using the least squares method to obtain the braking excitation fitting function.

[0037] It should be noted that one implementation of S1 can be:

[0038] The braking torque loading curve is normalized, and then least squares fitting is performed to obtain the braking excitation fitting function:

[0039]

[0040] In the formula, n The ordinal number of the braking torque loading curve. n =1,2,…, N , N The length of the curve array; ε m For the fitting function, the th m The coefficient of the term, M The number of terms in the fitted polynomial; x nThis is the discrete time series corresponding to the array of braking torque loading curves.

[0041] S2. Model the mechanical body of the braking sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the inertia. I 1 and inertia I The displacement response function of 2; where inertia I 1. Used to describe the sum of the inertia of the standard inertia disk, air bearing shaft, upper coupler, and circular grating, and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated. I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake shaft and the excitation part of the electromagnetic clutch and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated;

[0042] It should be noted that one implementation of S2 can be:

[0043] S21. Model the part of the mechanical body of the braking sinusoidal dynamic torque calibration device that is excited by braking torque. The part excited by braking torque includes a standard inertia disk, an air bearing shaft, an upper coupler, a circular grating, an elastic torsion bar, a lower coupler, a magnetic powder brake shaft, and an electromagnetic clutch excitation part.

[0044] S22, the inertia I 1 and inertia I The stiffness between 2 is determined as the stiffness value of the dynamic torque sensor being calibrated;

[0045] S23. Based on the stiffness value and inertia of the dynamic torque sensor being calibrated. I 1 and inertia I 2. Calculate the angular frequency of the vibration of the dynamic torque sensor being calibrated;

[0046] S24. Based on the angular frequency of the vibration of the dynamic torque sensor being calibrated, substitute the braking excitation fitting function into the model and calculate the inertia respectively. I 1 and inertia I The displacement response function of 2.

[0047] In a specific embodiment, such as Figure 2 The diagram shows the main mechanical body of the braking-type sinusoidal dynamic torque sensor calibration device. The parts of the main mechanical body of the braking-type sinusoidal dynamic torque calibration device that are excited by the braking torque are modeled, including the standard inertia disk 1, the air bearing 2 (shaft), the upper coupler 3, the circular grating 4, the elastic torsion bar 5, the lower coupler 6, the magnetic powder brake 7 (shaft), and the electromagnetic clutch 8 (excitation part). The modeling is as follows: Figure 3 As shown. The sum of the inertia of the standard inertia disk 1, the air bearing 2 shaft, the upper coupler 3, and the circular grating 4, and the equivalent inertia of the upper end of the torque sensor being calibrated, is simplified to the inertia. I1. The sum of the inertia of the lower coupler, 6. the magnetic powder brake, 7. the shaft of the magnetic clutch, and 8. the excitation part, and the equivalent inertia of the lower end of the torque sensor being calibrated, is simplified to the inertia. I 2, I 1 and I Stiffness between 2 k 0 represents the stiffness value of the torque sensor being calibrated.

[0048] The braking torque described in S1 is applied to the model described in S21, and the application position of the braking torque is as follows: I At the lower end of 2, the loading direction is opposite to the eastward rotation direction of the model. The response of the model under braking torque loading is analyzed and calculated, and the displacement response function is as follows:

[0049]

[0050]

[0051] In the formula, u 1( n (inertia) I The displacement response function of 1, u 2( n (inertia) I The displacement response function of 2, M Let be the number of terms in the fitting function for the braking excitation. m = 1, 2, ..., M, ε m The fitting function for braking excitation is the first... m The coefficient of the term, P m , Q m All M The value obtained by dividing by 2 and rounding down is... =-1, 0, ... P m , =0, 1, ... Q m , This represents the discrete time series corresponding to the array of braking torque loading curves. The angular frequency of the vibration of the dynamic torque sensor being calibrated.

[0052] S3, the inertia I 1 and inertia I The third displacement response function is obtained by subtracting the displacement response functions of the two displacement response functions. The maximum value of the third displacement response function and its corresponding time series point are then taken.

[0053] It should be noted that one implementation of S3 can be:

[0054] make u 3( n )=u 2( n )- u 1( n ()( n =1,2,…, N ), search u 3( n ) ( n =1,2,…, N Let the maximum value in ) be the value. u 3max And denote its corresponding time series point as x u3 .

[0055] S4, regarding the inertia I The displacement response function of 2 is differentiated and simulated to obtain the inertia. I Simulated angular velocity curve of 2;

[0056] It should be noted that one implementation of S4 can be:

[0057] S41, Regarding the inertia I Find the first derivative of the displacement response function of 2;

[0058] S42. Substitute the discrete time series corresponding to the braking torque loading curve array into the inertia. I The first derivative of 2 gives the inertia. I 2. Angular velocity simulation curve.

[0059] In one specific embodiment, for u 2( n Find the first derivative, and we get ,Will x n ( n =1,2,…, N Substitute to obtain inertia I 2. Angular velocity simulation curve.

[0060] S5. Based on 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 are used to calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0061] It should be noted that one implementation of S5 can be:

[0062] S51, the inertia I 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 2 is determined as the speed setting value of the servo drive system.

[0063] S52. Determine the braking torque setting value of the magnetic powder brake based on the maximum value in the third displacement response function and the target value of the braking torque loading.

[0064] In one specific embodiment, inertia is taken. I In the simulated angular velocity curve of 2 x u3 The corresponding value is recorded as the speed setting value of the servo drive system. ω 0. According to u 3max and the target value of braking torque loading T 0, Determine the braking torque setting value of the magnetic powder brake. .

[0065] S6. Apply braking torque excitation to the dynamic torque sensor being calibrated based on the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0066] It should be noted that one implementation of S6 can be:

[0067] S61. Install the dynamic torque sensor to be calibrated between the upper coupler and the lower coupler, and energize the electromagnetic clutch to put it into the engaged state.

[0068] S62. Start the servo drive system, set the speed of the servo motor, and make the speed of the shaft system composed of the standard inertia disk, air bearing shaft, upper coupler, circular grating, lower coupler, magnetic powder brake shaft and the dynamic torque sensor to be calibrated the set speed value.

[0069] S63. When the shaft speed reaches the set speed value and stabilizes, set the loading torque of the magnetic powder brake so that the loading torque value is the set braking torque value. During the torque loading process, keep the output speed of the servo drive system at the set speed value.

[0070] S64. When the torque loading value reaches the target value of the braking torque loading, the power supply of the electromagnetic clutch is cut off to achieve accurate loading of the braking torque.

[0071] In one specific embodiment, the torque sensor to be calibrated is installed between the upper coupler 3 and the lower coupler 6. The electromagnetic clutch 8 is energized and put into an engaged state. The servo driver 9 is started, and the speed of the servo motor is set so that the rotational speed of the shaft system consisting of the standard inertia disk 1, the air 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 [missing information]. ω 0, when the shaft speed reaches ω After the torque is 0 and stabilized, set the loading torque of the magnetic powder brake 7 so that the torque loading value is... During torque loading, the output speed of the servo drive remains constant. Once the torque loading value reaches the target value, the power supply to the electromagnetic clutch 8 is cut off, thus achieving accurate loading of the braking torque. The braking torque loading value can then be achieved. T 0.

[0072] Furthermore, this embodiment also provides a method for measuring torque loading curves, including:

[0073] S01. Fabricate an elastic torsion bar with the required stiffness and install it between the upper and lower couplers. Power on the electromagnetic clutch to put it into the engaged state.

[0074] S02. Start the servo drive system to make the shaft system consisting of the standard inertia disk, air bearing shaft, upper coupler, circular grating, elastic torsion bar, lower coupler, and magnetic powder brake shaft rotate at a constant speed, increase the loading torque of the magnetic powder brake, and the target loading value is not less than 20% of the rated torque of the electromagnetic clutch. During the torque loading process, keep the output speed of the servo drive constant.

[0075] S03. After the output torque of the magnetic powder brake reaches the target value, cut off the power supply to the electromagnetic clutch and record the output signal of the circular grating reading head during the entire process from the de-energization of the electromagnetic clutch to the angular velocity of the standard inertia disk dropping to zero. Calculate the sampled data to obtain the angular acceleration waveform.

[0076] S04. Calculate the upper and lower envelopes of the angular acceleration waveform, and extend the endpoint data using the least squares method to make the data lengths of the upper and lower envelopes consistent with the data length of the angular acceleration waveform. Average the upper and lower envelope data to obtain the angular acceleration shaping curve. Analyze the angular acceleration shaping curve and take the time for the angular acceleration to reach its maximum value from zero, denoted as . t 1;

[0077] S05. Keeping the output torque of the magnetic powder brake constant, increase the speed of the servo drive system and repeat S02 to S04 multiple times. After each test, [the following steps are taken]. t 1. Take measurements until... t The value of 1 remains unchanged, and the angular acceleration shaping curve is adjusted from time zero to... t Multiplying the data between 1 and 2 by the sum of the inertia of the shaft system and the inertia of the standard inertia disk yields the braking torque loading curve.

[0078] like Figure 4 As shown, one implementation of S01-S05 can be:

[0079] Step 1: Fabricate a flexible torsion bar using alloy steel and install it between the upper and lower couplers. The stiffness of the torsion bar... k Must meet:

[0080]

[0081] In the formula, I a The moment of inertia is the sum of the moments of inertia of the shaft system, namely the equivalent upper part of the air bearing 2 shaft, the upper coupler 3, the circular grating 4, the elastic torsion bar 5, and the fasteners. I b The inertia of standard inertia disk 1; I c The sum of the inertia of the lower coupler 6, the shaft of the magnetic powder brake 7, and the excitation part of the electromagnetic clutch 8; t 0 represents the disconnection time constant of the magnetic powder brake 7.

[0082] Step Two, as follows Figure 5 As shown, the electromagnetic clutch 8 is energized and put into the engaged state; the servo drive 9 is started, so that the shaft system consisting of the standard inertia disk 1, the air bearing 2 shaft, the upper coupler 3, the circular grating 4, the elastic torsion bar 5, the lower coupler 6, and the magnetic powder brake 7 shaft rotates at a constant speed, increasing the loading torque of the magnetic powder brake 7. The target loading value is not less than 20% of the rated torque of the electromagnetic clutch 8, and the output speed of the servo drive 9 remains unchanged during the torque loading process.

[0083] Step 3: After the output torque of the magnetic powder brake 7 reaches the set value, disconnect the power supply to 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 throughout the entire process from the power failure of the electromagnetic clutch 8 to the angular velocity of the standard inertia disk 1 dropping to zero. Calculate the sampled data to obtain the angular acceleration waveform, such as... Figure 6 As shown.

[0084] Step 4: Calculate the upper and lower envelopes of the angular acceleration waveform, and extend the endpoint data using the least squares method to ensure that the data lengths of the upper and lower envelopes are consistent with the data length of the angular acceleration waveform. Average the upper and lower envelope data to obtain the angular acceleration shaping curve, as shown below. Figure 7 As shown, the angular acceleration shaping curve is analyzed, and the time for the angular acceleration to reach its maximum value from zero is denoted as . t 1.

[0085] Step 5: Keeping the output torque of the magnetic powder brake 7 unchanged, increase the speed of the servo drive system and repeat steps 2 to 4. Perform multiple tests, and adjust the speed after each test. t 1. Take measurements until... t The value of 1 remains unchanged. In the angular acceleration shaping curve, from time zero to... t Data between 1 time points multiplied by inertia value and The sum of these values ​​is the braking torque loading curve, which is also the operating characteristic curve of the electromagnetic clutch 8.

[0086] At this point, the accurate application of braking torque is achieved, such as... Figure 8 The simulation curve of the braking torque loading shown is (see) Figure 8 (solid line segment) and measured curve (see) Figure 8 (The dashed line segment in the middle) According to the test, the error between the torque value applied by this method and the theoretical calculation value is no greater than 2%.

[0087] In summary, by measuring the torque loading curve, the braking torque excitation characteristics of the braking sinusoidal dynamic torque sensor calibration device can be obtained. Each time the dynamic torque sensor is calibrated, the calibration device is modeled and numerically analyzed. For different stiffnesses of the torque sensors being calibrated and the standard inertia disks installed, the required rotational speed and braking torque values ​​for the servo drive system and magnetic powder brake of the calibration device are determined. During the calibration process of the dynamic torque sensor, the system is set according to the calculated rotational speed and braking torque values, which allows for accurate excitation of the dynamic torque sensor. This improves the working efficiency and performance of the braking sinusoidal dynamic torque sensor calibration device, ensures the safety of the calibrated dynamic torque sensor, and avoids the problem of excitation torque overload.

[0088] Example 2

[0089] Please refer to Figure 9 , Figure 9 The diagram shown is a schematic diagram of a braking excitation torque measurement and control device provided in this embodiment. The device includes:

[0090] The function fitting module 202 is used to normalize the braking torque loading curve of the braking sinusoidal dynamic torque calibration device and fit it using the least squares method to obtain the braking excitation fitting function.

[0091] The displacement calculation module 204 is used to model the mechanical body of the braking sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the inertia. I 1 and inertia I The displacement response function of 2; where inertia I 1. Used to describe the sum of the inertia of the standard inertia disk, air bearing shaft, upper coupler, and circular grating, and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated. I 2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake shaft and the excitation part of the electromagnetic clutch and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated;

[0092] Extreme value selection module 206 is used to select the inertia I 1 and inertia I The third displacement response function is obtained by subtracting the displacement response functions of the two displacement response functions. The maximum value of the third displacement response function and its corresponding time series point are then taken.

[0093] Angular velocity simulation module 208 is used to simulate the inertia. I The displacement response function of 2 is differentiated and simulated to obtain the inertia. I Simulated angular velocity curve of 2;

[0094] The value calculation module 210 is configured to calculate the inertia based on 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 are used to calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

[0095] The torque excitation module 212 is used to excite the dynamic torque sensor under calibration with braking torque according to the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake. Example 3

[0096] In another feasible embodiment, this embodiment provides a device for measuring and controlling braking excitation torque, the device specifically including:

[0097] A processor; and a memory for storing computer-executable instructions, which, when executed, cause the processor to perform the steps as described in any of the above method embodiments. Example 4

[0098] In another feasible embodiment, this embodiment provides a storage medium for measuring and controlling braking excitation torque, the storage medium specifically including:

[0099] The storage medium stores a processing program for measuring and controlling the braking excitation torque. When the processing program for measuring and controlling the braking excitation torque is executed by the processor, it implements the steps as described in any of the above method embodiments.

[0100] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principle of this application should be included within the scope of the claims of this application.

Claims

1. A method for measuring and controlling braking excitation torque, characterized in that, include: S1. The braking torque loading curve of the braking sinusoidal dynamic torque calibration device is normalized and fitted using the least squares method to obtain the braking excitation fitting function. S2. Model the mechanical body of the braking sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the displacement response functions of inertia I1 and inertia I2; where inertia I1 is used to describe the sum of the inertia of the standard inertia disk, air bearing shaft, upper coupler and circular grating and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated, and inertia I2 is used to describe the sum of the inertia of the lower coupler, magnetic powder brake shaft and electromagnetic clutch excitation part and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated; S3. Subtract the displacement response functions of the inertia I1 and the inertia I2 to obtain the third displacement response function, and take the maximum value of the third displacement response function and its corresponding time series point. S4. The displacement response function of the inertia I2 is differentiated and simulated to obtain the angular velocity simulation curve of the inertia I2. S5. Based on the simulated angular velocity curve of the inertia I2, the maximum value in the third displacement response function, and its corresponding time series points, calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake; S5 includes: S51. 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 I2 is determined as the speed setting value of the servo drive system. S52. Determine the braking torque setting value of the magnetic powder brake based on the maximum value in the third displacement response function and the target value of the braking torque loading; S6. Apply braking torque excitation to the dynamic torque sensor being calibrated based on the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

2. The method according to claim 1, characterized in that, The modeling of the mechanical body of the braking-type sinusoidal dynamic torque calibration device includes: A model is created for the mechanical body of the braking-type sinusoidal dynamic torque calibration device that is excited by braking torque. The part excited by braking torque includes a standard inertia disk, an air bearing shaft, an upper coupler, a circular grating, an elastic torsion bar, a lower coupler, a magnetic powder brake shaft, and an electromagnetic clutch excitation part.

3. The method according to claim 1, characterized in that, The step of substituting the braking excitation fitting function into the model to calculate the displacement response functions of inertia I1 and inertia I2 includes: The stiffness between the inertia I1 and inertia I2 is determined as the stiffness value of the dynamic torque sensor being calibrated. Calculate the angular frequency of vibration of the dynamic torque sensor under calibration based on the stiffness value, inertia I1, and inertia I2 of the dynamic torque sensor under calibration. Based on the angular frequency of the vibration of the dynamic torque sensor being calibrated, the braking excitation fitting function is substituted into the model to calculate the displacement response functions of inertia I1 and inertia I2 respectively.

4. The method according to claim 1, characterized in that, The step of substituting the braking excitation fitting function into the model to calculate the displacement response functions of inertia I1 and inertia I2 includes: Calculated using the following formula: In the formula, u1(n) is the displacement response function of inertia I1, u2(n) is the displacement response function of inertia I2, M is the number of terms in the braking excitation fitting function, m = 1, 2, ..., M, ε m P represents the coefficient of the m-th term of the braking excitation fitting function. m Q m All values ​​are obtained by dividing M by 2 and rounding down, p = -1, 0, ..., P m q = 0, 1, ..., Q m x n ω represents the discrete time series corresponding to the braking torque loading curve array, where ω is the angular frequency of the vibration of the dynamic torque sensor being calibrated.

5. The method according to claim 1, characterized in that, S4 includes: S41. Calculate the first derivative of the displacement response function of the inertia I2; S42. Substitute the discrete time series corresponding to the braking torque loading curve array into the first derivative of inertia I2 to obtain the angular velocity simulation curve of inertia I2.

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

7. The method according to claim 1, characterized in that, Before S1, it also includes: S01. Fabricate an elastic torsion bar with the required stiffness and install it between the upper and lower couplers. Power on the electromagnetic clutch to put it into the engaged state. S02. Start the servo drive system to make the shaft system consisting of the standard inertia disk, air bearing shaft, upper coupler, circular grating, elastic torsion bar, lower coupler, and magnetic powder brake shaft rotate at a constant speed, increase the loading torque of the magnetic powder brake, and the target loading value is not less than 20% of the rated torque of the electromagnetic clutch. During the torque loading process, keep the output speed of the servo drive constant. S03. After the output torque of the magnetic powder brake reaches the target value, cut off the power supply to the electromagnetic clutch and record the output signal of the circular grating reading head during the entire process from the de-energization of the electromagnetic clutch to the angular velocity of the standard inertia disk dropping to zero. Calculate the sampled data to obtain the angular acceleration waveform. S04. Calculate the upper and lower envelopes of the angular acceleration waveform, and extend the endpoint data using the least squares method so that the data lengths of the upper and lower envelopes are consistent with 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 for the angular acceleration to reach its maximum value from zero, denoted as t1. S05. Keep the output torque value of the magnetic powder brake constant, increase the speed of the servo drive system, and repeat S02 to S04 multiple times. After each test, measure t1 until the value of t1 remains constant. Multiply the data between time zero and time t1 in the angular acceleration shaping curve by the sum of the inertia of the shaft system and the inertia of the standard inertia disk to obtain the braking torque loading curve.

8. A braking excitation torque measuring and control device, characterized in that, include: The function fitting module is used to normalize the braking torque loading curve of the braking sinusoidal dynamic torque calibration device and fit it using the least squares method to obtain the braking excitation fitting function. The displacement calculation module is used to model the mechanical body of the braking sinusoidal dynamic torque calibration device, and substitute the braking excitation fitting function into the model to calculate the displacement response functions of inertia I1 and inertia I2; wherein inertia I1 is used to describe the sum of the inertia of the standard inertia disk, the air bearing shaft, the upper coupler and the circular grating and the equivalent inertia of the upper end of the dynamic torque sensor being calibrated, and inertia I2 is used to describe the sum of the inertia of the lower coupler, the magnetic powder brake shaft and the excitation part of the electromagnetic clutch and the equivalent inertia of the lower end of the dynamic torque sensor being calibrated; The extreme value selection module is used to subtract the displacement response functions of the inertia I1 and the inertia I2 to obtain the third displacement response function, and to take the maximum value of the third displacement response function and its corresponding time series point. The angular velocity simulation module is used to simulate the displacement response function of the inertia I2 by differentiating it, and to obtain the angular velocity simulation curve of the inertia I2. The setting value calculation module is used to calculate the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake based on the angular velocity simulation curve of the inertia I2, the maximum value in the third displacement response function, and its corresponding time series points; including: S51. 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 I2 is determined as the speed setting value of the servo drive system. S52. Determine the braking torque setting value of the magnetic powder brake based on the maximum value in the third displacement response function and the target value of the braking torque loading; The torque excitation module is used to excite the dynamic torque sensor under calibration with braking torque according to the speed setting value of the servo drive system and the braking torque setting value of the magnetic powder brake.

9. An electronic device, characterized in that, include: processor; And a memory for storing computer-executable instructions, which, when executed, cause the processor to perform the steps of the method as claimed in any one of claims 1 to 7.

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