Electric steering engine friction torque evaluation method and system

Abstract

The invention provides an electric steering engine friction torque evaluation method and system, and the method comprises the steps: obtaining a current signal in the operation process of an electric steering engine through a current detection device, extracting effective data, and obtaining the current change characteristics and corresponding load torques of the electric steering engine in different working modes through an experiment; constructing a mapping relation between the load torque and the current; calculating a friction torque value of the electric steering engine in real time based on the effective data; and the friction torque value is evaluated, and operation parameters of the electric steering engine are adjusted according to needs. According to the invention, high-precision and real-time evaluation of the friction torque of the electric steering engine is realized.

Description

Technical Field

[0001] This invention relates to aircraft servo technology, and more specifically, to a method and system for evaluating the frictional torque of an electric servo. Background Technology

[0002] Electric servo motors, as a commonly used actuator, are widely used in industrial automation, robotics, and aerospace. In practical applications, the performance of electric servo motors is affected by various factors, among which frictional torque is a crucial parameter. Accurate measurement and evaluation of the frictional torque of electric servo motors are of great significance for optimizing their control precision and improving operational efficiency.

[0003] However, existing measurement methods are generally complex and costly, making it difficult to achieve rapid and accurate measurement of the frictional torque of electric servos. Therefore, a simple and efficient method is urgently needed to evaluate the frictional torque of electric servos.

[0004] Chinese patent application CN106896837A discloses a friction interference torque adjustment device for an electric servo motor system. The device mainly includes an adjusting rod, a friction torque adjusting spring, and a friction torque clamp. These components are connected sequentially, with a friction plate disposed within the clamp, which contacts the output shaft of the reducer. The adjustment process involves pulling the adjusting rod, causing the friction torque adjusting spring to deform. The deformed spring then applies pressure to the reducer output shaft via the clamp, while the friction plate generates friction torque on the rotating reducer output shaft. This patent uses the adjusting rod in the dynamic adjustment device to drive the friction torque clamp, loading continuously varying friction interference torques with different characteristics onto the reducer output shaft. This provides support for the analysis of friction characteristics and the research of compensation control algorithms for electric servo motor systems. However, it does not disclose a method for accurately measuring and evaluating the friction torque of the electric servo motor.

[0005] In summary, given the problems of the existing technologies, researching a method and system for evaluating the friction torque of electric servos has become a critical task that urgently needs to be addressed. Summary of the Invention

[0006] To address the shortcomings of existing technologies, the purpose of this invention is to provide a method and system for evaluating the friction torque of an electric servo motor.

[0007] The present invention provides a method for evaluating the friction torque of an electric servo motor, comprising the following steps: acquiring the current signal during the operation of the electric servo motor through a current detection device and extracting effective data; obtaining the current change characteristics and corresponding load torque of the electric servo motor under different operating modes through experiments; constructing a mapping relationship between load torque and current; calculating the friction torque value of the electric servo motor in real time based on the effective data; evaluating the friction torque value and adjusting the operating parameters of the electric servo motor as needed.

[0008] Preferably, the current signal during the operation of the electric servo motor is acquired using a current detection device, and valid data is extracted. The current variation characteristics and corresponding load torque of the electric servo motor under different operating modes are obtained experimentally. This includes: the current detection device comprising a high-precision current sensor and a data acquisition card, wherein the data acquisition card can capture the dynamic current changes of the electric servo motor in real time; and digital filtering of the acquired current signal using a Butterworth filter, wherein the filter is constructed as follows: given the cutoff frequency of the filter... order Calculate the filter coefficients :

[0009] Where s is a complex variable; Transform it into a difference equation form. ,in, Indicates the current input signal. Indicates the previous input signal, Indicates the current input sample. This represents the previous input sample; The collected current data is processed to remove noise interference and extract the effective current data, including average value, peak-to-peak value, fluctuation amplitude, and variance. The current variation characteristics and corresponding load torque of the electric servo motor under different operating modes were measured experimentally. The operating modes included low-speed operation and high-speed operation. The experimental dataset was divided into training set and test set.

[0010] Preferably, constructing the mapping relationship between load torque and current includes: establishing a mathematical model between current change and load torque using a linear regression method.

[0011] in, , For regression coefficients, This represents the average current value. Using experimental data from the training set, the regression coefficients are estimated using the least squares method:

[0012] in, The characteristic matrix, The objective variable is the friction torque; Calculate the mean squared error between the predicted and actual values ​​using experimental data from the test set:

[0013] in, To measure the true value of the load torque experimentally. This is the predicted value of the load torque. For sample size; The model can be optimized by increasing or decreasing the number of features after evaluating its predictive performance.

[0014] Preferably, the friction torque value of the electric servo motor is calculated in real time based on effective data, including: after determining the mathematical model between load torque and current change, the operating current of the electric servo motor under test is measured by a current detection device, and the corresponding load torque can be calculated. ; to the load torque output by the motor Converted to electric servo motor friction torque ,

[0015] in, It is the transmission ratio of the electric servo motor. , For regression coefficients, This represents the average current.

[0016] Preferably, the friction torque value is evaluated, and the operating parameters of the electric servo motor are adjusted as needed, including: multi-dimensional testing and evaluation of the friction torque value, including the influence of load conditions and rotational speed on the friction torque; real-time monitoring and calculation of the friction torque during the actual operation of the electric servo motor, providing timely feedback; and automatic triggering of an alarm and execution of an emergency stop function when abnormal current fluctuations are detected during real-time monitoring.

[0017] This invention also provides an electric servo motor friction torque evaluation system, which can be implemented by executing the process steps of the electric servo motor friction torque evaluation method. That is, those skilled in the art can understand the electric servo motor friction torque evaluation method as a preferred embodiment of the electric servo motor friction torque evaluation system. The system includes: The acquisition module acquires the current signal during the operation of the electric servo motor through a current detection device, extracts the effective data, and obtains the current change characteristics and corresponding load torque of the electric servo motor under different working modes through experiments. Build a module to establish the mapping relationship between load torque and current; The calculation module calculates the friction torque value of the electric servo motor in real time based on valid data; The evaluation module assesses the friction torque value and adjusts the operating parameters of the electric servo motor as needed.

[0018] Compared with the prior art, the present invention has the following advantages: it can monitor and calculate the friction torque in real time during the actual operation of the electric servo motor and provide timely feedback; combined with the electric servo motor current detection equipment, it has good compatibility and scalability, is easy to promote in practical applications, and is suitable for the measurement and evaluation of friction torque of different models of electric servo motors; it can be used for quality control in the production process to improve product consistency. Attached Figure Description

[0019] Other features, objects, and advantages of the present invention will become more apparent from the following detailed description of non-limiting embodiments with reference to the accompanying drawings: Figure 1 A flowchart of a method for evaluating the friction torque of a servo motor provided in an embodiment of the present invention.

[0020] Figure 2 A flowchart illustrating the construction of the friction torque calculation model provided in this embodiment of the invention.

[0021] Figure 3 A flowchart for calculating friction torque based on current data is provided for embodiments of the present invention. Detailed Implementation

[0022] The present invention will now be described in detail with reference to specific embodiments. These embodiments will help those skilled in the art to further understand the present invention, but do not limit the invention in any way. It should be noted that those skilled in the art can make several changes and improvements without departing from the concept of the present invention. These all fall within the protection scope of the present invention.

[0023] like Figure 1 As shown in the figure, this invention provides a method for evaluating the friction torque of a servo motor, and the specific steps are as follows: Step 1: Obtain the current signal during the operation of the electric servo motor through a current detection device, and obtain the current change characteristics and corresponding load torque of the electric servo motor under different working modes through experiments.

[0024] Specifically, an electric servo motor friction torque testing system is set up, and the current detection device is installed in the designated position of the testing system using a special fixing device. Ensure that the control power supply and power supply are connected correctly, and fix the electric servo motor in the desktop fixture.

[0025] The signal generation and output module in the control box outputs a triangular wave, and the frequency of the triangular wave is set so that the electric servo motor moves at a constant speed within the deflection angle range of 0° to 30°. A high-precision current sensor is used to collect the current signal of the electric servo motor in real time, and the signal is transmitted to the computer through a data acquisition card.

[0026] like Figure 2 As shown, the load torque of the electric servo motor was obtained experimentally. The current signal during the operation of the electric servo motor was acquired through a current detection device. The acquired current signal was then digitally filtered using a Butterworth filter. The filter was constructed as follows: Given the cutoff frequency of the filter order , Calculate filter coefficients :

[0027] Transform it into a difference equation form. , The collected current data is processed to remove noise interference and extract the effective components of the current, including the average value, peak-to-peak value, fluctuation amplitude, and variance.

[0028] The current variation characteristics and corresponding load torque of the electric servo motor under different operating modes (including low-speed and high-speed operation) were measured experimentally. A mathematical model between current variation and load torque was established using linear regression.

[0029] in, , For regression coefficients, This represents the average current.

[0030] The dataset obtained from the experiment was divided into a training set and a test set.

[0031] Step 2: Establish the mapping relationship between load torque and current.

[0032] The experimental data obtained from the above steps in the training set are used for model training. Testing uses the data from the training set, and the regression coefficients are estimated using the least squares method.

[0033] in, It is the characteristic matrix. The objective variable is the frictional torque.

[0034] Solve for the coefficients in the mathematical model using normal equations.

[0035] Secondly, the predictive performance of the established mathematical model is evaluated using a test set, and the predicted load torque value is calculated. Compared with the actual value of the load torque Mean square error between:

[0036] in, To measure the true value of the load torque experimentally. This is the predicted value of the load torque.

[0037] The model can be optimized by increasing or decreasing the number of features after evaluating its predictive performance.

[0038] Step 3: Calculate the frictional torque of the electric servo motor using the above model.

[0039] Specifically, such as Figure 2 As shown, the process CNC drive assembly receives a command signal and sends a control motion to the electric servo motor, and calculates the friction torque of the electric servo motor through the friction torque calculation model.

[0040] Once the above mathematical model is determined, the operating current of the electric servo motor under test can be measured using a current detection device to calculate the corresponding load torque. According to the transmission ratio of the electric servo motor Convert the load torque output by the motor into the friction torque of the electric servo motor: .

[0041] Step 4: Evaluate the friction torque value and adjust the operating parameters of the electric servo motor as needed.

[0042] Specifically, during the test, the system monitors current changes in real time, monitors and calculates frictional torque, and provides timely feedback. When the current fluctuates abnormally or exceeds a preset threshold, the system automatically triggers an alarm and executes an emergency stop function.

[0043] This invention also provides an electric servo motor friction torque evaluation system, which can be implemented by executing the process steps of the electric servo motor friction torque evaluation method. That is, those skilled in the art can understand the electric servo motor friction torque evaluation method as a preferred embodiment of the electric servo motor friction torque evaluation system. The system includes: The acquisition module acquires the current signal during the operation of the electric servo motor through a current detection device, extracts the effective data, and obtains the current change characteristics and corresponding load torque of the electric servo motor under different working modes through experiments. Build a module to establish the mapping relationship between load torque and current; The calculation module calculates the friction torque value of the electric servo motor in real time based on valid data; The evaluation module assesses the friction torque value and adjusts the operating parameters of the electric servo motor as needed.

[0044] Those skilled in the art will understand that, besides implementing the system and its various devices, modules, and units provided by this invention in the form of purely computer-readable program code, the same functions can be achieved entirely through logical programming of the method steps, making the system and its various devices, modules, and units of this invention function in the form of logic gates, switches, application-specific integrated circuits, programmable logic controllers, and embedded microcontrollers. Therefore, the system and its various devices, modules, and units provided by this invention can be considered as a hardware component, and the devices, modules, and units included therein for implementing various functions can also be considered as structures within the hardware component; alternatively, the devices, modules, and units for implementing various functions can be considered as both software modules implementing the method and structures within the hardware component.

[0045] Specific embodiments of the present invention have been described above. It should be understood that the present invention is not limited to the specific embodiments described above, and those skilled in the art can make various changes or modifications within the scope of the claims, which do not affect the essence of the present invention. Unless otherwise specified, the embodiments and features described in this application can be arbitrarily combined with each other.

Claims

1. A method for evaluating the frictional torque of an electric servo motor, characterized in that, include: The current signal during the operation of the electric servo motor is obtained by a current detection device, and the effective data is extracted. The current change characteristics and corresponding load torque of the electric servo motor under different working modes are obtained through experiments. Establish the mapping relationship between the load torque and the current; The friction torque value of the electric servo motor is calculated in real time based on the aforementioned effective data; Evaluate the frictional torque value and adjust the operating parameters of the electric servo motor as needed.

2. The method for evaluating the friction torque of an electric servo motor according to claim 1, characterized in that, The process involves acquiring the current signal during the operation of the electric servo motor using a current detection device, extracting valid data, and experimentally obtaining the current variation characteristics and corresponding load torque of the electric servo motor under different operating modes, including: The current detection device includes a high-precision current sensor and a data acquisition card, wherein the data acquisition card can capture the dynamic current changes of the electric servo motor in real time. The current signal is digitally filtered using a Butterworth filter, and the filter is constructed as follows: Given the cutoff frequency of the filter order Calculate the filter coefficients : Where s is a complex variable; Transform it into a difference equation form. ,in, Indicates the current input signal. Indicates the previous input signal, Indicates the current input sample. This represents the previous input sample; The collected current data is processed to remove noise interference and extract the effective current data, including average value, peak-to-peak value, fluctuation amplitude, and variance. The experiment measures the current variation characteristics and corresponding load torque of the electric servo motor under different operating modes, including low-speed operation and high-speed operation, and the experimental dataset is divided into training set and test set.

3. The method for evaluating the friction torque of an electric servo motor according to claim 1, characterized in that, The process of establishing the mapping relationship between the load torque and the current includes: A mathematical model between current change and load torque is established using linear regression: in, , For regression coefficients, This is the average current. Using experimental data from the training set, the regression coefficients are estimated using the least squares method: in, The characteristic matrix, The objective variable is the friction torque; Calculate the mean squared error between the predicted and actual values ​​using experimental data from the test set: in, To measure the true value of the load torque experimentally. This is the predicted value of the load torque. For sample size; The model can be optimized by increasing or decreasing the number of features after evaluating its predictive performance.

4. The method for evaluating the friction torque of an electric servo motor according to claim 1, characterized in that, The real-time calculation of the friction torque value of the electric servo motor based on the effective data includes: Once the mathematical model between the load torque and current change is determined, the corresponding load torque can be calculated by measuring the operating current of the electric servo motor under test using a current detection device. ; The load torque output by the motor Converted to electric servo motor friction torque , in, It is the transmission ratio of the electric servo motor. , For regression coefficients, This represents the average current.

5. The method for evaluating the friction torque of an electric servo motor according to claim 1, characterized in that, The evaluation of the frictional torque value and the adjustment of the operating parameters of the electric servo motor as needed include: The frictional force is subjected to multi-dimensional testing and evaluation of torque values, including the influence of load conditions and rotational speed on the frictional torque; During the actual operation of the electric servo motor, the friction torque is monitored and calculated in real time, providing timely feedback. During real-time monitoring, when abnormal current fluctuations are detected, an alarm is automatically triggered and an emergency stop function is executed.

6. A friction torque evaluation system for an electric servo motor, characterized in that, include: The acquisition module acquires the current signal during the operation of the electric servo motor through a current detection device, extracts the effective data, and obtains the current change characteristics and corresponding load torque of the electric servo motor under different working modes through experiments. Build a module to establish the mapping relationship between load torque and current; The calculation module calculates the friction torque value of the electric servo motor in real time based on the effective data; The evaluation module evaluates the friction torque value and adjusts the operating parameters of the electric servo motor as needed.

7. The electric servo motor friction torque evaluation system according to claim 6, characterized in that, The current signal during the operation of the electric servo motor is acquired using a current detection device, and valid data is extracted, including: The current detection device includes a high-precision current sensor and a data acquisition card, wherein the data acquisition card can capture the dynamic current changes of the electric servo motor in real time. The current signal is digitally filtered using a Butterworth filter, and the filter is constructed as follows: Given the cutoff frequency of the filter order Calculate the filter coefficients : Where s is a complex variable; Transform it into a difference equation form. ,in, Indicates the current input signal. Indicates the previous input signal, Indicates the current input sample. This represents the previous input sample; The collected current data is processed to remove noise interference and extract the effective current data, including average value, peak-to-peak value, fluctuation range, and variance.

8. The electric servo motor friction torque evaluation system according to claim 6, characterized in that, The process of obtaining the current variation characteristics and corresponding load torque of the electric servo motor under different operating modes through experiments includes: The experiment measures the current variation characteristics and corresponding load torque of the electric servo motor under different operating modes, wherein the operating modes include low-speed operation and high-speed operation. The dataset obtained from the experiment was divided into a training set and a test set; A mathematical model between current change and load torque is established using linear regression: in, , For regression coefficients, This is the average current. Using experimental data from the training set, the regression coefficients are estimated using the least squares method: in, The characteristic matrix, The objective variable is the friction torque; Calculate the mean squared error between the predicted and actual values ​​using experimental data from the test set: in, To measure the true value of the load torque experimentally. This is the predicted value of the load torque. For sample size; The model can be optimized by increasing or decreasing the number of features after evaluating its predictive performance.

9. The electric servo motor friction torque evaluation system according to claim 6, characterized in that, The real-time calculation of the friction torque value of the electric servo motor based on the effective data includes: Once the mathematical model between the load torque and current change is determined, the corresponding load torque can be calculated by measuring the operating current of the electric servo motor under test using a current detection device. ; The load torque output by the motor Converted to electric servo motor friction torque , in, It is the transmission ratio of the electric servo motor. , For regression coefficients, This represents the average current.

10. The electric servo motor friction torque evaluation system according to claim 6, characterized in that, Evaluate the frictional torque value and adjust the operating parameters of the electric servo motor as needed, including: The frictional force is subjected to multi-dimensional testing and evaluation of torque values, including the influence of load conditions and rotational speed on the frictional torque; During the actual operation of the electric servo motor, the friction torque is monitored and calculated in real time, providing timely feedback. During real-time monitoring, when abnormal current fluctuations are detected, an alarm is automatically triggered and an emergency stop function is executed.

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