A test system for a rotating device

Abstract

This invention provides a testing system for rotating equipment, relating to the field of testing technology. The testing system includes: a rotation control device and the rotating equipment under test; the rotation control device includes: a knob body, a knob motor, a detection module, and a control module; the knob body and the knob motor are assembled together; the knob body can rotate clockwise or counterclockwise, and the rotor of the knob motor rotates with the knob body; the detection module is used to collect the rotation operation signal of the knob motor rotating with the knob body and send the rotation operation signal to the control module; the control module is used to determine a target adjustment amount for controlling the rotating equipment based on the rotation operation signal and send the target adjustment amount to the rotating equipment; the rotating equipment is used for rotation control based on the target adjustment amount. This invention achieves rapid and real-time rotation adjustment of the rotating equipment during testing.

Description

Technical Field

[0001] This invention relates to the field of testing technology, and more specifically to a testing system for a rotating device. Background Technology

[0002] In the automotive research and development and production process, bench testing of drive systems such as engines, transmissions, and drive motors is a crucial step in verifying motor performance and durability. In a laboratory testing environment, the adjustment of the tested prototype, accompanying dynamometer, and peripheral auxiliary systems requires a high degree of flexibility and faces stringent requirements.

[0003] Currently, the mainstream method in the automotive testing industry is to use a traditional pure mechanical knob with an encoder to achieve basic adjustment functions. This method can only achieve simple parameter settings and cannot meet the diverse scenarios of current motor testing. Summary of the Invention

[0004] The purpose of this invention is to provide a testing system for rotating equipment. The testing system includes a rotation control device that assembles a knob motor and a knob body together. The rotor of the knob motor rotates along with the knob body. A detection module is included to detect the rotation of the knob motor. This allows for precise real-time sensing of the knob motor's position and speed, thus obtaining the rotation operation signal indicating that the knob body is being rotated. The rotation control device also includes a local control module, which can determine the target adjustment amount for controlling the rotating equipment in real-time based on the rotation operation signal, enabling rapid and real-time rotation adjustment of the rotating equipment during testing.

[0005] To achieve the above objectives, the present invention provides a testing system for a rotating device, comprising: a rotation control device and a rotating device under test; the rotation control device comprises: a knob body, a knob motor, a detection module, and a control module; the knob body and the knob motor are assembled together; the knob body can rotate clockwise or counterclockwise, and the rotor of the knob motor can rotate with the rotation of the knob body; the detection module is used to collect the rotation operation signal of the knob motor rotating with the knob body, and send the rotation operation signal to the control module; the control module is used to determine a target adjustment amount for controlling the rotating device based on the rotation operation signal, and send the target adjustment amount to the rotating device; the rotating device is used to perform rotation control based on the target adjustment amount.

[0006] In one embodiment, the rotation control device further includes: a drive module;

[0007] The drive module is used to control the rotation of the knob motor.

[0008] In one embodiment, the control module is used to:

[0009] When the current operating mode is in the position rebound mode, a reset drive signal is generated based on the received rotation operation signal to control the knob motor to return to the unrotated position;

[0010] The reset drive signal is sent to the drive module;

[0011] The drive module is used to drive the knob motor based on the reset drive signal, so that the knob body returns to the unrotated position.

[0012] In one embodiment, the knob body is divided into multiple preset positions;

[0013] The rotation control device further includes: a torque feedback module;

[0014] The control module is used to detect whether the knob body has been rotated to a preset position according to the rotation operation signal; and when it detects that the knob body has been rotated to each preset position, it sends a torque feedback command to the torque feedback module.

[0015] The torque feedback module is used to drive the knob motor to provide damping feedback through the drive module when the torque feedback command is received.

[0016] In one embodiment, the control module is further configured to determine the current adjustment mode;

[0017] The torque feedback module is used to drive the knob motor to provide damping feedback through the drive module when it receives the torque feedback command, based on the current adjustment mode; the damping feedback magnitude of the knob motor is different in different adjustment modes.

[0018] In one embodiment, the control module is used to:

[0019] Based on the collected rotation operation signal of the knob motor, the rotation speed value of the knob motor is determined;

[0020] Based on the rotational speed value and the preset rotational speed threshold, the current adjustment mode is determined, and the rotation adjustment amount is calculated based on the adjustment coefficient corresponding to the adjustment mode and the rotation angle value indicated by the rotation operation signal.

[0021] The target adjustment amount of the rotating equipment is calculated based on the rotation adjustment amount, the current rotation speed of the rotating equipment, and the rotation direction indicated by the rotation operation signal.

[0022] In one embodiment, the control module is used to:

[0023] If the rotational speed value is greater than the preset rotational speed threshold, it is determined that the current mode is the first adjustment mode;

[0024] If the rotational speed value is less than or equal to a preset rotational speed threshold, it is determined that the current mode is the second adjustment mode.

[0025] The adjustment coefficient corresponding to the first adjustment mode is greater than the adjustment coefficient corresponding to the second adjustment mode.

[0026] In one embodiment, the knob body is divided into multiple preset positions;

[0027] The control module is also used for:

[0028] Based on the angle difference between the absolute angular position of the motor indicated by the rotation operation signal and the position of the next preset gear, it is determined whether the knob body needs to be rotated to the next preset gear.

[0029] If so, a motor drive signal is generated to control the knob body to rotate to the next preset position, and the motor drive signal is sent to the drive module;

[0030] The drive module is used to drive the knob motor to rotate based on the motor drive signal, so as to rotate the knob body to the next preset position;

[0031] The control module is also used to determine the current preset gear position of the knob body, and based on the current preset gear position, determine the target adjustment amount for controlling the rotating device.

[0032] In one embodiment, the control module is used to:

[0033] Based on the absolute angular position of the motor, determine the target torque signal to be applied to drive the knob body to rotate to the next preset gear.

[0034] The three-phase current signal is determined based on the q-axis voltage of the rotary motor and the target angle position corresponding to the next preset gear.

[0035] The motor drive signal includes the target torque signal and the three-phase current signal. Attached Figure Description

[0036] Figure 1 This is a block diagram of the testing system of the rotating device according to the first embodiment of the present invention;

[0037] Figure 2 This is an exploded view of the mechanical structure of the rotation control device in the test system of the first embodiment of the present invention;

[0038] Figure 3 This is a block diagram of the testing system for the rotating device according to the second embodiment of the present invention. Detailed Implementation

[0039] The embodiments of the present invention will be described in detail below with reference to the accompanying drawings to provide a clearer understanding of the purpose, features, and advantages of the present invention. It should be understood that the embodiments shown in the drawings are not intended to limit the scope of the present invention, but are merely illustrative of the essential spirit of the technical solution of the present invention.

[0040] In the following description, certain specific details are set forth for the purpose of illustrating various disclosed embodiments in order to provide a thorough understanding of the various disclosed embodiments. However, those skilled in the art will recognize that embodiments may be practiced without one or more of these specific details. In other instances, well-known apparatuses, structures, and techniques associated with this application may not have been shown or described in detail to avoid unnecessarily obscuring the description of the embodiments.

[0041] Unless the context requires otherwise, throughout the specification and claims, the word “comprising” and its variations, such as “including” and “having”, shall be understood to have an open, inclusive meaning, that is, to be interpreted as “including, but not limited to”.

[0042] Throughout this specification, references to "an embodiment" or "an embodiment" indicate that a particular feature, structure, or characteristic described in connection with the embodiment is included in at least one embodiment. Therefore, the appearance of "in an embodiment" or "an embodiment" in various places throughout the specification does not necessarily refer to the same embodiment. Furthermore, a particular feature, structure, or characteristic may be combined in any manner in one or more embodiments.

[0043] The singular forms “a” and “” used in this specification and the appended claims include plural references, unless otherwise expressly stated herein. It should be noted that the term “or” is generally used to mean “or / and”, unless otherwise expressly stated herein.

[0044] In the following description, in order to clearly demonstrate the structure and working method of the present invention, a number of directional terms will be used. However, terms such as "front", "back", "left", "right", "outside", "inside", "outward", "inward", "up", and "down" should be understood as convenient terms and not as limiting terms.

[0045] The first embodiment of this invention relates to a testing system for rotating equipment, used to test the rotating equipment under test, including rotation control during the testing process. The rotating equipment is a common type of device such as a motor (e.g., a synchronous motor, an asynchronous motor, etc.) or an engine. Controlling the rotation of the rotating equipment under test involves adjusting its speed, which is equivalent to adjusting the torque of the rotating equipment.

[0046] Please refer to Figure 1 and Figure 2 The testing system for rotating equipment includes: a rotation control device 100 and the rotating equipment 200 under test, with the rotation control device 100 and the rotating equipment 200 being communicatively connected; during testing, the rotation control device 100 can be mounted on a test bench, or it can be a movable rotation control device 100, which can be connected to the rotating equipment 200 via wired or wireless means to achieve rotation control of the rotating equipment 200; the rotating equipment 200 can be mounted on a test bench, inside the vehicle under test, or in a separate vehicle powertrain system.

[0047] The rotation control device 100 includes: a knob body 1, a knob motor 2, a detection module 3, and a control module 4; the knob body 1 and the knob motor 2 are assembled together. The control module 4 is communicatively connected to the knob motor 2 and the detection module 3 respectively; wherein, the control module 4 is connected to the external rotating device 200 being measured.

[0048] The knob body 1 can be rotated clockwise or counterclockwise. The rotor of the knob motor 2 can rotate with the knob body 1. That is to say, the rotating shaft of the knob body 1 is fixed with the rotor of the knob motor 2. Thus, when the knob body 1 is rotated, the rotor of the knob motor 2 will also rotate. The angle and speed of their rotation are the same.

[0049] Please refer to Figure 2 The exploded view shows the rotary control device 100, in which the knob body 1 and the knob motor 2 are assembled together. The knob body 1 can be made of high-strength aluminum alloy and can be cylindrical. The diameter of the cylinder can be set as needed, for example, 50 mm. The side of the cylinder is provided with anti-slip diamond pattern.

[0050] The knob motor 2 is mounted on the first circuit board 6 via the flange 5. The detection module 3 is mounted on the first circuit board 6. The control module 4 is located on the second circuit board 7. The first circuit board 6 is mounted on the second circuit board 7. Thus, the control module 4 and the detection module 3 can communicate through the communication interface between the circuit boards. For example, the first circuit board 6 and the second circuit board 7 can communicate through the SPI bus connection.

[0051] In some embodiments, the rotation control device 100 further includes a communication module 8. The rotation control device 100 can be connected to an external device 300 (such as a test host computer, vehicle controller, etc.) through the communication module 8. For example, the communication module 8 supports the CANFD protocol, and the communication rate can be configured between 125kbps and 8Mbps. One end of the communication module 8 is connected to the control module 4, and the other end is connected to the external device 300 through the CAN bus. Thus, it can receive the configuration information sent by the external device 300 and send the collected signals to the external device 300 in real time.

[0052] In addition, the rotation control device 100 also integrates commonly used communication interfaces (such as USB interface, TYPE-C interface, etc.), switch modules, etc., allowing users to import configuration information into the rotation control device 100 via the communication interface. The rotation control device 100 can be powered by connecting to an external power connector via a power module, or a power supply battery can be integrated within the rotation control device 100 to power the modules within the device.

[0053] The detection module 3 is used to acquire the rotation operation signal of the knob motor 2, which rotates with the knob body 1, and send the rotation operation signal to the control module 4. Specifically, when the knob body 1 is rotated, the rotor of the knob motor 2 rotates synchronously. The detection module 3 can detect the rotation of the rotor of the knob motor 2, thereby obtaining the rotation angle and rotation direction of the rotor of the knob motor 2, which is the rotation angle and rotation direction of the knob body 1. The rotation operation signal includes the rotation angle and rotation direction, and the rotation operation signal is converted into a digital signal and sent to the control module 4. The knob motor 2 can be a DC brushless motor; the detection module 3 is a position sensor that can detect the rotation of the rotor of the knob motor 2, such as a magnetic encoder, Hall sensor, etc. In one example, the position sensor is a high-precision magnetic encoder with a resolution of 18-22 bits, an angle detection accuracy of ±0.02°, and a sampling frequency ≥1kHz; it can detect the angle change fed back by the change of the magnetic field of the knob motor 2, and the magnetic encoder reading reflects the angle of the motor rotation, thereby allowing identification of the absolute angular position of the knob motor 2 at each moment.

[0054] The control module 4 is used to determine the target adjustment amount for controlling the rotating device 200 based on the rotation operation signal, and send the target adjustment amount to the rotating device 200 to control the rotation of the rotating device 200. Specifically, the control module 4 is a microcontroller with data processing capabilities. After receiving the rotation operation signal sent by the detection module 3, it determines the rotation adjustment amount that needs to be controlled to rotate the rotating device 200 based on the angle and direction of rotation of the knob body 1 indicated by the rotation operation signal. For example, the knob body 1 is divided into multiple preset positions. For instance, the knob body 1 can rotate 360° clockwise or counterclockwise, which is divided into 36 preset positions, with one preset position set every 10°. Thus, each time a rotation operation signal is received, the current preset position of the knob body 1 can be determined based on the rotation angle of the knob body 1 relative to the initial position. Then, the position difference between the preset position of the knob body 1 after each rotation and the preset position of the knob body 1 detected in the previous operation can be determined. Each preset position can correspond to a speed change value, and the product of the position difference and the speed change value is used as the target adjustment amount.

[0055] Then, by combining the current rotation speed and direction of the rotating device 200, the target adjustment amount for controlling the rotating device 200 is determined. For example, the target adjustment amount is the target speed value. After receiving the target speed value, the rotating device 200 adjusts its speed to the target speed value. The speed and direction indicated by the target speed value can be different from the previous speed and direction of the rotating device 200.

[0056] Among them, the control module 4 can control the knob motor 2 to keep the position of the knob body 1 unchanged after the knob body 1 is rotated to a preset position. At this time, the speed and direction of the tested rotating device 200 remain unchanged. Alternatively, it can control the knob motor 2 to rotate so as to drive the knob body 1 back to the initial position, realizing the rebound working mode. At this time, the tested rotating device 200 will also return to the initial position as the knob body 1 returns, and its speed will gradually decrease to 0.

[0057] For example, control module 4 is used for:

[0058] Based on the collected rotation operation signal of the knob motor, the rotation speed value of the knob motor 2 is determined. Specifically, the rotation operation signal includes the absolute angular position of the motor, which represents the angle value of the motor rotor relative to the stator. Thus, the control module 4 obtains the absolute angular position of the motor at two adjacent intervals with a time interval of Δt. First, the angle difference between these two absolute angular positions of the motor is calculated. Dividing the angle difference by the time interval Δt, the rotation speed value of the knob motor 2, which is also the rotation speed value of the knob body 1, can be obtained.

[0059] Based on the rotational speed value and a preset speed threshold, the current adjustment mode is determined, and the rotation adjustment amount is calculated based on the adjustment coefficient corresponding to the adjustment mode and the rotation angle value indicated by the rotation operation signal. Specifically, the control module 4 is pre-configured with a preset speed threshold. After calculating the current rotational speed value of the knob motor 2, it compares the rotational speed value with the preset speed threshold. If the rotational speed value is greater than the preset speed threshold, it is determined that the current adjustment mode is the first adjustment mode; if the rotational speed value is less than or equal to the preset speed threshold, it is determined that the current adjustment mode is the second adjustment mode. The adjustment coefficient corresponding to the first adjustment mode is greater than the adjustment coefficient corresponding to the second adjustment mode. In some embodiments, the number of adjustment modes can be three or more, using multiple preset speed thresholds to divide multiple adjustment modes. Different adjustment modes are set with corresponding adjustment coefficients; the higher the speed of the adjustment mode, the larger its corresponding adjustment coefficient.

[0060] Subsequently, based on the adjustment coefficient corresponding to the adjustment mode and the rotation angle value indicated by the rotation operation signal, the rotation adjustment amount is calculated. According to the rotation adjustment amount, the current speed of the rotating device, and the rotation direction indicated by the rotation operation signal, the target adjustment amount of the rotating device 200 is calculated and sent to the rotating device 200. The rotating device 200 performs rotation control based on the target adjustment amount. For example, if the target adjustment amount is a target speed value, after receiving the target speed value, the rotating device 200 adjusts its speed to the target speed value. The speed and direction indicated by the target speed value can be different from the previous speed and direction of the rotating device 200. In other words, the rotating device 200 performs corresponding rotation adjustments based on the target adjustment amount and according to the rotation of the knob body.

[0061] Specifically, in the first adjustment mode, the corresponding adjustment coefficient is K1, and θ represents the angle difference between the absolute angular position of the motor in the current rotation operation signal and the absolute angular position of the motor in the previous rotation operation signal; then the rotation adjustment amount ΔN1 = K1 × θ.

[0062] In the second adjustment mode, the corresponding adjustment coefficient is K2. Let θ represent the angle difference between the absolute angular position of the motor in the current rotation operation signal and the absolute angular position of the motor in the previous rotation operation signal; then the rotation adjustment amount ΔN2 = K2 × θ.

[0063] Then, based on the rotation direction indicated by the rotation operation signal, the rotation adjustment amount, and the current rotation speed of the rotating device 200, the target adjustment amount Ntarget of the rotating device 200 is calculated.

[0064] If the rotation direction of the knob body 1 is clockwise, then Ntarget = N + ΔN;

[0065] If the rotation direction of the knob body 1 is counterclockwise, then Ntarget = N - ΔN;

[0066] In the first adjustment mode, ΔN = ΔN1; in the second adjustment mode, ΔN = ΔN2.

[0067] The target adjustment amount Ntarget represents the target rotational speed that the rotating device 200 should reach. At this time, the control module 4 can also correct the target adjustment amount Ntarget based on the rated rotational speed range (Nmin - Nmax) of the rotating device 200. If Ntarget < Nmin, Ntarget is corrected to Nmin; if Ntarget > Nmax, Ntarget is corrected to Nmax. Herein, the rated rotational speed range of the rotating device 200 can be pre-configured by the user in the control module 4.

[0068] It can be seen that the first adjustment mode is a high-speed adjustment mode, in which the target adjustment amount output by the control module 4 is also faster; the second adjustment mode is a fine adjustment mode, in which the control module 4 can output an accurate target adjustment amount at a low speed; thus, by setting the two adjustment modes, both accuracy and efficiency can be taken into account.

[0069] Exemplarily, an RGB LED lamp is further provided on the rotation control device 100. In the first adjustment mode, the control module 4 controls the RGB LED lamp to display green and be constantly on; in the second adjustment mode, the control module 4 controls the RGB LED lamp to display blue and be constantly on; when the target adjustment amount Ntarget reaches Nmin or Nmax, it displays red and flashes at a frequency of 3 Hz; when remotely controlled by the external device 300, it adds a 0.5 Hz flash on the basis of the original color to distinguish the local / remote state of the rotation control device 100.

[0070] In the test system of the rotating device provided in this embodiment, a rotation control device is provided. The rotation control device assembles the knob motor with the knob body, and the rotor of the knob motor can rotate along with the rotation of the knob body. A detection module is provided to detect the rotation of the knob motor. Thus, an accurate real-time perception of the position and speed of the knob motor can be obtained, and a rotation operation signal for the rotation of the knob body can be obtained. A local control module is provided in the rotation control device, so that the target adjustment amount for controlling the rotating device can be determined in real time based on the rotation operation signal, realizing a fast and real-time rotation adjustment of the rotating device during the test process.

[0071] In addition, since the rotation control device is equipped with a local control module, it can adjust the nonlinear relationship between the rotation operation and the target adjustment amount according to the needs, without replacing the detection module in the rotation control device. This allows it to adapt to different scenarios and working modes, achieving better control results.

[0072] The second embodiment of this application provides a testing system for a rotating device. Compared with the first embodiment, this embodiment adds a drive module to the rotation control device to achieve more extended functions.

[0073] The test system for the rotating device in this embodiment is as follows: Figure 3 As shown.

[0074] The rotation control device 100 also includes a drive module 9 and a torque feedback module 10; the drive module 9 is communicatively connected to the control module 4 and the knob motor 2, respectively, and the torque feedback module 10 is communicatively connected to the control module 4 and the drive module 9, respectively. Please refer to [reference needed]. Figure 2 The drive module 9 can be mounted on the first circuit board 6, and the torque feedback module 10 can be mounted on the second circuit board 7.

[0075] The drive module 9 is used to control the rotation of the knob motor 2. The drive module 9 can provide a 5V drive voltage, integrates a three-phase motor drive chip and a three-phase inverter circuit, provides fine current control of 0.1A-1A, adapts to the low power characteristics of the knob motor 2, and adopts a field-oriented control scheme to avoid rotational jitter.

[0076] In other words, the drive module 9 can actively control the rotation of the knob motor 2, controlling the knob motor 2 to rotate clockwise and counterclockwise, thereby driving the knob body 1 to rotate at the same speed and synchronously to a specified angle. Thus, in some scenarios, the tester can send the parameters for controlling the rotation of the knob body 1 to the control module 4, and the control module 4 will drive the knob motor 2 to rotate accordingly through the drive module 9, thereby realizing the rotation control of the knob body 1. Thus, the rotation control device 100 is equipped with a manual rotation mode and an active rotation mode for the user to choose from. The active rotation mode can adapt to the long-term and high-frequency operation requirements in automotive testing scenarios.

[0077] In some embodiments, if the control module 4 is currently configured in the position rebound working mode, it generates a reset drive signal for controlling the knob motor 2 to return to the unrotated position based on the received rotation operation signal. The reset drive signal is sent to the drive module 9, which drives the knob motor 2 based on the reset drive signal to make the knob body 1 return to the unrotated position. At this time, the control module 4 also needs to send a corresponding target adjustment amount to the rotating device 200 so that the rotating device 200 decelerates to 0 as the knob body 1 returns to the unrotated position.

[0078] In some embodiments, if the control module 4 is currently configured to a position holding working mode, it generates a position holding drive signal to control the knob motor 2 to keep its position unchanged, and sends the position holding drive signal to the drive module 9. The drive module 9 drives the knob motor 2 to keep its angular position unchanged based on the position holding drive signal; at this time, the rotating device 200 also keeps the rotation speed corresponding to the target adjustment amount unchanged.

[0079] When the knob body 1 is divided into multiple preset positions, the control module 4 will also detect whether the knob body 1 has been rotated to the preset position according to the rotation operation signal; and when it is detected that the knob body 1 has been rotated to each preset position, it will send a torque feedback command to the torque feedback module 10.

[0080] The torque feedback module 10 is used to drive the knob motor 2 through the drive module 9 to provide damping feedback when a torque feedback command is received.

[0081] As described above, when the tester rotates the knob body 1, and the knob body 1 is rotated to each preset position, the knob motor 2 provides a rotational force in the opposite direction to the current rotation direction of the knob body 1 to achieve damping feedback; the torque of this rotational force in the opposite direction can be adjusted within a set range, for example, 0.2-2 N·m.

[0082] In one embodiment, the control module 4 can determine the current adjustment mode, as detailed in the first embodiment, which will not be repeated here. The control module 4 sends the current adjustment mode information to the torque feedback module 10.

[0083] When the torque feedback module 10 receives a torque feedback command, it drives the knob motor 2 via the drive module 9 to provide damping feedback based on the current adjustment mode. The damping feedback magnitude of the knob motor 2 varies in different adjustment modes. For example, in the first adjustment mode, it provides a larger damping feedback with a torque range of 0.8-2 N·m; in the second adjustment mode, it provides a smaller damping feedback with a torque range of 0.2-0.6 N·m to reduce operating resistance.

[0084] From the above, the relationship between the damping feedback torque of the knob body 1 and the adjustment mode can be established, such as a linear or polynomial relationship; different damping feedback effects can be achieved, such as gradually increasing the damping feedback force as the adjustment speed increases, thereby ensuring smoother control and making the user of the knob perceive more accurately and clearly, thus achieving a better user interaction experience.

[0085] In some embodiments, the control module 4 is further configured to:

[0086] Based on the angle difference between the absolute angular position of the motor indicated by the rotation operation signal and the position of the next preset gear, it is determined whether the knob body 1 needs to be rotated to the next preset gear; if yes, a motor drive signal is generated to control the knob body 1 to rotate to the next preset gear, and the motor drive signal is sent to the drive module 9; if no, there is no need to perform rotation compensation on the knob body 1.

[0087] The drive module 9 is used to drive the knob motor 2 to rotate based on the motor drive signal, so as to drive the knob body 1 to rotate to the next preset position.

[0088] The control module 4 then determines the current preset position of the knob body 1, and based on the current preset position, determines the target adjustment amount for controlling the rotating device 200.

[0089] Specifically, when the user rotates the knob body 1, the control module 4 determines the current preset position of the knob body 1 based on the absolute angular position of the motor indicated in the rotation operation signal sent by the detection module 3, denoted as the first preset position. Then, it acquires the angle difference between the absolute angular position of the motor indicated in the rotation operation signal and the next preset position (the second preset position), and compares this angle difference with a preset angle difference threshold. If the angle difference is less than or equal to the preset angle difference threshold, it is determined that rotation compensation of the knob body 1 is required. At this time, the control module 4 generates a motor drive signal based on the angle difference to control the knob body 1 to rotate to the second preset position, and sends the motor drive signal to the drive module 9, which drives the knob motor 2 to rotate, thereby rotating the knob body 1 to the second preset position. If the angle difference is greater than the preset angle difference threshold, it is determined that rotation compensation of the knob body 1 is not required.

[0090] Subsequently, when it is determined that no rotational compensation is required, the control module 4 directly determines the target adjustment amount for controlling the rotating device 200 based on the current first preset gear. When it is determined that rotational compensation is required, the target adjustment amount for controlling the rotating device 200 can be directly determined based on the second preset gear. Alternatively, after performing rotational compensation on the knob body 1, the current preset gear can be re-acquired based on the rotation operation signal sent by the detection module 3. It can also verify whether the preset gear matches the second preset gear to determine whether rotational compensation on the knob body 1 has been completed.

[0091] For example, the control module 4 is used to determine the target torque signal to be applied to the knob motor 2 to drive the knob body 1 to rotate to the next preset position based on the absolute angular position of the motor; for example, the knob body 1 is divided into N preset positions, the current absolute angular position of the motor determined by the control module 4 is angle A1, the current preset position is K, and it is determined that the knob body 1 needs to rotate to the next preset position K+1, then the target angular position A corresponding to the next preset position K+1 is... M For the angle corresponding to the preset gear K+1, A M = (K+1)×2π / N.

[0092] Subsequently, based on the target angular position and the real-time torque and real-time absolute angle of the knob motor 2, a PID algorithm is used to calculate the target torque that should be applied to the knob motor 2 in real time. The target torque signal includes the real-time calculated target torque. Here, the target torque = (Kp + Ki) × Vg, where Kp is the PID adjustment parameter determined based on the real-time torque of the knob motor 2, Ki is the PID adjustment parameter determined based on the angle difference between the real-time absolute angle of the knob motor 2 and the target angular position, and Vg is the power supply voltage of the knob motor 2.

[0093] According to the q-axis voltage U of the knob motor 2 q Based on the target angle position corresponding to the next preset gear position, the three-phase current signal to be applied to the rotary motor 2 is calculated. The q-axis voltage of the rotary motor 2 is a preset fixed value.

[0094] Specifically, first set the target position angle A corresponding to the next preset gear. M Converted to target electrical angle A radM The conversion formula is as follows;

[0095] A radM =A M ×2π / K b Among them, K b This indicates the encoder accuracy parameters when the detection module 3 is an encoder.

[0096] Based on q-axis voltage U q With the target electrical angle A radM The α-axis and β-axis components perpendicular to the rotor direction of the rotary motor 2 are obtained, and their specific expressions are as follows:

[0097] Uα=-U q sin(A radM );

[0098] Uβ=U q cos(A radM );

[0099] This allows us to obtain the phase a voltage Ua, phase b voltage Ub, and phase c voltage Uc of the three-phase current signals.

[0100] Ua = Uα + Vg / 2;

[0101] Ub=(sqrt(3) Uβ-Uα) / 2+Vg / 2;

[0102] Uc=(-Uα-sqrt(3) Uβ) / 2+Vg / 2;

[0103] Where Vg is the power supply voltage of the rotary motor 2.

[0104] The target torque signal is then combined with the three-phase current signal and output as a motor drive signal to the drive module 9.

[0105] In this embodiment, when the test begins, after the control module 4 is powered on, it performs a self-test on the modules within the rotation control device 100 to check whether the drive module 9, detection module 3, torque feedback module 10, and communication module are normal. If a fault is found, the control module 4 can rotate the preset red fault light within the control device 100 to flash at a fixed frequency. If the self-test passes, the control module 4 reads the default parameters, which include, but are not limited to: the number of preset gears on the knob body 1, the current adjustment mode, the adjustment coefficient corresponding to each adjustment mode, the torque magnitude fed back by the torque feedback module 10, the current working mode (which can be position rebound or position hold), and the manual / automatic switching adjustment mode.

[0106] The default parameters can be configured by the external device 300 or written by the user into the rotation control device 100 through the communication interface.

[0107] During the test, the detection module 3 continuously detects and acquires the knob operation signal and sends it to the control module 4. The control module 4 then repeats the above process based on the received knob operation signal. Furthermore, if necessary, it can also transmit relevant data to the external device 300 at preset intervals (e.g., 10 milliseconds), such as the current adjustment mode, knob operation signal, and torque fed back by the torque feedback module 10. Thus, the tester can monitor the test process in real time. In addition, the tester can adjust the parameter values ​​in the rotation control device 100 in real time through the external device 300, such as the adjustment coefficient of the adjustment mode. The control module 4 can update the parameters in real time and indicate that the parameters have been updated by having the indicator light on the communication module 8 stay on for 5 seconds.

[0108] The preferred embodiments of the present invention have been described in detail above, but it should be understood that, if necessary, aspects of the embodiments can be modified to utilize aspects, features, and concepts from various patents, applications, and publications to provide other embodiments.

[0109] In light of the detailed description above, these and other changes can be made to the embodiments. Generally, the terminology used in the claims should not be considered limited to the specific embodiments disclosed in the specification and claims, but should be understood to include all possible embodiments together with the full scope of equivalents enjoyed by these claims.

Claims

1. A testing system for a rotating device, characterized in that, include: Rotation control device, the rotating device under test, drive module, and torque feedback module; The rotation control device includes: a knob body, a knob motor, a detection module, and a control module; the knob body and the knob motor are assembled together. The knob body can be rotated clockwise or counterclockwise, and the rotor of the knob motor can rotate with the rotation of the knob body. The knob body is divided into multiple preset positions. The detection module is used to collect the rotation operation signal of the knob motor that rotates with the knob body, and send the rotation operation signal to the control module; The control module is used to determine a target adjustment amount for controlling the rotating device based on the rotation operation signal, and send the target adjustment amount to the rotating device; The rotating device is used for rotation control based on the target adjustment amount; The drive module is used to control the rotation of the knob motor; The control module is used to detect whether the knob body has been rotated to a preset position according to the rotation operation signal; and when it detects that the knob body has been rotated to each preset position, it sends a torque feedback command to the torque feedback module. The torque feedback module is used to drive the knob motor to provide damping feedback through the drive module when the torque feedback command is received. The control module is used for: Based on the collected rotation operation signal of the knob motor, the rotation speed value of the knob motor is determined; Based on the rotational speed value and a preset rotational speed threshold, the current adjustment mode is determined; wherein if the rotational speed value is greater than the preset rotational speed threshold, it is determined that the current adjustment mode is the first adjustment mode; if the rotational speed value is less than or equal to the preset rotational speed threshold, it is determined that the current adjustment mode is the second adjustment mode; the adjustment coefficient corresponding to the first adjustment mode is greater than the adjustment coefficient corresponding to the second adjustment mode. The rotation adjustment amount is calculated based on the adjustment coefficient corresponding to the adjustment mode and the rotation angle value indicated by the rotation operation signal; The target adjustment amount of the rotating equipment is calculated based on the rotation adjustment amount, the current rotation speed of the rotating equipment, and the rotation direction indicated by the rotation operation signal.

2. The testing system according to claim 1, characterized in that, The control module is used for: When the current operating mode is in the position rebound mode, a reset drive signal is generated based on the received rotation operation signal to control the knob motor to return to the unrotated position; The reset drive signal is sent to the drive module; The drive module is used to drive the knob motor based on the reset drive signal, so that the knob body returns to the unrotated position.

3. The testing system according to claim 1, characterized in that, The control module is also used to determine the current adjustment mode; The torque feedback module is used to drive the knob motor to provide damping feedback through the drive module when it receives the torque feedback command, based on the current adjustment mode. The damping feedback of the knob motor varies depending on the adjustment mode.

4. The testing system according to claim 1, characterized in that, The control module is also used for: Based on the angle difference between the absolute angular position of the motor indicated by the rotation operation signal and the position of the next preset gear, it is determined whether the knob body needs to be rotated to the next preset gear. If so, a motor drive signal is generated to control the knob body to rotate to the next preset position, and the motor drive signal is sent to the drive module; The drive module is used to drive the knob motor to rotate based on the motor drive signal, so as to rotate the knob body to the next preset position; The control module is also used to determine the current preset gear position of the knob body, and based on the current preset gear position, determine the target adjustment amount for controlling the rotating device.

5. The testing system according to claim 4, characterized in that, The control module is used for: Based on the absolute angular position of the motor, determine the target torque signal to be applied to drive the knob body to rotate to the next preset gear. The three-phase current signal is determined based on the q-axis voltage of the rotary motor and the target angle position corresponding to the next preset gear. The motor drive signal includes the target torque signal and the three-phase current signal.

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