Method and system for testing and analyzing dynamic torsional rigidity of speed reducer
By employing a combination of time-series decoupling and multi-source synchronous sampling under unsteady conditions, the accuracy problem of dynamic torsional stiffness testing of speed reducers was solved, enabling a refined evaluation of the dynamic performance of speed reducers and improving the reliability and engineering application value of test results.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-12-25
- Publication Date
- 2026-03-20
AI Technical Summary
Existing technologies struggle to accurately test the dynamic torsional stiffness of speed reducers under unsteady conditions, and lack time alignment and synchronous sampling of multi-source signals at the input and output ends. This makes the test results susceptible to inertial interference, failing to meet the need for refined evaluation of speed reducer dynamic performance in engineering applications.
A joint drive control mechanism for start-stop and variable load based on time-series decoupling is adopted. Combined with state-aligned multi-source synchronous sampling and differential construction and state quantity construction mechanism with inertia-dominated interval suppression, the transient dynamic torsional stiffness of the reducer is calculated and segmented statistical analysis is realized through explicit parameter inversion of the unsteady torsional dynamic equilibrium equation.
This improves the accuracy and reliability of dynamic torsional stiffness testing, enabling it to accurately reflect the dynamic torsional characteristics of the reducer under unsteady conditions, thus enhancing its engineering interpretability and application value.
Smart Images
Figure CN121702736A_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of dynamic performance testing technology for speed reducers, and in particular to a method and system for testing and analyzing the dynamic torsional stiffness of speed reducers. Background Technology
[0002] Currently, most methods for testing and analyzing the torsional stiffness of speed reducers are based on steady-state operating conditions or near-steady-state shutdown conditions. These methods typically involve applying a constant speed or slowly loading torque, and estimating the torsional stiffness of the speed reducer based on the proportional relationship between torque and angular displacement. While these methods have some applicability under steady-state or quasi-steady-state conditions, their testing procedures generally assume that the internal torsional stiffness of the speed reducer is constant and neglect the effects of inertial effects and transient dynamic responses during start-up and shutdown.
[0003] However, in applications such as industrial robots, automated equipment, and high-dynamic servo systems, speed reducers often operate under unsteady conditions, including frequent start-stop, acceleration / deceleration, and forward / reverse switching. The input speed and output load change significantly within a short period. Under these conditions, the speed reducer's angular displacement response is simultaneously affected by rigid body rotational inertia, damping effects, and internal elastic torsional deformation. Traditional testing methods based on steady-state assumptions struggle to effectively distinguish these factors, leading to measured torsional stiffness results that are easily affected by inertial interference and fail to accurately reflect the speed reducer's dynamic torsional stiffness characteristics under unsteady conditions.
[0004] Furthermore, existing technologies for dynamic testing typically lack strict time alignment and synchronous sampling control for multi-source signals at the input and output ends. Timing deviations between angular displacement and torque signals are further amplified under unsteady conditions, resulting in poor stability of stiffness calculations based on instantaneous data. Simultaneously, existing methods often only provide a single stiffness value or an average stiffness for the entire segment, failing to correlate test results with specific start-up and shutdown phases, thus making it difficult to meet the needs of refined dynamic performance evaluation for gearboxes in engineering applications.
[0005] Therefore, there is an urgent need for a method that can accurately test and analyze the dynamic torsional stiffness of a reducer under unsteady conditions such as variable load start-stop, so as to improve the accuracy, stability and engineering interpretability of the dynamic torsional stiffness test results. Summary of the Invention
[0006] To address the aforementioned technical shortcomings, the purpose of this invention is to propose a method for testing and analyzing the dynamic torsional stiffness of a speed reducer. This method aims to solve the technical problem that existing technologies primarily rely on simple start-stop conditions to test and analyze the torsional stiffness of speed reducers. In particular, under unsteady conditions such as frequent start-stop and forward / reverse switching, the results are easily affected by rigid body rotation and transient disturbances, making it impossible to accurately measure the true dynamic torsional stiffness characteristics of the speed reducer.
[0007] To solve the above-mentioned technical problems, the present invention adopts the following technical solution: The present invention provides a method for testing and analyzing the dynamic torsional stiffness of a speed reducer.
[0008] The method for testing and analyzing the dynamic torsional stiffness of the speed reducer includes:
[0009] Step S10: Obtain the non-steady-state start-stop test control parameter set for the RV series worm gear reducer. Based on the non-steady-state start-stop test control parameter set, execute the non-steady-state start-stop test task using a time-series decoupling-based start-stop and load-variable joint drive control mechanism, and output the test operation status timing table. ;
[0010] Step S20: Based on the test run status timing table A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. ;
[0011] Step S30: Based on the non-steady-state synchronous sampling dataset A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. ;
[0012] Step S40: Sample the dataset from the non-steady-state synchronization Obtain the time series of torque transmitted at the input end. and output reverse torque time series And combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. ;
[0013] Step S50: Based on the transient dynamic torsional stiffness time series A time-segmented statistical analysis mechanism based on start-stop phase constraints is used to perform the task of generating dynamic torsional stiffness test results, and outputs the dynamic torsional stiffness test analysis results.
[0014] Preferably, in step S10, the non-steady-state start-stop test control parameter set of the RV series worm gear reducer is obtained, and the non-steady-state start-stop test task is executed based on the non-steady-state start-stop test control parameter set using a start-stop and variable load joint drive control mechanism based on time decoupling, and the test operation status timing table is output. The steps specifically include:
[0015] Step S101: Obtain the non-steady-state start-stop test control parameter set for the RV series worm gear reducer. The non-steady-state start-stop test control parameter set includes the target angular velocity during the start-up phase. Angular acceleration during the start-up phase Angular deceleration during braking phase and the reverse target angular velocity during the forward / reverse switching phase The unsteady-state start-stop test control parameter set is stored in the form of a piecewise continuous time function, which is used to constrain the input drive motor to sequentially execute unsteady-state start-stop cycles of acceleration, constant speed, deceleration, and reverse rotation during the test. After applying the unsteady-state start-stop test control parameter set, the unsteady-state start-stop speed trajectory function set is output. ;
[0016] Step S102: Obtain the variable load torque disturbance parameter set, which includes the disturbance torque amplitude, disturbance application start time, and disturbance duration; store the variable load torque disturbance parameter set in a time function form independent of the unsteady start-stop speed trajectory function set F, so that the variable load torque disturbance is not completely synchronized with the start-stop phase of the input end in time; after applying the variable load torque disturbance parameter set, output the asynchronous variable load torque disturbance function set. ;
[0017] Step S103: During the test, control the worm gear reducer according to the non-steady-state start-stop speed trajectory function set. Execute start-stop cycles and synchronously control the worm gear reducer according to the asynchronous variable load torque disturbance function set. A variable load torque disturbance is applied, causing the worm gear reducer to be simultaneously subjected to inertial excitation caused by start-stop at the input end and elastic torsional excitation caused by asynchronous load variation at the output end within the same test cycle. The start-stop speed time series and the variable load torque disturbance time series are acquired synchronously, and a test operation status timing table is output based on the start-stop phase time series and the variable load torque disturbance time series. .
[0018] Preferably, in step S20, the test running status timing table is used. A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. The steps specifically include:
[0019] Step S201: Based on the test running status timing table The unsteady-state synchronous sampling time window is constructed by combining the start-stop phase time series and the variable load torque disturbance time series recorded in the data.
[0020] Step S202: Using the non-steady-state synchronous sampling time window as a unified trigger condition, control the preset control torque acquisition unit to start synchronous sampling at the same sampling time t, including: acquiring the time series of the input shaft angular displacement of the reducer. (t); Collect the time series of angular displacement of the output shaft of the reducer. (t); Time series of torque transmitted at the input terminal is collected. Acquire the reverse torque time series at the output end. (t);
[0021] Step S203: Based on the time series of angular displacement of the reducer input shaft (t), time series of angular displacement of the reducer output shaft (t), Input torque transmission time series and output reverse torque time series (t) Construct and output the nonsteady synchronous sampling dataset .
[0022] Preferably, in step S30, the non-steady-state synchronous sampling dataset is used. A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. The steps specifically include:
[0023] Step S301: Based on the input shaft angular displacement time series (t) and the time series of the angular displacement of the reducer output shaft (t) The relative torsional angle time series φ(t) of the reducer is constructed by differential method. The relative torsional angle time series φ(t) of the reducer is used to represent the relative torsional response caused by elastic deformation inside the reducer;
[0024] Step S302: When the relative torsion angle corresponding to time t in the relative torsion angle time series φ(t) of the reducer is greater than the preset inertia-dominated judgment threshold, the judgment time t is in the inertia-dominated interval; otherwise, the judgment time t is in the elastic response effective interval.
[0025] Step S303: Take the first derivative in the time direction only for the time series of the relative torsional angle of the reducer within the effective range of the elastic response to obtain the relative angular velocity. Furthermore, the relative angular acceleration is obtained by taking the second derivative in the time direction only over the effective range of the elastic response relative torsional angle time series of the reducer. Based on the relative torsional angle time series φ(t) and relative angular velocity of the reducer and relative angular acceleration Construct and output the set of relative torsional motion state variables. .
[0026] Preferably, in step S40, the dataset is sampled from the non-steady-state synchronous sample. Obtain the time series of torque transmitted at the input end. and output reverse torque time series And combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. The steps specifically include:
[0027] Step S401: First, sample the dataset from the non-steady-state synchronous dataset. Obtain the time series of torque transmitted at the input end. and output reverse torque time series And based on the set of relative torsional motion state quantities Input torque transmission time series and output reverse torque time series Establish the unsteady torsional dynamic equilibrium equations of the reducer under unsteady start-stop and variable load coupling conditions:
[0028] ;
[0029] in, and These are the pre-calibrated equivalent moments of inertia of the input and output terminals, respectively. The preset equivalent damping coefficient; The transient dynamic torsional stiffness time series to be solved;
[0030] Step S402: Perform algebraic reconstruction of the unsteady torsional dynamic equilibrium equations to obtain the transient dynamic torsional stiffness time series. .
[0031] Preferably, in step S50, the transient dynamic torsional stiffness time series is used. The steps for generating dynamic torsional stiffness test results and outputting the dynamic torsional stiffness test analysis results, using a time-segmented statistical analysis mechanism based on start-stop phase constraints, specifically include:
[0032] Step S501: From the test run status timing table The start and end time identifiers corresponding to each start and stop phase are read to construct the time interval of the start and stop phases; at the same time, the transient dynamic torsional stiffness time series is also read. Mapped to the corresponding start-stop phase time zone; wherein, the start-stop phase time zone includes the acceleration phase, deceleration phase and forward / reverse switching transient phase;
[0033] Step S502: Analyze the transient dynamic torsional stiffness time series during the acceleration phase, deceleration phase, and forward / reverse switching transient phase. Perform statistical characteristic calculations and output the mean stiffness, extreme stiffness values, and stiffness fluctuation range;
[0034] Step S503: Generate and output the dynamic torsional stiffness test analysis results based on the mean stiffness, extreme stiffness, and stiffness fluctuation amplitude.
[0035] Preferably, in step S503, the step of generating and outputting the dynamic torsional stiffness test analysis result based on the mean stiffness, extreme stiffness, and stiffness fluctuation amplitude specifically includes: during the acceleration phase, by comparing the stiffness fluctuation amplitude with a preset stability threshold, determining whether the dynamic torsional stiffness of the reducer remains stable during the acceleration phase, and outputting the first dynamic torsional stiffness test analysis result.
[0036] During the deceleration phase, the mean stiffness, extreme stiffness, and stiffness fluctuation amplitude during the acceleration and deceleration phases are analyzed using a dynamic stiffness evaluation based on symmetry consistency, and the results of the second dynamic torsional stiffness test are output.
[0037] During the transient phase of switching between forward and reverse rotation, the difference between the extreme value of stiffness and the average value of stiffness in the preset steady-state range is evaluated to determine whether there is a sudden change in transient stiffness of the reducer during the transient phase of switching between forward and reverse rotation, and the third dynamic torsional stiffness test analysis result is output.
[0038] The final dynamic torsional stiffness test analysis result is output by combining the first, second, and third dynamic torsional stiffness test analysis results.
[0039] This invention also provides a dynamic torsional stiffness testing and analysis system for speed reducers, comprising:
[0040] The unsteady start-stop condition construction module is used to acquire the unsteady start-stop test control parameter set of the RV series worm gear reducer. Based on the unsteady start-stop test control parameter set, the module uses a time-decoupled start-stop and load-variable joint drive control mechanism to execute the unsteady start-stop test task and outputs a test operation status timing table. ;
[0041] The state alignment and synchronization sampling module is used to perform timing based on the test run state table. A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. ;
[0042] The relative torsional state quantity building module is used for constructing data based on unsteady synchronous sampling datasets. A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. ;
[0043] The transient dynamic torsional stiffness inversion module is used to sample datasets from unsteady synchronous states. Obtain the time series of torque transmitted at the input end. (t) and the time series of output reverse torque (t), and combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. ;
[0044] The start-stop phase constraint stiffness evaluation module is used to evaluate the transient dynamic torsional stiffness time series. A time-segmented statistical analysis mechanism based on start-stop phase constraints is used to perform the task of generating dynamic torsional stiffness test results, and outputs the dynamic torsional stiffness test analysis results.
[0045] The present invention also provides a device for testing and analyzing the dynamic torsional stiffness of a speed reducer, comprising: a memory, a processor, and a speed reducer dynamic torsional stiffness testing and analysis program stored in the memory and executable on the processor. When the speed reducer dynamic torsional stiffness testing and analysis program is executed by the processor, a method for testing and analyzing the dynamic torsional stiffness of a speed reducer is implemented.
[0046] The present invention also provides a computer program product, including a speed reducer dynamic torsional stiffness test and analysis program, which, when executed by a processor, implements the speed reducer dynamic torsional stiffness test and analysis method.
[0047] The beneficial effects of this invention are as follows: By constructing a test condition coupled with unsteady start-stop and variable load, and combining state-aligned multi-source synchronous sampling and relative torsional state quantity construction mechanism, this invention achieves effective differentiation between the elastic torsional response and rigid body inertial effect of the reducer during unsteady start-stop. This avoids the distortion of dynamic torsional stiffness test results caused by inertial interference under start-stop, acceleration / deceleration, and forward / reverse switching conditions in traditional methods, thereby significantly improving the accuracy and reliability of dynamic torsional stiffness testing.
[0048] This invention calculates transient dynamic torsional stiffness based on the unsteady torsional dynamic equilibrium equation using an explicit parameter inversion method. Furthermore, it combines start-stop stage constraints to perform segmented statistical evaluation of the stiffness results, enabling the dynamic torsional stiffness test results to directly correspond to the specific operating conditions during start-stop stages. This overcomes the shortcomings of existing technologies that can only provide single or average stiffness values and lack specificity and engineering interpretation, thereby improving the practicality and engineering application value of the dynamic performance evaluation results of the reducer. Attached Figure Description
[0049] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0050] Figure 1 This is a flowchart illustrating the first embodiment of the dynamic torsional stiffness testing and analysis method for a speed reducer according to the present invention.
[0051] Figure 2 This is a schematic diagram of the equipment for testing and analyzing the dynamic torsional stiffness of a speed reducer according to the present invention. Detailed Implementation
[0052] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.
[0053] Example 1: As Figure 1 The diagram shown is a flowchart of the first embodiment of the dynamic torsional stiffness test and analysis method for speed reducers of the present invention, which presents the first embodiment of the dynamic torsional stiffness test and analysis method for speed reducers of the present invention.
[0054] In the first embodiment, the method for testing and analyzing the dynamic torsional stiffness of the speed reducer includes:
[0055] Step S10: Obtain the non-steady-state start-stop test control parameter set for the RV series worm gear reducer. Based on the non-steady-state start-stop test control parameter set, execute the non-steady-state start-stop test task using a time-series decoupling-based start-stop and load-variable joint drive control mechanism, and output the test operation status timing table. ;
[0056] It should be noted that the "time-sequence decoupling-based start-stop and load-variable joint drive control mechanism" in this step refers to the fact that, during non-steady-state start-stop testing, the start-stop action and load change are not simply triggered simultaneously. Instead, the start-stop drive command and the load-variable loading command are time-planned separately, creating distinct and identifiable execution intervals on the time axis. This control mechanism includes pre-setting the time sequence and duration of the start-stop phase, acceleration / deceleration phase, steady-state holding phase, and load-variable disturbance phase, and recording the start and end times of these phases in the test operation status time sequence table during the test. This approach ensures clear phase divisions for different dynamic behaviors during the test, providing a basic time reference for subsequent synchronous sampling, state construction, and analysis of test data.
[0057] Understandably, by employing the aforementioned time-decoupled start-stop and load-variable joint drive control mechanism, this step can proactively construct multiple unsteady operating states within the same test cycle. This allows the reducer to experience both input-end inertial excitation caused by start-stop and elastic torsional response caused by load changes during the test, and these two types of effects are distinguishable in time. Consequently, the dominant regions of different mechanical factors are clearer in the subsequently acquired angular displacement and torque responses, which is beneficial for targeted analysis of the reducer's dynamic torsional characteristics under unsteady conditions, thereby improving the overall analyzability and interpretability of the dynamic torsional stiffness test.
[0058] Step S20: Based on the test run status timing table A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. ;
[0059] It should be noted that the "state-aligned multi-source synchronous sampling control mechanism" in this step refers to the fact that, when acquiring multi-source signals such as angular displacement and torque, it does not rely solely on the timestamps or independent triggering methods of each sampling channel. Instead, it uses the test operation state timing table output in step S10 as a unified time reference to coordinate and control the sampling start-up, sampling window, and sampling process of different sensing channels. This multi-source synchronous sampling control mechanism includes at least the synchronous triggering and recording of the input angular displacement signal, the output angular displacement signal, and the corresponding torque signal, so that various signals have a consistent time correspondence under the same operating state, thereby forming a non-steady-state synchronous sampling dataset.
[0060] Understandably, by introducing a state-aligned multi-source synchronous sampling control mechanism, this step ensures that the sampled data of different physical quantities correspond to the same operating state and time interval during unsteady start-up and variable load testing. Since the system state changes rapidly under unsteady conditions, any temporal offset in the multi-source signals will directly affect the subsequent analysis of the dynamic response relationship. By aligning the sampling process, the collected angular displacement and torque data are highly consistent in the time dimension, which is beneficial for accurately describing the dynamic torsional behavior of the reducer.
[0061] Step S30: Based on the non-steady-state synchronous sampling dataset A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. ;
[0062] It should be noted that the "state quantity construction mechanism based on differential construction and inertia-dominated interval suppression" in this step refers to the fact that, based on the acquisition of multi-source synchronous sampling data such as angular displacement and torque at the input and output ends, it does not directly use the angular displacement or angular velocity of a single shaft system as the analysis object. Instead, it constructs a relative torsional state quantity reflecting the elastic deformation inside the reducer through the differential relationship between the angular displacements at the input and output ends. At the same time, combined with the test operation state timing table, the time interval in which the inertial effect dominates during the non-steady-state start-up and shutdown process is identified and suppressed, and only the data interval with effective elastic response characteristics is retained to construct the set of relative torsional motion state quantities.
[0063] Understandably, by employing a differential construction method, this step can eliminate the influence of the overall rigid body rotation of the reducer on the angular displacement response at the signal level, making the constructed state variables more concentrated in reflecting the relative deformation characteristics caused by torsional elasticity within the reducer. Simultaneously, by suppressing the inertia-dominated region, it avoids misinterpreting the inertial angular motion as an elastic torsional response during start-stop transients or periods of rapid acceleration and deceleration. This results in more physically consistent relative torsional motion state variables, which is beneficial for subsequent dynamic characteristic analysis.
[0064] It should be understood that, compared to traditional methods that directly differentiate or analyze the angular displacement of the input or output shaft, this step effectively avoids the coupling problem between rigid body inertial effects and elastic torsional effects under unsteady conditions by combining differential construction with suppression of the inertial-dominant region. Traditional methods tend to include a large number of inertial components unrelated to torsional stiffness in the state variables during start-up, shutdown, or acceleration / deceleration phases, resulting in large fluctuations and poor stability in the analysis results.
[0065] Step S40: Sample the dataset from the non-steady-state synchronization Obtain the time series of torque transmitted at the input end. and output reverse torque time series And combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. ;
[0066] It should be noted that the "explicit parameter inversion principle based on the unsteady torsional dynamic equilibrium equation" in this step refers to directly calculating the dynamic torsional stiffness of the reducer under transient conditions through algebraic inversion, based on the torsional dynamic equilibrium relationship satisfied between the input torque, the output counter-torque, and the relative torsional motion state quantities under unsteady start-stop and variable load test conditions, rather than relying on indirect methods such as iterative estimation, empirical fitting, or statistical regression. This explicit parameter inversion process uses the physical quantities obtained by synchronous sampling as input, enabling the transient dynamic torsional stiffness to be directly obtained in the form of a time series.
[0067] Understandably, by employing an explicit parameter inversion method, this step can reflect the changes in the dynamic torsional stiffness of the reducer at each moment during unsteady operation, ensuring a one-to-one correspondence between the obtained stiffness results and actual start-stop and variable load conditions. Compared to analysis methods that only provide a single equivalent stiffness value, the transient dynamic torsional stiffness time series output by this step can more comprehensively characterize the torsional stiffness variation characteristics of the reducer under different dynamic stages, thereby improving the detail and completeness of the dynamic torsional stiffness analysis results.
[0068] Step S50: Based on the transient dynamic torsional stiffness time series A time-segmented statistical analysis mechanism based on start-stop phase constraints is used to perform the task of generating dynamic torsional stiffness test results, and outputs the dynamic torsional stiffness test analysis results.
[0069] It should be noted that the "time-segmented statistical analysis mechanism based on start-stop phase constraints" mentioned in this step does not refer to a comprehensive averaging or uniform processing of the transient dynamic torsional stiffness time series. Instead, it uses the test operation state time series table generated in step S10 as a basis to segment the transient dynamic torsional stiffness time series according to different operation phases during the start-stop process, and performs statistical analysis processing separately within each segment. The statistical analysis is used to extract statistical results that can characterize the dynamic torsional stiffness level and change characteristics of the corresponding start-stop phase, thereby forming test analysis conclusions that correspond one-to-one with specific start-stop conditions.
[0070] Understandably, by introducing start-stop phase constraints and performing piecewise statistics on the transient dynamic torsional stiffness time series, this step transforms the stiffness variation results on a continuous time axis into analytical results with clear operating condition meanings. This allows the dynamic torsional stiffness test conclusions to no longer merely represent a numerical sequence changing over time, but to directly reflect the dynamic torsional stiffness characteristics of the reducer during key phases such as start-up, acceleration, deceleration, and forward / reverse switching. Consequently, the test results are easier to understand and compare in engineering applications, facilitating targeted evaluation of the reducer's dynamic performance.
[0071] It should be understood that, compared to the overall averaging or single-index evaluation methods commonly used in traditional techniques, this step effectively avoids the problem of stiffness characteristics being masked by each other in different operating stages by mapping the dynamic torsional stiffness results to the start-stop phase. Traditional methods often struggle to distinguish the stiffness differences between the transient start-stop phase and the relatively stable phase, resulting in test results lacking working condition orientation. This step, through time-segmented analysis with stage constraints, enables the dynamic torsional stiffness test results to accurately reflect the characteristic differences of different stages under unsteady operating conditions, thereby improving the engineering interpretability and application value of the test analysis results.
[0072] Example 2: Furthermore, the present invention provides a dynamic torsional stiffness testing and analysis system for a speed reducer, employing a dynamic torsional stiffness testing and analysis method for a speed reducer as described in the above embodiments, which can solve a technical problem in the dynamic torsional stiffness testing and analysis of a speed reducer. Compared with the prior art, the beneficial effects of the dynamic torsional stiffness testing and analysis system for a speed reducer provided by the present invention are the same as those of the dynamic torsional stiffness testing and analysis method for a speed reducer provided in the above embodiments, and other technical features of the dynamic torsional stiffness testing and analysis system for a speed reducer are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.
[0073] Example 3: This invention provides a device for testing and analyzing the dynamic torsional stiffness of a speed reducer. Please refer to... Figure 2A dynamic torsional stiffness testing and analysis device for a speed reducer includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which, when executed by the at least one processor, enable the at least one processor to perform a dynamic torsional stiffness testing and analysis method for a speed reducer as described in Embodiment 1 above. The dynamic torsional stiffness testing and analysis device for a speed reducer in this embodiment may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), vehicle terminals (e.g., vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. This dynamic torsional stiffness testing and analysis device for a speed reducer is merely an example and should not impose any limitations on the functionality and scope of use of the embodiments of this invention. The dynamic torsional stiffness testing and analysis device for a speed reducer may include a processing device 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory 1002 or a program loaded from a storage device 1003 into a random access memory 1004. Random access memory 1004 also stores various programs and data required for the operation of a gearbox dynamic torsional stiffness testing and analysis device. Processing unit 1001, read-only memory 1002, and random access memory 1004 are interconnected via bus 1005. I / O interface 1006 is also connected to the bus. Typically, the following systems can be connected to I / O interface 1006: input devices 1007 including, for example, touchscreens, touchpads, keyboards, mice, image sensors, microphones, accelerometers, gyroscopes, etc.; output devices 1008 including, for example, liquid crystal displays (LCDs), speakers, vibrators, etc.; storage devices 1003 including, for example, magnetic tapes, hard disks, etc.; and communication devices 1009. Communication device 1009 allows a gearbox dynamic torsional stiffness testing and analysis device to communicate wirelessly or wiredly with other devices to exchange data. Although a gearbox dynamic torsional stiffness testing and analysis device with various systems is shown in the figure, it should be understood that it is not required to implement or possess all the systems shown. More or fewer systems may be implemented or possessed alternatively.
[0074] Example 4: This invention also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the above-described method for testing and analyzing the dynamic torsional stiffness of a speed reducer. The computer program product provided by this invention can solve a technical problem related to testing and analyzing the dynamic torsional stiffness of a speed reducer. Compared with the prior art, the beneficial effects of the computer program product provided by this invention are the same as those of the method for testing and analyzing the dynamic torsional stiffness of a speed reducer provided in the above embodiments, and will not be repeated here.
[0075] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from read-only memory 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this invention.
[0076] It should be understood that the various parts disclosed in this invention can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics may be combined in any suitable manner in one or more embodiments or examples.
[0077] Obviously, those skilled in the art can make various modifications and variations to this invention without departing from its spirit and scope. Therefore, if these modifications and variations fall within the scope of the claims of this invention and their equivalents, this invention also intends to include these modifications and variations.
Claims
1. A method for testing and analyzing the dynamic torsional stiffness of a speed reducer, characterized in that, The methods include: Step S10: Obtain the non-steady-state start-stop test control parameter set for the RV series worm gear reducer. Based on the non-steady-state start-stop test control parameter set, execute the non-steady-state start-stop test task using a time-series decoupling-based start-stop and load-variable joint drive control mechanism, and output the test operation status timing table. ; Step S20: Based on the test run status timing table A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. ; Step S30: Based on the non-steady-state synchronous sampling dataset A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. ; Step S40: Sample the dataset from the non-steady-state synchronization Obtain the time series of torque transmitted at the input end. and output reverse torque time series And combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. ; Step S50: Based on the transient dynamic torsional stiffness time series A time-segmented statistical analysis mechanism based on start-stop phase constraints is used to perform the task of generating dynamic torsional stiffness test results, and outputs the dynamic torsional stiffness test analysis results.
2. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 1, characterized in that, In step S10, the unsteady-state start-stop test control parameter set of the RV series worm gear reducer is obtained. Based on the unsteady-state start-stop test control parameter set, the unsteady-state start-stop test task is executed using a start-stop and variable load joint drive control mechanism based on time decoupling, and the test operation status timing table is output. The steps specifically include: Step S101: Obtain the non-steady-state start-stop test control parameter set for the RV series worm gear reducer. The non-steady-state start-stop test control parameter set includes the target angular velocity during the start-up phase. Angular acceleration during the start-up phase Angular deceleration during braking phase and the reverse target angular velocity during the forward / reverse switching phase The unsteady-state start-stop test control parameter set is stored in the form of a piecewise continuous time function, which is used to constrain the input drive motor to sequentially execute unsteady-state start-stop cycles of acceleration, constant speed, deceleration, and reverse rotation during the test. After applying the unsteady-state start-stop test control parameter set, the unsteady-state start-stop speed trajectory function set is output. ; Step S102: Obtain the variable load torque disturbance parameter set, which includes the disturbance torque amplitude, disturbance application start time, and disturbance duration; store the variable load torque disturbance parameter set in a time function form independent of the unsteady start-stop speed trajectory function set F, so that the variable load torque disturbance is not completely synchronized with the start-stop phase of the input end in time; after applying the variable load torque disturbance parameter set, output the asynchronous variable load torque disturbance function set. ; Step S103: During the test, control the worm gear reducer according to the non-steady-state start-stop speed trajectory function set. Execute start-stop cycles and synchronously control the worm gear reducer according to the asynchronous variable load torque disturbance function set. A variable load torque disturbance is applied, causing the worm gear reducer to be simultaneously subjected to inertial excitation caused by start-stop at the input end and elastic torsional excitation caused by asynchronous load variation at the output end within the same test cycle. The start-stop speed time series and the variable load torque disturbance time series are acquired synchronously, and a test operation status timing table is output based on the start-stop phase time series and the variable load torque disturbance time series. .
3. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 1, characterized in that, In step S20, based on the test running status timing table A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. The steps specifically include: Step S201: Based on the test running status timing table The unsteady-state synchronous sampling time window is constructed by combining the start-stop phase time series and the variable load torque disturbance time series recorded in the data. Step S202: Using the non-steady-state synchronous sampling time window as a unified trigger condition, control the preset control torque acquisition unit to start synchronous sampling at the same sampling time t, including: acquiring the time series of the input shaft angular displacement of the reducer. (t); Collect the time series of angular displacement of the output shaft of the reducer. (t); Time series of torque transmitted at the input terminal is collected. Acquire the reverse torque time series at the output end. (t); Step S203: Based on the time series of angular displacement of the reducer input shaft (t), time series of angular displacement of the reducer output shaft (t), Input torque transmission time series and output reverse torque time series (t) Construct and output the nonsteady synchronous sampling dataset .
4. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 3, characterized in that, In step S30, based on the non-steady-state synchronous sampling dataset A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. The steps specifically include: Step S301: Based on the input shaft angular displacement time series (t) and the time series of the angular displacement of the reducer output shaft (t) The relative torsional angle time series φ(t) of the reducer is constructed by differential method. The relative torsional angle time series φ(t) of the reducer is used to represent the relative torsional response caused by elastic deformation inside the reducer; Step S302: When the relative torsion angle corresponding to time t in the relative torsion angle time series φ(t) of the reducer is greater than the preset inertia-dominated judgment threshold, the judgment time t is in the inertia-dominated interval; otherwise, the judgment time t is in the elastic response effective interval. Step S303: Take the first derivative in the time direction only for the time series of the relative torsional angle of the reducer within the effective range of the elastic response to obtain the relative angular velocity. Furthermore, the relative angular acceleration is obtained by taking the second derivative in the time direction only over the effective range of the elastic response relative torsional angle time series of the reducer. Based on the relative torsional angle time series φ(t) and relative angular velocity of the reducer and relative angular acceleration Construct and output the set of relative torsional motion state variables. .
5. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 4, characterized in that, In step S40, the dataset is sampled from the non-steady-state synchronous sampling dataset. Obtain the time series of torque transmitted at the input end. and output reverse torque time series And combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. The steps specifically include: Step S401: First, sample the dataset from the non-steady-state synchronous dataset. Obtain the time series of torque transmitted at the input end. and output reverse torque time series And based on the set of relative torsional motion state quantities Input torque transmission time series and output reverse torque time series Establish the unsteady torsional dynamic equilibrium equations of the reducer under unsteady start-stop and variable load coupling conditions: ； in, and These are the pre-calibrated equivalent moments of inertia of the input and output terminals, respectively. The preset equivalent damping coefficient; The transient dynamic torsional stiffness time series to be solved; Step S402: Perform algebraic reconstruction of the unsteady torsional dynamic equilibrium equations to obtain the transient dynamic torsional stiffness time series. .
6. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 1, characterized in that, In step S50, based on the transient dynamic torsional stiffness time series The steps for generating dynamic torsional stiffness test results and outputting the dynamic torsional stiffness test analysis results, using a time-segmented statistical analysis mechanism based on start-stop phase constraints, specifically include: Step S501: From the test run status timing table The start and end time identifiers corresponding to each start and stop phase are read to construct the time interval of the start and stop phases; at the same time, the transient dynamic torsional stiffness time series is also read. Mapped to the corresponding start-stop phase time zone; wherein, the start-stop phase time zone includes the acceleration phase, deceleration phase and forward / reverse switching transient phase; Step S502: Analyze the transient dynamic torsional stiffness time series during the acceleration phase, deceleration phase, and forward / reverse switching transient phase. Perform statistical characteristic calculations and output the mean stiffness, extreme stiffness values, and stiffness fluctuation range; Step S503: Generate and output the dynamic torsional stiffness test analysis results based on the mean stiffness, extreme stiffness, and stiffness fluctuation amplitude.
7. The method for testing and analyzing the dynamic torsional stiffness of a speed reducer as described in claim 6, characterized in that, In step S503, the step of generating and outputting the dynamic torsional stiffness test analysis result based on the mean stiffness, extreme stiffness and stiffness fluctuation amplitude specifically includes: during the acceleration phase, by comparing the stiffness fluctuation amplitude with the preset stability threshold, determining whether the dynamic torsional stiffness of the reducer remains stable during the acceleration phase, and outputting the first dynamic torsional stiffness test analysis result. During the deceleration phase, the mean stiffness, extreme stiffness, and stiffness fluctuation amplitude during the acceleration and deceleration phases are analyzed using a dynamic stiffness evaluation based on symmetry consistency, and the results of the second dynamic torsional stiffness test are output. During the transient phase of switching between forward and reverse rotation, the difference between the extreme value of stiffness and the average value of stiffness in the preset steady-state range is evaluated to determine whether there is a sudden change in transient stiffness of the reducer during the transient phase of switching between forward and reverse rotation, and the third dynamic torsional stiffness test analysis result is output. The final dynamic torsional stiffness test analysis result is output by combining the first, second, and third dynamic torsional stiffness test analysis results.
8. A dynamic torsional stiffness testing and analysis system for a speed reducer, applied to the dynamic torsional stiffness testing and analysis method for a speed reducer as described in any one of claims 1 to 7, characterized in that, The speed reducer dynamic torsional stiffness testing and analysis system includes: The unsteady start-stop condition construction module is used to acquire the unsteady start-stop test control parameter set of the RV series worm gear reducer. Based on the unsteady start-stop test control parameter set, the module uses a time-decoupled start-stop and load-variable joint drive control mechanism to execute the unsteady start-stop test task and outputs a test operation status timing table. ; The state alignment and synchronization sampling module is used to perform timing based on the test run state table. A state-aligned multi-source synchronous sampling control mechanism is used to perform the non-steady-state synchronous sampling task, and the non-steady-state synchronous sampling dataset is output. ; The relative torsional state quantity building module is used for constructing data based on unsteady synchronous sampling datasets. A set of relative torsional motion state variables is constructed using a state variable construction mechanism based on differential construction and inertia-dominated interval suppression. ; The transient dynamic torsional stiffness inversion module is used to sample datasets from unsteady synchronous states. Obtain the time series of torque transmitted at the input end. (t) and the time series of output reverse torque (t), and combined with the set of relative torsional motion state quantities The transient dynamic torsional stiffness of the reducer is calculated using the explicit parametric inversion principle based on the unsteady torsional dynamic equilibrium equation, and the transient dynamic torsional stiffness time series is output. ; The start-stop phase constraint stiffness evaluation module is used to evaluate the transient dynamic torsional stiffness time series. A time-segmented statistical analysis mechanism based on start-stop phase constraints is used to perform the task of generating dynamic torsional stiffness test results, and outputs the dynamic torsional stiffness test analysis results.
9. A device for testing and analyzing the dynamic torsional stiffness of a speed reducer, characterized in that, The speed reducer dynamic torsional stiffness test and analysis device includes: a memory, a processor, and a speed reducer dynamic torsional stiffness test and analysis program stored in the memory and executable on the processor. When the speed reducer dynamic torsional stiffness test and analysis program is executed by the processor, it implements a speed reducer dynamic torsional stiffness test and analysis method according to any one of claims 1 to 7.
10. A computer program product, characterized in that, The computer program product includes a speed reducer dynamic torsional stiffness test and analysis program, which, when executed by a processor, implements a speed reducer dynamic torsional stiffness test and analysis method according to any one of claims 1 to 7.