636 results about "Friction torque" patented technology

The invention discloses a dynamic tension control method for a dry-method winding and unwinding system, solves the problems of high overshoot, long coil diameter sudden change adjustment time and large steady-state fluctuation in low-speed operation of the dry-method winding and unwinding system under a high-speed reversing working condition, and belongs to the technical field of composite material equipment development. The method comprises the steps of collecting data of a winding and unwinding system, identifying total rotational inertia and friction torque on line according to the data, obtaining a friction compensation item according to the friction torque, and obtaining a rotational inertia feed-forward item according to the total rotational inertia; the method comprises the following steps of S1, inputting the tension error and the tension error change rate of the winding and unwinding system into a fuzzy PID controller to obtain a PID parameter real-time adjustment amount, updating a PID parameter, and then obtaining a PID feedback control amount at the current moment k by using the PID controller and the tension error, and S3, synthesizing a friction force compensation item, a rotational inertia feed-forward item and the PID feedback control amount into a final control amount of the winding and unwinding system.

Disclosed in the present invention are a current lookup table-based permanent magnet synchronous motor wide voltage range control method and a medium. The method comprises: by means of a full-speed domain current calibration method, obtaining a rotating speed-torque two-dimensional lookup table under a rated bus voltage; on the basis of the lookup table, multiplying a given rotating speed with a front-and-rear amplitude limiting voltage ratio to achieve wide voltage range control; and performing friction torque compensation and sampling delay compensation of a three-phase current at different rotating speeds. The present invention takes into account bus voltage fluctuation under the complex working condition of an electric vehicle, and multiplies the given rotating speed with a variable voltage coefficient ku to obtain an input rotating speed of an input current lookup table, such that precise current control of the permanent magnet synchronous motor under different bus voltage working conditions can be achieved, thereby avoiding the complex and tedious process of re-calibration of the current lookup table under different bus voltages; the present invention also takes into account friction torque compensation and phase current sampling delay compensation at different rotating speeds, wherein the friction torque compensation can be achieved by directly adding a friction torque error into a given torque signal in real time.

The invention relates to a mechanical arm friction disturbance identification and suppression method based on a vibration signal. The method is suitable for high-precision control of a multi-degree-of-freedom flexible joint robot system. The method comprises the following steps: firstly, designing a five-order Fourier excitation track meeting a zero boundary condition to excite system dynamic response; then constructing a structural dynamics regression model based on a Newton-Euler method, extracting a minimum parameter set, and obtaining a structural item output torque; aiming at a structural modeling residual error, introducing a breadth learning system (BLS) to carry out nonlinear identification on non-structural disturbance, and carrying out global optimization on network structural parameters by adopting a particle swarm optimization (PSO) algorithm; and finally, fusing the structure item and the disturbance item to form total joint torque estimation for realizing feed-forward compensation control. The method has the advantages of being high in identification precision, high in real-time performance, high in data utilization rate, excellent in robustness and the like, nonlinear friction torque disturbance generated by the mechanical arm under the vibration interference condition can be effectively restrained, the dynamic tracking performance and control stability of a system are improved, and good engineering adaptability and popularization value are achieved.

The invention relates to a device (19) for a muscle-powered vehicle (20), comprising an electric machine (8) with a rotor shaft (8.1), a gear (4) with at least one first helical gear (5) and a second helical gear (7) which mesh with one another, a pedal crankshaft (9) and a housing (10) for accommodating the electric machine (8), the gear (4) and essentially also the pedal crankshaft (9), wherein the first gear (5) is arranged on the pedal crankshaft (9) in a torque-transmitting manner, wherein the second gear (7) is arranged on the rotor shaft (8.1) in a torque-transmitting manner.1), wherein one of the two gearwheels (5, 7) is arranged to be axially displaceable and the other of the two gearwheels (7, 5) is arranged to support axial force, wherein at least one first friction surface (3) is arranged on at least one end face of the axially displaceable gearwheel (5), which is assigned to at least one second, stationary friction surface (2), so that when the pedal crankshaft (9) is driven in the direction of travel of the vehicle (20), the axially displaceable gearwheel (5) is displaced axially in such a way that the two friction surfaces (3, 2) come into contact and generate a friction torque.

The invention discloses a modular mechanical arm actuator additive fault optimal fault-tolerant control method and device of a zero sum differential game, and relates to the field of robot control algorithms, and the method comprises the steps: representing a nonlinear damping characteristic through a joint friction torque, describing the dynamic interaction of multiple joints through a cross-linking coupling item, and determining the optimal fault-tolerant control of the additive fault of the modular mechanical arm actuator; a dynamical model containing faults is constructed. And uncertain items in the model are updated online by adopting a radial basis function neural network identifier, so that the model precision is improved. A performance index function is constructed based on position errors, actuator faults and controller input are regarded as two opposite parties of a zero and differential game, the performance index function is approximated through a single evaluation neural network, a Hamiltonian-Jacobi-Axaxi equation is approximately solved, and an optimal fault-tolerant control strategy is obtained. According to the method, the game theory is combined with the neural network, the dynamic unknown fault problem of the modular mechanical arm is effectively solved while the system energy consumption integration is reduced, and real-time optimal control over the modular mechanical arm is achieved.

A piston pin hole friction and wear test and torque measurement device in power machinery field, comprising a driving system, a torque measurement system, a loading system, a temperature control system, an oil supply system and a central controller. The driving system simulates the oscillation of the connecting rod. The loading system simulates the time-varying cylinder pressure load. The oil supply system and the oil channels of the connecting rod, bushing, and piston pin simulate the oil supply state. The torque measurement system comprises a total friction torque measurement device and a small head bushing hole friction torque measurement device, and measures the friction torque at the piston pin seat hole and the piston pin small head hole in real time. The temperature control system simulates the thermal load. The present application carries out tests based on actual components and realizes real-time measurement of friction torques.

The invention discloses an automatic measuring device and measuring method for dynamic and static friction torques of medium and large-sized bearings, and belongs to the technical field of bearing detection.The device comprises a bearing assembly, a moving plate is arranged on the bearing assembly, a rotating motor is connected to the bottom of the bearing assembly, and a driving shaft system is arranged on an output shaft of the rotating motor; the top end of the driving shaft system is provided with an inner ring fixing mandrel, the upper surface of the moving plate is connected with a torque sensor through an upper fixing frame, the bottom end of the torque sensor is provided with a measuring shaft system, the bottom end of the measuring shaft system is sleeved with a center adjusting assembly through two guide columns, the bottom of the center adjusting assembly is provided with an outer ring loading tool, and the outer ring loading tool is provided with an inner ring. Under the cooperation of the structure, not only can the dynamic friction torque be measured, but also the multi-point static friction torque can be automatically measured, more comprehensive bearing friction characteristic data are provided, and optimization of bearing design and model selection is facilitated.

The invention relates to the technical field of flexible joint mechanical arm control, in particular to an optimization method for flexible joint parameter identification based on an anti-disturbance sliding-mode observer, which comprises the following steps of: deducing a torque mathematical expression of a connecting rod side according to a typical flexible joint kinematic model, and further performing position decoupling on the torque expression to obtain a flexible joint parameter identification model; and obtaining reference position input of the motor side. In the design of a torque observer, a sliding mode disturbance observer is used for estimating feedback torque and unknown disturbance of a dual-mass system of a motor and a connecting rod, and the disturbance comprises external contact torque, friction torque and the like, and also comprises system internal parameter fluctuation and the like. And finally, in consideration of irreversibility and ill-conditioned matrix problems existing when parameter identification is carried out by using a traditional least square method, a least square method identification process based on a ridge regression method is designed, and kinetic parameter identification is realized.

The invention relates to the technical field of motion control, and discloses a shield cutter changing robot motion control method based on closed-loop servo hydraulic control, which comprises the following steps: recording the start-stop times and the start-stop interval of a hydraulic motor; friction compensation is conducted on the hydraulic motor based on the start-stop times and the start-stop intervals, and the friction torque of the hydraulic motor is obtained; working parameters of the hydraulic motor are collected; comprehensive disturbance compensation is conducted on the hydraulic motor based on the working parameters, and the disturbance equivalent moment of the hydraulic motor is obtained; acquiring an actual rotation angle of the load; calculating a control voltage amount of a hydraulic motor based on the actual rotation angle, the friction torque and the disturbance equivalent torque of the load; and controlling the movement of the hydraulic motor load based on the control voltage amount. Through friction compensation and comprehensive disturbance compensation, accurate control over movement of the hydraulic motor is achieved.

The invention discloses a robot motion real-time parameter identification and compensation control method and a robot. Robot motion information is obtained in real time, friction parameters closer to the current moment are calculated in real time, and a high-precision friction model is achieved by continuously updating the friction parameters; the predicted friction torque can be closer to the actual friction torque, a more accurate dynamic model can be constructed, and the response speed and the control precision of a robot control system are improved; in addition, according to the compensation control method, the feedforward compensation torque is calculated once after the real-time parameter identification is executed once, the method is used for a feedback system of the robot to achieve real-time compensation control over robot motion, and the robot motion control precision can be improved.

The invention provides a method and device for predicting the maximum tripping-in capacity of a casing, and the method comprises the steps: obtaining a comprehensive logging parameter data set based on obtained original feature data; a friction resistance coefficient data set is obtained through a friction resistance torque model in combination with the comprehensive logging parameter data set; based on a comprehensive logging sample in the friction resistance coefficient data set and a friction resistance coefficient label of the comprehensive logging sample, training the initially constructed casing friction resistance coefficient prediction model to obtain a target casing friction resistance coefficient prediction model; inputting the obtained real-time logging data into a target casing friction system prediction model to obtain a corresponding friction prediction coefficient; and on the basis of all the friction prediction coefficients and the friction torque model, obtaining a predicted value of the maximum running capacity of the casing. By establishing a casing friction coefficient prediction model and combining a friction torque model, advanced prediction of the casing friction and the maximum tripping-in capacity is realized, so that the well cementation quality and efficiency are improved, and the engineering safety and controllability are enhanced.

The invention provides a method for monitoring the tightening state of a screw on line, which comprises the following steps of: based on segmented characteristic analysis of a torque-angle (T-theta) curve, refining a standard tightening process into three stages: a screwing-in angle stage, a friction torque stage and a tightening torque stage, and simultaneously extracting characteristic quantity for each stage, and establishing a judgment rule or model to detect whether the thread is screwed in or not, whether slipping / impacting occurs or not, whether expected pre-tightening force is reached or not, whether the bottom surface is jacked or not, whether the thread is damaged or broken or not and the like. And finally, stage judgment is gradually updated along with the sampling points in the tightening process. According to the method, specific physical events in the process can be identified instead of final value abnormity, abnormal tightening can be predicted and stopped before tightening is finished, reworking and damage are reduced, misjudgment is reduced through in-segment feature analysis, continuous improvement is facilitated, and threshold values and a judgment model are continuously optimized through historical waveform learning.

The invention relates to the technical field of industrial robot control, in particular to a feed-forward control industrial robot dynamic friction force model and a measuring method. The method comprises a joint friction force model, and the joint friction force model is divided into a low-speed section speed-friction torque cubic polynomial fitting model and a high-speed section speed-friction torque cubic polynomial fitting model; the method comprises the following steps: robot joint speed interval division and maximum speed percentage calculation; robot joint friction torque measurement in a heat engine state; fitting a speed-friction torque curve by adopting a low-speed and high-speed segmented cubic polynomial; and determining the optimal time shift of the theoretical curve and the actual curve after the friction torque is added into the kinetic model. According to the method, all data of the whole constant-speed section are utilized, so that the friction torque result at the corresponding speed is more accurate, and finally, the model well describes the friction torque performance of the robot in the low-speed section and the high-speed section.

A method of lubricating a fluid production pump may include mixing a polarized lubricant with water to produce a diluted lubricant. The method may additionally include creating a flowpath within the fluid production pump. An initial volume of the diluted lubricant may be circulated within the flowpath to allow the diluted lubricant to react with components of the fluid production pump and form a protective barrier on the components of the fluid production pump. The method may further comprise repeatedly introducing a periodic volume of diluted lubricant into the fluid production pump according to a predefined lubrication schedule.

The invention discloses a flaring type pipe joint sealing interface leakage amount calculation method, which comprises the following steps of: firstly, acquiring a relationship between axial pre-tightening force and friction torque of a flaring type pipe joint sealing interface; secondly, regarding a joint sealing interface as a rough interface in contact under the action of a load, and introducing the void ratio after the micro-convex body of the rough interface is subjected to contact deformation under the action of the load into an interface separation degree calculation formula; thirdly, the relation between the contact depth and the load of the rough interface under the action of different loads is obtained, and the interface separation degree of the rough interface under the action of different loads is obtained according to the relation between the contact depth and the void ratio of the rough interface after deformation; and finally, substituting the interface separation degree into an existing pipe joint leakage amount calculation formula to obtain the leakage amount of the sealing interface of the flaring type pipe joint, which is calculated under the action of different loads. According to the method, the interface separation degree can be calculated through the directly obtained relevant parameters of the flared pipe joint, and the calculation step of the interface separation degree during leakage amount calculation is greatly simplified.

The invention relates to the technical field related to intelligent production control, in particular to a powder spraying method and system for the surface of a slender pipe and a medium, and the method comprises the steps that the preprocessed slender pipe is placed on a workbench containing multiple assemblies, electrostatic spraying is conducted through a spray gun, powder feeding adjustment is conducted, the angle of a flow guide groove is dynamically adjusted according to parameter combination, and spraying uniformity is controlled in combination with rotating speed induction. The technical problems that dynamic parameter matching mechanisms for different pipe diameters and wall thicknesses are lacked, airflow changes in the inner space of a slender pipe are difficult to cope with, and uneven distribution of powder in the pipe is likely to be caused are solved, the coating thickness deviation is controlled by associating a spray gun mechanism with a pipe rotating assembly, and the spiral angle of a flow guide groove is dynamically adjusted along with friction torque; and the piezoelectric centrifugal switch is used for detecting the rotating speed fluctuation in real time, the spray gun displacement compensation and the powder feeding amount adjustment are automatically triggered to enable the powder to be distributed in the pipe, and the machining efficiency is improved on the basis that the powder spraying quality of the surface of the long and thin pipe is guaranteed.

The invention discloses a ball screw pair loading test device, and relates to the technical field of ball screw testing. The driving piece is used for driving the tested lead screw to rotate and adopts an integrated headstock structure integrated at one end of the bed body; and the loading piece is used for providing an axial load for the tested lead screw, adopts a dual-motor top-to-top loading structure arranged at the other end of the bed body, and is matched with the integrated headstock structure to form a unified mechanical standard. According to the invention, an integrated headstock structure of the driving piece and a dual-motor opposite-top loading structure of the loading piece are matched to form a unified mechanical standard, a friction torque measurement state and an axial force measurement state are rapidly switched through a switchable connection structure, a to-be-tested lead screw only needs to be clamped once, multi-parameter test can be completed, the test efficiency is effectively improved, and the test cost is reduced. And meanwhile, positioning errors caused by multiple times of clamping are avoided, it is ensured that all parameters are based on the same reference, and data relevance is higher.

The invention discloses a method and system for calculating the longitudinal torsional rigidity effective rate of a rectangular pipe-jacking tunnel under combined acting force and a storage medium. The method comprises the following steps that S1, the bending-pressing-twisting combined acting force on a calculation unit of the rectangular pipe-jacking tunnel is obtained according to the stress condition of the rectangular pipe-jacking tunnel; s2, the stress state of the pipe jacking lining structure is judged according to the relation between the bending moment and the axial force, and the stress state of the structure is divided into two different conditions according to the position of a neutral axis; s3, for different stress states, according to deformation coordination conditions and mechanical equilibrium conditions, calculating the distance between a neutral axle on the section and the center of the section; s4, according to the torque balance condition and further according to the two different conditions, the position of the torsion center and the anti-friction torque generated by the concrete in the pressed area are calculated; and S5, calculating a joint torsion angle and equivalent torsional rigidity, and further calculating the effective rate of the torsional rigidity. The longitudinal torsional rigidity effective rate of the rectangular pipe-jacking tunnel under the bending, pressing and twisting combined acting force can be rapidly and accurately obtained, and a basis is provided for structural safety analysis of the rectangular pipe-jacking tunnel.

This application relates to the technical field of data processing, and in particular, to a method and system for processing friction torque measurement data of a ball screw pair. The method includes: determining the fluctuation degree value of the friction torque at a target test moment according to the friction torque sequence during the friction torque test of the ball screw pair; determining the credibility value at the target test moment according to the working audio sequence during the test of the ball screw pair; using the product of the fluctuation degree value and the credibility value to determine the target truncation distance corresponding to the target test moment; using the target truncation distances corresponding to different target test moments to perform density peak clustering on the friction torque sequence to obtain multiple clustering clusters; comparing the average values of the friction torques of the data points in different clustering clusters to obtain the quality inspection result of the ball screw pair. Through the above technical solutions, a more accurate quality inspection result of the ball screw pair can be obtained.

The invention relates to a device (19) for a muscle-powered vehicle (20), comprising an electric machine (8) with a rotor shaft (8.1), a gear (4) with at least one first helical gear (5) and a second helical gear (7) which mesh with one another, a pedal crankshaft (9) and a housing (10) for accommodating the electric machine (8), the gear (4) and essentially also the pedal crankshaft (9), wherein the first gear (5) is arranged on the pedal crankshaft (9) in a torque-transmitting manner, wherein the second gear (7) is arranged on the rotor shaft (8.1) in a torque-transmitting manner.1), wherein one of the two gearwheels (5, 7) is arranged to be axially displaceable and the other of the two gearwheels (7, 5) is arranged to support axial force, wherein at least one first friction surface (3) is arranged on at least one end face of the axially displaceable gearwheel (5), which is assigned to at least one second, stationary friction surface (2), so that when the pedal crankshaft (9) is driven in the direction of travel of the vehicle (20), the axially displaceable gearwheel (5) is displaced axially in such a way that the two friction surfaces (3, 2) come into contact and generate a friction torque.

The invention provides a risk monitoring method and device suitable for a drilling process. The risk monitoring method correspondingly suitable for the drilling process comprises the following steps: determining a category to which a current drilling working condition belongs according to drilling parameters of the current drilling working condition; determining a friction resistance key point and a torque key point of a drilling tool corresponding to the current drilling working condition under the category; and monitoring the drilling risk under the current drilling working condition according to the friction key point, the torque key point and a preset risk monitoring model. According to the method, real-time recognition of the friction torque key points in the drilling process is achieved in view of the field service requirements of drilling operation, historical experience data of drilling and logging services, a judgment model and feature extraction are feature matching-friction torque playback, and the method is high in drilling risk recognition precision and high in accuracy. Through real-time accurate identification of friction resistance and torque key points in the drilling process, technical support can be provided for work such as tripping dynamic, underground complex processing and track design.

The invention discloses an industrial robot joint friction parameter compensation method based on machine vision. The three-dimensional pose information of the target feature points is extracted based on the image sequence, the tail end position and the pose change are accurately captured, the actual driving force is obtained, and a dynamic comparison mechanism between the theoretical driving force and the actual driving force is established, so that the state deviation is extracted, the load torque and the friction torque are separated out, and the driving precision is improved. Compared with a traditional control strategy depending on a fixed friction model coefficient, the dynamic friction compensation torque is obtained in a real-time image obtaining mode, non-linear friction interference changing along with time, temperature and abrasion can be tracked and compensated in a self-adaptive mode, and the method has the advantages that the dynamic friction compensation torque is obtained in a real-time image obtaining mode. The problems that an existing model lags behind and is large in compensation error are solved, and the friction estimation precision and the compensation capacity are effectively improved.

The invention discloses a joint friction torque characteristic identification method, device and equipment, a medium and a product. The method comprises the steps that motor electrical parameters of a target joint in a current injection state are obtained; joint motor temperature and joint state data of the target joint at each instruction angular velocity during cyclic operation are obtained; wherein the cycle operation is to control the target joint to operate for a preset duration at each instruction angular velocity and operation mode; according to the motor electrical parameters and the joint state data, the friction torque of the target joint at each instruction angular velocity is determined; and according to the joint motor temperature and the friction torque corresponding to each instruction angular velocity, determining a corresponding friction torque characteristic identification result. By introducing the joint motor temperature, the friction torque characteristic identification result containing the incidence relation of the instruction angular speed, the friction torque and the joint motor temperature is generated, the accuracy of friction torque characteristic identification can be improved, and therefore optimization of the control performance of the joint is facilitated.

The invention discloses a high-performance reaction flywheel anti-interference control method, system and device and a medium, relates to the technical field of aerospace, and solves the problems that parameters of a motor model are inaccurate, and time-varying friction torque and load torque bring difficulty to implementation of high-dynamic and high-precision control of a reaction flywheel. The control method comprises the following steps: establishing a kinematics and dynamics model of the reaction flywheel; a mathematical model for controlling the rotating speed of the reaction flywheel is established, the mathematical model considers the uncertainty of model parameters and Td, and Td represents the influence of time-varying friction torque and load torque; designing a robust disturbance observer to estimate the uncertainty of the model parameters and the Td to obtain a disturbance estimation result; and designing a rotating speed loop controller and a current loop controller according to an interference estimation result. According to the method, high-dynamic and high-precision reaction flywheel rotating speed control can be realized under the influence of inaccurate model parameters, time-varying friction torque and load torque.

The invention discloses a sealing performance testing device and testing system for a dynamic seal, relates to the technical field of tidal current energy power generation and dynamic seal performance testing, is used for detecting the sealing performance of the dynamic seal of a tidal current energy power generator in seawater, and is characterized in that a sealed cabin is provided with an inner cavity and a testing hole communicated with the inner cavity. The pressure adjusting assembly is used for adjusting the pressure of the fluid medium in the inner cavity. The first end of the rotating shaft penetrates through the testing hole and extends into the inner cavity, the rotating shaft can rotate around the axis of the rotating shaft relative to the sealing cabin, a sealing gap is formed between the peripheral wall face of the rotating shaft and the inner wall face of the testing hole, the rotating shaft is sleeved with a dynamic seal, and the dynamic seal is at least partially located in the sealing gap. The driving assembly is used for driving the rotating shaft to rotate. The collecting assembly is used for collecting at least one of the pressure value of the fluid medium in the inner cavity, the temperature of the sealing cabin at the sealing gap, the leakage image of the sealing gap, the leakage amount and the friction torque of the dynamic seal so as to obtain the sealing performance of the dynamic seal. The testing device is used for testing the sealing performance of the dynamic seal.

The invention discloses an adaptive model prediction control method for an aviation electromechanical actuator, relates to the technical field of aviation electromechanical actuators, and designs a corresponding gear clearance torque and friction torque current compensation method by adopting a simplified dead zone model and a LuGre friction model. By organically combining gear backlash compensation and friction compensation and redesigning a control law, the invention provides a control strategy combining feed-forward compensation and model prediction control, and the q-axis current of the system is accurately compensated and controlled; furthermore, an extended Kalman filter is introduced to carry out on-line identification of multiple parameters of the permanent magnet synchronous motor, a high-precision parameter identification result is obtained, and it is ensured that the model parameters of the system can be updated in real time in the control process, so that accurate control over the system is achieved.

A method of lubricating a fluid production pump may include mixing a polarized lubricant with water to produce a diluted lubricant. The method may additionally include creating a flowpath within the fluid production pump. An initial volume of the diluted lubricant may be circulated within the flowpath to allow the diluted lubricant to react with components of the fluid production pump and form a protective barrier on the components of the fluid production pump. The method may further comprise repeatedly introducing a periodic volume of diluted lubricant into the fluid production pump according to a predefined lubrication schedule.

The invention discloses cleaning equipment. The cleaning equipment comprises a shell, a first cleaning mechanism and a second cleaning mechanism, wherein the shell comprises a mounting plate; the first cleaning mechanism comprises a first driving assembly and a first cleaning assembly, and the first driving assembly is configured to be connected with the first cleaning assembly and drive the first cleaning assembly to rotate in the first direction and the second direction; the second cleaning mechanism comprises a second driving assembly and a second cleaning assembly, and the second driving assembly is configured to be connected with the second cleaning assembly and drive the second cleaning assembly to rotate in the first direction and the second direction; the cleaning equipment is configured to bear friction torque in the second direction when the first cleaning assembly rotates in the first direction, so that the first cleaning assembly swings to the first position relative to the mounting plate in the second direction, and the second cleaning assembly rotates in the second direction. When the first cleaning assembly rotates in the second direction, the first cleaning assembly bears friction torque in the first direction, so that the first cleaning assembly swings to the second position relative to the mounting plate in the first direction, and the second cleaning assembly rotates in the first direction.

The invention relates to an electric drive system efficiency test compensation method, a storage medium and a program product, and relates to the technical field of new energy automobiles. The method is executed by a rack control system, and comprises the following steps: acquiring mechanical friction torque and friction mechanical power when a dynamometer idles; collecting the line resistance of a direct current bus between a power battery of the vehicle and a motor controller and the line resistance of a three-phase end line between a motor of the vehicle and the motor controller before the efficiency test; relevant parameters in the efficiency testing process are collected, wherein the relevant parameters comprise direct-current bus current, direct-current bus power, U-phase current, V-phase current, W-phase current, three-phase electric power, dynamometer rotating speed, dynamometer actual measurement torque and dynamometer mechanical power; according to the friction mechanical power, the line resistance of the direct current bus, the line resistance of the three-phase end line and related parameters, the efficiency compensation of the electric driving system is calculated, so that the accuracy of the efficiency test compensation calculation of the electric driving system is improved.

The invention discloses a bearing sealing ring bench testing machine which comprises a base, a turnover main machine, a hydraulic pump station and an electric control cabinet. The base is used for fixing and supporting the host; a fixing disc, a gear motor, a rotating ring, a fixing ring and a sealing ring fixing device are arranged on the turnover main machine; the hydraulic pump station is used for providing a pressure source for the testing machine; the electrical control cabinet is used for control operation of the testing machine; the fixing disc and the base are connected in a turnover mode, a gear motor is installed on the back face of the fixing disc, a rotating ring is installed on the front face of the fixing disc and driven by the gear motor, a fixing ring is arranged on the periphery of the rotating ring, a gap is reserved between the fixing ring and the rotating ring, and a sealing ring to be tested is installed on the inner ring of the fixing ring. And after installation, the lip of the sealing ring is contacted with the outer ring of the rotating ring. According to the invention, the actual use condition test condition can be simulated, so that the actual wear resistance, pressure maintaining capability, friction torque, temperature rise condition and sealing performance under the eccentric jumping condition of the sealing ring can be effectively fed back.