作者：张洋1,2, 吴定祥2,3, 李雯1,2, 唐立军1,2
作者单位：1. 长沙理工大学物理与电子科学学院, 湖南 长沙 410114;
2. 近地空间电磁环境监测与建模湖南省普通高校重点实验室, 湖南 长沙 410114;
3. 长沙亿旭智能科技有限公司, 湖南 长沙 410000
关键词：动态扭矩;扭矩传感器;行为模型;线性回归
摘要：
电机动态扭矩一般使用扭矩传感器测量，但扭矩传感器应变片粘贴的角度容易发生改变，且长期使用容易变形，造成测量结果误差较大，无法实现对电机动态扭矩的长期测量。为此，提出一种扭矩传感器行为模型测量扭矩的方案，以直流无刷电机为负载电机，利用标准扭矩传感器测量负载电机的电流和扭矩，通过采用线性回归的方法得到扭矩传感器的行为模型，再利用该模型替代扭矩传感器来测量电机扭矩。该方法克服因扭矩传感器的安装、应变片变形等对扭矩测量精度的影响。基于该方法设计行为模型测量动态扭矩的系统，以750 W永磁同步电机为被测对象，分别使用该系统与使用扭矩传感器方法测试比较，该方法测量动态扭矩时相对扭矩传感器测量的动态扭矩最大相对误差为1.90%，非线性误差为1.84%，重复性误差为0.084%。结果表明：使用行为模型可代替扭矩传感器测量电机动态扭矩，有利于对电机动态扭矩的长期稳定测量，且系统在体积、成本、结构以及操作维护方面都更具优势。
Research on dynamic torque test of motor based on behavior model
ZHANG Yang1,2, WU Dingxiang2,3, LI Wen1,2, TANG Lijun1,2
1. School of Physics and Electronic Sciences, Changsha University of Science & Technology, Changsha 410114, China;
2. Hunan Province Higher Education Key Laboratory of Modeling and Monitoring on the Near-Earth Electromagnetic Environments, Changsha 410114, China;
3. Changsha Billion set Intelligent Technology Co., Ltd., Changsha 410000, China
Abstract: The motor dynamic torque is generally measured with a torque sensor, but the angle of the torque sensor strain gauge is easy to change, and it is easy to be deformed after long-term use, resulting in a large error in the measurement result, which cannot achieve long-term measurement of the motor dynamic torque. To this end, this paper proposes a torque sensor behavior model to measure torque. This scheme uses a DC brushless motor as the load motor, uses a standard torque sensor to measure the current and torque of the load motor, and uses linear regression to obtain the behavior of the torque sensor. Model, and then use this model to replace the torque sensor to measure the motor torque. This method overcomes the influence of torque sensor installation and strain gauge deformation on torque measurement accuracy. Based on this method, a behavior model measuring dynamic torque system is designed. A 750 W permanent magnet synchronous motor is used as the test object. The system is compared with the torque sensor method. The dynamic torque measured by this method is the largest relative to the torque sensor. The relative error is 1.90%, the nonlinear error is 1.84%, and the repeatability error is 0.084%. The results show that the use of behavioral models can replace the torque sensor to measure the dynamic torque of the motor, which is conducive to the long-term stable measurement of the dynamic torque of the motor. Cost, structure and operation and maintenance are more advantageous.
Keywords: dynamic torque;torque sensor;behavior model;linear regression
2020, 46(6):7-12 收稿日期: 2020-01-20;收到修改稿日期: 2020-03-02
基金项目: 国家科技支撑计划项目（2014BAH28F04）；湖南省重点研发计划项目（2018GK2054）；湖南省教育厅科学研究项目（15K009，17K004）；湖南省研究生科研创新项目（CX2018B575）
作者简介: 张洋(1995-),男,湖南永州市人,硕士研究生,专业方向为电路与系统研究
参考文献
[1] 赵向飞, 刘军, 钟正虎. 动态扭矩传感器在机械传动中的应用研究[J]. 电工电气, 2018(11): 33-36
[2] 陈世超, 易伟, 李程. 动态扭矩检测技术研究[J]. 中国测试, 2016, 42(11): 75-78
[3] CRAIG E. Rapid road friction estimation using independent left/right steering torque measurements[J]. Vehicle System Dynamics, 2020, 58(3): 377-403
[4] TOBIAS G, ANDREAS V, KNUT G. External torque estimation for an industrial robot arm using joint torsion and motor current measurements[J]. IFAC Papers OnLine, 2019, 52(15): 352-357
[5] ZHANG H K, RUBÉN O D L, MARTIN P, et al. A study of mechanical torque measurement on thewind turbine drive train—ways and feasibilities[J]. Wind Energy, 2018, 21(12): 1406-1422
[6] 张永祥, 明廷锋, 张帅. 应变扭矩的测量不确定度分析[J]. 测试技术学报, 2018, 32(3): 185-190
[7] 卢腊, 刘妤, 徐梓翔, 等. 基于STM32的无线动态扭矩测量系统[J]. 仪表技术与传感器, 2018(4): 81-86
[8] 杨文志, 冯志斌, 何维娜. 传动轴扭矩测量装置的结构设计及实验分析[J]. 中国测试, 2015, 41(1): 120-123
[9] 许艺青, 杨晓翔, 韦铁平, 等. 电阻应变片敏感栅结构参数对应变传递的影响研究[J]. 机电工程, 2018, 35(4): 352-357
[10] HU T, WU Q, ZHOU, D X. Convergence of gradient descent for minimum error entropy principle in linear regression[J]. IEEE Transactions on Signal Processing: Apublication of the IEEE Signal Processing Society, 2016, 64(24): 6571-6579
