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Study on Torque Measurement Errors' Compensation of Reducer based on Piecewise PID Control

机译：基于分段PID控制的扭矩测量误差对减速器补偿的研究

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摘要

Reducer's input torque and output torque characteristics determine the kinematics performances of electro actuators. During the torque measurement experiment, many factors lead to torque measurement error, the major error components of which are mechanical assembly's precision and electrical machine's driven features. Compensating electrical errors and obtaining the real mechanical characteristics are meaningful and necessary especially on the conditions of wide-scale torque measuring. Neglecting mechanical factors' influences, this paper pays attention to system's control features based on the actual project with the demands of steady state and dynamic torque loading. Considering the quantized error, the mathematical model of power driven system is established, and the appropriate control algorithm of piecewise PID method is proposed, the simulation curves of which are expressed. The actual measuring experiment curves of rotating angle and compensated torque are drawn, the results of which illustrate the torque measuring error induced by drivers has been obviously removed, which validates the efficiency of such method.
机译：减速器的输入扭矩和输出扭矩特性确定了电致动器的运动学性能。在扭矩测量实验期间，许多因素导致扭矩测量误差，其主要误差部件是机械装配的精密和电机的驱动功能。补偿电误差并获得真正的机械特性是有意义的，特别是在宽尺寸扭矩测量条件下是必要的。忽视机械因素的影响，本文对系统的控制特性有所关注，基于实际项目，具有稳态和动态扭矩负荷的要求。考虑量化误差，建立了功率驱动系统的数学模型，提出了适当的分段PID方法控制算法，表达了仿真曲线。绘制了旋转角度和补偿扭矩的实际测量实验曲线，其结果说明了驱动器引起的扭矩测量误差已经显然去除，从而验证了这种方法的效率。

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