Design And Research Of Measurement And Control System Of RV Reducer Performance Test Bench

RV reducer is a high performance precision mechanical transmission device.The development of industrial technology requires more stringent performance requirements of RV reducer such as stiffness,return error,no-load operation torque,transmission efficiency or error.Passing the design and research of the measurement and control system of RV reducer performance experiment rig,and on the basis of the instrument technology,this thesis develops a test platform and system with high automation,high precision and good man-machine interaction for various types of RV reducer to improve the test accuracy and stability.The research of this paper is of important reference value to ensure and optimize the quality of RV reducer and improve the working accuracy of robot.Main contents and achievements of this paper:1.The performance test index of RV reducer is defined by referring to the technical requirements,test methods and inspection rules of robot reducer stipulated by the national standard.Two kinds of experiment rig’s structures are designed,and the performance testing principle and effect diagram are given in detail.On the basis of the function and performance test principle of the experiment rig,the mechanical structure scheme of the performance experiment rig of the RV reducer with back to back was designed,and the power flow open measurement and control scheme was designed.2.On the RV reducer performance experiment rig using condition,accuracy,and the defect of traditional device,the thesis completed the load system,high coaxiality mounting frame structure,symmetrical radial locking structure,efficient Angle measurement the design of the key structure,these structures ensure that the equipment of experiment rig’s coaxial degree is less than or equal to 0.02 ㎜,at the same time,it improved the commonality and efficiency of the experiment rig;This thesis analyzes the main parameters of the measurement and control system of property and gives the model and parameters of the main hardware which required by the mechanical system and the control system in detail,then it sets up the RV reducer performance experiment rig.3.Based on the analysis of the software requirements of the system of the RV reducer performance experiment rig,a data high-speed synchronous acquisition system is designed based on the LabVIEW development environment.The dynamic link library function of LabVIEW was used to call the dll included in the driver of Advantech data acquisition card PCIE-1816 H Function file and time processing of timeout to achieve high-speed synchronous acquisition of signals.Aiming at the deviation between the measured stiffness value and the actual stiffness value caused by the angular displacement of the output value caused by the shaft deformation at the input end,the stiffness characteristics are analyzed,the stiffness correction formula is obtained,and the stiffness correction program is written.The transmission efficiency curve is analyzed,and the third Hermitian spline method is used to segment the data of the transmission efficiency database for the third Hermitian interpolation,so as to solve the problem of the small efficiency value.The characteristics of hysteretic curve are analyzed,the stiffness curve is segment fitted by polynomial method,the Segment fitting program is written,and the Segment fitting curve equation is obtained.4.Based on the fuzzy PID control theory,the thesis puts forward a kind of precise load control strategy of RV reducer performance detection,the constant torque fuzzy PID controller is designed and established a constant torque control for permanent magnet synchronous motor model and MATLAB simulation.The results show that when the mutations in the torque system can fast response within 0.04 s,and stabilizing torque within 0.03 s,meet the requirements of measurement and control system of rotating moment stability.The error of the system is analyzed,and the system is processed with mechanical vibration isolation,circuit isolation and software filtering,so that the error of measurement and control system is less than 0.2%F.S(%F.S: percentage of full range).5.The thesis completed the integration of the software interface and software program of the system of RV reducer performance test rig.Taking RV40 E reducer as an example,tests are conducted on its stiffness,reversal,transmission efficiency,transmission error and no-load operating torque,and test data are processed.By comparing the technical data set of RV series of high rigidity reducer used for precision control,the parameters of its stiffness and return,transmission efficiency,transmission error and no-load operating torque all meet the requirements,and the reliability and accuracy of the measurement and control system are verified.