谐波减速器柔性轴承试验载荷设计与控制方法研究

Research on Test Condition Design and Control Method of Flexible Bearing of Harmonic Reducer

围绕谐波减速器轴承寿命试验需求,搭建了谐波减速器轴承试验装置,结合谐波减速器轴承试验原理,通过计算平均输入转速和平均负载扭矩,确定谐波减速器轴承试验条件,并基于扩张状态观测器与非线性PID建立负载扭矩控制方法。试验结果表明:负载扭矩跟踪的均方根误差为0.375,具有较好控制精度,试验机实现了转速、负载扭矩的高精度控制,实现了温升、振动、噪声等指标测试,满足了谐波减速器轴承的试验要求。

Focusing on the needs of harmonic reducer bearing life test,a harmonic reducer bearing test device was built,combined with the harmonic reducer bearing test principle,the harmonic reducer bearing test conditions were determined by calculating the average input speed and average load torque,and the load torque control method was established based on the expansion state observer and nonlinear PID.According to the experimental results,it is concluded that the root mean square error of load torque tracking is 0.375,which has good control accuracy,and the testing machine realizes high-precision control of speed and load torque,realizes temperature rise,vibration,noise and other index tests,and meets the test requirements of harmonic reducer bearings.