Method for damping vibrations

专利摘要:
A method for testing a drive train with damping of vibrations and apparatus for carrying out the method, wherein a shaft (1) for setting a drive or load torque (M2) with at least one drive or loading machine (2) is connected, which a setpoint of the drive or load torque (M2) is specified, wherein one of the relative rotation between two points of the shaft (1) dependent shaft torque (MW) is measured and the measured shaft torque (MW) via a delay line free of a differentiating element with the target value of the drive - Or load torque (M2) is linked and as such the setpoint of the drive or load torque (M2) is switched.
公开号:AT512550A1
申请号:T50048/2012
申请日:2012-03-01
公开日:2013-09-15
发明作者:Robert Dipl Ing Dr Bauer；Marcus Dipl Ing Lang；Bernd Dipl Ing Pressl；Wilfried Dipl Ing Dr Rossegger；Franz Voit
申请人:Seibt Kristl & Co Gmbh；
IPC主号:

专利说明:

1
The invention relates to a method for damping vibrations when testing a drive train having at least one shaft, wherein the shaft for adjusting a drive or. Loading torque is connected to at least one drive or loading machine, which a setpoint of the drive or. Loading torque is specified, wherein a dependent of the relative rotation between two points of the shaft shaft torque is measured.
In a powertrain test stand, the component to be tested (also referred to below as test specimen) is usually not forcibly connected to the environment as at its later place of use. For example, a test engine engine is connected to a load machine via a relatively stiff shaft instead of being in contact with the road via a softer drivetrain and tires. This results in the test stand usually weakly damped (and thus strongly pronounced) resonant frequencies that does not find the test specimen at its actual site. If these resonant frequencies are excited by the device under test, the resulting vibrations can massively influence the test result or even lead to the destruction of the test object and / or the test stand. Therefore, measures for damping these resonant frequencies on the test bench are necessary. In the following the known methods are enumerated. For the sake of simplicity, the examples are based on a test stand with only one shaft and a loading machine, but all methods can also be used with multi-shaft test stands and with drive and / or loading machines.
By using a softer, more dampened connecting shaft, the resonance frequencies can be lowered and, in addition, more attenuated. If the resonant frequencies are no longer excited by the device under test in normal operation (for example, because the idling speed of an internal combustion engine corresponds to a higher frequency), the problem is thus solved. A disadvantage is the low-pass effect of the soft connecting shaft, furthermore a considerable power in the shaft can be converted by friction (the shaft becomes hot and possibly destroyed) and finally this method does not provide a solution for DUTs which in normal operation nevertheless 2 the resonance frequencies stimulate.
Alternatively, methods for active damping are already known in which the loading machine an additional torque is applied, which corresponds to a wave attenuation. For this, one actually needed the differential angular velocity of the shaft (cf., for example, DE 38 08 524), but this can be estimated with the help of the measured shaft torque (cf .. EP 1 333 268 A2): The measured shaft torque is differentiated, weighted with a correction factor and the Torque setpoint of the load machine (for example, comes from the output of a speed controller) is applied as a correction value. However, the differentiation of a measured variable has the disadvantage that the ever-present measurement noise is greatly increased. Although you could filter the differentiated moment with a low-pass filter, but then this method becomes unstable at higher resonance frequencies, whereby the use in practice is severely limited.
From AT 010 301 U2 there is further known a method in which measurement data is stored over a duty cycle (e.g., 720 ° crank angle in a four-stroke engine) and used to predict future target values with which the resonant frequencies are better damped. However, since the damping effect only becomes effective in future working cycles, this method only works in the steady state, which makes the practical use of transient tests problematic. In addition, the storage of the measured data in the controller is a considerable effort.
Finally, from US Pat. No. 8,006,548 B2, a robust regulation is known in which, based on an exact mathematical model of the test stand, controllers are designed which suitably regulate the test bench even with slight parameter fluctuations. However, the test rig must also be expected to exhibit strong parameter fluctuations during operation, and furthermore, little is generally known about the test object. In practice, test bench operators can not be expected to design a suitable robust controller for each new device under test.
It is an object of the present invention to provide a method of the type mentioned 3 or a device for carrying out the method, which uses a simple and insensitive to measurement noise control, even in transient tests - especially in the first test of a specimen - the desired damping achieved and requires no knowledge of parameters of the DUT or the test bench.
In order to achieve the object, the invention provides a method as set forth above, which is characterized in that the measured shaft torque as such (i.e., directly) is switched to the setpoint value of the drive or load torque.
In a corresponding manner, the invention provides in the apparatus as stated at the outset that the measuring unit for measuring the shaft torque is connected directly to the unit for determining the nominal value of the drive or load torque, so that the measured shaft torque as such corresponds to the nominal value of the drive torque. or load torque can be switched on.
Ideally, at a nominal value of zero, the shaft torque is switched exactly counter to the loading machine. The summation moment for the loading machine is thus zero and the speed remains constant. So you get a perfectly constant speed control, where you can change the speed with a setpoint not equal to zero. Compared to the test specimen, the loading machine thus acts as an infinitely large moment of inertia, which would actually not be expected to have a dampening effect - on the contrary, actually the conditions on the test bench would actually be aggravated by the larger moment of inertia. The fact that the method according to the invention nevertheless shows an excellent damping effect in practice is not obvious even to a person skilled in the art and will be shown below on the basis of a system engineering examination.
The present approach differs from the prior art approach primarily in that the control according to the invention does not require the differentiation of a measured value. The advantages, therefore, are that this control 4 Λ is much simpler than the prior art and at the same time robust against measurement noise.
As it turns out on closer examination, it proves to be expedient if the measured shaft torque is linked to the desired value of the drive or load torque via a delay path free of a differentiator. The delay path is preferably designed so that a suitable damping of the resonance frequencies is achieved.
In addition, it is favorable if the measured shaft torque, before it is the target value of the drive or load torque is opened, by a transfer function 1st order, M2 {s) 1 S) =, -r = - ts + 1 is modified , Using this transfer function, the damping of the resonance frequencies can be suitably described and consequently optimized.
The method according to the invention is preferably set up such that the delay between the measured shaft torque and the resulting feedback in the drive or load torque is in the millisecond range, preferably less than approximately 20 ms, in particular 1-10 ms. With a delay in the specified range, optimum damping of the resonance frequencies is achieved.
In view of the damping effect achieved, the method can be improved so that the measured shaft torque multiplied by a constant weighting factor and then switched to the setpoint of the drive or load torque. The advantage here is that a weighting factor ("stepless") setting of the damping effect is achieved.
To control a speed of the shaft, the measured shaft torque is preferably linked to a torque specification of a controller, in particular a speed controller. As a result, the method according to the invention can advantageously also be used for a test at different, possibly varying rotational speeds.
The invention will be explained in more detail below on the basis of particularly preferred exemplary embodiments, to which, however, it should not be restricted, and with reference to the drawing, in which:
1 shows schematically a detail of a test stand arrangement with the device according to the invention;
FIG. 2 shows a model of a test rig arrangement with a shaft; FIG.
FIG. 3 schematically shows the model according to FIG. 2 without active damping measures; FIG.
FIG. 4 schematically shows the model according to FIG. 2 with an idealized variant of the method according to the invention; FIG.
5 shows schematically the model according to FIG. 2 with the method according to the invention in real conditions; and
6 shows the root locus of the guide transfer function derived from the model according to FIG. 5 in real conditions.
1 illustrates the method according to the invention with reference to a partial schematic representation of the components involved. The test object (not shown) is connected via a shaft 1 to a loading machine 2. The torque of the loading machine 2 is specified in the form of a setpoint. On the shaft 1, a torque measurement 3 is performed and the result of the measurement 3 is as such the target value of the drive or. Loading torque switched. Assuming the target value of the drive or load torque is zero, each measured on the shaft 1 torque is compensated by the loading machine 2 and the speed remains constant. That a moment on the shaft 1 causes no change in the speed means that the loading machine 2 apparently has an infinitely large moment of inertia. As a result, however, no damping would merely cause a shift in the resonance frequencies of the test stand.
The fact that the method according to the invention achieves the desired damping is only apparent in a more detailed examination, which is carried out here on a test bench with a shaft 1 for the sake of simplicity. Of course, the method can also be used in test stands with multiple shafts and with drive and / or loading machines.
Fig. 2 shows by way of example a test rig arrangement 4 with a shaft 1. The shaft 1 connects a specimen 5 to a loading machine 2. The specimen 5 has the moment of inertia Jlt supplies the moment Mi and rotates at the angular velocity 0) j. The loading machine 2 has the moment of inertia J2, provides the moment Ms and rotates at the angular speed ω2.
The spin sets are there da), J i = J ^ dt = M "~ M * with the wave moment M», for the sake of simplification (without damping the wave)
Mw = οΙί {φ1-φ2) with the spring stiffness cw of the shaft 1 and the angular difference (pi - (p2 between the test piece 5 and the loading machine 2. The spring 6 indicated in the center of the shaft 1 serves to illustrate the finite torsional rigidity of the shaft 1 ,
In Fig. 3 the system technical relationship of the moments on the specimen 5 (Mi) on the loading machine 2 (M2) and on the shaft 1 (M *) is modeled. The connections of the moments in the illustrated case without active damping measures are represented by the following transfer functions P2 and P2: 7 Λ
The poles of the two transfer functions lie on the imaginary axis and therefore correspond to an undamped resonance frequency
Fig. 4 is obtained by an extension of the model of FIG. 3 to the inventive method, which - as it turns out - this model does not correspond to the real conditions. In contrast to FIG. 3, here the shaft torque Mf is applied directly as torque M2 of the loading machine. This feedback provides "guide transfer function".
Mw < s) Pjs) Ji
Mjfs) 1 Pjfs) 2, s + -
The poles of Tidssl, like those of P2 and P2f, lie on the imaginary axis and correspond to a lower but still unattenuated resonance frequency
Compared with the feedback-free model from FIG. 3, no advantage was achieved.
Only Fig. 5 shows a model of the inventive method in real conditions. Unlike in FIG. 4, it is taken into account that in reality the shaft torque Mn can not be switched on directly as torque M2 of the loading machine 2. The measurement 3 of the shaft torque and the torque build-up in FIG. 8 of the loading machine 2 cause a non-negligible delay. The exact mathematical description of this delay is difficult, but it can simplify the further consideration, the transfer function 1st order 8 G (s) M2 (s) 1 τ s + 1 are used with the time constant τ. The originally direct feedback is therefore modified under real conditions by a transfer function G. As "guide transfer function " results considering the modified feedback
M "(s) _ P ^ s) real [S) Jij (s) 1-G (s) P2 (s)
Unlike IWa, Tteei apparently has three poles. Although the position of these poles could be calculated exactly, this does not contribute to the understanding of the damping effect. On the other hand, a control technology tool, the so-called root locus method, proves to be helpful. The transfer function of a fictional open circle with the polynomials JL (s)
Tli £ lm)
* (s) = [s2 + (^ v 1 N {s)
gives the guide transfer function T {s) L {s) _T Z {s) 1 + L {s) tä (s) + w (s)
A comparison with Treai shows that the two guide transfer functions have the same denominator and consequently the same poles, the location of which can therefore easily be represented by the root locus method as a function of the time constant r 9 (see Fig. 6).
In Fig. 6, the root locus 7 of rreai is plotted. The arrows 8 point in the direction of the displacement of the poles with increasing time constant r. The resonant poles move with increasing τ on semicircles from the purely imaginary zeros of N 9, which correspond to the poles of Tideai, to the also purely imaginary zeros of 2 10, which correspond to the poles of Pj and P2. For small time constants r, however, the poles of TVeal travel from the imaginary axis to the left half-plane, which means that they have a non-zero real part. A non-zero real part corresponds to a damping of the resonance.
In practice, an artificial increase in the time constant t is neither necessary nor useful, since a delay in the millisecond range, for example of about 1-10 ms, already occurs through the measurement 3 of the shaft torque and the torque build-up. A further, artificial delay would attenuate the damping effect again, since the poles with large time constants r continue to approach the zeros of Z.

权利要求:
Claims (7)
[1]




1. A method for damping vibrations when testing a drive train having at least one shaft (1), the shaft (1) being connected to at least one drive or loading machine (2) for adjusting a drive or loading torque, which a desired value of the drive or load torque is specified, wherein one of the relative rotation between two points of the shaft (1) dependent shaft torque is measured, characterized in that the measured shaft torque is switched as such the setpoint of the drive or load torque.
[2]
2. The method according to claim 1, characterized in that the measured shaft torque is linked via a free from a differentiating element delay line with the desired value of the drive or load torque.
[3]
3. The method of claim 1 or 2, characterized in that the measured shaft torque before it is the setpoint of the drive or load torque is switched by a transfer function 1st order Mz {s) _ 1 M »(s) ts + 1 is modified ,
[4]
4. The method according to any one of claims 1 to 3, characterized in that the delay between the measured shaft torque and the resulting reaction in the drive or load torque is in the millisecond range, preferably less than about 20 ms, in particular 1-10 ms ,
[5]
5. The method according to any one of claims 1 to 4, characterized in that the measured shaft torque multiplied by a constant weighting factor and then switched to the desired value of the drive or load torque.
[6]
6. The method according to any one of claims 1 to 5, characterized in that the measured shaft torque for controlling a

11 speed of the shaft with a torque specification of a controller, in particular a speed controller is linked.
[7]
7. Device for carrying out the method according to one of claims 1 to 6, having a drive train with at least one shaft (1), which with at least one drive or loading machine (2) for setting a drive or load torque on the shaft ( 1), comprising a unit for determining a desired value of the driving or loading torque, and having a measuring unit (3) for measuring a shaft torque dependent on the relative rotation between two points of the shaft, characterized in that the measuring unit (3) for Measuring the shaft torque is connected directly to the unit for determining the desired value of the drive or load torque, so that the measured shaft torque as such the setpoint of the drive or load torque is aufschaltbar.

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AT512550B1|2013-10-15|

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AT517028A1|2015-04-14|2016-10-15|Seibt Kristl & Co Gmbh|Device and method for monitoring a shaft connection with a damping element|

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JP6217797B1|2016-06-22|2017-10-25|株式会社明電舎|Resonance suppression control circuit, test system using the same, and resonance suppression control circuit design method|

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法律状态:

优先权:

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申请号 | 申请日 | 专利标题

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ATA50048/2012A|AT512550B1|2012-03-01|2012-03-01|Method for damping vibrations|ATA50048/2012A| AT512550B1|2012-03-01|2012-03-01|Method for damping vibrations|

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PCT/AT2013/050052| WO2013126940A1|2012-03-01|2013-03-01|Method for damping vibrations|

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IN7209DEN2014| IN2014DN07209A|2012-03-01|2013-03-01|

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EP13713069.6A| EP2820392B1|2012-03-01|2013-03-01|Method for damping vibrations|

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US14/382,490| US9632007B2|2012-03-01|2013-03-01|Method for damping vibrations while testing a drivetrain having at least one shaft|