capable of emulating the operation of said poorer
measurement was made, with a divider of pulses made with
a configurable binary counter so that by means of jumpers
two signals can be chosen to send to the control platform,
one of them is the full resolution measurement and the other
is the reduced resolution one. Then, the voltage levels are
adapted to those compatible with the digital inputs of the
controller board (Fig. 20).
To detect the direction of rotation, a D flip-flop is used
that uses the direct signal as input and the quadrature signal
as clock. Thus, when the motor rotates forward, Sd leads Sq
causing, on each rising edge of Sq, the flip-flop copies a
logic "one" at its output. On the other hand, when turning in
reverse, Sq leads Sd and therefore the output is a logical
“zero”.
Comparing the three solutions, it can be seen that the 1st
solution is the one with the highest cost because it includes
the amplification electronics and the encoder in the
transducer. It requires less implementation effort and fewer
resources since they are mostly mechanical realizations,
electronic implementations are few. The required expertise
is high. For the 2nd solution, the cost is reduced by using an
external commercial encoder, instead of purchasing a
transducer with an included encoder. Increases the demand
for work and resources used in assembly. The required
expertise is high. In the 3rd solution the cost is the lowest
since the torque transducer only includes the sensor. The
amplification and signal conditioning are user-developed.
The demand for labor and resources used in the assembly
are maximum. It requires a very high degree of knowledge
of the subject. The dynamic response in all cases was
greater than that demanded by the time constants inherent to
mechanical systems.
XI. CONCLUSION
The reliability of the results of a torque measurement and
the budget allocated radically depend on the understanding
of the conditions demanded by the application, accuracy,
speed, bandwidth; as well as the choice of the transducer
capable of satisfying them. Generally, a compromise will
have to be appealed by selecting the transducer that meets
the least cost.
In addition to the characteristics of the equipment,
environmental factors and details of the installation must be
considered. Dirt in the environment, high temperature,
interference, can be some of the problems to consider.
Space limitations can be decisive in the choice of transducer,
as well as restrictions in mechanical mounting. The design
of auxiliary electronics must always consider
electromagnetic interference from the environment.
The torque transducer is the weakest link in the axle train,
not addressing all the variables can mean, not only faulty
measurements, but also equipment breakdown.
In this work, low-cost solutions were implemented for
the design of test benches for using Rapid Control
Prototyping. Various proposals for future work can be made
taking advantage of this platform. Performance analysis of
different PWM algorithms or study of torque disturbance
recognition algorithms that make it possible to distinguish
between transients and ripples are some of the possible
suggestions.
ACKNOWLEDGMENT
This work has received funding from the University of
Buenos Aires with funds from the subsidy UBACYT
20620170100006BA
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