Study on Torque Measurement Errors’ Compensation of Reducer Based on Piecewise PID Control

Abstract

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.