CN101799337B - Automatic detection method of torque of tooth sockets of permanent magnet synchronous motor - Google Patents
Automatic detection method of torque of tooth sockets of permanent magnet synchronous motor Download PDFInfo
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- CN101799337B CN101799337B CN200910199511XA CN200910199511A CN101799337B CN 101799337 B CN101799337 B CN 101799337B CN 200910199511X A CN200910199511X A CN 200910199511XA CN 200910199511 A CN200910199511 A CN 200910199511A CN 101799337 B CN101799337 B CN 101799337B
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Abstract
The invention discloses an automatic detection method of the torque of tooth sockets of a permanent magnet synchronous motor, which is realized by the following main steps: (1) virtualizing a circle of the motor as a plurality of tooth socket periods of the tooth sockets according to the number of the tooth sockets; (2) dividing into a plurality of equal parts in one tooth socket period according to accuracy requirements and the limit of a storage space; (3) controlling the motor to rotate for a plurality of tooth socket periods; and (4) calculating according to the data of each tooth socket period of rotating to obtain the torque of the tooth sockets. The invention can simply, automatically and accurately detect the torque of the tooth sockets of the permanent magnet synchronous motor.
Description
Technical field:
The present invention's invention relates to a kind of detection method, is specifically related to a kind of detection method that is used for torque of tooth sockets of permanent magnet synchronous motor.
Background technology:
In the permasyn morot, because the magnetic pole of p-m rotor and the relative position of stator teeth groove are not simultaneously, the magnetic conductance of main magnetic circuit is different, and the p-m rotor trend is positioned the position of magnetic conductance maximum, depart from the effect torque that Shi Douyou is returned to this position, be called cogging torque (Cogging Torque).
Because the existence of this torque usually can cause permasyn morot vibration, noise, reduces the control accuracy of system.
Detection to cogging torque in the prior art mainly contains dual mode: the one, and manual inspection, another kind of mode detects for utilizing high accuracy servo system.All there is different defectives in this mode, and wherein manual inspection cogging torque precision is very low, and can't corresponding continuous detecting with the position, can only understand the general performance of cogging torque of permasyn morot; Test and utilize high accuracy servo system to drag permasyn morot to be measured, quite high to the mechanical precision requirement, more complicated is installed.
Summary of the invention:
The present invention is directed to existing defective in the above-mentioned existing detection method, and provide a kind of automatic testing method of torque of tooth sockets of permanent magnet synchronous motor, this method utilizes frequency converter to drive permasyn morot, frequency converter output torque during by the detection rotor change in location, the process computing can obtain the cogging torque of permasyn morot to be measured.
In order to achieve the above object, the present invention adopts following technical scheme:
The automatic testing method of torque of tooth sockets of permanent magnet synchronous motor, the permasyn morot system implementation that this method drives based on frequency converter, it is mainly realized as follows:
(1) enclosing motor one virtual according to the teeth groove number is several teeth groove cycles of teeth groove;
(2) a teeth groove cycle is divided into some five equilibriums according to the restriction of accuracy requirement and storage space, each position of halving will write down corresponding cogging torque;
(3) the control motor turns over some teeth groove cycles;
(4) obtain cogging torque according to turning over the data computation in each teeth groove cycle.
Method one, described step (3) and step (4) specifically realize in the following manner:
(4-1) the cogging torque computing module is not worked in the control-driven system, when the record motor turns over each position of halving in each teeth groove cycle, and the real output value of the corresponding output of speed regulator;
(4-2) value that obtains of average step (4-1) obtains the mean value that motor turns over some teeth groove period velocity regulators outputs;
Corresponding cogging torque when (4-3) each real output value of step (4-1) record being deducted the mean value that obtains by step (4-2) and obtain motor and turn in the per tooth groove cycle each position of halving;
(4-4) the average cogging torque of all teeth groove identical position of halving in the cycle forms cogging torque influence value table, i.e. the cogging torque influence of each position of halving in teeth groove cycle obtains the final cogging torque of permagnetic synchronous motor.
Method two, described step (3) and step (4) are specifically realized in the following manner:
(4-A) motor turns over first teeth groove during cycle, and the cogging torque computing module is not worked in the control-driven system, and the record motor is when turning in the first teeth groove cycle each position of halving, the real output value of the corresponding output of speed regulator;
(4-B) each real output value that is write down by step (4-A) deducts the mean value of all real output value of record in the step (4-A), forms cogging torque influence value table, and promptly the corresponding cogging torque of each position of halving influences in the first teeth groove cycle;
(4-C) motor turns over second teeth groove during cycle, the work of control cogging torque computing module, according to second teeth groove corresponding position of halving in the cycle, the cogging torque influence value table of query note, interpolation calculation goes out the cogging torque offset of corresponding position of halving, with motor turn over second teeth groove in the cycle during corresponding position of halving the addition of speed regulator real output value synthesize corresponding torque current bid value, the torque current command signal value when promptly obtaining motor and turning over each position of halving in the second teeth groove cycle;
(4-D) each value that is write down by step (4-C) deducts the mean value of all values of record in the step (4-C), forms the cogging torque influence value table that upgrades, i.e. the corresponding cogging torque influence of interior each position of halving of the second teeth groove cycle;
(4-E) motor turns over next teeth groove cycle, and repeating step (4-C) is to step (4-D);
(4-F) motor turns over some teeth groove after the cycle, and last cogging torque influence value table is final cogging torque.
The present invention who obtains according to technique scheme implements easily, and need not to improve the controller hardware performance of institute's use frequency converter, also need not to build the high-accuracy mechanical system, and can accurately detect the cogging torque of permasyn morot.
Description of drawings:
Further specify the present invention below in conjunction with the drawings and specific embodiments.
Fig. 1 drives the permasyn morot system chart for frequency converter.
Fig. 2 is realization flow figure of the present invention.
Embodiment:
For technological means, creation characteristic that the present invention is realized, reach purpose and effect is easy to understand, below in conjunction with concrete diagram, further set forth the present invention.
Reason according to the cogging torque generation, cogging torque is periodically variable with motor rotor position as can be known, therefore use frequency converter to drive permasyn morot, frequency converter output torque in the time of can passing through the detection rotor change in location, the process computing can obtain the cogging torque of permasyn morot to be measured.
The frequency converter that the present invention is based on enforcement drives the permasyn morot system as shown in Figure 1, in the control loop of this frequency converter, position signalling and speed command that frequency converter is sent by position transducer, through internal arithmetic, the operation of control motor, revolution speed calculating module converts positional information is tach signal ω, and current sensor obtains output current Iq, and speed regulator is according to speed command ω
*With velocity information ω output current order Iq1
*, the cogging torque computing module converts corresponding cogging torque offset current command signal value Iq2 to then with the position signalling θ that receives
*Iq1
*With Iq2
*The synthetic total current command signal value Iq of addition in control loop
*, to current regulator, current regulator is according to Iq
*With output current Iq output voltage order U
*, by the operation of voltage source inverter control motor.
The control frequency converter drives permasyn morot system and runs on the cogging torque detecting pattern during the invention process, and frequency converter is by having PG vector control mode driving motor (zero load) at the uniform velocity turning round than the slow-speed of revolution.
According to the cogging torque mechanism of production, cogging torque is cyclical variation as can be known, and promptly the residing space angle of motor rotor is every through a teeth groove, cogging torque approximately equal.The invention process following (referring to Fig. 2) for this reason:
(1) according to the teeth groove number with motor one circle virtual be several teeth groove cycles of teeth groove, this teeth groove cycle is that the space angle that motor operation is crossed a teeth groove correspondence is converted a complete cycle that is.
(2) a teeth groove cycle is divided into some five equilibriums according to the restriction of accuracy requirement and storage space, to get thin more, final precision high more owing to wait, and each position of halving will write down corresponding cogging torque.
(3) the control motor turns over some teeth groove cycles;
(4) obtain cogging torque according to turning over the data computation in each teeth groove cycle.
Turn over some teeth groove cycle at the control motor, and when obtaining cogging torque, the invention provides two kinds of account forms according to the data computation that turns over each teeth groove cycle, specific as follows:
Mode one, it is realized by following steps:
(4-1) control cogging torque computing module is not worked, i.e. cogging torque computing module output Iq2
*=0, when the record motor turns over corresponding position of halving in each teeth groove cycle, the real output value Iq1 of the corresponding output of speed regulator
*, promptly each position of halving in each teeth groove cycle all will write down corresponding output valve Iq1 respectively
*
(4-2) numerical value that the above-mentioned steps record is obtained averages, and calculates motor and turns over some teeth groove during the cycle, the mean value of speed regulator output;
Each real output value Iq1 that (4-3) will write down
*Corresponding cogging torque when deducting the mean value that obtains by step (4-2) and obtaining motor and turn in the per tooth groove cycle each position of halving;
(4-4) the average cogging torque of all teeth groove identical position of halving in the cycle forms cogging torque influence value table, i.e. the cogging torque influence of each position of halving in teeth groove cycle obtains the final cogging torque of permagnetic synchronous motor.
Mode two, it is realized by following steps:
(4-A) motor turns over first teeth groove during cycle, and control cogging torque computing module is not worked, when the record motor operation is crossed in the first teeth groove cycle corresponding position of halving, and the real output value Iq1 of the corresponding output of speed regulator
*
(4-B) calculate the corresponding cogging torque influence of each position of halving in the first teeth groove cycle, obtain by following mode: at first, the real output value of record in the average step (4-A), when obtaining motor operation and crossing in the first teeth groove cycle corresponding position of halving, the mean value of speed regulator output;
Then, each speed regulator real output value Iq1 that step (4-A) is write down
*Deduct the mean value of speed regulator output in the first teeth groove cycle, form cogging torque influence value table, be i.e. corresponding position of halving cogging torque influence in the first teeth groove cycle.
(4-C) motor turns over second teeth groove during cycle, the work of control cogging torque computing module, and according to second teeth groove corresponding position of halving in the cycle, the cogging torque influence value table of query note, interpolation calculation goes out the cogging torque offset Iq2 of corresponding position of halving
*, turn over second teeth groove speed regulator real output value Iq1 during corresponding position of halving in the cycle with motor
*Addition synthesizes corresponding torque current bid value Iq
*, the torque current command signal value Iq when obtaining motor then and turning over each position of halving in the second teeth groove cycle
*
(4-D) calculate the corresponding cogging torque influence of each position of halving in the second teeth groove cycle, obtain by following mode: at first, all torque current command signal values that average step (4-C) is tried to achieve, the mean value of the torque current command signal when obtaining motor and turning over each position of halving in the second teeth groove cycle;
Then, motor is turned over second teeth groove torque current command signal value Iq during each position of halving in the cycle
*The mean value of the torque current command signal when deducting motor and turning over each position of halving in the second teeth groove cycle forms the cogging torque influence value table that upgrades, i.e. corresponding position of halving cogging torque influence in the second teeth groove cycle.
(4-E) motor turns over next teeth groove cycle, and repeating step (4-C) is to step (4-D).
(4-F) motor turns over some teeth groove after the cycle, and last cogging torque influence value table is final cogging torque.
More than show and described ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; that describes in the foregoing description and the instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.The claimed scope of the present invention is defined by appending claims and equivalent thereof.
Claims (3)
1. the automatic testing method of torque of tooth sockets of permanent magnet synchronous motor, this method is characterized in that based on the permasyn morot system implementation that frequency converter drives described method mainly realizes as follows:
(1) enclosing permasyn morot one virtual according to the teeth groove number is several teeth groove cycles of teeth groove;
(2) a teeth groove cycle is divided into some five equilibriums according to the restriction of accuracy requirement and storage space, each position of halving will write down corresponding cogging torque;
(3) the control permasyn morot turns over some teeth groove cycles;
(4) obtain cogging torque according to turning over the data computation in each teeth groove cycle.
2. the automatic testing method of torque of tooth sockets of permanent magnet synchronous motor according to claim 1 is characterized in that, described step (3) and step (4) specifically realize in the following manner:
(4-1) the cogging torque computing module is not worked in the control-driven system, when the record permasyn morot turns over each position of halving in each teeth groove cycle, and the real output value of the corresponding output of speed regulator;
(4-2) real output value that obtains of average step (4-1) obtains the mean value that permasyn morot turns over some teeth groove period velocity regulators outputs;
Corresponding cogging torque when (4-3) each real output value of step (4-1) record being deducted the mean value that obtains by step (4-2) and obtain permasyn morot and turn in the per tooth groove cycle each position of halving;
(4-4) the average cogging torque of all teeth groove identical position of halving in the cycle forms cogging torque influence value table, i.e. the cogging torque influence of each position of halving in teeth groove cycle obtains the final cogging torque of permasyn morot.
3. the automatic testing method of torque of tooth sockets of permanent magnet synchronous motor according to claim 1 is characterized in that, described step (3) and step (4) specifically realize in the following manner:
(4-A) permasyn morot turns over first teeth groove during cycle, the cogging torque computing module is not worked in the control-driven system, and the record permasyn morot is when turning in the first teeth groove cycle each position of halving, the real output value of the corresponding output of speed regulator;
(4-B) each real output value that is write down by step (4-A) deducts the mean value of all real output value of record in the step (4-A), forms cogging torque influence value table, and promptly the corresponding cogging torque of each position of halving influences in the first teeth groove cycle;
(4-C) permasyn morot turns over second teeth groove during cycle, the work of control cogging torque computing module, according to second teeth groove corresponding position of halving in the cycle, the cogging torque influence value table of query note, interpolation calculation goes out the cogging torque offset of corresponding position of halving, with permasyn morot turn over second teeth groove in the cycle during corresponding position of halving the addition of speed regulator real output value synthesize corresponding torque current bid value, the torque current command signal value when promptly obtaining permasyn morot and turning over each position of halving in the second teeth groove cycle;
(4-D) each the torque current command signal value that is write down by step (4-C) deducts the mean value of all torque current command signal values of record in the step (4-C), form the cogging torque influence value table that upgrades, i.e. the corresponding cogging torque influence of each position of halving in the second teeth groove cycle;
(4-E) permasyn morot turns over next teeth groove cycle, and repeating step (4-C) is to step (4-D);
(4-F) permasyn morot turns over some teeth groove after the cycle, and last cogging torque influence value table is final cogging torque.
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| CN200910199511XA CN101799337B (en) | 2009-11-27 | 2009-11-27 | Automatic detection method of torque of tooth sockets of permanent magnet synchronous motor |
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| CN200910199511XA CN101799337B (en) | 2009-11-27 | 2009-11-27 | Automatic detection method of torque of tooth sockets of permanent magnet synchronous motor |
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| CN101799337B true CN101799337B (en) | 2011-12-07 |
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Families Citing this family (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102403937B (en) * | 2011-11-20 | 2013-10-30 | 中国科学院光电技术研究所 | Measuring and inhibiting system for tooth groove torque in permanent magnet synchronous motor and implementation method |
| CN104333288A (en) * | 2014-11-20 | 2015-02-04 | 奇瑞汽车股份有限公司 | Measuring and compensating method of cogging torque of permanent magnet synchronous motor |
| CN104655339A (en) * | 2015-01-20 | 2015-05-27 | 宁波菲仕电机技术有限公司 | Cogging-torque test method for alternating-current permanent-magnet synchronous servo motor |
| CN104697685A (en) * | 2015-03-21 | 2015-06-10 | 黑龙江科技大学 | Device and method for measuring cogging torque of permanent magnet synchronous motor |
| CN110274716B (en) * | 2018-03-14 | 2021-01-08 | 上海鸣志电器股份有限公司 | Method for testing cogging torque of motor |
| CN109274305A (en) * | 2018-10-15 | 2019-01-25 | 上海大郡动力控制技术有限公司 | A kind of measurement and compensation method of internal permanent magnet synchronous motor cogging torque |
| CN109341913B (en) * | 2018-10-30 | 2020-12-11 | 中国科学院电工研究所 | Torque measuring device |
| CN110034707B (en) * | 2019-03-28 | 2020-09-15 | 南京航空航天大学 | Torque ripple suppression method for low-speed direct-drive permanent magnet motor servo system |
| CN111669081A (en) * | 2020-06-12 | 2020-09-15 | 深圳市正弦电气股份有限公司 | Method and device for compensating cogging torque of motor |
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