CN103226062A - Passive loading method of load motor during motor performance test - Google Patents

Passive loading method of load motor during motor performance test Download PDF

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CN103226062A
CN103226062A CN2012100213032A CN201210021303A CN103226062A CN 103226062 A CN103226062 A CN 103226062A CN 2012100213032 A CN2012100213032 A CN 2012100213032A CN 201210021303 A CN201210021303 A CN 201210021303A CN 103226062 A CN103226062 A CN 103226062A
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load motor
motor
control
load
value
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赵洪涛
万茂文
徐性怡
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Shanghai Dajun Technologies Inc
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Shanghai Dajun Technologies Inc
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Abstract

The invention disclose a passive loading method of a load motor during motor performance test, which comprises the following steps: the load motor executes rotating speed closed cycle control, external characteristic limited-amplitude control and force moment closed cycle control; the set value (n_ref) of the rotating speed and the feedback value (n_fbk) of the rotating speed of the load motor in the rotating speed closed cycle control are input into a rotating speed proportional-integral controller, the output of the controller is modified through external characteristic limited-amplitude control, and the output of the external characteristic limited-amplitude control serves as an expected value of force moment closed cycle control; and finally, the force moment closed cycle control can be indirectly realized through closed cycle control by a current signal. With adoption of the method, the load motor can analog drag characteristics of various loads and output expected resistance force moment so as to realize capability of loading a to-be-tested motor. The method can flexibly customize drag characteristics of the load motor, expands performances of the load motor, satisfies diversified test requirements of the to-be-tested motor, and reduces the test cost.

Description

The passive loading method of load motor in the motor performance test
Technical field
The present invention relates to the passive loading method of load motor in a kind of motor performance test.
Background technology
Dragging performance test when experiment at motor need carry out having under the condition of load, generally serves as load motor by dynamometer machine, realizes passive loading.For the motor that mates different capabilities carries out performance test, often select the dynamometer machine of larger capacity, but dynamometer machine cost costliness, the motor performance testing cost is higher.When reality is tested, demarcate the parameters such as Torque Control precision, velocity control accuracy, dynamic responding speed and external characteristic curve of dynamometer machine in advance, can carry out the traditional performance test to motor, but because the dynamometer machine platform feature is fixed, inconvenient expanded function, as the loading of transient process such as electric motor starting, acceleration, Brake stop, can't simulate dissimilar drag characteristics, make load motor not satisfy diversified system applies requirement.When carrying out new-energy automobile power assembly platform experiment, load motor can't simulated roadway and drag characteristic such as driving windage, lacks the car load load to cooperate, and there is limitation in working condition experimentings such as car load power performance, comfortableness and power assembly fault handling.
Summary of the invention:
Technical matters to be solved by this invention provides the passive loading method of load motor in a kind of motor performance test, select and the suitable substantially load motor of tested capacity motor, simulate the drag characteristic of dissimilar actual loadings, make the resistance torque of load motor output expectation, realize function being loaded by measured motor.
For solving the problems of the technologies described above, dragged load motor by measured motor among the present invention and constitute rotation system, load motor is carried out speed closed loop control, the control of external characteristics amplitude limit, moment closed-loop control process, the output of speed closed loop control need be revised through the control of external characteristics amplitude limit, correction result is as the expectation value of moment closed-loop control, load motor is exported this expectation moment to being loaded by measured motor, simulates the drag characteristic of different types of actual loading.
Further, in the control of load motor speed closed loop, the motor speed setting value
Figure 2012100213032100002DEST_PATH_IMAGE002
With the speed feedback value
Figure 2012100213032100002DEST_PATH_IMAGE004
The input speed proportional-integral controller carries out ratio-integration control to the two difference.When
Figure 965847DEST_PATH_IMAGE002
With
Figure 882988DEST_PATH_IMAGE004
When equating, adjusting reaches balance, and the output of proportional-integral controller remains unchanged; When
Figure 475774DEST_PATH_IMAGE002
With
Figure 933300DEST_PATH_IMAGE004
When unequal, regulate out of trim, the output dynamic change of proportional-integral controller is to reach new balance.
Further, in the control of external characteristics amplitude limit, the output valve of rotating speed proportional-integral controller is revised, the output valve of external characteristics amplitude limit control is the expectation value of moment closed-loop control, and expectation value must be less than or equal to the peak torque restriction of load motor itself; When load motor was simulated different types of actual loading, the expectation value of load motor output torque must be less than or equal to the drag characteristic restriction of institute's fictitious load.When external characteristics amplitude limit control and the peak torque of load motor own limit when identical, can realize the function of traditional dynamometer machine; When the drag characteristic of external characteristics amplitude limit control and actual loading is identical, and speed closed loop is controlled
Figure 56327DEST_PATH_IMAGE002
Be set to 0 Rpm, when Greater than 0 RpmThe time, speed proportional-integration is regulated out of trim, and the regulator output valve surpasses the external characteristics amplitude limit of load motor, and the control of external characteristics amplitude limit is revised the regulator output valve, by the drag characteristic output expectation moment of actual loading.
Further, in the closed-loop control of load motor moment, be load motor with the permanent-magnet magnetic resistance synchronous motor, the expectation value of load motor output torque
Figure 2012100213032100002DEST_PATH_IMAGE006
Expectation value with the Electric Machine Control electric current
Figure 2012100213032100002DEST_PATH_IMAGE008
,
Figure 2012100213032100002DEST_PATH_IMAGE010
Satisfy formula (1) restriction relation.By Control current expectation value to load motor
Figure 395091DEST_PATH_IMAGE008
,
Figure 656308DEST_PATH_IMAGE010
With the Control current value of feedback
Figure 2012100213032100002DEST_PATH_IMAGE012
,
Figure 138236DEST_PATH_IMAGE012
Carry out ratio-integration closed-loop control, when the current feedback value is equal with expectation value, load motor output expectation moment, thus to being loaded, realize the closed-loop control of moment indirectly by the closed-loop control of electric current by measured motor;
（1）
In the formula:
Figure 508431DEST_PATH_IMAGE006
Be the expectation value of load motor output torque, Be the load motor number of poles, , Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control,
Figure 2012100213032100002DEST_PATH_IMAGE018
, Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 2012100213032100002DEST_PATH_IMAGE022
Be the load motor magnetic linkage;
Further, in the closed-loop control of load motor moment, the expectation value of load motor Control current
Figure 834742DEST_PATH_IMAGE008
,
Figure 77635DEST_PATH_IMAGE010
Satisfy formula (2), (3), (4) restriction relation, the expectation value of given load motor output torque
Figure 319261DEST_PATH_IMAGE006
, convolution (1) can obtain optimum
Figure 656701DEST_PATH_IMAGE008
,
Figure 608827DEST_PATH_IMAGE010
The expectation value of Control current.
Figure 2012100213032100002DEST_PATH_IMAGE024
（2）
Figure 2012100213032100002DEST_PATH_IMAGE026
（3）
Figure 2012100213032100002DEST_PATH_IMAGE028
（4）
In the formula:
Figure 694726DEST_PATH_IMAGE008
, Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control, ,
Figure 938122DEST_PATH_IMAGE020
Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 80741DEST_PATH_IMAGE022
Be the load motor magnetic linkage;
Figure 2012100213032100002DEST_PATH_IMAGE030
Resistance value for the load motor stator winding;
Figure 906745DEST_PATH_IMAGE030
The expression differentiating operator
Figure 2012100213032100002DEST_PATH_IMAGE034
Synchronous angular velocity for the load motor rotating magnetic field;
Figure 2012100213032100002DEST_PATH_IMAGE036
Maximal value for the load motor synthesized voltage vector;
Figure 2012100213032100002DEST_PATH_IMAGE038
Maximal value for load motor resultant current vector;
Figure 2012100213032100002DEST_PATH_IMAGE040
Direct-axis voltage vector for stator in the load motor control;
Figure 2012100213032100002DEST_PATH_IMAGE042
Quadrature-axis voltage vector for stator in the load motor control;
Further, in the closed-loop control of load motor moment, gather the three-phase current of load motor
Figure 2012100213032100002DEST_PATH_IMAGE044
,
Figure 2012100213032100002DEST_PATH_IMAGE046
,
Figure 2012100213032100002DEST_PATH_IMAGE048
,, obtain the value of feedback of load motor Control current by coordinate transform formula (5), (6)
Figure 2012100213032100002DEST_PATH_IMAGE049
,
Figure 290716DEST_PATH_IMAGE049
Figure 2012100213032100002DEST_PATH_IMAGE051
（5）
Figure 2012100213032100002DEST_PATH_IMAGE053
（6）
In the formula:
Figure 892467DEST_PATH_IMAGE044
, ,
Figure 417542DEST_PATH_IMAGE048
Three-phase current for load motor; Be rotating coordinate system
Figure 2012100213032100002DEST_PATH_IMAGE057
Axle and rest frame The angle of axle;
Figure 2012100213032100002DEST_PATH_IMAGE061
,
Figure 2012100213032100002DEST_PATH_IMAGE063
For the load motor three-phase current by coordinate transform after at the current component of two-phase rest frame;
Figure 962793DEST_PATH_IMAGE049
,
Figure 2012100213032100002DEST_PATH_IMAGE065
For load motor after the current component of two-phase rest frame is by coordinate transform, at the current component of two-phase rotating coordinate system.
Because the passive loading method of load motor has adopted technique scheme in the motor performance test of the present invention, be that load motor is carried out speed closed loop control, the control of external characteristics amplitude limit, moment closed-loop control process, the output of speed closed loop control need be revised through the control of external characteristics amplitude limit, correction result is as the expectation value of moment closed-loop control, load motor is exported this expectation moment to being loaded by measured motor, simulates the drag characteristic of different types of actual loading.This method can be selected the load motor suitable substantially with tested capacity motor, and simulation is realized the function to being loaded by measured motor by the drag characteristic of the dissimilar loads of measured motor.The drag characteristic of the flexibly customized load motor of this method has been expanded the function of load motor, satisfies by the diversified test request of measured motor, has reduced the cost of tested electromechanical testing.
Description of drawings
The present invention is described in further detail below in conjunction with drawings and embodiments:
Fig. 1 is the theory diagram of the passive loading method of load motor in the motor performance test of the present invention;
Fig. 2 is by the equalising torque synoptic diagram of measured motor and load motor;
Fig. 3 is the drag characteristic curve of certain load;
Fig. 4 is a load motor moment loop control theory block diagram.
Embodiment
As shown in Figure 1, the passive loading method of load motor in the motor performance test of the present invention is dragged load motor by measured motor and constitutes rotation system, and load motor is carried out speed closed loop control 1, external characteristics amplitude limit control 2, moment closed-loop control 3; The output of speed closed loop control 1 need be revised through external characteristics amplitude limit control 2, revised input torque as a result closed-loop control 3, expectation value as the load motor output torque, load motor is exported this expectation moment to being loaded by measured motor, simulates the drag characteristic of different types of actual loading.
(1) speed closed loop control
As shown in Figure 1, in the load motor speed closed loop control 1, the motor speed setting value With the speed feedback value
Figure 2012100213032100002DEST_PATH_IMAGE067
The input speed proportional-integral controller carries out ratio-integration control to the two difference.When With
Figure 801010DEST_PATH_IMAGE067
When equating, adjusting reaches balance, and the output of proportional-integral controller remains unchanged; When
Figure 788557DEST_PATH_IMAGE066
With
Figure 324450DEST_PATH_IMAGE067
When unequal, regulate out of trim, the output dynamic change of proportional-integral controller is to reach new balance.
(2) external characteristics amplitude limit control
In the control of external characteristics amplitude limit, the output valve of rotating speed proportional-integral controller is revised, the output valve of external characteristics amplitude limit control is the expectation value of moment closed-loop control.Expectation value must be less than or equal to the peak torque restriction of load motor itself; When load motor was simulated different types of actual loading, the expectation value of load motor output torque must be less than or equal to the drag characteristic restriction of institute's fictitious load.
When external characteristics amplitude limit control and the peak torque of load motor own limit when identical, can realize the function of traditional dynamometer machine; When the drag characteristic of external characteristics amplitude limit control and actual loading is identical, and speed closed loop is controlled
Figure 385946DEST_PATH_IMAGE066
Be set to 0 Rpm, when Greater than 0 RpmThe time, speed proportional-integration is regulated out of trim, and the regulator output valve surpasses the external characteristics amplitude limit of load motor, and the control of external characteristics amplitude limit is revised the regulator output valve, by the drag characteristic output expectation moment of actual loading.
When realizing the dynamometer machine function, as shown in Figure 2, the peak torque restrictive curve of load motor self
Figure 2012100213032100002DEST_PATH_IMAGE069
, by the peak torque restrictive curve of measured motor self
Figure 2012100213032100002DEST_PATH_IMAGE071
, at certain rotating speed point , exported by measured motor
Figure 2012100213032100002DEST_PATH_IMAGE075
,
Figure 2012100213032100002DEST_PATH_IMAGE077
During moment, load motor can adjust trimming moment automatically, keeps rotating speed Stable.According to both external characteristic curves, load motor and tested capacity motor are suitable substantially.
During load motor simulation actual loading, be the actual resistance family curve of certain load as shown in Figure 3
Figure 2012100213032100002DEST_PATH_IMAGE079
, the output torque of load motor is with being changed by the output torque of measured motor.The speed closed loop regulating and controlling out of trim of load motor according to external characteristics amplitude limit control output resistance moment, thereby realizes simulating the function of actual loading at this moment.
(3) moment closed-loop control
In the closed-loop control of load motor moment, be load motor with the permanent-magnet magnetic resistance synchronous motor, the expectation value of load motor output torque
Figure 294844DEST_PATH_IMAGE006
Expectation value with the Electric Machine Control electric current
Figure 788011DEST_PATH_IMAGE008
,
Figure 853050DEST_PATH_IMAGE010
Satisfy formula (1) restriction relation.By Control current expectation value to load motor
Figure 752873DEST_PATH_IMAGE008
,
Figure 381300DEST_PATH_IMAGE010
With the Control current value of feedback ,
Figure 420374DEST_PATH_IMAGE049
Carry out ratio-integration closed-loop control, when the current feedback value is equal with expectation value, load motor output expectation moment, thus to being loaded, realize the closed-loop control of moment indirectly by the closed-loop control of electric current by measured motor.
Figure 2012100213032100002DEST_PATH_IMAGE080
（1）
In the formula:
Figure 682859DEST_PATH_IMAGE006
Be the expectation value of load motor output torque,
Figure 52661DEST_PATH_IMAGE016
Be the load motor number of poles,
Figure 254841DEST_PATH_IMAGE008
,
Figure 927262DEST_PATH_IMAGE010
Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control,
Figure 536098DEST_PATH_IMAGE018
,
Figure 771907DEST_PATH_IMAGE020
Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 91243DEST_PATH_IMAGE022
Be the load motor magnetic linkage;
Further, in the closed-loop control of load motor moment, the expectation value of load motor Control current , Satisfy formula (2), (3), (4) restriction relation, the expectation value of given load motor output torque
Figure 742301DEST_PATH_IMAGE006
, convolution (1) can obtain optimum
Figure 669806DEST_PATH_IMAGE008
, The expectation value of Control current.
Figure DEST_PATH_IMAGE024A
（2）
（3）
Figure DEST_PATH_IMAGE028A
（4）
In the formula:
Figure 267906DEST_PATH_IMAGE008
, Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control,
Figure 375987DEST_PATH_IMAGE018
,
Figure 509028DEST_PATH_IMAGE020
Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 874019DEST_PATH_IMAGE022
Be the load motor magnetic linkage;
Figure 776116DEST_PATH_IMAGE030
Resistance value for the load motor stator winding;
Figure 2012100213032100002DEST_PATH_IMAGE082
The expression differentiating operator
Figure 132142DEST_PATH_IMAGE032
Figure 733238DEST_PATH_IMAGE034
Synchronous angular velocity for the load motor rotating magnetic field;
Figure 652653DEST_PATH_IMAGE036
Maximal value for the load motor synthesized voltage vector;
Figure 159989DEST_PATH_IMAGE038
Maximal value for load motor resultant current vector;
Figure 873867DEST_PATH_IMAGE040
Direct-axis voltage vector for stator in the load motor control;
Figure 919183DEST_PATH_IMAGE042
Quadrature-axis voltage vector for stator in the load motor control;
Further, in the closed-loop control of load motor moment, gather the three-phase current of load motor
Figure 625977DEST_PATH_IMAGE044
,
Figure 237087DEST_PATH_IMAGE046
,
Figure 138178DEST_PATH_IMAGE048
,, obtain the value of feedback of load motor Control current by coordinate transform formula (5), (6)
Figure 405211DEST_PATH_IMAGE049
,
Figure 666428DEST_PATH_IMAGE049
Figure 384242DEST_PATH_IMAGE051
（5）
Figure DEST_PATH_IMAGE053A
（6）
In the formula:
Figure 892452DEST_PATH_IMAGE044
,
Figure 709099DEST_PATH_IMAGE046
, Three-phase current for load motor; Be rotating coordinate system
Figure 274706DEST_PATH_IMAGE057
Axle and rest frame The angle of axle;
Figure 185864DEST_PATH_IMAGE061
,
Figure 829335DEST_PATH_IMAGE063
For the load motor three-phase current by coordinate transform after at the current component of two-phase rest frame; ,
Figure 768790DEST_PATH_IMAGE049
For load motor after the current component of two-phase rest frame is by coordinate transform, at the current component of two-phase rotating coordinate system.
As shown in Figure 4, the closed-loop control of load motor moment mainly estimate by moment and ,
Figure 719483DEST_PATH_IMAGE010
Current ratio-integral controller is formed, and realizes the closed-loop control of moment indirectly by the closed-loop control of electric current, and load motor output expectation moment realizes being loaded by measured motor.Certain magnetic field angular velocity of rotation
Figure 225551DEST_PATH_IMAGE034
Under the condition, the expectation value of load motor output torque
Figure 254818DEST_PATH_IMAGE006
, moment is estimated to obtain the expectation value of load motor Control current according to formula (1), (2), (3), (4) constraint condition
Figure 199640DEST_PATH_IMAGE008
,
Figure 928955DEST_PATH_IMAGE010
Gather the three-phase current of load motor
Figure 684552DEST_PATH_IMAGE044
, ,
Figure 917005DEST_PATH_IMAGE048
, coordinate transform is carried out in through type (5), (6), obtains the value of feedback of load motor Control current
Figure 451892DEST_PATH_IMAGE049
,
Figure 299762DEST_PATH_IMAGE049
Clark conversion corresponding (5) wherein, Park conversion corresponding (6).

Claims (7)

1. the passive loading method of load motor during a motor performance is tested is characterized in that: dragged load motor by measured motor and constitute rotation system, load motor is carried out speed closed loop control, the control of external characteristics amplitude limit and moment closed-loop control process; The output of speed closed loop control need be revised through the control of external characteristics amplitude limit, and correction result is as the expectation value of moment closed-loop control, and load motor is exported this expectation moment to being loaded by measured motor, simulates the drag characteristic of different types of actual loading.
2. the passive loading method of load motor in the motor performance test according to claim 1 is characterized in that: in the control of load motor speed closed loop, and the motor speed setting value
Figure 181929DEST_PATH_IMAGE002
With the speed feedback value
Figure 297653DEST_PATH_IMAGE004
The input speed proportional-integral controller carries out ratio-integration control to the two difference; When
Figure 950482DEST_PATH_IMAGE002
With
Figure 493459DEST_PATH_IMAGE004
When equating, adjusting reaches balance, and the output of proportional-integral controller remains unchanged; When
Figure 94555DEST_PATH_IMAGE002
With
Figure 13969DEST_PATH_IMAGE004
When unequal, regulate out of trim, the output dynamic change of proportional-integral controller is to reach new balance.
3. the passive loading method of load motor in the motor performance test according to claim 1, it is characterized in that: the control of external characteristics amplitude limit is used for the output valve of rotating speed proportional-integral controller is revised, the output valve of external characteristics amplitude limit control is the expectation value of moment closed-loop control, and expectation value must be less than or equal to the peak torque restriction of load motor itself; When load motor was simulated different types of actual loading, the expectation value of load motor output torque must be less than or equal to the drag characteristic restriction of institute's fictitious load.
4. the passive loading method of load motor in the motor performance according to claim 3 test is characterized in that: when the control of external characteristics amplitude limit and the peak torque of load motor own limit when identical, can realize the function of traditional dynamometer machine; When the drag characteristic of external characteristics amplitude limit control and actual loading is identical, and speed closed loop is controlled
Figure 708256DEST_PATH_IMAGE002
Be set to 0 Rpm, when
Figure 172866DEST_PATH_IMAGE004
Greater than 0 RpmThe time, speed proportional-integration is regulated out of trim, and the regulator output valve surpasses the external characteristics amplitude limit of load motor, and the control of external characteristics amplitude limit is revised the regulator output valve, by the drag characteristic output expectation moment of actual loading.
5. the passive loading method of load motor in the motor performance test according to claim 1 is characterized in that: in the closed-loop control of load motor moment, be load motor with the permanent-magnet magnetic resistance synchronous motor, and the expectation value of load motor output torque Expectation value with the Electric Machine Control electric current
Figure 987293DEST_PATH_IMAGE008
,
Figure 598403DEST_PATH_IMAGE010
Satisfy formula (1) restriction relation; By Control current expectation value to load motor
Figure 686445DEST_PATH_IMAGE008
,
Figure 766528DEST_PATH_IMAGE010
With the Control current value of feedback
Figure 762166DEST_PATH_IMAGE012
, Carry out ratio-integration closed-loop control, when the current feedback value is equal with expectation value, load motor output expectation moment, thus to being loaded, realized the closed-loop control of moment indirectly by measured motor;
Figure 66818DEST_PATH_IMAGE016
（1）
In the formula:
Figure 555569DEST_PATH_IMAGE006
Be the expectation value of load motor output torque,
Figure 371209DEST_PATH_IMAGE018
Be the load motor number of poles,
Figure 956911DEST_PATH_IMAGE008
,
Figure 432761DEST_PATH_IMAGE010
Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control,
Figure 736703DEST_PATH_IMAGE020
, Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 468347DEST_PATH_IMAGE024
Be the load motor magnetic linkage.
6. the passive loading method of load motor is characterized in that: the expectation value of load motor Control current in the motor performance test according to claim 5
Figure 131409DEST_PATH_IMAGE008
,
Figure 903406DEST_PATH_IMAGE010
There are formula (2), (3), (4) restriction relation each other, the expectation value of given load motor output torque
Figure 310117DEST_PATH_IMAGE006
, convolution (1) obtains optimum
Figure 808094DEST_PATH_IMAGE008
, The expectation value of Control current;
（2）
Figure 599836DEST_PATH_IMAGE028
（3）
Figure DEST_PATH_IMAGE030A
（4）
In the formula:
Figure 827686DEST_PATH_IMAGE008
,
Figure 566972DEST_PATH_IMAGE010
Be respectively direct-axis current component and friendship shaft current component in the Electric Machine Control,
Figure 319421DEST_PATH_IMAGE020
,
Figure 67934DEST_PATH_IMAGE022
Be respectively the d-axis inductance of load motor and hand over the axle inductance,
Figure 87974DEST_PATH_IMAGE024
Be the load motor magnetic linkage,
Figure 201423DEST_PATH_IMAGE032
Resistance value for the load motor stator winding;
Figure 188971DEST_PATH_IMAGE032
The expression differentiating operator
Figure 724863DEST_PATH_IMAGE034
,
Figure 114256DEST_PATH_IMAGE036
Be the synchronous angular velocity of load motor rotating magnetic field,
Figure 211656DEST_PATH_IMAGE038
Be the maximal value of load motor synthesized voltage vector,
Figure 358604DEST_PATH_IMAGE040
Be the maximal value of load motor resultant current vector,
Figure 448920DEST_PATH_IMAGE042
Be the direct-axis voltage vector of stator in the load motor control,
Figure 939157DEST_PATH_IMAGE044
Quadrature-axis voltage vector for stator in the load motor control.
7. the passive loading method of load motor is characterized in that: the three-phase current of gathering load motor in the motor performance test according to claim 5
Figure 456726DEST_PATH_IMAGE046
, ,
Figure 735709DEST_PATH_IMAGE050
,, obtain the value of feedback of load motor Control current by coordinate transform formula (5), (6)
Figure 834115DEST_PATH_IMAGE051
,
Figure 771853DEST_PATH_IMAGE051
Figure 955709DEST_PATH_IMAGE053
（5）
Figure DEST_PATH_IMAGE055A
（6）
In the formula:
Figure 515391DEST_PATH_IMAGE046
,
Figure 733883DEST_PATH_IMAGE048
,
Figure 530938DEST_PATH_IMAGE050
Be the three-phase current of load motor,
Figure 952823DEST_PATH_IMAGE057
Be rotating coordinate system
Figure 923053DEST_PATH_IMAGE059
Axle and rest frame
Figure 245319DEST_PATH_IMAGE061
The angle of axle,
Figure 213275DEST_PATH_IMAGE063
,
Figure 371723DEST_PATH_IMAGE065
For the load motor three-phase current by coordinate transform after at the current component of two-phase rest frame,
Figure 896377DEST_PATH_IMAGE051
, For load motor after the current component of two-phase rest frame is by coordinate transform, at the current component of two-phase rotating coordinate system.
CN2012100213032A 2012-01-31 2012-01-31 Passive loading method of load motor during motor performance test Pending CN103226062A (en)

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CN104793137A (en) * 2015-03-10 2015-07-22 南京工程学院 Abnormal load type distinguishing method based on motor motion feature values
CN106291352A (en) * 2015-05-26 2017-01-04 江森自控空调冷冻设备(无锡)有限公司 Electrical fault detection method and device and electrical fault protect system
CN107543640A (en) * 2016-06-27 2018-01-05 深圳市智创电机有限公司 Motor torque measuring method and device
CN108680855A (en) * 2018-05-15 2018-10-19 哈尔滨理工大学 Permanent magnet synchronous motor fault simulation system and method for diagnosing faults
CN110031757B (en) * 2019-03-22 2020-08-07 中国地质大学（武汉） Method for rapidly detecting locked rotor of motor closed-loop system
CN114102671A (en) * 2022-01-25 2022-03-01 季华实验室 Robot simulation load testing method, electronic equipment, device and system

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