CN104655339A - Cogging-torque test method for alternating-current permanent-magnet synchronous servo motor - Google Patents
Cogging-torque test method for alternating-current permanent-magnet synchronous servo motor Download PDFInfo
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- CN104655339A CN104655339A CN201510027073.4A CN201510027073A CN104655339A CN 104655339 A CN104655339 A CN 104655339A CN 201510027073 A CN201510027073 A CN 201510027073A CN 104655339 A CN104655339 A CN 104655339A
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Abstract
The invention relates to a cogging-torque test method for an alternating-current permanent-magnet synchronous servo motor. According to the cogging-torque test method, a servo driver is utilized to drive a tested motor to stably rotate at a lower rotating speed, an encoder is utilized to detect the speed and the position information of the motor, and the cogging torque of the motor can be tested through the combination of recorded feedback currents at different positions with the torque constant of the electric current. According to the cogging-torque test method disclosed by the invention, no special tool or work equipment needs to be prepared, all that is needed is to connect the motor with the driver and regulate the control parameters to proper values, so that the motor can stably run at a lower rotating speed, then data can be acquired, and the cogging torque can be calculated; the cogging-torque test method is simple and convenient in usage.
Description
Technical field
The invention belongs to technical field of motors, particularly relate to a kind of AC permanent-magnet synchronous servo motor cogging torque method of testing.
Background technology
Cogging torque is the intrinsic phenomenon of one of magneto, it be motor winding in cold situation, interacted by the teeth groove of magnetic field of permanent magnet and armature core and the torque that produces in a circumferential direction.It is constant, relevant to rotor-position.Cogging torque will make magneto be in operation generation vibration & noise, and by rotating shaft, pulsating torque be passed to load, reduce the speed of system and the degree of accuracy of position control, and this phenomenon be especially obvious under the low speed.Chinese scholars has dropped into a large amount of energy research and how to have suppressed or to eliminate cogging torque.And it is accurately measured, extremely important for the motor Optimization Work weakening cogging torque, therefore receive suitable concern.
In prior art, the measurement of cogging torque is mainly adopted in several ways:
One is manual inspection method, as lever method, and counterweight method etc.All connect lever in rotating shaft, with device for measuring force, power needed for the record such as tautness meter or counterweight lever slips, thus calculate cogging torque.Manual method is easy, intuitively and easily realizes, but needs for the corresponding frock of concrete design of electrical motor, and precision is difficult to ensure.
One surveys voltage method, dragged by measured motor by stepper motor, and the induced potential-M curve gathering stepper motor calculates the method for cogging torque.Use the method can carry out multi-point sampling measurement in the one-period of cogging torque, but test method is complicated, troublesome poeration, measuring error is larger.
Summary of the invention
Technical matters to be solved by this invention is to provide a kind of AC permanent-magnet synchronous servo motor cogging torque method of testing, to solve the problem that existing method of testing precision is not high, error is larger.
The technical solution adopted for the present invention to solve the technical problems is: provide a kind of AC permanent-magnet synchronous servo motor cogging torque method of testing, comprise
1) first will be connected by measured motor, driver and scrambler, scrambler will be returned to zero;
2) back electromotive force of testing of electric motors, and calculating current torque constant Kt (Nm/A): the high pressure difference probe oscillographic probe being received motor input is connected to any two of motor input triple-phase line, regulate oscillographic sample magnitude and sample frequency to suitable gear, then dragging motor forwards constant rotational speed ω (rad/s) to, the back emf waveform that collection one to two is complete after waveform stabilization; By the root mean square average Vrms (V) of oscilloscope measurement back-emf voltage, formula Ke=Vrms/ ω is utilized to calculate back electromotive force constant Ke (Vs), recycling formula Kt=Ke*1.732 calculating torque constant Kt (Nm/A);
3) driver associated control parameters is arranged, starter motor, the analog oscilloscope module carried by driver software monitors the mechanical separator speed of motor in real time, and constantly adjust current regulator pid parameter, finally require that the stable operation of motor energy is at unloaded, lower-speed state, non-jitter, noiselessness;
4) arranging tested motor speed is 1 ~ 5rpm;
5) the analog oscilloscope module utilizing driver software to carry, the electric angle of motor in real time and feedback current waveform;
6) by getting its mean value to the record of the current waveform peak value in multiple electrical cycles, obtaining undulating current Iq (A), being multiplied by current torque constant Kt (Nm/A), cogging torque T (Nm) can be obtained.
Beneficial effect
The present invention, without the need to preparing any speciality tool and frock, only needs motor to be connected with driver, and adjusts controling parameters, under making motor stabilizing operate in the comparatively slow-speed of revolution, get final product image data, and then calculate cogging torque, easy to use.
Accompanying drawing explanation
Fig. 1 is the oscillogram collected during the present invention tests, it is the change curve of motor reference current and feedback current in an electrical cycle, wherein uppermost waveform is feedback current waveform, and middle waveform is reference current waveform, and nethermost waveform is electric angle waveform.
Embodiment
Below in conjunction with specific embodiment, set forth the present invention further.Should be understood that these embodiments are only not used in for illustration of the present invention to limit the scope of the invention.In addition should be understood that those skilled in the art can make various changes or modifications the present invention, and these equivalent form of values fall within the application's appended claims limited range equally after the content of having read the present invention's instruction.
Embodiment 1
A kind of AC permanent-magnet synchronous servo motor cogging torque method of testing, concrete measuring method is as follows:
1, first will be connected by measured motor, driver and scrambler, scrambler will be returned to zero.2, the back electromotive force of testing of electric motors, and calculating current torque constant Kt.3, driver associated control parameters is arranged, rotary electric machine, and constantly adjust parameter, make the stable operation of motor energy at unloaded, lower-speed state.4, tested motor speed is set for the comparatively slow-speed of revolution 1 ~ 5rpm.5, the analog oscilloscope module utilizing driver software to carry, the electric angle of motor in real time and feedback current waveform.6, by carrying out analytical calculation to the current waveform in multiple electrical cycles, cogging torque is drawn.
As shown in Figure 1, horizontal ordinate is the time, and the waveform of ordinate is followed successively by electric angle, reference current waveform and feedback current waveform from top to bottom.When electric angle rises in the process of 360 degree by 0, feedback current has been passed by 6 sinusoidal waveforms.What namely cause this motor cogging torque is fifth overtone.Now only need record six sine-shaped current peak peak values respectively, then average, obtain undulating current Iq, be multiplied by current torque constant Kt, can cogging torque be obtained.Its computing formula is as follows: T=Iq*Kt.
Claims (1)
1. an AC permanent-magnet synchronous servo motor cogging torque method of testing, comprises
1) first will be connected by measured motor, driver and scrambler, scrambler will be returned to zero;
2) back electromotive force of testing of electric motors, and calculating current torque constant Kt (Nm/A): the high pressure difference probe oscillographic probe being received motor input is connected to any two of motor input triple-phase line, regulate oscillographic sample magnitude and sample frequency to suitable gear, then dragging motor forwards constant rotational speed ω (rad/s) to, the back emf waveform that collection one to two is complete after waveform stabilization; By the root mean square average Vrms (V) of oscilloscope measurement back-emf voltage, formula Ke=Vrms/ ω is utilized to calculate back electromotive force constant Ke (Vs), recycling formula Kt=Ke*1.732 calculating torque constant Kt (Nm/A);
3) driver associated control parameters is arranged, starter motor, the analog oscilloscope module carried by driver software monitors the mechanical separator speed of motor in real time, and constantly adjust current regulator pid parameter, finally require that the stable operation of motor energy is at unloaded, lower-speed state, non-jitter, noiselessness;
4) arranging tested motor speed is 1 ~ 5rpm;
5) the analog oscilloscope module utilizing driver software to carry, the electric angle of motor in real time and feedback current waveform;
6) by getting its mean value to the record of the current waveform peak value in multiple electrical cycles, obtaining undulating current Iq (A), being multiplied by current torque constant Kt (Nm/A), cogging torque T (Nm) can be obtained.
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| CN201510027073.4A CN104655339A (en) | 2015-01-20 | 2015-01-20 | Cogging-torque test method for alternating-current permanent-magnet synchronous servo motor |
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| CN201510027073.4A CN104655339A (en) | 2015-01-20 | 2015-01-20 | Cogging-torque test method for alternating-current permanent-magnet synchronous servo motor |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106982020A (en) * | 2017-02-17 | 2017-07-25 | 武汉华中数控股份有限公司 | The method and system of motor cogging torque size are evaluated using servo-driver |
| CN106990356A (en) * | 2016-01-21 | 2017-07-28 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of measurement apparatus and measuring method of linear electric motors back emf coefficient |
| CN108957322A (en) * | 2018-08-24 | 2018-12-07 | 佛山市顺德区金泰德胜电机有限公司 | The measurement method of magneto counter electromotive force and used measuring device |
| CN110275107A (en) * | 2018-03-14 | 2019-09-24 | 上海鸣志电器股份有限公司 | A kind of test method of motor location torque |
| CN110274716A (en) * | 2018-03-14 | 2019-09-24 | 上海鸣志电器股份有限公司 | A kind of test method of motor cogging torque |
| CN112254853A (en) * | 2020-10-12 | 2021-01-22 | 广东博智林机器人有限公司 | Motor cogging torque testing method and device, electronic equipment and medium |
| CN113820055A (en) * | 2021-09-10 | 2021-12-21 | 华南理工大学 | Method for measuring cogging torque of permanent magnet motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN106990356A (en) * | 2016-01-21 | 2017-07-28 | 珠海格力节能环保制冷技术研究中心有限公司 | A kind of measurement apparatus and measuring method of linear electric motors back emf coefficient |
| CN106982020A (en) * | 2017-02-17 | 2017-07-25 | 武汉华中数控股份有限公司 | The method and system of motor cogging torque size are evaluated using servo-driver |
| CN106982020B (en) * | 2017-02-17 | 2019-03-01 | 武汉华中数控股份有限公司 | Utilize the method and system of servo-driver evaluation motor cogging torque size |
| CN110275107A (en) * | 2018-03-14 | 2019-09-24 | 上海鸣志电器股份有限公司 | A kind of test method of motor location torque |
| CN110274716A (en) * | 2018-03-14 | 2019-09-24 | 上海鸣志电器股份有限公司 | A kind of test method of motor cogging torque |
| 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 |
| CN108957322A (en) * | 2018-08-24 | 2018-12-07 | 佛山市顺德区金泰德胜电机有限公司 | The measurement method of magneto counter electromotive force and used measuring device |
| CN108957322B (en) * | 2018-08-24 | 2021-08-20 | 佛山市顺德区金泰德胜电机有限公司 | Method for measuring back electromotive force of permanent magnet motor and measuring device used by method |
| CN112254853A (en) * | 2020-10-12 | 2021-01-22 | 广东博智林机器人有限公司 | Motor cogging torque testing method and device, electronic equipment and medium |
| CN113820055A (en) * | 2021-09-10 | 2021-12-21 | 华南理工大学 | Method for measuring cogging torque of permanent magnet motor |
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Application publication date: 20150527 |