CN105576913A - Method, device and equipment for detecting offset between stator and rotor of servo motor - Google Patents
Method, device and equipment for detecting offset between stator and rotor of servo motor Download PDFInfo
- Publication number
- CN105576913A CN105576913A CN201610119001.7A CN201610119001A CN105576913A CN 105576913 A CN105576913 A CN 105576913A CN 201610119001 A CN201610119001 A CN 201610119001A CN 105576913 A CN105576913 A CN 105576913A
- Authority
- CN
- China
- Prior art keywords
- rotor
- servomotor
- encoder
- offset
- numerical value
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02K—DYNAMO-ELECTRIC MACHINES
- H02K15/00—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines
- H02K15/02—Methods or apparatus specially adapted for manufacturing, assembling, maintaining or repairing of dynamo-electric machines of stator or rotor bodies
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B5/00—Measuring arrangements characterised by the use of mechanical techniques
- G01B5/24—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes
- G01B5/25—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes
- G01B5/252—Measuring arrangements characterised by the use of mechanical techniques for measuring angles or tapers; for testing the alignment of axes for testing the alignment of axes for measuring eccentricity, i.e. lateral shift between two parallel axes
Abstract
The invention discloses a method, a device and equipment for detecting offset between a stator and a rotor of a servo motor. The method comprises steps that values of encoders corresponding to at least three rotor magnetic poles of the servo motor are read, and the encoders are arranged on a shaft of the servo motor; the offset between the stator and the rotor of the servo motor is acquired according to the values of the encoders. According to the method, through using the encoders to acquire the position of the rotor magnetic poles, so the offset of the motor can be accurately calculated, the offset between the stator and the rotor of the servo motor can be foreseeingly calculated before operation of the motor, reworking convenience is realized, and problems caused by overlarge offset between stators and rotors of factory servo motors can be avoided.
Description
Technical field
The present invention relates to servomotor field tests, particularly offset detection method, device and equipment between a kind of servomotor rotor.
Background technology
The control system that AC servo is played an important role at industrial circle is widely used in many high-tech areas, as robot, Digit Control Machine Tool, radar and various military issue weapons servomechanism and flexible manufacturing system etc.Servo system is made up of machine tool numerical control system (ComputerNumericalController, CNC), servo drive control device and servomotor.CNC device is Digit Control Machine Tool and machining center issue an order " brain ", and servo-drive, motor and machinery thereof are then " four limbs ", is a kind of " actuator ".Servo-drive, motor and machinery thereof perform the movement instruction from CNC device.Motor is as the actuator by electric energy conversioning mechanical energy, and the performance for servo system plays a part very important.
Servo drive system adopts vector control usually, only has and accurately knows rotor-position, and the magnetic potential that stator current vector just can be made to produce and rotor magnetic potential just become 90 degree of right-angle relationships, and now, both active forces do greatly, and namely stator current vector is fully utilized.If there is eccentric phenomena between servomotor rotor, to deviation be there is in the rotor-position detected and physical location, two kinds of magnetic potential intermolecular forces then can be caused less than normal, can cause that servomotor ER effect is large, efficiency reduces, the phenomenon such as serious of generating heat, also can shorten the life-span of motor shaft simultaneously; When offset large to a certain extent time, can mechanical friction be there is between electric machine rotor, cause motor to be scrapped.
When between electric machine rotor, bias loads stator inner ring mainly due to rotor, there is deviation in the bearing chamber concentricity of front and rear cover, or on armature spindle, front and back bearings position exists deviation, causes rotor axis and stator axle center to occur deviation.Due to motor assembled after be enclosed, do not have instrument or testing equipment can detect offset between electric machine rotor, cannot assess between electric machine rotor and whether there is eccentric situation, less eccentric situation cannot embody in accidental test, only having by running incessantly for a long time, after occurring, between electric machine rotor, mechanical friction occurs, just can know that motor has eccentricity issues.And due to after motor bias generation friction, generally can cause irreversible mechanical wear, cause motor to be scrapped.
In existing servomotor, when existing eccentric when between electric machine rotor, can cause that servomotor ER effect is large, efficiency reduces, the phenomenon such as serious of generating heat, also can shorten the life-span of motor shaft simultaneously; When offset large to a certain extent time, can mechanical friction be there is between electric machine rotor, cause motor to be scrapped.
Summary of the invention
In view of above technical problem, the invention provides offset detection method, device and equipment between a kind of servomotor rotor, can motor run before foresight to servomotor rotor between offset calculate.
According to an aspect of the present invention, offset detection method between a kind of servomotor rotor is provided, comprises:
Read encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder, wherein said encoder is arranged on the axle of servomotor;
The offset between servomotor rotor is obtained according to described encoder numerical value.
In one embodiment of the invention, comprise according to the step of the offset between described encoder numerical value acquisition servomotor rotor:
The rotor central angle of at least three rotor magnetic poles described in obtaining according to described encoder numerical value;
The offset between servomotor rotor is obtained according to the rotor central angle of described at least three rotor magnetic poles.
In one embodiment of the invention, the step of the offset obtained between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles comprises:
Equation group is set up according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle;
Described equation group is solved to the offset obtained between servomotor rotor.
In one embodiment of the invention, the step setting up equation group according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle comprises:
In multiple triangles that magnetic pole of the stator position, stator home position and rotor home position are formed, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
In one embodiment of the invention, the step reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder comprises:
Instruction DC power supply leads to direct current to servomotor;
Judge whether encoder data is stablized;
If encoder data is stablized, then read encoder numerical value corresponding to a rotor magnetic pole from encoder;
Instruction DC power supply disconnects to the power supply of servomotor.
In one embodiment of the invention, after instruction DC power supply disconnects to the step of the power supply of servomotor, the step reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder also comprises:
Instruction driver, by servomotor rotating 360 degrees electrical degree, repeats instruction DC power supply afterwards and leads to galvanic step to servomotor, to read encoder numerical value corresponding to next rotor magnetic pole from encoder.
In one embodiment of the invention, obtain the step of the offset between servomotor rotor according to described encoder numerical value after, described method also comprises:
Judge whether described offset is greater than predetermined threshold;
If described offset is not more than predetermined threshold, then judge that described servomotor is qualified.
If described offset is greater than predetermined threshold, then judge that described servomotor is defective.
According to a further aspect in the invention, provide misalignment measuring instrument between a kind of servomotor rotor, comprise encoder numerical value acquisition module and offset acquisition module, wherein:
Encoder numerical value acquisition module, for reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder, wherein said encoder is arranged on the axle of servomotor;
Offset acquisition module, for obtaining the offset between servomotor rotor according to described encoder numerical value.
In one embodiment of the invention, offset acquisition module comprises rotor central angle acquiring unit and offset acquiring unit, wherein:
Rotor central angle acquiring unit, for the rotor central angle of at least three rotor magnetic poles according to described encoder numerical value acquisition;
Offset acquiring unit, for obtaining the offset between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles.
In one embodiment of the invention, offset acquiring unit comprises equation group and sets up subelement and offset determination subelement, wherein:
Equation group sets up subelement, for setting up equation group according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle;
Offset determination subelement, for solving the offset obtained between servomotor rotor to described equation group.
In one embodiment of the invention, equation group sets up subelement in multiple triangles of forming at magnetic pole of the stator position, stator home position and rotor home position, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
In one embodiment of the invention, described device also comprises offset comparison module, wherein:
Offset comparison module, for judging whether described offset is greater than predetermined threshold; If described offset is not more than predetermined threshold, then judge that described servomotor is qualified; If described offset is greater than predetermined threshold, then judge that described servomotor is defective.
According to a further aspect in the invention, offset checkout equipment between a kind of servomotor rotor is provided, comprises misalignment measuring instrument and encoder, wherein:
Encoder, for encoder numerical value corresponding at least three of servomotor rotor magnetic poles is sent to misalignment measuring instrument, wherein said encoder is arranged on the axle of servomotor;
Misalignment measuring instrument, for according to the offset between encoder numerical value determination servomotor rotor corresponding to described at least three rotor magnetic poles.
In one embodiment of the invention, described equipment also comprises controller and DC power supply, wherein:
Controller, is used to indicate DC power supply and leads to direct current to servomotor; Judge whether encoder data is stablized; If encoder data is stablized, then misalignment measuring instrument is indicated to read encoder numerical value corresponding to a rotor magnetic pole from encoder; Instruction DC power supply disconnects to the power supply of servomotor;
DC power supply, for the instruction according to controller, for servomotor is powered or power-off.
In one embodiment of the invention, described equipment also comprises driver, wherein:
After controller also disconnects the power supply to servomotor for DC power supply, instruction driver is by servomotor rotating 360 degrees electrical degree, and execution instruction DC power supply leads to galvanic operation to servomotor, so that misalignment measuring instrument reads encoder numerical value corresponding to next rotor magnetic pole from encoder.
Driver, for the instruction according to controller, by servomotor rotating 360 degrees electrical degree.
In one embodiment of the invention, encoder is absolute type encoder or incremental encoder; It is inner or outside that encoder is located at servomotor.
In one embodiment of the invention, described equipment also comprises fixing tool, wherein:
Fixing tool, for installing fixing servomotor;
If encoder is arranged on servomotor outside, then fixing tool is also for installing regular coding device.
In one embodiment of the invention, misalignment measuring instrument is misalignment measuring instrument between the servomotor rotor described in above-mentioned any embodiment.
The present invention obtains rotor magnetic pole position by using encoder, accurately can calculate motor offset, can motor run before foresight to servomotor rotor between offset calculate, be convenient to do over again, motor of avoiding dispatching from the factory is due to excessive the caused variety of problems of offset between rotor.
Accompanying drawing explanation
In order to be illustrated more clearly in the embodiment of the present invention or technical scheme of the prior art, be briefly described to the accompanying drawing used required in embodiment or description of the prior art below, apparently, accompanying drawing in the following describes is only some embodiments of the present invention, for those of ordinary skill in the art, under the prerequisite not paying creative work, other accompanying drawing can also be obtained according to these accompanying drawings.
Fig. 1 is the schematic diagram of an offset checkout equipment embodiment between servomotor rotor of the present invention.
Fig. 2 is the scheme of installation of encoder in an embodiment.
Fig. 3 is the schematic diagram of another embodiment of offset checkout equipment between servomotor rotor of the present invention.
Fig. 4 is the schematic diagram of a misalignment measuring instrument embodiment between servomotor rotor of the present invention.
Fig. 5 is the schematic diagram of offset acquisition module in one embodiment of the invention.
Fig. 6, Fig. 7 and Fig. 9 are the schematic diagram obtaining offset between electric machine rotor in one embodiment of the invention.
Fig. 8 is the schematic diagram of offset acquiring unit in one embodiment of the invention.
Figure 10 is the schematic diagram of another embodiment of misalignment measuring instrument between servomotor rotor of the present invention.
Figure 11 is the schematic diagram of an offset detection method embodiment between servomotor rotor of the present invention.
Figure 12 is the schematic diagram reading encoder numerical value corresponding to three rotor magnetic poles in one embodiment of the invention from encoder.
Figure 13 is the schematic diagram obtaining offset between servomotor rotor in one embodiment of the invention according to described encoder numerical value.
Figure 14 is the schematic diagram obtaining offset between servomotor rotor in one embodiment of the invention according to rotor central angle.
Figure 15 is the schematic diagram of another embodiment of offset detection method between servomotor rotor of the present invention.
Embodiment
Below in conjunction with the accompanying drawing in the embodiment of the present invention, be clearly and completely described the technical scheme in the embodiment of the present invention, obviously, described embodiment is only the present invention's part embodiment, instead of whole embodiments.Illustrative to the description only actually of at least one exemplary embodiment below, never as any restriction to the present invention and application or use.Based on the embodiment in the present invention, those of ordinary skill in the art, not making the every other embodiment obtained under creative work prerequisite, belong to the scope of protection of the invention.
Unless specifically stated otherwise, otherwise positioned opposite, the numerical expression of the parts of setting forth in these embodiments and step and numerical value do not limit the scope of the invention.
Meanwhile, it should be understood that for convenience of description, the size of the various piece shown in accompanying drawing is not draw according to the proportionate relationship of reality.
May not discuss in detail for the known technology of person of ordinary skill in the relevant, method and apparatus, but in the appropriate case, described technology, method and apparatus should be regarded as a part of authorizing specification.
In all examples with discussing shown here, any occurrence should be construed as merely exemplary, instead of as restriction.Therefore, other example of exemplary embodiment can have different values.
It should be noted that: represent similar terms in similar label and letter accompanying drawing below, therefore, once be defined in an a certain Xiang Yi accompanying drawing, then do not need to be further discussed it in accompanying drawing subsequently.
Fig. 1 is the schematic diagram of an offset checkout equipment embodiment between servomotor rotor of the present invention.As shown in Figure 1, between described servomotor rotor, offset checkout equipment comprises misalignment measuring instrument 1 and encoder 2, wherein:
Encoder 2 is connected with misalignment measuring instrument 1.
Encoder 2, for encoder numerical value corresponding at least three rotor magnetic poles of servomotor 3 is sent to misalignment measuring instrument, wherein said encoder 2 is arranged on the axle of servomotor 3, and encoder revolves 360 degree that the corresponding servo motor rotor of the feedback data that turns around rotates a circle.
Misalignment measuring instrument 1, for according to the offset between encoder numerical value determination servomotor rotor corresponding to described at least three rotor magnetic poles.
In one embodiment of the invention, described at least three rotor magnetic poles are whole N pole of servo motor rotor or whole S pole.
In one embodiment of the invention, whole N pole or all S be L N pole or whole L S pole very all, wherein L be the rotor of servomotor to number of poles, L be greater than 2 natural number.
In one embodiment of the invention, encoder 2 can be absolute type encoder or incremental encoder, thus expands the scope of application of the application.
In one embodiment of the invention, it is inner or outside that encoder 2 can be located at servomotor 3, thus expand the scope of application of the application further.
In one embodiment of the invention, encoder is not installed for servomotor 3 inside or the situation of low precision encoding device has been installed in inside, as shown in Figure 2, the exact position of servo motor rotor magnetic pole can be obtained at servomotor 3 outer setting high-precision encoder.
In one embodiment of the invention, the situation of high-precision encoder is installed for servomotor 3 inside, directly can obtain the exact position of servo motor rotor magnetic pole from described internal encoder.
Based on offset checkout equipment between the servomotor rotor that the above embodiment of the present invention provides, accurately can calculate motor offset, can motor run before predictably to servomotor rotor between offset calculate, be convenient to do over again, thus avoid the motor that dispatches from the factory because excessive the caused servomotor ER effect of offset between rotor is large, efficiency reduces, the variety of problems such as serious of generating heat.
In one embodiment of the invention, as shown in Figure 2, it is outside that encoder 2 can be arranged on servomotor 3, and described equipment can also comprise fixing tool 4, wherein:
Fixing tool 4 is connected with servomotor 3, for installing fixing servomotor 3.
Fixing tool 4 is also connected with encoder 2, for installing regular coding device 2.
The above embodiment of the present invention installs fixing servomotor and encoder by adopting fixing tool, avoids rocking of the servomotor in the middle of test, thus provides the certainty of measurement of encoder, and then improve the accuracy of detection of the degree of eccentricity.Can convenient, reliably realize detecting the degree of eccentricity of servomotor before dispatching from the factory thus, thus avoid the motor that dispatches from the factory due to excessive the caused variety of problems of offset between rotor.
In one particular embodiment of the present invention, as shown in Figure 2, described equipment can also comprise shaft coupling 5 and connecting axle 6, wherein:
Shaft coupling 5 is connected with the axle of connecting axle 6 and servomotor 3 respectively; Connecting axle 3 is connected with encoder 2.
Encoder 2 can be arranged on the axle of servomotor 3 by shaft coupling 5 and connecting axle 6, improves the axiality of encoder 2 and servomotor 3, thus provides the certainty of measurement of encoder, and then improve the accuracy of detection of the degree of eccentricity.
Fig. 3 is the schematic diagram of another embodiment of offset checkout equipment between servomotor rotor of the present invention.Compared with embodiment illustrated in fig. 1, in the embodiment shown in fig. 3, described checkout equipment can also comprise controller 7 and DC power supply 8, wherein:
DC power supply 8 is connected with servomotor 3.
Controller 7 is connected with misalignment measuring instrument 1 and DC power supply 8 respectively.
Controller 7, is used to indicate DC power supply 8 and leads to direct current to servomotor 3; Judge whether encoder 2 data are stablized; If encoder 2 data stabilization, then misalignment measuring instrument 1 is indicated to read encoder numerical value corresponding to a rotor magnetic pole from encoder 2; DC power supply 8 is indicated to disconnect to the power supply of servomotor 3 afterwards.
DC power supply 8, for the instruction according to controller 7, for servomotor 3 is powered or power-off.
The above embodiment of the present invention utilizes DC power supply to lead to direct current to servomotor, accurately can determine rotor magnetic pole position thus, thus further increases the accuracy that rotor magnetic pole position determines, then further increases the accuracy that offset is measured.
In one embodiment of the invention, described direct current is that U phase is entered, the direct current that V, W phase goes out.
In one particular embodiment of the present invention, described galvanic current value is Rated motor electric current, motor can be avoided thus to burn out and can locking motor axle.
In one embodiment of the invention, as shown in Figure 3, described equipment can also comprise driver 9, wherein:
Driver 9 is connected with misalignment measuring instrument 1 and servomotor 3 respectively.
Controller 7 is also for disconnecting after to the power supply of servomotor 3 in DC power supply 8, instruction driver 9 is by servomotor 3 rotating 360 degrees electrical degree, and execution instruction DC power supply 8 leads to galvanic operation, so that misalignment measuring instrument 1 reads encoder numerical value corresponding to next rotor magnetic pole from encoder 2 to servomotor 3.
Driver 9, for the instruction according to controller 7, by servomotor 3 rotating 360 degrees electrical degree, wherein 360 degree of electrical degrees equal the rotor of 360 degree of mechanical angles divided by servomotor to number of poles L.
The above embodiment of the present invention can utilize DC power supply to be energized to servomotor, with the encoder count that each rotor magnetic pole of Accurate Measurement is corresponding, and utilize driver drives motor to rotate special angle, to measure encoder count corresponding to next rotor magnetic pole, accurately can determine the encoder count that whole rotor magnetic pole is corresponding thus, thus encoder count determination rotor eccentricity degree that can be corresponding according to whole rotor magnetic pole.
In the present invention's specific embodiment, controller 7 specifically may be used for setting the natural number i being greater than 0, and makes i=1; Instruction misalignment measuring instrument 1 obtains encoder numerical value corresponding to i-th rotor magnetic pole from encoder 2; Instruction driver is by servomotor rotating 360 degrees electrical degree; Judge whether i equals L, wherein L is the magnetic pole logarithm of servo motor rotor, L >=3, and described at least three rotor magnetic poles are whole N pole of servo motor rotor or whole S pole; If i is not equal to L, then make i=i+1, perform the operation of encoder numerical value corresponding to acquisition i-th rotor magnetic pole.
In an embodiment of the invention, the operation that controller 7 indicates misalignment measuring instrument 1 to obtain encoder numerical value corresponding to i-th rotor magnetic pole from encoder 2 specifically can comprise: instruction DC power supply leads to direct current to servomotor; Judge whether encoder data is stablized; If encoder data is stablized, then read encoder numerical value corresponding to i-th rotor magnetic pole from encoder; And instruction DC power supply disconnects to the power supply of servomotor.
In an embodiment of the invention, controller 7 can be arranged in the misalignment measuring instrument 1 in Fig. 1 or Fig. 3 embodiment.
In an embodiment of the invention, if encoder 2 is incremental encoder replacement, in the process that motor rotates, carry out quadruple counting (arriving Z pulse position not process) to the A phase of incremental encoder and B phase pulse train, the difference between two magnetic poles is obtained by the difference of counter.
Below for modal 4 to pole servomotor (servomotor to number of poles L=4), be described further by the 26S Proteasome Structure and Function of specific embodiment to the misalignment measuring instrument 1 in Fig. 1 or Fig. 3 embodiment:
Fig. 4 is the schematic diagram of a misalignment measuring instrument embodiment between servomotor rotor of the present invention.As shown in Figure 4, between described servomotor rotor, misalignment measuring instrument (that is, the misalignment measuring instrument 1 in Fig. 1 or Fig. 3 embodiment) can comprise encoder numerical value acquisition module 11 and offset acquisition module 12, wherein:
Encoder numerical value acquisition module 11 is connected with offset acquisition module 12.
Encoder numerical value acquisition module 11, for reading encoder numerical value corresponding to servomotor 3 at least three rotor magnetic poles from encoder 2, wherein said encoder 2 is arranged on the axle of servomotor 3.
In the present invention's specific embodiment, if servomotor is 4 to pole servomotor, then controller 7 specifically may be used for instruction DC power supply 8 and passes to U phase to motor and enter, the direct current that V, W phase goes out, rotor magnetic pole (4 to one of pole) is attracted to a position fix, instruction encoder numerical value acquisition module 11 reads absolute type encoder feedback readings during this position, and instruction DC power supply 8 stops logical direct current; Then controller 7 indicates driver that rotor is rotated about 360 degree of electrical degrees (90 degree of mechanical angles), indicates driver to stop driving afterwards; Controller 7 indicates DC power supply 8 to enter to passing to U phase to motor, the direct current that V, W phase goes out, by another rotor poles attract to fixed position, instruction encoder numerical value acquisition module 11 reads volume absolute type encoder feedback readings during this position, indicates DC power supply 8 to stop logical direct current afterwards; Repeat above operation so that encoder numerical value acquisition module 11 reads four reading m corresponding to rotor magnetic pole
1, m
2, m
3, m
4.
Offset acquisition module 12, for obtaining the offset between servomotor rotor according to described encoder numerical value.
Fig. 5 is the schematic diagram of offset acquisition module in one embodiment of the invention.As shown in Figure 5, the offset acquisition module 12 in Fig. 4 embodiment can comprise rotor central angle acquiring unit 121 and offset acquiring unit 122, wherein:
Rotor central angle acquiring unit 121 is connected with offset acquiring unit 122.
Rotor central angle acquiring unit 121, for the rotor central angle of at least three rotor magnetic poles according to described encoder numerical value acquisition.
In the present invention's specific embodiment, servomotor as shown in Figure 6 can be 4 schematic diagrames to pole servomotor, and encoder is absolute type encoder, and as shown in Figure 6, stator center is O
1, rotor center is O
2, stator radius is r
1, rotor radius is r
2, the absolute type encoder maximum data of revolving the feedback that turns around is N, the eccentric distance of motor is O
1o
2.
In the present invention's specific embodiment, for servomotor as shown in Figure 6, rotor central angle acquiring unit 121 specifically may be used for the encoder numerical value m corresponding according to rotor magnetic pole
1, m
2, m
3, m
4, the absolute value N of the difference between two magnetic poles can be calculated
1, N
2, N
3, N
4, thus calculate four corresponding rotor central angle θ
1, θ
2, θ
3, θ
4(as shown in Figure 7) angle:
Wherein, maximum angle in four angles is defined as θ
1, other are defined as θ successively according to the direction of rotation of servomotor
2, θ
3, θ
4, as shown in Figure 7.When extreme case, namely occur friction between electric machine rotor, between rotor, offset is r
1-r
2.
Offset acquiring unit 122, for obtaining the offset between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles.
Fig. 8 is the schematic diagram of offset acquiring unit in one embodiment of the invention.As shown in Figure 8, the offset acquiring unit 122 in Fig. 5 embodiment can comprise equation group and set up subelement 1221 and offset determination subelement 1222, wherein:
Comprise equation group to set up subelement 1221 and be connected with offset determination subelement 1222.
Equation group sets up subelement 1221, for setting up equation group according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle.
Offset determination subelement 1222, for solving the offset obtained between servomotor rotor to described equation group.
In one embodiment of the invention, equation group is set up in multiple triangles that subelement 1221 may be used for forming at magnetic pole of the stator position, stator home position and rotor home position, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
In the present invention's specific embodiment, for servomotor as shown in Figure 6, equation group is set up subelement 1221 and specifically be may be used at magnetic pole of the stator position (A, B, C, D as shown in Figure 6), stator home position O
1with rotor home position O
2in the multiple triangles formed, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
Specifically, for servomotor as shown in Figure 6, equation group is set up subelement 1221 and specifically be may be used for:
The first, obtain α as shown in Figure 7
1, α
2, α
3, α
4angle.With α
1for example, as shown in Figure 9, connect A, B at 2 and do a boost line, according to triangle Δ O
1aB, Δ O
2the interior angle of AB and, can draw:
α
1+α
2＝θ
1-90(1)
In like manner can obtain:
α
3-α
2＝θ
2-90(2)
α
3+α
4＝90-θ
3(3)
α
4-α
1＝θ
4-90(4)
Due to α
1, α
2, α
3, α
4angle and be 360 °, above equation only has 3 effective equations not obtain exact value.
The second, at triangle Δ O
1o
2a, Δ O
1o
2b, Δ O
1o
2c and Δ O
1o
2can obtain according to sine in D:
Wherein, as shown in Figure 6, θ
xfor θ
xfor line segment CO
2and O
1o
2angle.
Due to α
1, α
2, α
3, α
4angle all less, can be similar to and think sin α
1≈ α
1, sin α
2≈ α
2, sin α
3≈ α
3, sin α
4≈ α
4, so have:
3rd, following equation group can be obtained by equation (1)-(4), (9)-(12).
Offset determination subelement 1222 specifically may be used for according to 0 °≤θ
x≤ θ
3, 0 °≤α
1<90 °, 0 °≤α
2<90 °, 0≤α
3<90 °, 0 °≤α
4<90 ° uses iterative algorithm to solve above-mentioned equation group, obtains θ
xand α
2; And by θ
xand α
2substitute in equation (10) to obtain and calculate motor offset O
1o
2occurrence.
The above embodiment of the present invention reads encoder numerical value corresponding to servomotor at least three rotor magnetic poles according to from encoder, the rotor central angle of at least three rotor magnetic poles described in then determining, then according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, equation group is set up based on angle sum of a triangle formula and sine, described equation group is solved and just can obtain offset, thus make the calculating of offset convenient, accurate.
In the above embodiment of the present invention, equation group is set up and can be chosen different equations in the concrete computational process of subelement 1221 and offset determination subelement 1222 and carry out, and only gives wherein one and choose mode in above-described embodiment.
Figure 10 is the schematic diagram of another embodiment of misalignment measuring instrument between servomotor rotor of the present invention.Compared with embodiment illustrated in fig. 4, in the embodiment shown in fig. 10, described device can also comprise offset comparison module 13, wherein:
Offset comparison module 13 is connected with offset acquisition module 12.
Offset comparison module 13, for judging whether the described offset that offset acquisition module 12 obtains is greater than predetermined threshold; If described offset is not more than predetermined threshold, then judge that described servomotor 3 is qualified; If described offset is greater than predetermined threshold, then judge that described servomotor 3 is defective.
The above embodiment of the present invention by the offset that compares and measures and reservation threshold, thus can judge that whether servomotor is qualified, improves the detection efficiency of servomotor qualification rate easily.
Based on misalignment measuring instrument between the servomotor rotor that the above embodiment of the present invention provides, use encoder to obtain rotor magnetic pole position, thus under achieving the prerequisite do not run at motor, predictably motor offset is accurately calculated; Can before motor runs predictably to servomotor rotor between offset calculate, be convenient to do over again, thus avoid that owing to existing eccentric between rotor, the motor that dispatches from the factory causes that servomotor ER effect is large, efficiency reduces, the variety of problems such as serious of generating heat; Also can avoid the life-span shortening motor shaft simultaneously; Also effectively prevent to cause because offset is excessive and between electric machine rotor, mechanical friction occurs and the motor caused is scrapped.
Figure 11 is the schematic diagram of an offset detection method embodiment between servomotor rotor of the present invention.Preferably, the present embodiment can be performed by offset checkout equipment between the servomotor rotor of any embodiment in Fig. 1-Fig. 3 of the present invention.As shown in figure 11, described method comprises:
Step 1, read encoder numerical value corresponding to servomotor 3 at least three rotor magnetic poles from encoder 2, wherein said encoder 2 is arranged on the axle of servomotor 3.
In one embodiment of the invention, described at least three rotor magnetic poles are whole L N poles or whole L S pole of servo motor rotor, wherein L be the rotor of servomotor to number of poles, L be greater than 2 natural number.
In one embodiment of the invention, as shown in figure 12, the step 1 in Figure 11 embodiment can comprise:
Step 11, instruction DC power supply 8 leads to direct current to servomotor 3.
Step 12, judges whether encoder 2 data are stablized.
Step 13, if encoder 2 data stabilization, then indicates misalignment measuring instrument 1 to read encoder numerical value corresponding to a rotor magnetic pole from encoder 2.
Step 14, instruction DC power supply 8 disconnects to the power supply of servomotor 3.
Step 15, instruction driver 9 is by servomotor 3 rotating 360 degrees electrical degree, repeated execution of steps 11 afterwards, to read encoder numerical value corresponding to next rotor magnetic pole from encoder 2, until run through the encoder numerical value of whole L N pole or whole L S extremely correspondences.
Step 2, obtains the offset between servomotor rotor according to described encoder numerical value.
In one embodiment of the invention, as shown in figure 13, the step 2 in Figure 11 embodiment can comprise:
Step 21, the rotor central angle of at least three rotor magnetic poles described in obtaining according to described encoder numerical value.
Step 22, obtains the offset between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles.
In one embodiment of the invention, as shown in figure 14, the step 22 in Figure 13 embodiment can comprise:
Step 221, sets up equation group according to magnetic pole of the stator position (A, B, C, D as shown in Figure 6), stator home position, rotor home position, rotor central angle.
In one embodiment of the invention, step 221 specifically can comprise: in multiple triangles that magnetic pole of the stator position, stator home position and rotor home position are formed, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
Step 222, solves the offset obtained between servomotor rotor to described equation group.
In one embodiment of the invention, after the step 2 of Figure 11 embodiment, described method can also comprise: judge whether described offset is greater than predetermined threshold; If described offset is not more than predetermined threshold, then judge that described servomotor 3 is qualified.If described offset is greater than predetermined threshold, then judge that described servomotor 3 is defective.
Figure 15 is the schematic diagram of another embodiment of offset detection method between servomotor rotor of the present invention.Preferably, the present embodiment can be performed by offset checkout equipment between the servomotor rotor of any embodiment in Fig. 1-Fig. 3 of the present invention.As shown in figure 15, described method comprises:
Step 101, uses frock to be arranged on the axle of motor by the encoder 2 of such as absolute type encoder, and wherein, encoder 2 revolves 360 degree that the corresponding rotor of the feedback data that turns around rotates a circle.
Step 102, connects tested servomotor 3 with encoder 2.
Step 103, judges whether misalignment measuring instrument 1 can read encoder data.If encoder data can be read, then perform step 104; Otherwise, if can not encoder data be read, then detect the connecting line of encoder 2, and repeated execution of steps 102.
Step 104, makes i=1, and wherein i is i-th rotor magnetic pole of servomotor, i be greater than 0 natural number.
Step 105, obtains the encoder numerical value that i-th rotor magnetic pole is corresponding.
In an embodiment of the invention, step 105 can comprise:
Step 1051, instruction DC power supply passes to U phase to servomotor and enters, the direct current that V, W phase goes out.
Step 1052, judges whether encoder data is stablized.
Step 1053, if encoder data is stablized, then reads encoder numerical value corresponding to i-th rotor magnetic pole from encoder.
Step 1054, instruction DC power supply disconnects to the power supply of servomotor.
Step 106, judges whether i equals L, and wherein L is the magnetic pole logarithm of servo motor rotor, L >=3, whole N pole that described at least three rotor magnetic poles (L rotor magnetic pole) are servo motor rotor or all S pole.If i is not equal to L, then perform step 107; If i equals L, then perform step 108.
Step 107, makes i=i+1, and instruction driver is by servomotor rotating 360 degrees electrical degree; Perform step 105 afterwards.
Step 108, the rotor central angle of at least three rotor magnetic poles described in the encoder numerical value corresponding according to whole L rotor magnetic pole obtains.
In the present invention's specific embodiment, for four to pole servomotor and the situation adopting absolute type encoder, step 108 specifically can comprise:
Step 1081, the encoder numerical value m corresponding according to four rotor magnetic poles
1, m
2, m
3, m
4, the absolute value N of the difference between two magnetic poles can be calculated
1, N
2, N
3, N
4.
Step 1082, goes out four corresponding rotor central angle θ according to following formulae discovery
1, θ
2, θ
3, θ
4(as shown in Figure 7) angle:
Wherein, maximum angle in four angles is defined as θ
1, other are defined as θ successively according to the direction of rotation of servomotor
2, θ
3, θ
4, as shown in Figure 7.When extreme case, namely occur friction between electric machine rotor, between rotor, offset is r
1-r
2.
Step 109, sets up equation group according to magnetic pole of the stator position (as shown in Figure 6 four A, B, C, D) to pole servomotor, stator home position, rotor home position, rotor central angle.
In the present invention's specific embodiment, for four to pole servomotor, step 109 specifically can comprise:
Step 1091, obtains α as shown in Figure 7
1, α
2, α
3, α
4angle.With α
1for example, as shown in Figure 9, connect A, B at 2 and do a boost line, according to triangle Δ O
1aB, Δ O
2the interior angle of AB and equation (1) can be obtained.In like manner can obtain equation (2)-(4).
Step 1092, as shown in Figure 9, at triangle Δ O
1o
2a, Δ O
1o
2b, Δ O
1o
2c and Δ O
1o
2equation (5)-(8) can be obtained according to sine in D, wherein, as shown in Figure 6, θ
xfor line segment CO
2and O
1o
2angle.
Step 1093, due to α
1, α
2, α
3, α
4angle all less, can be similar to and think sin α
1≈ α
1, sin α
2≈ α
2, sin α
3≈ α
3, sin α
4≈ α
4, equation (9)-(12) can be obtained thus.
Step 1094, can obtain following equation group by equation (1)-(4), (9)-(12).
Step 110, solves the offset obtained between servomotor rotor to described equation group.
In the present invention's specific embodiment, for four to pole servomotor, step 109 specifically can comprise:
Step 1101, according to 0 °≤θ
x≤ θ
3, 0 °≤α
1<90 °, 0 °≤α
2<90 °, 0 °≤α
3<90 °, 0 °≤α
4<90 ° uses iterative algorithm to solve the equation group that step 1094 obtains, obtains θ
xand α
2.
Step 1102, by θ
xand α
2substitute in equation (10) to obtain and calculate motor offset O
1o
2occurrence.
In an embodiment of the present invention, can choose different equations in the concrete computational process of step 109 and step 110 and carry out, above-described embodiment only gives wherein one and chooses mode.
Step 111, judges whether described offset is greater than predetermined threshold.If described offset is not more than predetermined threshold, then judge that described servomotor 3 is qualified.If described offset is greater than predetermined threshold, then judge that described servomotor 3 is defective, perform step 101 for next one servomotor to be tested.
Based on offset detection method between the servomotor rotor that the above embodiment of the present invention provides, use encoder to obtain rotor magnetic pole position, thus under achieving the prerequisite do not run at motor, foresight accurately calculate to motor offset; Thus can motor run before predictably to servomotor rotor between offset calculate, be convenient to do over again, thus avoid that owing to existing eccentric between rotor, the motor that dispatches from the factory causes that servomotor ER effect is large, efficiency reduces, the variety of problems such as serious of generating heat; Also can avoid the life-span shortening motor shaft simultaneously; Also effectively prevent to cause because offset is excessive and between electric machine rotor, mechanical friction occurs and the motor caused is scrapped.
Above, described misalignment measuring instrument 1 and controller 7 can be implemented as general processor for performing function described by the application, programmable logic controller (PLC) (PLC), digital signal processor (DSP), application-specific integrated circuit (ASIC) (ASIC), field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic, discrete hardware components or it is appropriately combined arbitrarily.
So far, the present invention is described in detail.In order to avoid covering design of the present invention, details more known in the field are not described.Those skilled in the art, according to description above, can understand how to implement technical scheme disclosed herein completely.
One of ordinary skill in the art will appreciate that all or part of step realizing above-described embodiment can have been come by hardware, the hardware that also can carry out instruction relevant by program completes, described program can be stored in a kind of computer-readable recording medium, the above-mentioned storage medium mentioned can be read-only memory, disk or CD etc.
Description of the invention provides in order to example with for the purpose of describing, and is not exhaustively or limit the invention to disclosed form.Many modifications and variations are obvious for the ordinary skill in the art.Selecting and describing embodiment is in order to principle of the present invention and practical application are better described, and enables those of ordinary skill in the art understand the present invention thus design the various embodiments with various amendment being suitable for special-purpose.
Claims (18)
1. an offset detection method between servomotor rotor, is characterized in that, comprising:
Read encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder, wherein said encoder is arranged on the axle of servomotor;
The offset between servomotor rotor is obtained according to described encoder numerical value.
2. method according to claim 1, is characterized in that, it is characterized in that, the step according to the offset between described encoder numerical value acquisition servomotor rotor comprises:
The rotor central angle of at least three rotor magnetic poles described in obtaining according to described encoder numerical value;
The offset between servomotor rotor is obtained according to the rotor central angle of described at least three rotor magnetic poles.
3. method according to claim 2, is characterized in that, the step of the offset obtained between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles comprises:
Equation group is set up according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle;
Described equation group is solved to the offset obtained between servomotor rotor.
4. method according to claim 3, is characterized in that, the step setting up equation group according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle comprises:
In multiple triangles that magnetic pole of the stator position, stator home position and rotor home position are formed, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
5. the method according to any one of claim 1-4, is characterized in that, the step reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder comprises:
Instruction DC power supply leads to direct current to servomotor;
Judge whether encoder data is stablized;
If encoder data is stablized, then read encoder numerical value corresponding to a rotor magnetic pole from encoder;
Instruction DC power supply disconnects to the power supply of servomotor.
6. method according to claim 5, is characterized in that, after instruction DC power supply disconnects to the step of the power supply of servomotor, the step reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder also comprises:
Instruction driver, by servomotor rotating 360 degrees electrical degree, repeats instruction DC power supply afterwards and leads to galvanic step to servomotor, to read encoder numerical value corresponding to next rotor magnetic pole from encoder.
7. the method according to any one of claim 1-4, is characterized in that, after obtaining the step of the offset between servomotor rotor, also comprises according to described encoder numerical value:
Judge whether described offset is greater than predetermined threshold;
If described offset is not more than predetermined threshold, then judge that described servomotor is qualified.
If described offset is greater than predetermined threshold, then judge that described servomotor is defective.
8. a misalignment measuring instrument between servomotor rotor, is characterized in that, comprises encoder numerical value acquisition module (11) and offset acquisition module (12), wherein:
Encoder numerical value acquisition module (11), for reading encoder numerical value corresponding to servomotor at least three rotor magnetic poles from encoder, wherein said encoder is arranged on the axle of servomotor;
Offset acquisition module (12), for obtaining the offset between servomotor rotor according to described encoder numerical value.
9. device according to claim 8, is characterized in that, it is characterized in that, offset acquisition module (12) comprises rotor central angle acquiring unit (121) and offset acquiring unit (122), wherein:
Rotor central angle acquiring unit (121), for the rotor central angle of at least three rotor magnetic poles according to described encoder numerical value acquisition;
Offset acquiring unit (122), for obtaining the offset between servomotor rotor according to the rotor central angle of described at least three rotor magnetic poles.
10. device according to claim 9, is characterized in that, offset acquiring unit (122) comprises equation group and sets up subelement (1221) and offset determination subelement (1222), wherein:
Equation group sets up subelement (1221), for setting up equation group according to stator home position, rotor home position, rotor central angle;
Offset determination subelement (1222), for solving the offset obtained between servomotor rotor to described equation group.
11. devices according to claim 10, is characterized in that,
Equation group sets up subelement (1221) in multiple triangles of forming at magnetic pole of the stator position, stator home position and rotor home position, according to magnetic pole of the stator position, stator home position, rotor home position, rotor central angle, set up equation group based on angle sum of a triangle formula and sine.
12. devices according to Claim 8 according to any one of-11, is characterized in that, also comprise offset comparison module (13), wherein:
Offset comparison module (13), for judging whether described offset is greater than predetermined threshold; If described offset is not more than predetermined threshold, then judge that described servomotor is qualified; If described offset is greater than predetermined threshold, then judge that described servomotor is defective.
Offset checkout equipment between 13. 1 kinds of servomotor rotors, is characterized in that, comprises misalignment measuring instrument (1) and encoder (2), wherein:
Encoder (2), for encoder numerical value corresponding at least three of servomotor rotor magnetic poles is sent to misalignment measuring instrument, wherein said encoder is arranged on the axle of servomotor;
Misalignment measuring instrument (1), for according to the offset between encoder numerical value determination servomotor rotor corresponding to described at least three rotor magnetic poles.
14. equipment according to claim 13, is characterized in that, also comprise controller (7) and DC power supply (8), wherein:
Controller (7), is used to indicate DC power supply (8) and leads to direct current to servomotor; Judge whether encoder data is stablized; If encoder data is stablized, then misalignment measuring instrument (1) is indicated to read encoder numerical value corresponding to a rotor magnetic pole from encoder (2); Instruction DC power supply (8) disconnects to the power supply of servomotor;
DC power supply (8), for the instruction according to controller (7), for servomotor is powered or power-off.
15. equipment according to claim 14, is characterized in that, also comprise driver (9), wherein:
Controller (7) also disconnects to after the power supply of servomotor for DC power supply (8), instruction driver (9) is by servomotor rotating 360 degrees electrical degree, and execution instruction DC power supply (8) leads to galvanic operation to servomotor, so that misalignment measuring instrument (1) reads encoder numerical value corresponding to next rotor magnetic pole from encoder (2).
Driver (9), for the instruction according to controller (7), by servomotor rotating 360 degrees electrical degree.
16. equipment according to any one of claim 13-15, is characterized in that,
Encoder (2) is absolute type encoder or incremental encoder;
It is inner or outside that encoder (2) is located at servomotor (3).
17. equipment according to any one of claim 13-15, is characterized in that, also comprise fixing tool (4), wherein:
Fixing tool (4), for installing fixing servomotor (3);
If it is outside that encoder is arranged on servomotor (3), then fixing tool is also for installing regular coding device (2).
18. equipment according to any one of claim 13-15, is characterized in that,
Misalignment measuring instrument between the servomotor rotor of misalignment measuring instrument (1) according to any one of claim 8-12.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119001.7A CN105576913B (en) | 2016-03-02 | 2016-03-02 | Eccentric quantity measuring method, device and equipment between servomotor rotor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610119001.7A CN105576913B (en) | 2016-03-02 | 2016-03-02 | Eccentric quantity measuring method, device and equipment between servomotor rotor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN105576913A true CN105576913A (en) | 2016-05-11 |
| CN105576913B CN105576913B (en) | 2017-11-28 |
Family
ID=55886717
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610119001.7A Active CN105576913B (en) | 2016-03-02 | 2016-03-02 | Eccentric quantity measuring method, device and equipment between servomotor rotor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105576913B (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110714869A (en) * | 2019-09-30 | 2020-01-21 | 华能四川水电有限公司 | Method and device for detecting central offset of rotor, storage medium and equipment |
| CN113624125A (en) * | 2021-08-19 | 2021-11-09 | 江苏科技大学 | Semi-intelligent eccentricity detection system based on motor operation |
| CN114413725A (en) * | 2022-01-26 | 2022-04-29 | 株洲齿轮有限责任公司 | Method for judging stator assembly qualification on motor stator hot jacket assembly line |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000083333A (en) * | 1998-09-04 | 2000-03-21 | Toshiba Corp | Rotating electric machine |
| CN102538837A (en) * | 2010-12-20 | 2012-07-04 | 株式会社三丰 | Method, computer program product and rotary encoder for estimation of eccentric value |
| CN102906988A (en) * | 2010-05-21 | 2013-01-30 | 米其林集团总公司 | Method for the automatic adjustment of a resolver of an electric machine |
| JP2013044699A (en) * | 2011-08-26 | 2013-03-04 | Fuji Electric Co Ltd | Device and method for measuring air gap |
| CN104767456A (en) * | 2015-04-20 | 2015-07-08 | 上海力信电气技术有限公司 | Method for correcting installation errors of rotary transformer of permanent magnet synchronous driving motor |
| CN105322844A (en) * | 2014-07-23 | 2016-02-10 | 江苏风达为新能源科技有限公司 | Synchronous motor speed adjustment system rotor position detecting device and detecting method |
-
2016
- 2016-03-02 CN CN201610119001.7A patent/CN105576913B/en active Active
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2000083333A (en) * | 1998-09-04 | 2000-03-21 | Toshiba Corp | Rotating electric machine |
| CN102906988A (en) * | 2010-05-21 | 2013-01-30 | 米其林集团总公司 | Method for the automatic adjustment of a resolver of an electric machine |
| CN102538837A (en) * | 2010-12-20 | 2012-07-04 | 株式会社三丰 | Method, computer program product and rotary encoder for estimation of eccentric value |
| JP2013044699A (en) * | 2011-08-26 | 2013-03-04 | Fuji Electric Co Ltd | Device and method for measuring air gap |
| CN105322844A (en) * | 2014-07-23 | 2016-02-10 | 江苏风达为新能源科技有限公司 | Synchronous motor speed adjustment system rotor position detecting device and detecting method |
| CN104767456A (en) * | 2015-04-20 | 2015-07-08 | 上海力信电气技术有限公司 | Method for correcting installation errors of rotary transformer of permanent magnet synchronous driving motor |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110714869A (en) * | 2019-09-30 | 2020-01-21 | 华能四川水电有限公司 | Method and device for detecting central offset of rotor, storage medium and equipment |
| CN113624125A (en) * | 2021-08-19 | 2021-11-09 | 江苏科技大学 | Semi-intelligent eccentricity detection system based on motor operation |
| CN114413725A (en) * | 2022-01-26 | 2022-04-29 | 株洲齿轮有限责任公司 | Method for judging stator assembly qualification on motor stator hot jacket assembly line |
| CN114413725B (en) * | 2022-01-26 | 2023-09-01 | 株洲齿轮有限责任公司 | Method for judging stator assembly qualification on motor stator hot jacket assembly line |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105576913B (en) | 2017-11-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107404272B (en) | Permanent magnet synchronous motor rotation becomes zero-bit initial angle scaling method and calibration system | |
| CN101924514B (en) | Rotary transformer initial position signal autocorrection method | |
| CN101430558B (en) | Method and apparatus to monitor position of a rotatable shaft | |
| CN105576913A (en) | Method, device and equipment for detecting offset between stator and rotor of servo motor | |
| KR20160036210A (en) | Method for computating motor speed and rotor position using hall sensor | |
| CN111024976A (en) | Measuring method and measuring device for rotary power generation equipment and impeller measuring system | |
| CN105915139A (en) | Vector control permanent magnet synchronous servo motor initial magnetic pole position search method | |
| JP2014155356A (en) | Control device for ac motor and control method | |
| CN104660120A (en) | Motor zero-position detection method and device | |
| CN113029222A (en) | Calibration method and device for magnetic encoder and magnetic encoder | |
| JP2006220650A (en) | Method of testing motor | |
| CN104065319B (en) | The scaling method of permanent magnet synchronous motor zero-bit initial angle | |
| CN107544022A (en) | A kind of detection method and device of motor status | |
| Virtic et al. | Analysis of coreless stator axial flux permanent magnet synchronous generator characteristics by using equivalent circuit | |
| CN109189048B (en) | Initial calibration method for arc-shaped segmented motor control system of telescope | |
| WO2010113556A1 (en) | Information management system for driving device and method of manufacturing driving device | |
| Kato et al. | Motor insulation aging diagnosis with pre-installed current sensors for inverter control | |
| Zare et al. | Highly reliable reduced part integrated 2DOF helical winding resolver | |
| CN205490286U (en) | Servo driver | |
| CN114499318A (en) | Three-phase asynchronous motor steering pre-test method | |
| CN110412466A (en) | Measure the structures and methods of high revolving speed permanent magnet motor operating parameters | |
| CN215952457U (en) | Rotation angle detection system | |
| JP2023177673A (en) | Motor characteristic test device and motor characteristic test method | |
| KR101754446B1 (en) | Rpt signal offset learning system | |
| CN110112962A (en) | Control device of electric motor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |