CN106124081B - The accurate multiple spot real time temperature measurement method and system of permanent magnet synchronous motor - Google Patents
The accurate multiple spot real time temperature measurement method and system of permanent magnet synchronous motor Download PDFInfo
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- CN106124081B CN106124081B CN201610702557.9A CN201610702557A CN106124081B CN 106124081 B CN106124081 B CN 106124081B CN 201610702557 A CN201610702557 A CN 201610702557A CN 106124081 B CN106124081 B CN 106124081B
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- G01K7/00—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements
- G01K7/16—Measuring temperature based on the use of electric or magnetic elements directly sensitive to heat ; Power supply therefor, e.g. using thermoelectric elements using resistive elements
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Abstract
The accurate multiple spot real time temperature measurement method and system of permanent magnet synchronous motor, belong to permanent magnet synchronous motor field, the present invention is to solve the problem of that measurement accuracy and real-time can be seriously affected since intense electromagnetic is interfered using two-wire system non-packed temperature sensor measurement motor internal temperature.The method of the present invention is the following steps are included: Step 1: under motor inactive state, successively the measurement parameter of each temperature measuring point is calibrated, obtain the lead resistance of actual shifts b ', the actual gain k ' and each measurement point in the linear relation of input resistance signal and output voltage signalThe linear relation of input resistance signal and output voltage signal after carrying out acquisition calibration:Step 2: starting motor work, slave computer control unit successively obtains the output voltage signal of all measurement points according to relational expression after calibration, host computer carries out digital filtering to the series data, filters out its interference signal, and then obtains on motor each measurement point accurately temperature value.
Description
Technical field
The invention belongs to permanent magnet synchronous motor fields.
Background technique
Permanent magnet synchronous motor is just applied in electric car more and more widely.In the design process of permanent magnet synchronous motor
In, it needs to carry out temperature rise experiment to motor to judge motor by the observation and analysis to the temperature change in motor operation course
The superiority and inferiority of heat dissipation performance, to guarantee the reliable of motor operation.Especially in some occasions with distinct temperature condition, need to protect
Card motor safety at a temperature of run, motor just can work normally.
Currently, since its heat-dissipating space is smaller, being proposed to the cooling of motor for the motor with labyrinth
Requirements at the higher level, and need in real time, accurately to monitor the temperature of motor, this respect is also that one of Motor for Electric Automobile is important
Research direction.In the practical operation of temperature rise experiment, on the one hand, it is dry that there are strong electromagnetism during motor temperature real-time measurement
It disturbs, has large effect to temperature signal, and then influence the accuracy of measurement result, on the other hand, circuit, component parameters exist
Error is affected to measurement result after amplifying compared with high magnification numbe, and common temperature measuring equipment is unable to Accurate Determining temperature.
To obtain interior temperature distribution situation in permanent magnet synchronous motor operational process, mounting temperature sensor is needed, usually
For resistor-type, there is positive temperature coefficient or negative temperature coefficient.In general, the temperature sensor of four-wire system is surveyed by Kelvin method
Amount resistance can flow through measurement return lead to avoid resistance supply current, thus be most suitable for accurate temperature measurement.But in view of passing
The presence of the problems such as sensor and its lead space is selected the temperature sensor of two-wire system non-packed mostly, is drawn by high temperature wire,
Measurement temperature is affected by component parameters error in lead resistance and measuring circuit at this time, and is generated when motor operation strong
Electromagnetic interference also will affect measurement accuracy and real-time.
Summary of the invention
It, can be due to strong the invention aims to solve using two-wire system non-packed temperature sensor measurement motor internal temperature
Strong electromagnetic interference and the problem of seriously affect measurement accuracy and real-time, it is real to provide a kind of accurate multiple spot of permanent magnet synchronous motor
When temp measuring method and system.
The accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor, this method are respectively provided with two-wire system in each measurement point of motor
PT100 temperature sensor is realized by the way that the input resistance signal of two-wire system PT100 temperature sensor is converted to voltage signal
Thermometric,
Method includes the following steps:
Step 1: successively calibrating to the measurement parameter of each temperature measuring point under motor inactive state, input electricity is obtained
Hinder drawing for actual shifts b', the actual gain k' and each measurement point in the linear relation of signal and output voltage signal
Line resistanceOrder of the i for measurement point, i=1,2 ...
The linear relation of input resistance signal and output voltage signal after carrying out acquisition calibration: RTFor the resistance value of two-wire system PT100 temperature sensor,It is surveyed for i-th
Measure the lead resistance of point；
For the output voltage signal of ith measurement point；
Step 2: starting motor work, slave computer control unit successively obtain all measurement points according to relational expression after calibration
Output voltage signalHost computer carries out digital filtering to the series data, filters out its interference signal,
And then obtain each measurement point accurately temperature value on motor.
Preferably, the actual shifts b' value of each measurement point is identical in step 1, the actual gain k' value of each measurement point
It is identical, it can disposably obtain using any one measurement point as object, be obtained below by object description of i-th=m measurement point
Process:
Step 1 one, by sensor lead end input resistanceIt is shorted, i.e.,Then circuit is real
Border offset is output voltage
Step 1 two, by sensor lead end input resistanceIt disconnects, precision resistance R known to one group of investmenta, slave computer
Control unit acquisition measurement relevant voltage is Ua, then circuit actual gain
Preferably, in step 1 each measurement point lead resistanceAcquisition process it is identical, with
I=m measurement point is object description acquisition process:
Step 1 three, by the lead end input resistance of m-th of measurement pointIt puts into circuit, and according to locating for motor
Environment temperature T table look-up two-wire system PT100 temperature sensor actual resistance value RT-real,
Step 1 four, there are relational expressions for m-th of measurement point
Wherein,It is acquired and is obtained by slave computer control unit,
K' that b' that step 1 one obtains, step 1 two are obtained, step 1 three obtain two-wire system PT100 temperature sensor
Actual resistance value RT-realAnd it is collectedIt substitutes into formula (1) and obtains the lead resistance of m-th of measurement point
Above step is repeated to obtain the lead resistance of all measurement points
Preferably, in step 2 all measurement points output voltage signalAcquisition process it is identical,
Using i-th=m measurement point as object description acquisition process:
Step 2 one, slave computer control unit collect m-th of measurement point initial output voltageAccording to will be first
Beginning output voltageIt is converted into the temperature initial value of m-th of measurement point
Step 2 two, tabling look-up obtains temperature initial valueCorresponding two-wire system PT100 temperature sensor RTTrue resistance
Value RT-real,
Step 2 three, the actual resistance value R according to the two-wire system PT100 temperature sensor of acquisitionT-realIt is obtained as value of feedback
Take m-th of measurement point output voltage
The R that k' that b' that step 1 one obtains, step 1 two obtain, step 2 two are obtainedTActual resistance value and m-th
The lead resistance of measurement pointFormula (1) is substituted into obtain m-th of measurement point output voltage
Above step is repeated to obtain the output voltage of all measurement points
Preferably, the actual resistance value R of two-wire system PT100 temperature sensorT-realAccording to gained of tabling look-up, table look-up as temperature
The resistance-temperature relationship table of sensor.
Preferably, it is shorted and opening operation is realized by slave computer control unit control relay.
Preferably, it is known that precision resistance RaIt is put by relay or toggle switch.
Preferably, host computer carries out digital filtering to the series data in step 2, filters out its interference signal, and then obtain
The data handling procedure of each measurement point accurately temperature value on motor are as follows:
Step 2 A, real time spectral analysis is carried out using Fast Fourier Transform (FFT) to interference signal, determines interference signal and has
Imitate the spectrum distribution situation of signal；
Step 2 B, the periodic jamming signals that motor operation generation is parsed according to step 2 A spectrum distribution situation, will
After interference signal ingredient filters out, according to remaining spectrum component and inverse fourier transform reduction temperature data are used, this is calculated
As a result it is used as measurement point accurately temperature value；
In addition to motor synchronous rotary frequency f0Except signal be interference letter,Wherein p is that motor is extremely right
Number, n is motor speed.
Another aspect of the present invention, the first sets of plan of the accurate multiple spot real-time temperature measurement system of permanent magnet synchronous motor, including
Upper computer and lower computer is communicated between upper computer and lower computer；
Host computer includes host computer temperature display module, temperature memory module, filtering and signal processing module, parameter setting
Module and PORT COM；
Slave computer includes signal acquisition module, calibration control module, conditioning circuit, Precision reference voltage source, A/D modulus of conversion
Block and DSP；
Signal acquisition module realizes that control acquires the multiple measurement points of motor using two-wire system PT100 temperature sensor
Temperature information；The temperature information of signal acquisition module output is resistance signal, and conditioning circuit receives the resistance signal and converts defeated
The voltage signal is converted to digital signal and is sent to DSP by voltage signal out, A/D conversion module, and DSP passes through calibration control module
Control the input parameter of conditioning circuit；Temperature signal after calibrated is sent to host computer after being obtained by DSP；Precision reference voltage
Source provides reference voltage source for conditioning circuit；
Filtering and signal processing module by PORT COM acquisition temperature signal, be filtered and anti-interference process after temperature
Degree true value is stored in temperature memory module, and the real-time display on host computer temperature display module；
Parameter setting module, which is arranged by PORT COM to slave computer system parameters, to be instructed.
Second sets of plan of the accurate multiple spot real-time temperature measurement system of permanent magnet synchronous motor, including upper computer and lower computer, it is upper
It is communicated between machine and slave computer；
Host computer includes host computer temperature display module, temperature memory module, parameter setting module and PORT COM；
Slave computer includes signal acquisition module, calibration control module, conditioning circuit, Precision reference voltage source, A/D modulus of conversion
Block, DSP, temperature display module, keyboard and screen module；
Signal acquisition module realizes that control acquires the temperature of the multiple measurement points of motor using two-wire system PT temperature sensor
Information；The temperature information of signal acquisition module output is resistance signal, and conditioning circuit receives the resistance signal and converts output electricity
Signal is pressed, which is converted to digital signal and is sent to DSP by A/D conversion module, and DSP passes through calibration control module control
The input parameter of conditioning circuit；Temperature signal after calibrated is obtained by DSP, be filtered and anti-interference process after obtain measurement
The temperature true value of point, temperature true value real-time display on temperature display module；Keyboard and screen module are inputted to DSP is
System parameter setting instruction；
Precision reference voltage source provides reference voltage source for conditioning circuit；
The temperature true value is also sent to host computer；The real-time display on host computer temperature display module is deposited in temperature
It is stored in storage module, parameter setting module is sent by PORT COM to slave computer.
Advantages of the present invention: can handle the temperature signal in 18 channels, can to motor into and out of air port, winding and
The positions such as its end, permanent magnet and iron core carry out accurate temperature measurement；Effectively eliminate lead resistance, component parameters error and
It is influenced caused by electromagnetic interference, accurate reduction temperature signal, for the range of measurement at 0-300 DEG C, error is ± 0.5 DEG C；User
It can be by the system parameters such as keyboard or upper computer software set environment temperature, motor number of pole-pairs, by slave computer screen or upper
Machine software observes the temperature variation curve in motor operation course in real time, and stores historical temperature data.
Using the temperature sensor of two-wire system, solve since electric system is compact-sized, lead space is limited, measurement point
The problem of more initiation.
Using the linearity error calibration method based on linear measuring circuit, solve due to sensor lead resistance and measurement
The not high problem of measurement accuracy caused by component parameters error in circuit.
Using the filtering method of software and hardware combining, the electromagnetic interference generated when solving motor operation causes sensor defeated
Out the problem of voltage disturbance.
Interference signal frequency content when motor operation is analyzed and eliminated in real time using Digital Signal Processing, is solved
The problem of measurement accuracy and real-time will affect due to the uncertainty of interfering frequency and the hardware filter of complexity.
Detailed description of the invention
Fig. 1 is the functional block diagram of the accurate multiple spot real-time temperature measurement system of one embodiment permanent magnet synchronous motor；
Fig. 2 is the functional block diagram of the accurate multiple spot real-time temperature measurement system of second embodiment permanent magnet synchronous motor；
Fig. 3 is the physical circuit figure of conditioning circuit；
Fig. 4 is resistance/voltage-contrast curve graph after conditioning.
Specific embodiment
The present invention will be further described with reference to the accompanying drawings.
For the linearity error for calibrating A/D, use 4 road reference voltage sources as known input, solution is exported by the conversion of A/D
Its conversion gain and offset out, to achieve the purpose that calibration.In general, if measuring system be it is linear, can pass through 1 survey
Its measurement gain of amount point calibration and offset.If the measuring circuit of PT l00 is designed as linearly, so that it may by 1 known value and
Measurement voltage value calculates the actual gain and offset of measuring circuit, and then eliminates sensor lead resistance and circuit element parameter
The influence of error.Permanent magnet synchronous motor run when strong alternating electromagnetic field cause measurement input terminal voltage disturbance, frequency at
Divide the synchronous rotary frequency and its harmonic wave of predominantly motor.Synchronous rotary frequency and the relationship of revolving speed areF in formula0
For synchronous rotary frequency, n is revolving speed, and p is number of pole-pairs.When motor low speed load running, low-frequency interference signal is through hardware low pass
Biggish amplitude can be still able to maintain after filtering, the accurate multiple spot real-time temperature measurement system of permanent magnet synchronous motor of the invention is to sampled data
Carry out digital filtering.To original signal with sufficiently high frequency sampling, according to the spectrum distribution situation of interference signal, from sampling sequence
Column isolate useful signal ingredient, can calculate the actual temperature value of measurement point.
Temperature sensor uses two-wire system PT100 temperature sensor, and measuring circuit uses conditioning circuit as shown in Figure 3
203, conditioning circuit 203 is constant-current source circuit, and principle is to convert the input resistance signal of two-wire system PT100 temperature sensor
For voltage signal.Then output voltage U0With PTl00 resistance RTRelationship are as follows:
It enables wherein
Then there is relational expression U0=kR0+ b, i.e. voltage resistance are once linear relationship.Wherein, U0To export theoretical voltage, k
For theoretical gain, b is theoretical offset, R0For input resistance, R0=RT+RW, RTFor the resistance value of two-wire system PT100 temperature sensor,
RWFor lead resistance；But due to the influence of circuitous resistance and reference voltage source accuracy, k and b can not be equal to theoretical value,
Lead to gain and offset error.It is influenced to eliminate this error, present embodiment calibrates this linear measurement, specifically now
Provide two embodiments.
Embodiment one:
It is a kind of accurate multiple spot real-time temperature measurement system of permanent magnet synchronous motor, including host computer 1 and slave computer 2 referring to Fig. 1, leads to
Excess temperature sensor for temperature signal is acquired in real time, after resistance signal is converted to voltage signal by conditioned circuit 203, warp
A/D conversion module 205 is processed into the digital signal that digital display circuit can identify, slave computer processor DSP206 completes signal and adopts
The tasks such as sample, calibration circuit control and data transmission.Host computer 1 is substantially carried out parameter setting and filtering and signal processing work,
And real-time display and data storage are carried out to resulting temperature signal.Host computer 1 leads to slave computer 2 by communication bus in real time
Letter.
Under motor inactive state, measuring system is connected, DSP206 controls sensor lead end by relay and inputs
Resistance R0It is shorted, disconnecting, specific operation process are as follows:
(1) by sensor lead end input resistance R0It is shorted, i.e. R0=RT+RW=0, then circuit actual shifts are to export
Voltage b'=U0, compared with theoretical value b, offset error can be obtained；
(2) by sensor lead end input resistance R0It disconnects, is put by relay or toggle switch accurate known to one group
Resistance (precision 0.1%) Ra, and measuring relevant voltage is Ua, then circuit actual gainCompared with theoretical value k,
Gain error can be obtained；
(3) again by sensor lead end input resistance R0It puts into circuit, passes through measurement environment temperature T and (temperature of tabling look-up
Spend the resistance-temperature relationship table of sensor) obtain RTTrue value, and R can be obtained according to the calculated result of (1) and (2)WReality
Actual value.
Environment temperature T is motor local environment temperature, and the measurement of another temperature measuring device obtains.The electricity of temperature sensor
Resistance-temperature relation table is that PT100 carries parameter list, and resistance value is different and different with temperature.
For a measurement point, (1) is performed, (2) can obtain circuit actual gain k', circuit actual shifts b',
Repeat the lead resistance that (3) obtain all measurement pointsObtain all measurement points
Output voltage signal
The signal of strong electromagnetic interference is generated when motor operation, to measurement output in order to eliminate the shadow of this interference signal
It rings, the present invention uses Digital Signal Processing to this interference signal, and specific embodiment is as follows:
(1) real time spectral analysis is carried out to interference signal, such as Fast Fourier Transform (FFT) determines interference signal and useful signal
Spectrum distribution situation.
(2) periodic jamming signals that motor operation generation is parsed according to (1) frequency spectrum, interference signal ingredient is filtered out
Afterwards, according to remaining spectrum component reduction temperature data, i.e. inverse fourier transform, using this calculated result as temperature sensor
Reality output can reach analysis in real time and eliminate interference signal frequency content, generate in effective inhibition motor operation course
The effect of electromagnetic interference.
Embodiment two: the measuring system that the present embodiment is given and one difference of embodiment are little, right on the basis of example 1
Slave computer 2 increases keyboard and screen module 208, undertakes the work of system parameter settings and temperature signal real-time display respectively.?
Slave computer processor DSP206 mainly completes the tasks such as calibration circuit control, filtering and signal processing, temperature display in this system.
Host computer 1, which can complete tasks, the temperature datas such as parameter setting, temperature data storage through communication port as needed, also can be stored in
In 1 hard disk of 2 RAM card of slave computer or host computer.
Although describing the present invention herein with reference to specific embodiment, it should be understood that, these realities
Apply the example that example is only principles and applications.It should therefore be understood that can be carried out to exemplary embodiment
Many modifications, and can be designed that other arrangements, without departing from spirit of the invention as defined in the appended claims
And range.It should be understood that different appurtenances can be combined by being different from mode described in original claim
Benefit requires and feature described herein.It will also be appreciated that the feature in conjunction with described in separate embodiments can be used
In other described embodiments.
Claims (8)
1. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor, this method are respectively provided with two-wire system in each measurement point of motor
PT100 temperature sensor is realized by the way that the input resistance signal of two-wire system PT100 temperature sensor is converted to voltage signal
Thermometric, which is characterized in that
Method includes the following steps:
Step 1: successively calibrating to the measurement parameter of each temperature measuring point under motor inactive state, input resistance letter is obtained
Number with actual shifts b', actual gain k' in the linear relation of output voltage signal and the lead of each measurement point electricity
ResistanceOrder of the i for measurement point, i=1,2 ...
The linear relation of input resistance signal and output voltage signal after carrying out acquisition calibration: RT is the resistance value of two-wire system PT100 temperature sensor,For the lead resistance of ith measurement point；
For the output voltage signal of ith measurement point；
Step 2: starting motor work, slave computer control unit successively obtain the defeated of all measurement points according to relational expression after calibration
Voltage signal outOutput voltage signal of the host computer to acquisitionDigital filtering is carried out,
It filters out its interference signal, and then obtains on motor each measurement point accurately temperature value.
2. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 1, which is characterized in that every in step 1
The actual shifts b' value of a measurement point is identical, and the actual gain k' value of each measurement point is identical, is pair with any one measurement point
As can disposably obtain, below using i-th=m measurement point as object description acquisition process:
Step 1 one, by sensor lead end input resistanceIt is shorted, i.e.,Then circuit is actually inclined
Moving is output voltage
Step 1 two, by sensor lead end input resistanceIt disconnects, precision resistance R known to one group of investmenta, slave computer control
Unit acquisition measurement relevant voltage processed is Ua, then circuit actual gain
3. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 2, which is characterized in that every in step 1
The lead resistance of a measurement pointAcquisition process it is identical, obtained using i-th=m measurement point as object description
Take process:
Step 1 three, by the lead end input resistance of m-th of measurement pointIt puts into circuit, and according to motor local environment
Temperature T table look-up two-wire system PT100 temperature sensor actual resistance value RT-real,
Step 1 four, there are relational expressions for m-th of measurement point
Wherein,It is acquired and is obtained by slave computer control unit,
K' that b' that step 1 one obtains, step 1 two are obtained, step 1 three obtain the true of two-wire system PT100 temperature sensor
Real resistance value RT-realAnd it is collectedIt substitutes into formula (1) and obtains the lead resistance of m-th of measurement pointRepetition is held
Row above step obtains the lead resistances of all measurement points
4. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 3, which is characterized in that institute in step 2
There is the output voltage signal of measurement pointAcquisition process it is identical, using i-th=m measurement point as object description
Acquisition process:
Step 2 one, slave computer control unit collect m-th of measurement point initial output voltageIt is initial defeated according to inciting somebody to action
Voltage outIt is converted into the temperature initial value of m-th of measurement point
Step 2 two, tabling look-up obtains temperature initial valueCorresponding two-wire system PT100 temperature sensor RTActual resistance value
RT-real,
Step 2 three, the actual resistance value R according to the two-wire system PT100 temperature sensor of acquisitionT-realIs obtained as value of feedback
M measurement point output voltage
The R that k' that b' that step 1 one obtains, step 1 two obtain, step 2 two are obtainedTActual resistance value and m-th measurement
Lead resistance at pointFormula (1) is substituted into obtain m-th of measurement point output voltage
Above step is repeated to obtain the output voltage of all measurement points
5. according to the accurate multiple spot real time temperature measurement method of the permanent magnet synchronous motor of claim 3 or 4, which is characterized in that two-wire system
The actual resistance value R of PT100 temperature sensorT-realAccording to gained of tabling look-up, table look-up as the resistance-temperature relationship of temperature sensor
Table.
6. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 2, which is characterized in that be shorted and disconnect
Operation controls relay by slave computer control unit to realize.
7. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 2, which is characterized in that known accurate electricity
Hinder RaIt is put by relay or toggle switch.
8. the accurate multiple spot real time temperature measurement method of permanent magnet synchronous motor according to claim 1, which is characterized in that in step 2
Position machine carries out digital filtering to the output voltage signal of acquisition, filters out its interference signal, and then obtain each measurement point on motor
The accurately data handling procedure of temperature value are as follows:
Step 2 A, real time spectral analysis is carried out using Fast Fourier Transform (FFT) to interference signal, determines interference signal and effectively letter
Number spectrum distribution situation；
Step 2 B, the periodic jamming signals that motor operation generation is parsed according to step 2 A spectrum distribution situation, will interfere
After signal component filters out, according to remaining spectrum component and inverse fourier transform reduction temperature data are used, by this calculated result
As measurement point accurately temperature value；
In addition to motor synchronous rotary frequency f0Except signal be interference letter,Wherein p is motor number of pole-pairs, and n is
Motor speed.
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| US10587794B2 (en) * | 2018-04-25 | 2020-03-10 | Semiconductor Components Industries, Llc | Methods and apparatus for actuator control |
| US11169033B2 (en) | 2018-05-15 | 2021-11-09 | Microchip Technology Incorporated | Base resistance cancellation method and related methods, systems, and devices |
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| CN203705058U (en) * | 2014-02-10 | 2014-07-09 | 武汉英泰斯特电子技术有限公司 | Temperature signal acquisition device |
| CN105651412A (en) * | 2016-02-03 | 2016-06-08 | 河南柴油机重工有限责任公司 | Measurement method and measurement circuit for PT1000 temperature sensor |
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