CN106208821B - More of one kind is without sensor permanent magnet synchronous motor while or substep Start-up and Adjustment method - Google Patents
More of one kind is without sensor permanent magnet synchronous motor while or substep Start-up and Adjustment method Download PDFInfo
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- CN106208821B CN106208821B CN201610779740.9A CN201610779740A CN106208821B CN 106208821 B CN106208821 B CN 106208821B CN 201610779740 A CN201610779740 A CN 201610779740A CN 106208821 B CN106208821 B CN 106208821B
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P1/00—Arrangements for starting electric motors or dynamo-electric converters
- H02P1/16—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters
- H02P1/54—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors
- H02P1/56—Arrangements for starting electric motors or dynamo-electric converters for starting dynamo-electric motors or dynamo-electric converters for starting two or more dynamo-electric motors simultaneously
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Abstract
It is a kind of more without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method, include mainly the test of motor basic parameter, empty load of motor experiment, motor load experiment, servo mechanism operation test, more servo mechanism cooperations five steps of experiment.The present invention is run simultaneously for more in servo mechanism work, the complex electromagnetic environment and varying load operating mode that the factors such as the long cable transmission of multicore generate, power supply control parameter is matched in different test environments respectively, a set of whole process testing scheme is provided, it can comprehensively and efficiently testing of electric motors performance.
Description
Technical field
The present invention relates to a kind of more without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method, belongs to aviation
The match test technology of space flight or industrial circle no mechanical pick-up device permanent magnet synchronous motor and ensorless control power supply
Field.
Background technology
Compared with mouse cage pattern asynchronous starting permanent magnet synchronous motor, no mechanical pick-up device permanent-magnetic synchronous motor rotor does not need
Start winding；Compared with direct current generator, mechanical switching device and brush are eliminated；There is sensor permanent magnet synchronous motor phase with conventional
Than eliminating rotating speed or position sensor.Therefore, no sensor permanent magnetic synchronous motor structure is the simplest, weight, volume and temperature
It rises and significantly reduces, motor has higher power factor, efficiency and power density, due to eliminating mechanical pick-up device, motor
Simple in structure, easy care or non-maintaining has higher reliability.In addition, under certain particular surroundings, such as high temperature, humidity, corruption
Corrosion under equal harsh conditions, eliminates the risk of mechanical pick-up device failure by force.
In recent years, the increasingly raising required to energy-efficient and low-carbon emission reduction with society and sensorless drive are forever
The application of magnetic-synchro motor technology will be more and more extensive, especially suitable for blower fan system, electrical vehicular power drive system and military neck
Domain.For example, China's space transporter electrohydraudic servomechanism has used the permanent magnet synchronous motor based on ensorless control.
Motor-driven hydraulic pumps load, and power source is provided for servo mechanism, electric machine speed regulation ranging from 0~12000rpm, and power is reachable
7.5kW, supply voltage 380V, working frequency is up to 500Hz.With the servo system of regular industrial field short-distance and medium-distance transmission cable
System is different, and the cable length between carrier rocket servo motor and control power supply uses multicore structure up to 150m, therefore
Coupled relation is complicated between long each phase sequence of cable, and influence of the cable data to power supply control performance be can not ignore.In addition, servo mechanism
More startups are needed to be interfered with each other between each power-supply system unavoidably, electromagnetic environment is extremely multiple under high-frequency signal impact when work
It is miscellaneous.Therefore, abundant harmonic wave is contained in voltage and current waveform, distortion is with obvious effects, influences power supply to motor important parameter
It accurately identifies and calculates, and then ensorless control algorithm is interfered, influence control effect, or even motor is caused to rise
It is dynamic abnormal.
Invention content
The technology of the present invention solves the problems, such as：Overcome the deficiencies of the prior art and provide it is a kind of more without sensor permanent magnetism
Synchronous motor while or substep Start-up and Adjustment method.
Technical solution of the invention is：
It is a kind of more without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method, steps are as follows：
(1) to each motor basic parameter test is carried out without sensor permanent magnet synchronous motor；
The step (1) carries out motor basic parameter test to each without sensor permanent magnet synchronous motor, specially：
(1.1) line resistance and inductance, cable resistance for using LCR table measurement motors drag tested motor with prime mover, survey
Measure non-loaded line back-emf virtual value；
(1.2) all-in resistance is calculated according to following formula：
R=R0+R1；
Wherein：R is all-in resistance；R0 is motor line resistance；R1 is cable resistance.
(1.3) rated voltage is calculated according to following formula：
Un=E0+R1*In；
Wherein：Un is rated voltage；E0 is non-loaded line back-emf；R1 is cable resistance；In is rated current；
(1.4) by the number of pole-pairs of motor, nominal parameter, start-up parameter, switching frequency and electric current loop/speed ring PI parameters
It is input into as initial setting in the parameter list of the corresponding control power supply of motor.
The nominal parameter refers to rated voltage, rated current, rated power, rated speed；Wherein rated current, specified
Power, rated speed are arranged according to design value；
The start-up parameter refers to starting current, frequency limit value, magnetic field formation time, acceleration；Starting current and volume
Constant current value is identical, and the corresponding rotating speed of frequency limit value is arranged between 400 revs/min~500 revs/min, and magnetic field forms the time not
More than 1s, acceleration is arranged according to design value.
(2) to each empty load of motor test is carried out without sensor permanent magnet synchronous motor；
(2.1) build empty load of motor test platform, no load test platform include fictitious load, shaft coupling, tooling, motor,
Cable, control power supply and rack；
Fictitious load is fixed on rack, and fictitious load is connected with tooling and fixed motor by shaft coupling, controls power supply
Motor is powered and is controlled by cable；
(2.2) torque of fictitious load is set as zero, starts control power supply, empty load of motor is enabled to work；
(2.3) judge that the rotating speed of motor whether within the scope of preset no-load speed, if in range, enters step
(2.4), nominal parameter is otherwise adjusted, later return to step (2.2)；
(2.4) judge that the electric current of motor whether within the scope of preset no-load current, if in range, enters step
(3) start motor load experiment, otherwise adjust nominal parameter, start-up parameter and electric current loop/speed ring PI parameters, return to step later
Suddenly (2.2)；
(3) to each motor load test is carried out without sensor permanent magnet synchronous motor；
(3.1) build motor load test platform, load testing platform include fictitious load, shaft coupling, tooling, motor,
Cable, control power supply and rack；
Fictitious load is fixed on rack, and fictitious load is connected with tooling and fixed motor by shaft coupling, controls power supply
Motor is powered and is controlled by cable；
(3.2) torque of fictitious load is set as loading demand value, starts control power supply, motor (4) is enabled to work；
(3.3) judge whether the rotating speed of motor is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (3.2)；If not occurring exception, enter step (3.4)；
The exception, which refers to the rotating speed of motor, to stablize rising according to the acceleration of setting；
(3.4) judge motor stabilization of speed rise after whether within the scope of preset load speed, if in range,
(3.5) are then entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (3.2)；
(3.5) judge that the electric current of motor whether in preset load current range, if in range, enters step
(4) start servo mechanism operation test, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step
(3.2)；
(4) to each servo mechanism operation test is carried out without sensor permanent magnet synchronous motor；
(4.1) servo mechanism operation test platform is built, servo mechanism operation test platform includes motor, cable, control
Power supply and servo mechanism；Motor is assemblied in servo mechanism, and control power supply is powered and is controlled to motor by cable；
(4.2) start control power supply, motor is enabled to work, and then drive servo mechanism work；
(4.3) judge whether the rotating speed of motor is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (4.2)；If not occurring exception, enter step (4.4)；
(4.4) judge motor stabilization of speed rise after whether within the scope of the load speed, if in range,
(4.5) are entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (4.2)；
(4.5) judge that the electric current of motor whether in preset load current range, if in range, enters step
(5) start more servo mechanism cooperation experiments, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, return later
Return step (4.2)；
(5) experiment of more servo mechanism cooperations is carried out, to complete more without sensor permanent magnet synchronous motor simultaneously
Or the debugging that substep starts；
(5.1) more servo mechanism cooperation test platforms, more servo mechanism cooperation test platform packets are built
Include motor, servo mechanism, composite power source and long cable；Motor is assemblied in servo mechanism, between servo mechanism and composite power source
It is attached by long cable, many motors control power supply is housed inside composite power source, every control power supply controls a servo mechanism；
(5.2) D.C. resistance of long cable, the D.C. resistance in adjustment control power parameter list, by preset are measured
Load current calculates the pressure drop that long cable generates, to adjust the rated voltage in control source nominal parameter list；
(5.3) start composite power source, enable all control power supplys simultaneously or substep starts, and then drive servo simultaneously or step by step
Mechanism works；
(5.4) judge whether the rotating speed of motor is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (5.3)；If not occurring exception, enter step (5.5)；
(5.5) judge motor stabilization of speed rise after whether within the scope of the load speed, if in range,
(5.6) are entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (5.3)；
(5.6) judge that the electric current of motor whether in the load current range, if in range, completes more nothings
While sensor permanent magnet synchronous motor or substep Start-up and Adjustment, nominal parameter and electric current loop/speed ring PI parameters are otherwise adjusted,
Return to step (5.3) later.
The cable is no more than 50 meters.
The long cable is more than 100 meters.
It is described to enable all control power supplys substep start being specially：By the way that timer is arranged, each servo mechanism is made to prolong successively
It is not less than 1s, interfering with each other between more power supplys of reduction late.
The preset no-load speed range is identical with preset load speed range, is Rated motor rotating speed positive and negative 50
Within the scope of rev/min.
The preset no-load current ranging from 0~1A, the preset load current range are the rated current of motor
Positive and negative 3A within the scope of.
Compared with the prior art, the invention has the advantages that：
(1) it is directed to the complexity of electromagnetic environment in servo mechanism work, the present invention is according to different test environments respectively to electricity
Source parameter is matched, and a set of whole process testing scheme is provided, can comprehensively and efficiently testing of electric motors performance.
(2) present invention realizes the accurate matching between power supply, motor and cable, has considered system links
Influence factor can give full play to motor optimal performance by parameter Optimum Matching, realize that motor power consumption is low, the stable mesh of rotating speed
Mark.
(3) present invention is directed to different loads operating mode, provides the operation mode of a set of simplicity, can cover constant load, become
The various workings demands such as load.
(4) it is directed to the harmonic wave interference caused by servo mechanism is longer with cable length, core number is more (per phase core number 1~8)
Problem, the present invention meet servo mechanism operation demand by adjusting the mode of parameter, solve interference problem caused by cable.
(5) the problem of being interfered with each other when being worked at the same time for more servo mechanisms, the present invention are adopted by the way that delay parameter is arranged
With substep Starting mode in short-term, interfering with each other between more power supplys is reduced, more servo mechanisms is solved while starting appearance
The problem of being easily abnormal, further improves system functional reliability.
(6) due to space requirement, motor side can not install means for anti-jamming, and method provided by the invention is easy to operate, letter
System structure is changed, has reduced the complexity of system connection, conveniently and efficiently motor and servo mechanism can be tested.
(7) by adjusting control power initiation parameter, can quickly and easily realize motor started with different acceleration or
The pattern stalled with different deceleration.
(8) the method for the invention test coverage is strong, is applicable to the motor of multiple structural forms, not such as rotor structure
With permanent magnet synchronous motor, with/without sensor permanent magnet synchronous motor, asynchronous machine.
Description of the drawings
Fig. 1 flow charts of the present invention
Fig. 2 empty load of motor/load test schematic diagram
Fig. 3 separate unit servo mechanism operation test schematic diagrames
More servo mechanism cooperations of Fig. 4 test schematic diagram
Specific implementation mode
The specific implementation mode of the present invention is further described in detail below in conjunction with the accompanying drawings.
As shown in Figure 1, the present invention provides a kind of more without sensor permanent magnet synchronous motor while or substep Start-up and Adjustment
Method, it is characterised in that steps are as follows：
(1) to each motor basic parameter test is carried out without sensor permanent magnet synchronous motor；When first setting parameter, resistance
Parameter should include the sum of the resistance value of 4 resistance value of motor and stub cable 5, rated voltage by the unloaded back-emf line voltage of motor 4 and
Pressure drop superposition when stub cable 5 is passed through rated current and obtain, rated current, rated frequency, rated speed, rated power are according to setting
Evaluation is set.Start-up parameter initial value can be identical as rated current, and frequency limit value may be configured as 400 revs/min~500 revs/min
Corresponding frequency, magnetic field form the time no more than 1s, and acceleration is arranged according to design requirement.Other parameters can dispatch from the factory by power supply 6
Initial value is arranged.
It is summarized as executing step, specially：
(1.1) line resistance and inductance, cable resistance for using LCR table measurement motors drag tested motor with prime mover, survey
Measure non-loaded line back-emf virtual value；
(1.2) all-in resistance is calculated according to following formula：
R=R0+R1；
Wherein：R is all-in resistance；R0 is motor line resistance；R1 is cable resistance.
(1.3) rated voltage is calculated according to following formula：
Un=E0+R1*In；
Wherein：Un is rated voltage；E0 is non-loaded line back-emf；R1 is cable resistance；In is rated current；
(1.4) by the number of pole-pairs of motor, nominal parameter, start-up parameter, switching frequency and electric current loop/speed ring PI parameters
It is input into as initial setting in the parameter list of the corresponding control power supply of motor.
Nominal parameter refers to rated voltage, rated current, rated power, rated speed；Wherein rated current, specified work(
Rate, rated speed are arranged according to design value；
Start-up parameter refers to starting current, frequency limit value, magnetic field formation time, acceleration；Starting current and specified electricity
Flow valuve is identical, and the corresponding rotating speed of frequency limit value is arranged between 400 revs/min~500 revs/min, and the magnetic field formation time is no more than
1s, acceleration are arranged according to design value.
(2) (1) step is completed, after basic parameter test passes, according to pilot system is built shown in Fig. 2, to each nothing
Sensor permanent magnet synchronous motor carries out empty load of motor test；Start control power supply 6, stabilization of speed rises to setting value, then
Nominal parameter and electric current loop/speed ring PI parameters are adjusted by observing current value so that current value is minimum, and fluctuation is minimum.It is logical
Observation rotating speed (frequency) curve is crossed, electric current loop/speed ring PI parameters are adjusted so that frequency fluctuation is minimum.
It is comprehensive that at executing, steps are as follows：
(2.1) as shown in Fig. 2, building empty load of motor test platform, no load test platform includes fictitious load 1, shaft coupling
2, tooling 3, motor 4, cable 5, control power supply 6 and rack 7；
Fictitious load 1 is fixed on rack 7, and fictitious load 1 is connected by shaft coupling 2 and tooling 3 and fixed motor 4, control
Power supply 6 processed is powered and is controlled to motor 4 by cable 5；Cable 5 is generally stub cable, is no more than 50 meters.
(2.2) torque of fictitious load 1 is set as zero (being equivalently employed without load), starts control power supply 6, enable motor 4 empty
Carry work；Also this experiment can not be carried out on fictitious load 1.
(2.3) rotating speed of motor 4 is judged whether within the scope of preset no-load speed, if in range, enters step
Suddenly (2.4) otherwise adjust nominal parameter, later return to step (2.2)；
(2.4) electric current of motor 4 is judged whether within the scope of preset no-load current, if in range, enters step
Suddenly (3) start motor load experiment, otherwise adjust nominal parameter, start-up parameter and electric current loop/speed ring PI parameters, return later
Step (2.2)；
(3) to each motor load test is carried out without sensor permanent magnet synchronous motor；
After completing (2) pacing examination, according to pilot system is built shown in Fig. 2, load performance experiment is carried out, it is negative by simulating
1 setting load requirement value is carried, the performance parameters such as 4 voltage of detection motor, electric current, rotating speed are whether in scope of design.Wherein, zero
Speed or low speed Operational Zone control power supply 6 use open-loop start-up method, and by finely tuning 4 start-up parameter of motor, observation electric current, rotating speed are bent
Line so that frequency curve steadily rises along the slope of acceleration, and current curve fluctuation is minimum.Motor 4 (reaches into synchronous speed
Setpoint frequency) after, keep frequency and current fluctuation minimum by adjusting electric current loop/speed ring PI parameters.It is needed before and after experiment to motor 4
Carry out insulation performance test.4 single machine zero load of motor and load test can be used stub cable 5 (being no more than 50 meters) and carry out.
It is comprehensive that at executing, steps are as follows：
(3.1) as shown in Fig. 2, building motor load test platform, load testing platform includes fictitious load 1, shaft coupling
2, tooling 3, motor 4, cable 5, control power supply 6 and rack 7；
Fictitious load 1 is fixed on rack 7, and fictitious load 1 is connected by shaft coupling 2 and tooling 3 and fixed motor 4, control
Power supply 6 processed is powered and is controlled to motor 4 by cable 5；
(3.2) torque of fictitious load 1 is set as loading demand value, starts control power supply 6, motor 4 is enabled to work；
(3.3) judge whether the rotating speed of motor 4 is stablized according to the acceleration of setting to rise, if there is exception, adjustment is opened
Dynamic parameter, return to step (3.2)；If not occurring exception, enter step (3.4)；
The exception, which refers to the rotating speed of motor 4, to stablize rising according to the acceleration of setting；
(3.4) judge motor 4 stabilization of speed rise after whether within the scope of preset load speed, if in range
It is interior, then (3.5) are entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (3.2)；
(3.5) electric current of motor 4 is judged whether in preset load current range, if in range, enters step
Suddenly (4) start servo mechanism operation test, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step
(3.2)；
Preset no-load speed range is identical with preset load speed range, be positive and negative 50 turns of 4 rated speed of motor/
Divide in range；Preset no-load current ranging from 0~1A, preset load current range are the positive and negative of the rated current of motor 4
Within the scope of 3A.
(4) to each servo mechanism operation test is carried out without sensor permanent magnet synchronous motor；
After completing previous step test, motor 4 is assemblied in servo mechanism 8, as shown in Figure 3.Pass through pressure and flow
Size or other mode of loading determine 4 torque of motor, observe the performance parameters such as voltage, electric current, the rotating speed of motor 4.With step 3)
Similar, adjusting parameter keeps 4 rotating speed of motor steady, and current fluctuation is minimum.
It is comprehensive that at executing, steps are as follows：
(4.1) as shown in figure 3, building servo mechanism operation test platform, servo mechanism operation test platform includes motor
4, cable 5, control power supply 6 and servo mechanism 8；Motor 4 is assemblied in servo mechanism 8, and control power supply 6 is by cable 5 to motor 4
It is powered and controls；
(4.2) start control power supply (6), motor (4) is enabled to work, and then servo mechanism (8) is driven to work；
(4.3) judge whether the rotating speed of motor 4 is stablized according to the acceleration of setting to rise, if there is exception, adjustment is opened
Dynamic parameter, return to step (4.2)；If not occurring exception, enter step (4.4)；
(4.4) judge motor 4 stabilization of speed rise after whether within the scope of the load speed, if in range,
(4.5) are then entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (4.2)；
(4.5) electric current of motor 4 is judged whether in preset load current range, if in range, enters step
Suddenly (5) start more servo mechanism cooperation experiments, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later
Return to step (4.2)；
(5) experiment of more servo mechanism cooperations is carried out, to complete more without sensor permanent magnet synchronous motor simultaneously
Or the debugging that substep starts；
The preceding resistance for measuring long cable 10 of this experiment is carried out, according to Fig. 4 joint test systems, is watched using the connection of long cable 10
Take mechanism 8 and composite power source 9.9 inside of composite power source is equipped with many motors control power supply 6, and every power supply 6 controls a servo mechanism 8,
Rated voltage is set by calculating the pressure drop that long 10 resistance of cable generates, total electricity is reset according to the resistance of long cable 10
Resistance.Start-up parameter is adjusted according to parameter setting method in step 3), makes 4 smooth starting of motor, by adjusting electric current loop/speed ring
PI parameters make motor 4 in the even running of synchronous speed region.In addition, by the way that timer is arranged, each servo mechanism 8 is made to postpone successively
Not less than 1s, interfering with each other between more power supplys 6 of reduction.Solve longer distance, the connection of long cable 10 that core number is more and
More power supplys 6 work at the same time the problem of servo mechanism 8 in the case of caused electromagnetic interference can not normally start.Meanwhile passing through
The mode for adjusting power parameter eliminates the mode for installing means for anti-jamming in input end of motor, utmostly reduces system
Volume and weight.
It is comprehensive that at executing, steps are as follows：
(5.1) as shown in figure 4, building more servo mechanism cooperation test platforms, more servo mechanism cooperations
Test platform includes motor 4, servo mechanism 8, composite power source 9 and long cable 10；Motor 4 is assemblied in servo mechanism 8, servo
It is attached by long cable 10 between structure 8 and composite power source 9,9 inside of composite power source is equipped with many motors control power supply 6, every control
Power supply 6 processed controls a servo mechanism 8；Long cable 10 is generally higher than 100 meters.
(5.2) D.C. resistance of long cable 10, the D.C. resistance in adjustment control 6 parameter list of power supply, by pre- are measured
If load current calculate long cable 10 generation pressure drop, come adjust control 6 nominal parameter list of power supply in rated voltage；
(5.3) start composite power source 9, enable all control power supplys 6 simultaneously or substep start, and then simultaneously or substep drive watch
Take the work of mechanism 8；It enables all control power supplys 6 step by step start being specially：By the way that timer is arranged, make each servo mechanism 8 successively
Delay is not less than 1s, interfering with each other between more power supplys 6 of reduction.
(5.4) judge whether the rotating speed of motor 4 is stablized according to the acceleration of setting to rise, if there is exception, adjustment is opened
Dynamic parameter, return to step (5.3)；If not occurring exception, enter step (5.5)；
(5.5) judge motor 4 stabilization of speed rise after whether within the scope of the load speed, if in range,
(5.6) are then entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (5.3)；
(5.6) judge that the electric current of motor 4 whether in the load current range, if in range, completes more
While without sensor permanent magnet synchronous motor or substep Start-up and Adjustment, nominal parameter and electric current loop/speed ring PI ginsengs are otherwise adjusted
It counts, later return to step (5.3).
Embodiment：
The servo mechanism without sensor permanent magnet synchronous motor that four are equipped with 7.5kW carries out operation test.Motor volume
It is 7000rpm to determine rotating speed, and rated current 18A, line back-emf is 310V.All-in resistance by Rated motor parameter and after calculating is defeated
Enter in power parameter list, parameter setting comparative situation is as shown in the table in different tests step.According to the setting of each step
Parameter startup power supply, motor or servo mechanism work normally.
The content that description in the present invention is not described in detail belongs to the known technology of professional and technical personnel in the field.
Claims (8)
1. a kind of more without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method, it is characterised in that steps are as follows：
(1) to each motor basic parameter test is carried out without sensor permanent magnet synchronous motor；
(2) to each empty load of motor test is carried out without sensor permanent magnet synchronous motor；
(2.1) build empty load of motor test platform, no load test platform include fictitious load (1), shaft coupling (2), tooling (3),
Motor (4), cable (5), control power supply (6) and rack (7)；
Fictitious load (1) is fixed on rack (7), and fictitious load (1) is connected by shaft coupling (2) and tooling (3) and fixed electricity
Machine (4), control power supply (6) are powered and are controlled to motor (4) by cable (5)；
(2.2) torque of fictitious load (1) is set as zero, starts control power supply (6), enables motor (4) unloaded operation；
(2.3) judge that the rotating speed of motor (4) whether within the scope of preset no-load speed, if in range, enters step
(2.4), nominal parameter is otherwise adjusted, later return to step (2.2)；
(2.4) judge that the electric current of motor (4) whether within the scope of preset no-load current, if in range, enters step
(3) start motor load experiment, otherwise adjust nominal parameter, start-up parameter and electric current loop/speed ring PI parameters, return to step later
Suddenly (2.2)；
(3) to each motor load test is carried out without sensor permanent magnet synchronous motor；
(3.1) build motor load test platform, load testing platform include fictitious load (1), shaft coupling (2), tooling (3),
Motor (4), cable (5), control power supply (6) and rack (7)；
Fictitious load (1) is fixed on rack (7), and fictitious load (1) is connected by shaft coupling (2) and tooling (3) and fixed electricity
Machine (4), control power supply (6) are powered and are controlled to motor (4) by cable (5)；
(3.2) torque of fictitious load (1) is set as loading demand value, starts control power supply (6), motor (4) is enabled to work；
(3.3) judge whether the rotating speed of motor (4) is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (3.2)；If not occurring exception, enter step (3.4)；
The exception, which refers to the rotating speed of motor (4), to stablize rising according to the acceleration of setting；
(3.4) judge motor (4) stabilization of speed rise after whether within the scope of preset load speed, if in range,
(3.5) are then entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (3.2)；
(3.5) judge that the electric current of motor (4) whether in preset load current range, if in range, enters step
(4) start servo mechanism operation test, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step
(3.2)；
(4) to each servo mechanism operation test is carried out without sensor permanent magnet synchronous motor；
(4.1) servo mechanism operation test platform is built, servo mechanism operation test platform includes motor (4), cable (5), control
Power supply (6) processed and servo mechanism (8)；Motor (4) is assemblied in servo mechanism (8), and control power supply (6) is by cable (5) to electricity
Machine (4) is powered and controls；
(4.2) start control power supply (6), motor (4) is enabled to work, and then servo mechanism (8) is driven to work；
(4.3) judge whether the rotating speed of motor (4) is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (4.2)；If not occurring exception, enter step (4.4)；
(4.4) judge motor (4) stabilization of speed rise after whether within the scope of the load speed, if in range,
(4.5) are entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (4.2)；
(4.5) judge that the electric current of motor (4) whether in preset load current range, if in range, enters step
(5) start more servo mechanism cooperation experiments, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, return later
Return step (4.2)；
(5) more servo mechanism cooperation experiments are carried out, to complete more without sensor permanent magnet synchronous motor while or divide
Walk the debugging started；
(5.1) more servo mechanism cooperation test platforms are built, more servo mechanism cooperation test platforms include electricity
Machine (4), servo mechanism (8), composite power source (9) and long cable (10)；Motor (4) is assemblied in servo mechanism (8), servo mechanism
(8) it is attached by long cable (10) between composite power source (9), many motors control power supply is housed inside composite power source (9)
(6), every control power supply (6) controls a servo mechanism (8)；
(5.2) D.C. resistance of long cable (10), the D.C. resistance in adjustment control power supply (6) parameter list, by pre- are measured
If load current calculate the pressure drop that long cable (10) generates, to adjust the specified electricity in control power supply (6) nominal parameter list
Pressure；
(5.3) start composite power source (9), enable all control power supplys (6) while or substep start, and then simultaneously or substep drive watch
Take mechanism (8) work；
(5.4) judge whether the rotating speed of motor (4) is stablized according to the acceleration of setting to rise, if there is exception, adjust startup
Parameter, return to step (5.3)；If not occurring exception, enter step (5.5)；
(5.5) judge motor (4) stabilization of speed rise after whether within the scope of the load speed, if in range,
(5.6) are entered step, otherwise adjust nominal parameter and electric current loop/speed ring PI parameters, later return to step (5.3)；
(5.6) judge that the electric current of motor (4) whether in the load current range, if in range, completes more nothings
While sensor permanent magnet synchronous motor or substep Start-up and Adjustment, nominal parameter and electric current loop/speed ring PI parameters are otherwise adjusted,
Return to step (5.3) later.
2. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The cable (5) is no more than 50 meters.
3. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The long cable (10) is more than 100 meters.
4. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：It is described to enable all control power supplys (6) substep start being specially：By the way that timer is arranged, make each servo mechanism
(8) delay is not less than 1s, interfering with each other between more power supplys (6) of reduction successively.
5. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The preset no-load speed range is identical with preset load speed range, is motor (4) rated speed
Within the scope of positive and negative 50 revs/min.
6. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The preset no-load current ranging from 0~1A, the preset load current range are the volume of motor (4)
Within the scope of the positive and negative 3A of constant current.
7. more of one kind according to claim 1 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The step (1) carries out motor basic parameter test to each without sensor permanent magnet synchronous motor, specifically
For：
(1.1) line resistance and inductance, cable resistance for using LCR table measurement motors drag tested motor with prime mover, measure empty
Carry line back-emf virtual value；
(1.2) all-in resistance is calculated according to following formula：
R=R0+R1；
Wherein：R is all-in resistance；R0 is motor line resistance；R1 is cable resistance；
(1.3) rated voltage is calculated according to following formula：
Un=E0+R1*In；
Wherein：Un is rated voltage；E0 is non-loaded line back-emf；R1 is cable resistance；In is rated current；
(1.4) using the number of pole-pairs of motor, nominal parameter, start-up parameter, switching frequency and electric current loop/speed ring PI parameters as
Initial setting is input into the parameter list of the corresponding control power supply of motor.
8. more of one kind according to claim 7 without sensor permanent magnet synchronous motor simultaneously or substep Start-up and Adjustment method,
It is characterized in that：The nominal parameter refers to rated voltage, rated current, rated power, rated speed；Wherein rated current,
Rated power, rated speed are arranged according to design value；
The start-up parameter refers to starting current, frequency limit value, magnetic field formation time, acceleration；Starting current and specified electricity
Flow valuve is identical, and the corresponding rotating speed of frequency limit value is arranged between 400 revs/min~500 revs/min, and the magnetic field formation time is no more than
1s, acceleration are arranged according to design value.
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| CN201610779740.9A CN106208821B (en) | 2016-08-30 | 2016-08-30 | More of one kind is without sensor permanent magnet synchronous motor while or substep Start-up and Adjustment method |
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| CN111399559B (en) * | 2019-01-03 | 2023-11-07 | 财团法人工业技术研究院 | Method for judging load characteristics and adjusting acceleration of workpiece of machine tool |
| CN112953322B (en) * | 2021-04-22 | 2023-04-11 | 山东凯信德电子科技有限公司 | Frequency converter |
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| CN201110888Y (en) * | 2007-12-14 | 2008-09-03 | 大庆供电电器设备有限公司 | Self-starting rare-earth permanent magnet rotor type electric motor microcomputer integrated test apparatus |
| CN101629860A (en) * | 2008-07-16 | 2010-01-20 | 赵健身 | Method for testing partial performances of three-phase asynchronous motors |
| CN102680234A (en) * | 2011-11-08 | 2012-09-19 | 河南科技大学 | Multi-field coupling testing method and system of vertical shaft wind power generating system |
| CN103235259A (en) * | 2013-04-11 | 2013-08-07 | 上海电机系统节能工程技术研究中心有限公司 | Experimental dynamic loading device for variable frequency motors and stimulating method |
| CN103809120A (en) * | 2014-03-03 | 2014-05-21 | 广东机电职业技术学院 | Testing system and method for electric part of power system for weak hybrid electric vehicle |
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|---|---|---|---|---|
| CN201110888Y (en) * | 2007-12-14 | 2008-09-03 | 大庆供电电器设备有限公司 | Self-starting rare-earth permanent magnet rotor type electric motor microcomputer integrated test apparatus |
| CN101629860A (en) * | 2008-07-16 | 2010-01-20 | 赵健身 | Method for testing partial performances of three-phase asynchronous motors |
| CN102680234A (en) * | 2011-11-08 | 2012-09-19 | 河南科技大学 | Multi-field coupling testing method and system of vertical shaft wind power generating system |
| CN103235259A (en) * | 2013-04-11 | 2013-08-07 | 上海电机系统节能工程技术研究中心有限公司 | Experimental dynamic loading device for variable frequency motors and stimulating method |
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