CN106842024A - A kind of New-type electric machine control performance test system - Google Patents
A kind of New-type electric machine control performance test system Download PDFInfo
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- CN106842024A CN106842024A CN201710055471.6A CN201710055471A CN106842024A CN 106842024 A CN106842024 A CN 106842024A CN 201710055471 A CN201710055471 A CN 201710055471A CN 106842024 A CN106842024 A CN 106842024A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R31/00—Arrangements for testing electric properties; Arrangements for locating electric faults; Arrangements for electrical testing characterised by what is being tested not provided for elsewhere
- G01R31/34—Testing dynamo-electric machines
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- Control Of Electric Motors In General (AREA)
Abstract
The invention discloses a kind of New-type electric machine control performance test system, suitable for the test of motor control performance in SERVO CONTROL field, for existing test system and test complex structure, the shortcoming that test device is excessive and the testing time is more long, it is proposed that new solution；Being related to device includes tested driver, tested motor, is tested host computer, accompanies survey driver, accompany measured motor, accompany survey host computer, shaft coupling, L-type support, cast iron platform and test pattern selecting module；Four kinds of test patterns can be selected by test pattern selecting module, the test of major control index known in the art can be completed.Test structure of the present invention is simple, test device is fewer than prior art and saves the testing time.
Description
Technical field
The present invention relates to a kind of Motor Measuring System, and in particular to a kind of test system of testing of electric motors control performance.
Background technology
Motor product performance test is the necessary process in motor product development process, and motor product is just needed in development
Performance test is frequently controlled, was also required to carry out systematic control performance test before product launch phase.Cause
This complete set and convenient motor control Testing Platform have for shortening product development cycle, improving Quality of Product
There is extremely important effect.As the important ring that motor product is developed, a set of complete, reliable, convenient motor control performance
Test device can understand motor product performance for research staff, find that product is not enough, find product improvement scheme provides well
Experiment basis.
The motor control performance testing device commonly used in current Motor Control Field is broadly divided into three kinds：One is based on measurement of power
The test device of machine, i.e. I class device, conventional dynamometer machine are divided into electric vortex type dynamometer machine, magnetic hysteresis dynamometer machine and magnetic measurement of power again
Machine etc.；Two is the test device of additional inertia disc, specifically installs the used of different rotary inertias additional to motor according to testing requirement
Amount disk, i.e. II class device；Three is the test device i.e. III class device of the specific operating mode of analog subscriber, specifically according to user scene work
The characteristics of condition, find similar test device, such as ball-screw, belt pulley etc..I class device is more common, but its price is past
Toward costly, and various forms of dynamometer machines have corresponding limitation, such as electric eddy current brake is only used for torque
Export the occasion being directly proportional to rotating speed output, it is impossible to test the motor of low-speed big output；Hysteresis dynamometer machine can be exported
Rotating speed very high, but output torque has great limitation；Magnetic-powder-type dynamometer machine is then with hysteresis conversely, can export very big
Torque but can only typically operate under lower-speed state, about below 1000rpm.II class device is less expensive, but is only applicable
Electromagnetic torque performance is exported in testing of electric motors, only in startup and stopping with than larger output torque, therefore is only applicable to
Special project test, range of application is smaller；III class device is relatively also costly, generally as the specific survey for meeting user's advanced requirement
Examination.Electric motors function is tested and the test content of performance test is a lot, if carrying out complete test, generally requires research and development unit purchase
The I class device, II class device and III class device of the whole series are put, not only price is sufficiently expensive, and test item is excessive, quite expends test
The time and efforts of personnel.
The content of the invention
Goal of the invention：The invention provides a kind of New-type electric machine control performance test system, can widespread adoption in motor
Function and performance test, have with existing Performance Test System compared with cheap equipment, saving tester's time and energy and
The characteristics of measuring accuracy is higher.
Technical scheme：A kind of motor control Performance Test System, including tested driver, tested motor, are tested host computer,
Survey driver is accompanied, accompany measured motor accompanies survey host computer, shaft coupling, cast iron platform to dispose the first support of tested motor, and placement is accompanied
The second support of measured motor, is tested driver and accompanies survey driver to be all connected by electric wire with AC network；Tested driver with
Tested motor is connected by power line；Survey driver is accompanied to be connected by power line with accompany measured motor；On being tested driver and being tested
Position machine is connected by communication cable；Survey driver is accompanied to be connected by communication cable with survey host computer is accompanied；The of placement tested motor
The second support of one support and placement tested motor is bolted on cast iron platform, and tested motor is fastened by bolts
In first support；Accompany measured motor is fastened by bolts on the secondary support bracket；Tested motor is fastened by bolts with shaft coupling；Accompany survey
Motor is fastened by bolts with shaft coupling.
Further, it is tested host computer and accompanies to survey and is built-in with test pattern selecting module to select Working mould in host computer
Formula, the mode of operation includes body test pattern, testing current pattern, speed test mode, position measurement pattern.
Further, tested motor and tested driver are operated under open current loop pattern under the body test pattern,
And accompany measured motor and accompany survey host computer be in servo do not enable treat working condition.
Further, tested motor and tested driver are operated in position open loop, speed and open under the testing current pattern
Under ring and current closed-loop pattern, and accompany measured motor and accompany survey host computer be in servo do not enable treat working condition.
Further, tested motor and tested driver are operated in position open loop, speed and close under the speed test mode
Under ring and current closed-loop pattern, and accompany measured motor and accompany survey host computer be in servo do not enable treat working condition or torque control
The working condition of molding formula.
Further, tested motor and tested driver are operated in position closed loop, speed and close under the position measurement pattern
Under ring and current closed-loop pattern, and accompany measured motor and accompany survey host computer be in servo do not enable treat working condition or torque control
The working condition of molding formula.
Beneficial effect：
1st, test structure is simple.Electric connecting mode of the invention is very simple with mechanical connection manner, and is existing skill
In art field familiar to technician；Test pattern selection can be completed by host computer, it is not necessary in changed test index
The connection of repeated disassembled and assembled equipment afterwards.
2nd, test device is less.Compared with prior art, the present invention is designed without increasing test device, and avoids measurement of power
The use of the sophisticated equipments such as mechanical, electrical stream pincers tester, torque sensor.
3rd, the testing time is shorter.The present invention is realized tester need to only make by test pattern selecting module in host computer
Test can be completed with host computer, it is not necessary to the connection of changed test device repeatedly, it is not required that tester burns repeatedly
Write control program.
Brief description of the drawings：
Fig. 1 is electrical connection schematic diagram of the invention, and the test pattern selecting module that dotted line frame is represented is integrated in being tested
Host computer 3 and accompany survey host computer 6 in functional module；
Fig. 2 is mechanical connection schematic diagram of the invention；
In figure, 1- is tested driver, 2- tested motors, and 3- is tested host computer, and 4- accompanies survey driver, 5- accompany measured motors, 6-
Survey host computer, 7- shaft couplings, 8- test pattern selecting modules, 9- cast iron platforms, 10- is accompanied to dispose the first support of tested motor,
11- disposes the second support of accompany measured motor.
Specific embodiment：
In order that the purpose of the embodiment of the present invention, technical scheme and a little clearer, implement below in conjunction with the present invention
Accompanying drawing in example, is clearly and completely described to the technical scheme in the embodiment of the present invention.Obviously, described embodiment
It is a part of embodiment of the invention, rather than whole embodiments.Based on the embodiment in the present invention, ordinary skill
The every other embodiment that personnel are obtained under the premise of creative work is not made, belongs to the model that the present invention is protected
Enclose.
Basic device involved in the present invention includes tested driver 1, tested motor 2, is tested host computer 3, accompanies survey to drive
Device 4, accompany measured motor 5, accompany and survey host computer 6, shaft coupling 7, test pattern selecting module 8, cast iron platform 9, placement tested motor
The second support 11 of first support 10 and placement tested motor, first support and second support are L-type.
The tested driver 1, tested motor 2 and tested host computer 3 are devices to be measured.Tested driver 1 is used as dynamic
Power apparatus, drive tested motor 2 to work, and are tested host computer 3 and mainly complete to be tested driver sending function mark, transmission ginseng
Count, receive the functions such as signal.
It is described accompany survey driver 4, accompany measured motor 5 and accompany survey host computer 6 be free existing reliable device.
Survey driver 4 is accompanied as power set, drives accompany measured motor 5 to work, accompany survey host computer 6 mainly to complete to accompany survey to drive
Device sending function mark is moved, passed a parameter, received the functions such as signal.
The effect of the shaft coupling 7 is to force to cause that tested motor 2 is identical with torque with the rotating speed of accompany measured motor 5.It is described
Test pattern selecting module is integrated in tested host computer 3 and accompanies the test pattern selection function block surveyed in host computer 6, its effect
It is so that the present invention can realize four kinds of electromechanical testings of pattern, the part is the man-machine interface part in the present invention.
The effect of the first support 10 of the placement tested motor and the second support 11 of placement tested motor is firm peace
Put tested motor 2 and accompany measured motor 5, it is ensured that in the specific implementation, mechanical part is stable and reliable to the present invention.
In order to preferably illustrate specific embodiment of the invention, below the tested driver with power grade as 800W and
Illustrated as a example by tested motor.Selected accompany measured motor model EMJ-08A, it is PRONET-08 to accompany survey driver signal, is accompanied in survey
The version of position machine is ESVIEW 2.0, shaft coupling model GH1-15, disposes L-type support, the placement tested motor of tested motor
L-type support and cast iron platform customized according to the size of motor.
As shown in the Fig. 1 in Figure of description, mechanical connection manner of the invention is as said for electric connecting mode of the invention
Shown in Fig. 2 in bright book accompanying drawing.
Described electric connecting mode is：It is tested driver 1 and accompanies survey driver 4 all to pass through electric wire phase with AC network
Even；Tested driver 1 is connected with tested motor 2 by power line；Survey driver 4 is accompanied to be connected by power line with accompany measured motor 5；
Tested driver 1 is connected with tested host computer 3 by communication cable；Survey driver 4 is accompanied to pass through communication cable with survey host computer 6 is accompanied
It is connected；Test pattern selecting module be embedded in tested host computer 3 with accompany survey host computer 6 among.
Described mechanical connection manner is：Dispose the first support 10 of tested motor and the second support of placement tested motor
11 are fastened by bolts on cast iron platform；Tested motor 2 is fastened by bolts in first support 10；Accompany measured motor 5 passes through
Bolt is fastened in second support 11；Tested motor 2 is fastened by bolts with shaft coupling 7；Accompany measured motor 5 passes through with shaft coupling 7
Bolt is fastened.
The test pattern selecting module working mechanism is as follows：
Mode1：Body test pattern.Tested host computer 3 is set so that tested motor and tested driver are operated in electric current
Under open loop mode, electric moter voltage is directly given.Specific method to set up is the control function mode selection parameter for selecting host computer 3,
These parameters are the basic parameters that host computer 3 is included, and tested mode selection module is used, in selection parameter " electric current is opened
Ring mode ", the real work pattern for being provided with rear motor is open current loop, directly gives the pattern of electric moter voltage；By setting
Put and accompany survey host computer 6 so that accompany measured motor and accompany survey host computer to be in treat working condition, specific method to set up is to survey upper accompanying
The motor for surveying driver 4 will be accompanied to enable parameter in machine 6 close；By accompany survey host computer 6 read and record tested motor speed,
Electric current and voltage waveform；By the speed, electric current and the voltage waveform that record, tested motor and quilt are calculated according to bulk properties formula
The body index of driver is surveyed, described body index includes mechanical time constant, electric motor resistance value, the motor inductances of motor
Value, motor torque coefficient etc..The computational methods of each body index are the knowledges in industry, below with the moment coefficient of motor
As a example by illustrate how real-time this step is：Voltage by the given tested motor 2 of the setting of host computer 3 is constant value, is now tested
The corresponding current curve of motor 2 is the curve of asymptotically stability, after the current value I that tested motor 2 is read after current curve stabilizationSurely,
The torque value T that host computer 6 reads accompany measured motor 5 is surveyed by accompanyingSurely, the moment coefficient index of tested motor is Kt=TSurely/ISurely。
It is described to treat that working condition is electricity on finger actuator, but the state of any control instruction is not awarded.
Mode2：Testing current pattern.Tested host computer 3 is set so that tested motor and tested driver are operated in position
Under open loop, speed open loop and current closed-loop pattern, motor reference current is given, specific method to set up is the tested host computer 3 of selection
Control function mode selection parameter, " torque control model " in selection parameter is provided with the real work mould of rear motor
Formula is current closed-loop pattern；By set accompany survey host computer 4 so that accompany measured motor and accompany survey host computer be in treat working condition,
Specific method to set up is that the motor for surveying driver 4 will be accompanied to enable parameter in survey host computer 6 is accompanied to close；Host computer 6 is surveyed by accompanying
Read and record speed, electric current and the voltage waveform of tested motor；By the speed, electric current and the voltage waveform that record, motor is looked into
Voltage equation, calculates the current control performance of tested motor and tested driver.Described current control performance refers generally to motor
The Con trolling index such as the overshoot of current tracking, rise time and regulating time.
The computational methods of current rise time：tpIt is electric current from 0 time experienced to peak value.
The computing formula of current overshoot amount is：[I(tp)-I (∞)]/I (∞) * 100%.I(tp) be electric current peak value, I
(∞) is the steady-state value of electric current.
The computational methods of electric current regulating time：tsIt is electric current from 0 to the time for entering the error band of steady-state value 5%.
Mode3：Speed test mode.Tested host computer 3 is set so that tested motor and tested driver are operated in position
Under open loop, speed closed loop and current closed-loop pattern, motor reference velocity is given；Survey host computer 4 is accompanied by setting so that accompany survey electricity
Machine and accompany survey host computer be in treat working condition or torque control model, the specific method to set up of " treating working condition " is to accompany survey
The motor for surveying driver 4 will be accompanied to enable parameter in host computer 4 close, the specific method to set up of " torque control model " is to accompany survey
The motor for surveying driver 4 will be accompanied to enable parameter in host computer 6 open, and accompanying the control function model selection of survey host computer 6
Parameter, " torque control model " in selection parameter；The speed of tested motor, electric current are read and record by accompanying survey host computer 6
And voltage waveform；By the speed, electric current and the voltage waveform that record, motor speed equation is looked into, calculate tested motor and tested drive
The speed control performance of dynamic device.Described speed control performance refers generally to overshoot, rise time, the regulation of motor speed tracking
The Con trolling index such as the speed wave momentum after time and loading.
The torque control model, refers to a kind of mode of operation of input torque command signal in existing product servo.
The computational methods of speed rise time：tpIt is electric current from 0 time experienced to peak value.
The computing formula of speed overshoot is：[ω(tp)-ω (∞)]/ω (∞) * 100%.ω(tp) be speed peak
Value, ω (∞) is the steady-state value of speed.
The computational methods of speed regulating time：tsIt is electric current from 0 to the time for entering the error band of steady-state value 5%.
Speed wave momentum after loading：After tested motor loading, the size of speed deviations steady-state value ω (∞).Loading passes through
Accompany measured motor is realized.
Mode4：Position measurement pattern.Tested host computer 3 is set so that tested motor and tested driver are operated in position
Under closed loop, speed closed loop and current closed-loop pattern, motor reference position is given, specific method to set up is to select the control of host computer 3
Functional mode selection parameter processed, " position control mode " in selection parameter, being provided with the real work pattern of rear motor is
Position closed loop pattern；By set accompany survey host computer 4 so that accompany measured motor and accompany survey host computer be in treat working condition or torque
Control model；Position, speed, electric current and voltage waveform that host computer 6 read and recorded tested motor are surveyed by accompanying；By record
Position, speed, electric current and voltage waveform, look into motor position equation, calculate the position control of tested motor and tested driver
Performance.After described position control performance refers generally to overshoot, rise time, regulating time and the loading of motor position tracking
The Con trolling index such as positional fluctuation amount.
The computational methods of position rise time：tpIt is electric current from 0 time experienced to peak value.
The computing formula of position overshoot is：[p(tp)-p (∞)]/p (∞) * 100%.p(tp) be position peak value, p
(∞) is the steady-state value of position.
The computational methods of position adjustments time：tsIt is position from 0 to the time for entering the error band of steady-state value 5%.
Speed wave momentum after loading：After tested motor loading, the size of positional deviation steady-state value p (∞).Loading passes through
Accompany measured motor is realized.
Test pattern Mode1~4 are more complete motor control performance tests, and tester can be according to test
Demand selection carries out all or part of test pattern.
In order to how illustrate tester according to testing requirement selection test pattern, with most often test in current technical field
Motor body characteristic, frequency bandwidth, speed follower, Static stiffness and the explanation of the big machinery industry index of location following error five survey
Examination mode selecting method.
Motor body characteristic be motor when voltage instruction is directly inputted, the fundamental characteristics for reflecting.So selection
Mode1 body test patterns.
Frequency bandwidth refer to motor load in forward and reverse quick change, motor driver rings to the control time of motor
Answer, i.e. the bandwidth of electric machine controller.So selection Mode2 testing current patterns.
Speed follower be motor when input speed is instructed, feedback speed follows the characteristic of speed command.So selection
Mode3 speed test modes.
Static stiffness is the wave testing of motor rate curve when load torque changes.So selection Mode3 velocity tests
Pattern.
Location following error be motor when input position is instructed, feedback position follows the characteristic of position command.So choosing
Select Mode4 position measurement patterns.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of motor control Performance Test System, it is characterised in that including being tested driver (1), tested motor (2) is tested
Host computer (3), accompanies survey driver (4), and accompany measured motor (5) accompanies survey host computer (6), shaft coupling (7), cast iron platform (9), placement
The first support (10) of tested motor, disposes the second support (11) of accompany measured motor, is tested driver (1) and accompanies survey driver
(4) all it is connected by electric wire with AC network；Tested driver (1) is connected with tested motor (2) by power line；Survey is accompanied to drive
Device (4) is connected with accompany measured motor (5) by power line；Tested driver (1) is with tested host computer (3) by communication cable phase
Even；Survey driver (4) is accompanied to be connected by communication cable with survey host computer (6) is accompanied；Dispose tested motor first support (10) and
The second support (11) of tested motor is disposed to be bolted on cast iron platform, tested motor (2) is fastened by bolts
In first support (10)；Accompany measured motor (5) is fastened by bolts in second support (11)；Tested motor (2) and shaft coupling (7)
It is fastened by bolts；Accompany measured motor (5) is fastened by bolts with shaft coupling (7).
2. the method for testing that motor control Performance Test System according to claim 1 is realized, it is characterised in that on tested
Position machine and accompany and be built-in with test pattern selecting module (8) to select mode of operation in survey host computer, the mode of operation includes this
Body test pattern, testing current pattern, speed test mode, position measurement pattern.
3. the method for testing that motor control Performance Test System according to claim 2 is realized, it is characterised in that described
Tested motor and tested driver are operated under open current loop pattern under body test pattern, and accompany measured motor and accompany survey host computer at
Working condition is treated in what servo was not enabled.
4. the method for testing that motor control Performance Test System according to claim 2 is realized, it is characterised in that the electricity
Tested motor and tested driver are operated under position open loop, speed open loop and current closed-loop pattern under current test pattern, and are accompanied
Measured motor and accompany survey host computer be in servo do not enable treat working condition.
5. the method for testing that motor control Performance Test System according to claim 2 is realized, it is characterised in that the speed
Tested motor and tested driver are operated under position open loop, speed closed loop and current closed-loop pattern under degree test pattern, and are accompanied
Measured motor and the working condition for treating working condition or torque control model for accompanying survey host computer not enabled in servo.
6. the method for testing that motor control Performance Test System according to claim 2 is realized, it is characterised in that institute's rheme
Put tested motor and tested driver under test pattern to be operated under position closed loop, speed closed loop and current closed-loop pattern, and accompany
Measured motor and the working condition for treating working condition or torque control model for accompanying survey host computer not enabled in servo.
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| CN201710055471.6A CN106842024A (en) | 2017-01-25 | 2017-01-25 | A kind of New-type electric machine control performance test system |
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| CN107621606A (en) * | 2017-10-31 | 2018-01-23 | 合肥巨动力系统有限公司 | A kind of motor mounting rack for exempting from centering of end face installation Motor Measuring System |
| CN107656195A (en) * | 2017-08-14 | 2018-02-02 | 苏州新视野自动化科技有限公司 | Motor-operating mechanism test device |
| CN108107363A (en) * | 2017-12-29 | 2018-06-01 | 苏州欧鹏自动化设备有限公司 | A kind of durable test device for servomotor |
| CN109443397A (en) * | 2018-12-07 | 2019-03-08 | 珠海格力电器股份有限公司 | Motor positioning precision testing device and method |
| CN109444742A (en) * | 2018-12-04 | 2019-03-08 | 东风电动车辆股份有限公司 | Electric passenger vehicle electric drive assembly test device |
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| CN109444742B (en) * | 2018-12-04 | 2024-03-26 | 东风电动车辆股份有限公司 | Electric driving assembly testing device for electric passenger car |
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| CN113311331A (en) * | 2021-05-12 | 2021-08-27 | 上海和夏新能源科技有限公司 | Motor testing device and system |
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