CN107543640A - Motor torque measuring method and device - Google Patents
Motor torque measuring method and device Download PDFInfo
- Publication number
- CN107543640A CN107543640A CN201610478645.5A CN201610478645A CN107543640A CN 107543640 A CN107543640 A CN 107543640A CN 201610478645 A CN201610478645 A CN 201610478645A CN 107543640 A CN107543640 A CN 107543640A
- Authority
- CN
- China
- Prior art keywords
- torque
- motor
- axis
- current
- electric angle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Abstract
The present invention is applied to technical field of motors, and the present invention provides motor torque measuring method and device, motor torque measuring method comprise the following steps：Each phase current of motor is obtained, and each phase current of motor is converted into direct-axis current and quadrature axis current；D-axis torque and quadrature axis torque are obtained according to direct-axis current and quadrature axis current；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；Obtain rotor-position and electric angle is obtained according to rotor-position；Motor effective torque is obtained according to electric angle and resultant moment, the cost of whole device is relatively low, and new hardware device need not be set accurately to obtain motor effective torque.
Description
Technical field
The present invention relates to technical field of motors, more particularly to motor torque measuring method and device.
Background technology
The method of testing of industry torque is divided into two kinds at present, and one kind is torque sensor method of testing, in motor and load
Between plus a torque sensor, this method is limited by mechanical structure, and price is sufficiently expensive.Another method is that power pushes away
Algorithm, the electric power of motor is first tested out, electric power is then converted into machine output power according to certain ratio, should
Method test is direct, but error is larger.In summary, the power that torgue measurement method and device is measured in the prior art be present
The problem of square inaccuracy.
The content of the invention
It is an object of the invention to provide motor torque measuring method and device, to solve to have torque survey in the prior art
The problem of torque inaccuracy that amount method and device is measured.
First aspect present invention provides a kind of motor torque measuring method, and the motor torque measuring method includes following step
Suddenly：
Each phase current of motor is obtained, and each phase current of motor is converted into direct-axis current and quadrature axis current；
D-axis torque and quadrature axis torque are obtained according to the direct-axis current and the quadrature axis current；
Vector modulation is carried out to the d-axis torque and the quadrature axis torque and obtains resultant moment；
Obtain rotor-position and electric angle is obtained according to the rotor-position；
Motor effective torque is obtained according to the electric angle and the resultant moment.
It is described according to the direct-axis current with reference in a first aspect, in the first possible implementation of first aspect
It is specially with the step of quadrature axis current acquisition d-axis torque and quadrature axis torque：
D-axis torque and quadrature axis torque are obtained according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is moment coefficient.
With reference in a first aspect, in second of possible implementation of first aspect, the acquisition rotor-position and root
It is specially according to the step of rotor-position acquisition electric angle：
Electric angle is obtained according to below equation：
Wherein, θ is electric angle, and p is rotor-position.
It is described according to the electrical equipment angle with reference in a first aspect, in the third possible implementation of first aspect
It is specially with the step of resultant moment acquisition motor effective torque：
Motor torque is obtained according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
It is described according to the electrical equipment angle with reference in a first aspect, in the 4th kind of possible implementation of first aspect
It is further comprising the steps of after the step of obtaining motor effective torque with the resultant moment：
Shown after carrying out integration filtering to the motor effective torque.
Second aspect of the present invention provides a kind of motor torque measurement apparatus, and the motor torque measurement apparatus includes：
Shaft current acquisition module, d-axis electricity is converted into for obtaining each phase current of motor, and by each phase current of motor
Stream and quadrature axis current；
Axle power square acquisition module, for obtaining d-axis torque and quadrature axis power according to the direct-axis current and the quadrature axis current
Square；
Resultant moment acquisition module, synthesis is obtained for carrying out Vector modulation to the d-axis torque and the quadrature axis torque
Torque；
Electric angle acquisition module, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque acquisition module, for obtaining motor effective torque according to the electric angle and the resultant moment.
With reference to second aspect, in the first possible implementation of second aspect, acquisition module after the axle power square
It is according to the direct-axis current and the process of quadrature axis current acquisition d-axis torque and quadrature axis torque：
D-axis torque and quadrature axis torque are obtained according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is moment coefficient.
With reference to second aspect, in second of possible implementation of second aspect, the electric angle acquisition module
Obtain rotor-position and be according to the process of rotor-position acquisition electric angle：
Electric angle is obtained according to below equation：
Wherein, θ is electric angle, and p is rotor-position.
With reference to second aspect, in the third possible implementation of second aspect, the effective torque acquisition module
The process that motor effective torque is obtained according to the electrical equipment angle and the resultant moment is：
Motor torque is obtained according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
With reference to second aspect, in the 4th kind of possible implementation of second aspect, the motor torque measurement apparatus
Also include integration filtering module and display module；
The integration filtering module is carried out after integration filtering is carried out to the motor effective torque by the display module
Display.
The present invention provides motor torque measuring method and device, motor torque measuring method comprise the following steps：According to electricity
Each phase current of machine obtains direct-axis current and quadrature axis current；D-axis torque and friendship are obtained according to direct-axis current and the quadrature axis current
Axle power square；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；Obtain rotor-position and according to rotor position
Put acquisition electric angle；Motor effective torque is obtained according to electric angle and resultant moment, the cost of whole device is relatively low, and
New hardware device need not be set accurately to obtain motor effective torque.
Brief description of the drawings
Technical scheme in order to illustrate the embodiments of the present invention more clearly, below will group embodiment or description of the prior art
In the required accompanying drawing used be briefly described, it should be apparent that, drawings in the following description be only the present invention some
Embodiment, group is for those of ordinary skill in the art, without having to pay creative labor, can also be according to these
Accompanying drawing obtains other accompanying drawings.
Fig. 1 is a kind of flow chart for motor torque measuring method that an embodiment of the present invention provides；
Fig. 2 is the signal that resultant moment is obtained in a kind of motor torque measuring method that an embodiment of the present invention provides
Figure；
Fig. 3 is a kind of structural representation for motor torque measurement apparatus that another embodiment of the present invention provides.
Embodiment
In order to make the purpose , technical scheme and advantage of the present invention be clearer, below in conjunction with drawings and Examples, group
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical scheme, illustrated below by specific embodiment.
The embodiment of the present invention provides a kind of motor torque measuring method, as shown in figure 1, motor torque measuring method include with
Lower step：
Step S101. obtains each phase current of motor, and each phase current of motor is converted into direct-axis current and quadrature axis electricity
Stream.
In step S101, specifically, motor driver and motor are connected via Hall sensor.Pass through Hall
Current sensor in the case where not influenceing input current, can extract each phase current of machine winding, pass through by electric current
AD conversion is input in digital signal processor DSP, by clark, park convert, convert electrical current into biphase current Ia and
Ib。
Step S102. obtains d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current.
In step s 102, specifically, obtaining d-axis torque and quadrature axis torque according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is moment coefficient, wherein, moment coefficient can be obtained by locked rotor torque method of testing.Specific method is：
It is that any two-phase of motor is passed through a steady state value electric current a by continuous current source, is then slowly gone to pull motor with spring scale
Axle, until the maximum F, Kt=F/a that axle is rotated, and record spring scale is shown..
Wherein, magnetic field produces Lorentz force, and this power is acted on by rotor, rotor connection is outside negative made of permanent magnet
Load rotates just raw torque.Mathematical modeling by electric current to torque is extremely complex, and the size approximation of electric current and torque is directly proportional,
Coefficient between them is referred to as moment coefficient, is represented with Kt.
Step S103. carries out Vector modulation to d-axis torque and quadrature axis torque and obtains resultant moment.
In step s 103, specifically, as shown in Fig. 2 the angle of d-axis torque and quadrature axis torque is right angle, progress is passed through
Vector modulation, you can to obtain resultant moment T1.
Step S104. obtains rotor-position and obtains electric angle according to rotor-position.
In step S104, specifically, obtaining the mechanical location of motor by position sensor, pass through the side of space symmetr
Method, calculates electric angle, and a such as n, using the position sensor of a m line, is obtained to the motor of pole by position sensor
Position be p, then electric angleWherein, θ is electric angle, and p is rotor position
Put.
The position of electromechanics is obtained by position sensor, the electricity of rotor can be calculated by above-mentioned calculation formula
Air horn degree.
Step S105. obtains motor effective torque according to electric angle and resultant moment.
In step S105, specifically, obtaining motor torque according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
Space vector conversion torque test philosophy of the present invention is as follows：The rotation of rotor is the rotation as caused by machine winding
Turn magnetic field control, what the torque size of output determined by the intensity of rotating excitation field and with the differential seat angle of rotor.Rotating excitation field
Analysis and calculation model is extremely complex and it is that polyphase windings synthesize to obtain, and rotating magnetic field model is become by space vector
Change, establish with the rotationally-varying coordinate system of rotor.Modern composite stepper motor, possess more number of pole-pairs, it is empty between every pole
Between it is symmetrical, converted by space vector, can be electric angle by machine operation angle change with model as a pair of poles, acquisition
Further according to resultant moment after electric angle, motor effective torque can be both obtained.
Further, step is also included after the step S105：
After obtaining motor effective torque, then shown after motor effective torque is carried out into integral filtering.
Specifically, whole measuring and calculating process needs 1ms or so, although the operating of motor is a continuous process, but from
It is the process of a saltus step from the perspective of microcosmic, just as the operating of clock and watch, should be measuring and calculating is derived from microcosmic principle
, so, the value that torque is also a saltus step is measured, measured value is needed by certain integral filtering so that the torque of output
Curve is as far as possible smooth.
Another embodiment of the present invention provides a kind of motor torque measurement apparatus, as shown in figure 3, motor torque measurement apparatus
Including：
Shaft current acquisition module 201, d-axis is converted into for obtaining each phase current of motor, and by each phase current of motor
Electric current and quadrature axis current；
Axle power square acquisition module 202, for obtaining d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current；
Resultant moment acquisition module 203, resultant moment is obtained for carrying out Vector modulation to d-axis torque and quadrature axis torque；
Electric angle acquisition module 204, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque acquisition module 205, for obtaining motor effective torque according to electric angle and resultant moment.
Specifically, motor driver and motor are connected via Hall sensor.Can by Hall current sensor
In the case where not influenceing input current, to extract each phase current of machine winding, electric current is being input to by AD conversion
In digital signal processor DSP, converted by clark, park, convert electrical current into biphase current Ia and Ib.
Specifically, axle power square acquisition module 202 obtains d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current
Process be：
D-axis torque and quadrature axis torque are obtained according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is moment coefficient, wherein, moment coefficient can be obtained by locked rotor torque method of testing.Specific method is：
It is that any two-phase of motor is passed through a steady state value electric current a by continuous current source, is then slowly gone to pull motor with spring scale
Axle, until the maximum F, Kt=F/a that axle is rotated, and record spring scale is shown.
Specifically, electric angle acquisition module 204 obtains rotor-position and the mistake of electric angle is obtained according to rotor-position
Cheng Wei：
Electric angle is obtained according to below equation：
Wherein, θ is electric angle, and p is rotor-position.
The position of electromechanics is obtained by position sensor, the electricity of rotor can be calculated by above-mentioned calculation formula
Air horn degree.
Specifically, effective torque acquisition module 205 obtains the mistake of motor effective torque according to electrical equipment angle and resultant moment
Cheng Wei：
Motor torque is obtained according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
Further, motor torque measurement apparatus also includes integral filtering module and display module, has for obtaining motor
After effect square, then shown after motor effective torque is carried out into integral filtering.
Specifically, whole measuring and calculating process needs 1ms or so, although the operating of motor is a continuous process, but from
It is the process of a saltus step from the perspective of microcosmic, just as the operating of clock and watch, should be measuring and calculating is derived from microcosmic principle
, so, the value that torque is also a saltus step is measured, measured value is needed by certain integral filtering so that the torque of output
Curve is as far as possible smooth.
The motor torque measurement apparatus in the case where not influenceing motor itself and normally operating, can obtain the electricity of motor
Stream and rotor-position, specifically：The power line of motor driver is connected after the motor torque measurement apparatus with motor, electricity
The encoder line parallel of machine driver only obtains motor driving to this motor torque measurement apparatus, this motor torque measurement apparatus
The information of device, but have no effect on the signal of testing of electric motors.Electricity in power line is obtained by the Hall sensor inside device
Stream information, and then obtain motor torque.
The present invention provides motor torque measuring method and device, motor torque measuring method comprise the following steps：According to electricity
Each phase current of machine obtains direct-axis current and quadrature axis current；D-axis torque and friendship are obtained according to direct-axis current and the quadrature axis current
Axle power square；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；Obtain rotor-position and according to rotor position
Put acquisition electric angle；Motor effective torque is obtained according to electric angle and resultant moment, the cost of whole device is relatively low, and
New hardware device need not be set accurately to obtain motor effective torque.
Those of ordinary skill in the art are it is to be appreciated that the list of each example described with reference to the embodiments described herein
Member and algorithm steps, it can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
Performed with hardware or software mode, application-specific and design constraint depending on technical scheme.Professional and technical personnel
Described function can be realized using distinct methods to each specific application, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, the corresponding process in preceding method embodiment is may be referred to, will not be repeated here.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, can be with
Realize by another way.For example, device embodiment described above is only schematical, for example, the unit
Division, only a kind of division of logic function, can there is other dividing mode, such as multiple units or component when actually realizing
Another system can be combined or be desirably integrated into, or some features can be ignored, or do not perform.It is another, it is shown or
The mutual coupling discussed or direct-coupling or communication connection can be the indirect couplings by some interfaces, device or unit
Close or communicate to connect, can be electrical, mechanical or other forms.
The unit illustrated as separating component can be or may not be physically separate, show as unit
The part shown can be or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On NE.Some or all of unit therein can be selected to realize the mesh of this embodiment scheme according to the actual needs
's.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units it is integrated in a unit.
If the function is realized in the form of SFU software functional unit and is used as independent production marketing or in use, can be with
It is stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially in other words
The part to be contributed to prior art or the part of the technical scheme can be embodied in the form of software product, the meter
Calculation machine software product is stored in a storage medium, including some instructions are causing a computer equipment (can be
People's computer, server, or network equipment etc.) perform all or part of step of each embodiment methods described of the present invention.
And foregoing storage medium includes：USB flash disk, mobile hard disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), magnetic disc or CD etc. are various can be with the medium of store program codes.
Above content is to combine specific preferred embodiment further description made for the present invention, it is impossible to is assert
The specific implementation of the present invention is confined to these explanations.For general technical staff of the technical field of the invention,
Some equivalent substitutes or obvious modification are made on the premise of not departing from present inventive concept, and performance or purposes are identical, all should
It is considered as belonging to the scope of patent protection that the present invention is determined by the claims submitted.
Claims (10)
1. a kind of motor torque measuring method, it is characterised in that the motor torque measuring method comprises the following steps：
Each phase current of motor is obtained, and each phase current of motor is converted into direct-axis current and quadrature axis current；
D-axis torque and quadrature axis torque are obtained according to the direct-axis current and the quadrature axis current；
Vector modulation is carried out to the d-axis torque and the quadrature axis torque and obtains resultant moment；
Obtain rotor-position and electric angle is obtained according to the rotor-position；
Motor effective torque is obtained according to the electric angle and the resultant moment.
2. motor torque measuring method as claimed in claim 1, it is characterised in that described according to the direct-axis current and described
Quadrature axis current obtains d-axis torque and is specially the step of quadrature axis torque：
D-axis torque and quadrature axis torque are obtained according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, and Ib is friendship
Shaft current, Kt are moment coefficient.
3. motor torque measuring method as claimed in claim 1, it is characterised in that described to obtain rotor-position and according to described
Rotor-position obtain electric angle the step of be specially：
Electric angle is obtained according to below equation：
Wherein, θ is electric angle, and p is rotor-position.
4. motor torque measuring method as claimed in claim 1, it is characterised in that described according to the electrical equipment angle and described
Resultant moment obtain motor effective torque the step of be specially：
Motor torque is obtained according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
5. motor torque measuring method as claimed in claim 1, it is characterised in that described according to the electrical equipment angle and described
It is further comprising the steps of after the step of resultant moment acquisition motor effective torque：
Shown after carrying out integration filtering to the motor effective torque.
6. a kind of motor torque measurement apparatus, it is characterised in that the motor torque measurement apparatus includes：
Shaft current acquisition module, for obtaining each phase current of motor, and each phase current of motor is obtained and is converted into d-axis electricity
Stream and quadrature axis current；
Axle power square acquisition module, for obtaining d-axis torque and quadrature axis torque according to the direct-axis current and the quadrature axis current；
Resultant moment acquisition module, composite force is obtained for carrying out Vector modulation to the d-axis torque and the quadrature axis torque
Square；
Electric angle acquisition module, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque acquisition module, for obtaining motor effective torque according to the electric angle and the resultant moment.
7. motor torque measurement apparatus as claimed in claim 6, it is characterised in that acquisition module is according to institute after the axle power square
State direct-axis current and the quadrature axis current obtains d-axis torque and the process of quadrature axis torque is：
D-axis torque and quadrature axis torque are obtained according to below equation：
Ta=Ia × Kt, Tb=Ib × Kt, wherein, Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, and Ib is friendship
Shaft current, Kt are moment coefficient.
8. motor torque measurement apparatus as claimed in claim 6, it is characterised in that the electric angle acquisition module, which obtains, to be turned
Sub- position and according to the rotor-position obtain electric angle process be：
Electric angle is obtained according to below equation：
Wherein, θ is electric angle, and p is rotor-position.
9. motor torque measurement apparatus as claimed in claim 6, it is characterised in that the effective torque acquisition module is according to institute
State electrical equipment angle and the resultant moment and obtain the process of motor effective torque and be：
Motor torque is obtained according to below equation：
T2=T1 × COS θ, wherein, T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
10. motor torque measurement apparatus as claimed in claim 6, it is characterised in that the motor torque measurement apparatus is also wrapped
Include integration filtering module and display module；
The integration filtering module is shown after integration filtering is carried out to the motor effective torque by the display module.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610478645.5A CN107543640B (en) | 2016-06-27 | 2016-06-27 | Motor torque measurement method and device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610478645.5A CN107543640B (en) | 2016-06-27 | 2016-06-27 | Motor torque measurement method and device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107543640A true CN107543640A (en) | 2018-01-05 |
| CN107543640B CN107543640B (en) | 2019-11-08 |
Family
ID=60961662
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201610478645.5A Active CN107543640B (en) | 2016-06-27 | 2016-06-27 | Motor torque measurement method and device |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN107543640B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112090024A (en) * | 2020-09-23 | 2020-12-18 | 广州视源电子科技股份有限公司 | Exercise machine torque output control method and device, exercise machine and medium |
| CN112678260A (en) * | 2021-01-07 | 2021-04-20 | 弗兰卡餐饮设备安装技术服务（中国）有限公司 | Weighing and dispensing device, weighing and dispensing method, and computer-readable storage medium |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603997A (en) * | 2009-07-03 | 2009-12-16 | 哈尔滨工业大学 | Testing parameters of synchronous motor and realize the device of this method |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN103226062A (en) * | 2012-01-31 | 2013-07-31 | 上海大郡动力控制技术有限公司 | Passive loading method of load motor during motor performance test |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
-
2016
- 2016-06-27 CN CN201610478645.5A patent/CN107543640B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603997A (en) * | 2009-07-03 | 2009-12-16 | 哈尔滨工业大学 | Testing parameters of synchronous motor and realize the device of this method |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN103226062A (en) * | 2012-01-31 | 2013-07-31 | 上海大郡动力控制技术有限公司 | Passive loading method of load motor during motor performance test |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN112090024A (en) * | 2020-09-23 | 2020-12-18 | 广州视源电子科技股份有限公司 | Exercise machine torque output control method and device, exercise machine and medium |
| CN112678260A (en) * | 2021-01-07 | 2021-04-20 | 弗兰卡餐饮设备安装技术服务（中国）有限公司 | Weighing and dispensing device, weighing and dispensing method, and computer-readable storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| CN107543640B (en) | 2019-11-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN106415970B (en) | Utilize the synchronization machine monitoring of the electrically and mechanically data of time label | |
| CN105606019B (en) | Encoder and rotary angle position computational methods | |
| CN104660118B (en) | Zero calculation method for permanent magnet synchronous motor rotating transformer | |
| CN105048921B (en) | Current phasor measurement diagnoses | |
| CN1333235C (en) | Rotational angle sensor and rotary electric machine comprising it | |
| CN104218863A (en) | Method and system for determining internal temperatures of a synchronous electric machine by means of status observers | |
| CN106998162A (en) | rotary transformer phase compensation | |
| Looser et al. | Analysis and measurement of three-dimensional torque and forces for slotless permanent-magnet motors | |
| CN102346045A (en) | Rotation angle detector | |
| CN102647144B (en) | Method and apparatus for estimating rotor angle of synchronous reluctance motor | |
| Totoonchian | Effect of damper winding on accuracy of wound‐rotor resolver under static‐, dynamic‐, and mixed‐eccentricities | |
| CN107543640B (en) | Motor torque measurement method and device | |
| Bahari et al. | Proposal of a fault-tolerance technique for 1-ph open circuit fault in resolvers | |
| US9966884B2 (en) | Method and device for determining the rotor position and speed of a rotating field machine | |
| Saneie et al. | Structural design and analysis of a high reliability multi-turn wound-rotor resolver for electric vehicle | |
| Lee et al. | High-speed, high-power motor design for a four-legged robot actuator optimized using the weighted sum and response surface methods | |
| Mitterhofer et al. | Analytical and experimental loss examination of a high speed bearingless drive | |
| CN104184381A (en) | Method for determining the position and speed of a rotor of a synchronous electric machine by means of status observers | |
| CN104090235B (en) | Odd location AC magnetoelectric machine torque ripple method of testing | |
| Kia et al. | A modeling approach for gearbox monitoring using stator current signature in induction machines | |
| CN111313637B (en) | Pole slot matching method for reluctance type rotary transformer | |
| Tootoonchian | Proposal of new windings for 5‐X variable reluctance resolvers | |
| CN106526333A (en) | Method of obtaining quadrature-axis and direct-axis inductance of permanent magnet synchronous motor | |
| CN104165729A (en) | Dynamic balancing method for high-speed rotors | |
| Secrest et al. | Adaptive decoupling of nonideal machine and sensor properties for extraction of fine details when using the motor drive as a diagnostic sensor |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |