CN108196213A - Zero-bit angle test device, the method and system of a kind of rotary transformer - Google Patents
Zero-bit angle test device, the method and system of a kind of rotary transformer Download PDFInfo
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- CN108196213A CN108196213A CN201810104995.4A CN201810104995A CN108196213A CN 108196213 A CN108196213 A CN 108196213A CN 201810104995 A CN201810104995 A CN 201810104995A CN 108196213 A CN108196213 A CN 108196213A
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- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
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Abstract
The present invention provides a kind of zero-bit angle test device of rotary transformer, including：Power plant, tested motor, rotary transformer, transformer-supplied device, signal pickup assembly and signal conversion and processing unit；Wherein, power plant is connect with tested motor, for driving tested motor to desired speed；Rotary transformer is arranged in tested motor, and is connect with transformer-supplied device and signal pickup assembly；Signal pickup assembly is also connected with arbitrary the two of tested motor, and is connect with signal conversion and processing unit；Transformer-supplied device is used to provide electric power for rotary transformer, signal pickup assembly be used for acquire rotary transformer output rotation varying signal and tested motor arbitrary two-phase back-emf signal and by the back-emf signal of acquisition be sent to signal convert and processing unit converted and handled, to obtain the zero-bit angle of rotary transformer.The present invention also provides the zero-bit angle test methods and system of a kind of rotary transformer.Present invention test is easy, and error is small.
Description
Technical field
The present invention relates to zero-bit angle test device, the method and system of a kind of rotary transformer.
Background technology
Permanent magnet synchronous motor is because of its stable work in work, and power/torque density is big, simple and compact for structure, in many fields
It is widely used.In order to realize the high-performance high reliability of permanent magnet synchronous motor, it is accurate obtain rotor-position be must can not
Few condition.
Rotor position detecting sensor of the rotary transformer as common permanent magnet synchronous motor, because of its higher precision and
Reliability is also widely used on electric vehicle.Manufacture and peace due to permanent magnet synchronous motor and rotary transformer
Dress tolerance cause rotary transformer zero-bit angle and permanent magnet synchronous motor zero-bit angle usually there are deviation, and deviation size can not
Ensure, in engineer application, it usually needs the zero-bit angle of rotary transformer is accurately demarcated, common method is anti-electricity
Gesture zero crossing becomes sin envelope zero cross point comparing methods with rotation, and this method is very high for the testing requirements of zero crossing, is not easy reality
It is existing and very big by the error of zero that single-point is calculated.
It would therefore be highly desirable to need the detection at the zero-bit angle for rotary transformer a kind of easy to implement and small the error of zero occur
Scheme.
Invention content
In view of the above-mentioned problems, the present invention provides, a kind of test is easy, error is small, the zero-bit of rotary transformer easy to implement
Angle test device, method and system.
The technical solution adopted by the present invention is：
The embodiment of the present invention provides a kind of zero-bit angle test device of rotary transformer, including：Power plant, tested electricity
Machine, rotary transformer, transformer-supplied device, signal pickup assembly and signal conversion and processing unit；Wherein, the power dress
It puts and is connect with the tested motor, for driving the tested motor to desired speed；The rotary transformer is arranged on described
In tested motor, and it is connect with the transformer-supplied device and the signal pickup assembly；The signal pickup assembly also with
Arbitrary the two of the tested motor are connected, and are connect with signal conversion and processing unit；The transformer-supplied device
For providing electric power for the rotary transformer, the rotation that the signal pickup assembly is used to acquire the rotary transformer output becomes
The back-emf signal of acquisition is simultaneously sent to the signal turn by the back-emf signal of the arbitrary two-phase of signal and the tested motor
It changes and processing unit is converted and handled, to obtain the zero-bit angle of the rotary transformer；The rotation varying signal includes rotation and becomes
Excitation signal, rotation become sinusoidal signal and rotation becomes cosine signal.
Optionally, the signal pickup assembly is voltage sensor；The signal conversion and processing unit include sampling electricity
Road and signal processor；Wherein, the sample circuit is connect with the signal pickup assembly, for by the signal pickup assembly
The signal of acquisition is converted to workable signal and is sent to the signal processor；The transformer-supplied device becomes for rotation encourages
Magnetic circuit.
Optionally, the signal pickup assembly is voltage sensor；The signal is converted and processing unit is channel waveform
Recorder or oscillograph；The transformer-supplied device becomes field circuit for rotation.
Another embodiment of the present invention provides a kind of zero-bit angle test method of rotary transformer, includes the following steps：
Acquire the back-emf signal of arbitrary two-phase of tested motor and the rotation varying signal of rotary transformer；The rotation becomes
Signal includes rotation change excitation signal, rotation becomes sinusoidal signal and rotation becomes cosine signal；
The angle that the rotor of the tested motor of estimation turns over is determined based on the rotation varying signal acquired；
The three-phase back-emf signal of the tested motor, and profit are determined based on the back-emf signal of arbitrary two-phase acquired
Handled identified three-phase back-emf signal with default transform method that the rotor of tested motor is practical to be turned over to obtain
Angle；
The rotor of the angle that the rotor of the tested motor of obtained estimation is turned over and obtained tested motor is practical
The angle turned over is subtracted each other, and using the difference subtracted each other as the zero-bit angle of the rotary transformer.
Optionally, determine that the angle that the rotor of the tested motor of estimation turns over includes based on the rotation varying signal acquired：
Excitation signal is become based on rotation and rotation becomes excitation signal amplitude, rotation becomes excitation signal frequency and the first letter between the time
Number relationship, rotation change sinusoidal signal become turning for excitation signal amplitude, rotation change excitation signal frequency, time and estimation with no-load voltage ratio, rotation
Second function relationship and rotation between the angle that son turns over become cosine signal and become excitation signal amplitude with no-load voltage ratio, rotation, revolve to become and encourage
Third functional relation between the angle that magnetic signal frequency, time and the rotor of estimation turn over determines the rotor of the estimation
The angle turned over.
Optionally, the default transform method is converted for CLARKE；
It is described that identified three-phase back-emf signal is handled to obtain tested motor using default transform method
The practical angle turned over of rotor includes：
Three-phase back-emf signal based on 3 axis, the stator stationary coordinate system of 2 dimensions by CLARKE is converted, is obtained based on 2
The two-phase back-emf signal of the stator stationary coordinate system of axis；The two-phase back-emf signal of the stator stationary coordinate system includes first
Opposite potential signal and the second opposite potential signal；
Based on the functional relation between three-phase back-emf signal and the practical angle turned over of voltage magnitude and rotor and institute
Obtained two-phase back-emf signal obtains the practical angle turned over of the rotor.
Optionally, it further includes：It will be estimated according to the positive and negative values of the positive and negative values of the rotation varying signal acquired and back-emf signal
The angle that turns over of rotor and the practical angular transition turned over of rotor to 0~360 ° section.
Optionally, the angular transition that the rotor of estimation turns over to 0~360 ° of section is specifically included：
When the rotation becomes cosine signal and the rotation change excitation signal is in the same direction, the angle that the rotor estimated is turned over is made
The angle that rotor for final estimation turns over；
Become sinusoidal signal and the rotation change with the rotation change excitation signal rotation when the rotation becomes cosine signal
When excitation signal is in the same direction, the angle that the rotor estimated is turned over adds 180 ° of angles turned over as the rotor of final estimation
Degree；
When the rotation change cosine signal and the rotation become, excitation signal is reversed and the rotation change sinusoidal signal and the rotation become
When excitation signal is reversed, angle that angle that the rotor estimated is turned over subtracts 180 ° as the rotor of final estimation and turns over
Degree.
Optionally, the practical angular transition turned over of rotor to 0~360 ° of section is specifically included：
When the second opposite potential signal be more than zero when, using the practical angle turned over of obtained rotor as finally
The practical angle turned over of rotor；
It, will be obtained when the second opposite potential signal is less than zero and the first opposite potential signal is less than zero
The practical angle turned over of rotor is plus 180 ° as the practical angle turned over of final rotor；
It, will be obtained when the second opposite potential signal is less than zero and the first opposite potential signal is more than zero
The practical angle turned over of rotor subtracts 180 ° as the practical angle turned over of final rotor.
Another embodiment of the present invention also provides a kind of zero-bit angle test system of rotary transformer, including：Signal acquisition
Module, for obtaining the rotation varying signal of the back-emf signal of the arbitrary two-phase of tested motor and rotary transformer；The rotation becomes
Signal includes rotation change excitation signal, rotation becomes sinusoidal signal and rotation becomes cosine signal；Angle estimation block, for being based on the signal
Rotation varying signal acquired in acquisition module determines the angle that the rotor of the tested motor of estimation turns over；Actual angle computing module,
The three opposite of the tested motor is determined for the back-emf signal of the arbitrary two-phase acquired in based on the signal acquisition module
Electric potential signal, and identified three-phase back-emf signal is handled using default transform method and is turned with obtaining tested motor
The angle that son actually turns over；Zero-bit angle determining module, what the rotor of estimation for the angle estimation block to be determined turned over
Angle is subtracted each other, and the difference that will subtract each other with the practical angle turned over of the rotor that the actual angle computing module calculates
Zero-bit angle as the rotary transformer.
Zero-bit angle test device, the method and system of rotary transformer provided by the invention, utilize the rotation transformation of acquisition
The angle and calculated using the three-phase back-emf signal of the tested motor of acquisition that the rotor that the rotation varying signal of device calculates estimation turns over
The practical angle turned over of rotor, it is poor then by the two make, and will make poor obtained value as the zero-bit angle of rotary transformer, makes
It is simply easy to implement to obtain test process, and error is small.
Description of the drawings
Fig. 1 is the structure diagram of the zero-bit angle test device of rotary transformer provided in an embodiment of the present invention；
Fig. 2 is the flow diagram of the zero-bit angle test method of rotary transformer provided in an embodiment of the present invention；
Fig. 3 is that the structure diagram of system is tested at the zero-bit angle of rotary transformer provided in an embodiment of the present invention.
Specific embodiment
To make the technical problem to be solved in the present invention, technical solution and advantage clearer, below in conjunction with attached drawing and tool
Body embodiment is described in detail.
Fig. 1 is the structure diagram of the zero-bit angle test device of rotary transformer provided in an embodiment of the present invention.Such as Fig. 1 institutes
To show, the embodiment of the present invention provides a kind of zero-bit angle test system of rotary transformer, including：Power plant 101, tested motor
102nd, rotary transformer 103, transformer-supplied device 104, signal pickup assembly 105 and signal conversion and processing unit 106.Its
In, the power plant 101 is connect with the tested motor 102, for driving the tested motor to desired speed；The rotation
Transformation depressor 103 is arranged in the tested motor 102, and is filled with the transformer-supplied device 104 and the signal acquisition
Put 105 connections；The signal pickup assembly 105 is also connected with arbitrary the two of the tested motor 102, and turns with the signal
It changes and processing unit 106 connects；The transformer-supplied device 104 is used to provide electric power for the rotary transformer 103, described
Signal pickup assembly 104 is used to acquiring the arbitrary of the rotation varying signal that the rotary transformer 103 exports and the tested motor 102
The back-emf signal of two-phase and by the back-emf signal of acquisition be sent to signal conversion and processing unit 106 carry out conversion and
Processing, to obtain the zero-bit angle of rotary transformer；The rotation varying signal includes rotation change excitation signal, rotation becomes sinusoidal signal and rotation becomes
Cosine signal.
Specifically, the power plant 101 in the embodiment of the present invention can be dynamometer machine or other prime mover, tested motor
102 can be permanent magnet synchronous motor, and power plant 101 can carry out machinery even with tested motor 102 by ring flange and connecting shaft
It connects, tested motor 102 can be driven by the drive of power plant 101 to desired speed.Transformer-supplied device 104 can be rotation
Become field circuit, connect with rotary transformer 103, providing excitation signal for rotary transformer 103 is powered.Signal acquisition fills
It can be voltage sensor to put 105, and 5 voltage sensors, two of which and tested motor 102 can be set in the embodiment of the present invention
Arbitrary two-phase, such as U phases are attached with V phases, and for acquiring two-phase back-emf signal, back-emf signal can be by acquiring two-phase
Phase voltage or two phases line voltage values obtain, and in addition 3 voltage sensors are connect with rotary transformer 103, respectively acquisition rotation
Change rotation change excitation signal, rotation change sinusoidal signal and rotation that depressor 103 exports and become cosine signal.
In one exemplary embodiment of the invention, signal conversion and processing unit 106 may include sample circuit and letter
Number processor.Wherein, the sample circuit is connect with the signal pickup assembly 105, for by the signal pickup assembly 105
The signal of acquisition is converted to workable signal and is sent to the signal processor.The shape of divider resistance can be used in sample circuit
Any processor with calculation function can be used in formula, signal processor.In one example, rotation becomes field circuit, sampling electricity
Road and signal processor can be integrated on the electric machine controller of tested motor 102, and however, it is not limited to this, can also individually be carried out
Setting.
In another illustrative examples of the present invention, signal is converted and processing unit 106 can be channel waveform recording
The collecting devices such as instrument or oscillograph.
In the present invention, signal conversion and processing unit 106 can be acquired signal pickup assembly 105 based on preset algorithm
Signal be converted to the zero-bit angle of rotary transformer 103, and three are obtained including the use of the arbitrary two-phase back-emf signal of acquisition
Opposite potential signal is then soft using the practical angle turned over of three-phase back-emf signal calculating rotor and using varying signal is revolved
Decoding resolves the angle that rotation varying signal is turned over the rotor estimated, then by the droop between obtain two angles
The manufacture and the caused rotation of location tolerance for being determined as permanent magnet synchronous motor and rotary transformer become zero-bit.
Specifically, the zero-bit angle test device of rotary transformer provided in an embodiment of the present invention is dragged by power plant 101
Dynamic tested motor 102, makes it be operated under a stabilized (steady-state) speed, as long as the stabilized (steady-state) speed can ensure adopt under the rotating speed
Collect and stablize effective back-emf signal, the arbitrary two-phase back-emf signal of tested motor is acquired by voltage sensor,
And the arbitrary two-phase back-emf signal for passing through acquisition calculates UU、UV、UWVoltage signal, specifically can be according to three-phase back-emf signal
The sum of be equal to null solution calculate.While back-emf signal is acquired, can synchronous acquisition rotary transformer sin signals, cos signals
And excitation signal.In the example of the present invention, the data in default period can be acquired to be analyzed and processed, such as 3
The data in a period, it is filtered can be to avoid the influence of test noise and harmonic wave.
The resolving of angle, θ that signal is converted and processing unit 106 is turned over by the rotor that the rotation varying signal of acquisition obtains
Method can be as shown in following formula (1)：
Wherein, UrefFor the excitation signal of voltage sensor acquisition, UsinFor voltage sensor acquisition acquisition dextrorotation signal,
UcosFor the cosine signal of voltage sensor acquisition, e is excitation signal amplitude, and f is excitation signal frequency, and k is no-load voltage ratio, when t is
Between, sin θ and sine value and cosine value that cos θ are envelope, the i.e. angle that rotor turns over.
It can be obtained according to above formula (1)
Signal is converted and processing unit 106 passes through UU、UV、UWVoltage signal determines the practical angle, θ turned over of rotordSolution
Calculation method is as follows.It is known
Wherein, UmFor three-phase voltage amplitude, ω t are the practical angle turned over of current rotor, i.e. θd=ω t.
Then, the three-phase voltage signal based on 3 axis, the stator stationary coordinate system of 2 dimensions is converted to obtain base by CLARKE
In the U of 2 axis stator stationary coordinate systemsαAnd Uβ, wherein, phase voltage UUWith UαPhase is identical, UαAnd UβWith three-phase voltage signal UU、UV、
UWBetween transformational relation can be as follows：
Above-mentioned equation abbreviation is obtained
According to the above, the practical angle, θ turned over of rotor can be obtaineddFor：
Become zero so as to which the misalignment angle understood between the zero-bit angle of rotary transformer and permanent magnet synchronous motor zero-bit angle is revolved
Parallactic angle θ0For θ0=θ-θd。
It should be noted that above-mentioned formula, which is only applicable to rotation, becomes the number of pole-pairs situation equal with rotor number of pole-pairs, if the two quantity
It is inconsistent, then it needs to introduce rotor number of pole-pairs PMotorAnd rotation becomes number of pole-pairs PRotation becomes, the relationship of the two is,
I.e.
Due to the limitation in arctan function period, need to judge θ and θ respectivelydPlace quadrant, and then convert to 0~
After 360 ° of angular interval, then carry out θ0It resolves.
According to the positive and negative values of rotation varying signal, using following formula (2) by θdIt converts between 0~360 °：
Because phase voltage UUWith UαPhase is identical, can be by judging UαAnd UβPositive and negative values, and using following formula (3)
θ is converted between 0~360 °：
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of zero-bit angle test method of rotary transformer,
Since the principle that this method solves the problems, such as is similar to the zero-bit angle test system of aforementioned rotary transformer, the reality of this method
The implementation that may refer to aforementioned system is applied, overlaps will not be repeated.
Fig. 2 is the flow diagram of the zero-bit angle test method of rotary transformer provided in an embodiment of the present invention.Such as Fig. 2 institutes
Show, an embodiment of the present invention provides a kind of zero-bit angle test methods of rotary transformer, include the following steps：
S201, the acquisition back-emf signal of arbitrary two-phase of tested motor and the rotation varying signal of rotary transformer；It is described
Varying signal is revolved to become excitation signal including revolving, rotation becomes sinusoidal signal and revolve change cosine signal.
S202, determined based on the rotation varying signal acquired estimation tested motor the angle that turns over of rotor；
S203, the three opposite potentials letter that the tested motor is determined based on the back-emf signal of arbitrary two-phase acquired
Number, and using default transform method identified three-phase back-emf signal is handled practical to obtain the rotor of tested motor
The angle turned over.
The rotor of S204, the angle that the rotor of the tested motor of obtained estimation is turned over and obtained tested motor
The angle actually turned over is subtracted each other, and using the difference subtracted each other as the zero-bit angle of the rotary transformer.
The no stringent sequence of execution of step S202 and S203.
In step s 201, the phase voltage value or arbitrary of the arbitrary two-phase of tested motor can be acquired by voltage sensor
The line voltage value of two-phase and the rotation varying signal that rotary transformer is acquired by voltage sensor.
Further, step S202 is specifically included：Excitation signal is become based on rotation and becomes excitation with rotation change excitation signal amplitude, rotation
First function relationship between signal frequency and time, rotation become sinusoidal signal and become excitation with no-load voltage ratio, rotation change excitation signal amplitude, rotation
Second function relationship and rotation between the angle that signal frequency, time and the rotor of estimation turn over become cosine signal with becoming
Than the third letter between, the angle that rotation becomes excitation signal amplitude, rotation becomes excitation signal frequency, time and the rotor of estimation turn over
Number relationship, determines the angle that the rotor of the estimation turns over.
Rotation becomes excitation signal and rotation becomes excitation signal amplitude, rotation becomes excitation signal frequency and the functional relation between the time,
Rotation becomes sinusoidal signal and becomes what excitation signal frequency, time and the rotor of estimation turned over no-load voltage ratio, rotation change excitation signal amplitude, rotation
Functional relation between angle and rotation become cosine signal becomes excitation signal amplitude with no-load voltage ratio, rotation, rotation becomes excitation signal frequency, when
Between and the angle that turns over of rotor of estimation between functional relation can be as shown in following formula (4)：
Wherein, UrefFor the excitation signal of voltage sensor acquisition, UsinFor voltage sensor acquisition acquisition dextrorotation signal,
UcosFor the cosine signal of voltage sensor acquisition, e is excitation signal amplitude, and f is excitation signal frequency, and k is no-load voltage ratio, when t is
Between, sin θ and sine value and cosine value that cos θ are envelope, the i.e. angle that rotor turns over.
It can be obtained according to above formula (4)The angle that the rotor estimated turns over be equal to rotation become sinusoidal signal with
Rotation becomes the arc tangent of the quotient of cosine signal.
In the present embodiment, the default transform method is converted for CLARKE.Transformation side is preset in utilization in step S203
Method handles identified three-phase back-emf signal to obtain the practical angle turned over of the rotor of tested motor including following
Step：
Step 1: the three-phase back-emf signal based on 3 axis, the stator stationary coordinate system of 2 dimensions is converted by CLARKE, obtain
To the two-phase back-emf signal of the stator stationary coordinate system based on 2 axis；The two-phase back-emf signal of the stator stationary coordinate system
Including the first opposite potential signal and the second opposite potential signal.
Step 2: based on the functional relation between three-phase back-emf signal and the practical angle turned over of voltage magnitude and rotor
And obtained two-phase back-emf signal, obtain the practical angle turned over of the rotor.
Specifically, the functional relation between three-phase back-emf signal and the practical angle turned over of voltage magnitude and rotor can be such as
Shown in following formula (5)：
Wherein, UmFor three-phase voltage amplitude, ω t are the practical angle turned over of current rotor, i.e. θd=ω t.
Then, the three-phase voltage signal based on 3 axis, the stator stationary coordinate system of 2 dimensions is converted to obtain base by CLARKE
In the first opposite potential signal U of 2 axis stator stationary coordinate systemsαAnd the second opposite potential signal Uβ, wherein, phase voltage UUWith Uα
Phase is identical, UαAnd UβWith three-phase voltage signal UU、UV、UWBetween transformational relation can be as follows：
Above-mentioned equation abbreviation is obtained
According to the above, the practical angle, θ turned over of rotor can be obtaineddFor：
Become zero so as to which the misalignment angle understood between the zero-bit angle of rotary transformer and permanent magnet synchronous motor zero-bit angle is revolved
Parallactic angle θ0For θ0=θ-θd。
Further, the method for the present embodiment further includes：For becoming number of pole-pairs and tested motor in the rotation of rotary transformer
Rotor number of pole-pairs it is unequal in the case of, number of pole-pairs and the rotor number of pole-pairs are become to obtained rotor reality based on the rotation
The angle that border turns over is modified.
Rotation obtained above becomes zero-bit angle calculation formula and is only applicable to the rotation change number of pole-pairs situation equal with rotor number of pole-pairs,
If the two quantity is inconsistent, need to introduce rotor number of pole-pairs PMotorAnd rotation becomes number of pole-pairs PRotation becomesThe angle turned over practical to rotor
Degree is modified.Rotor number of pole-pairs PMotorAnd rotation becomes number of pole-pairs PRotation becomesThe relationship of the two is,So as to
It is available：
Further, the method for the present embodiment further includes：According to the positive and negative values of the rotation varying signal acquired and back-emf letter
Number the positive and negative values angle that turns over the rotor of estimation and the practical angular transition turned over of rotor to 0~360 ° section.
Due to the limitation in arctan function period, need to judge θ and θ respectivelydPlace quadrant, and then convert to 0~
After 360 ° of angular interval, then carry out θ0It resolves.Wherein, by the section of the angular transition that the rotor of estimation turns over to 0~360 °
It specifically includes：
When the rotation becomes cosine signal and the rotation change excitation signal is in the same direction, the angle that the rotor estimated is turned over is made
The angle that rotor for final estimation turns over；
Become sinusoidal signal and the rotation change with the rotation change excitation signal rotation when the rotation becomes cosine signal
When excitation signal is in the same direction, the angle that the rotor estimated is turned over adds 180 ° of angles turned over as the rotor of final estimation
Degree；
When the rotation change cosine signal and the rotation become, excitation signal is reversed and the rotation change sinusoidal signal and the rotation become
When excitation signal is reversed, angle that angle that the rotor estimated is turned over subtracts 180 ° as the rotor of final estimation and turns over
Degree.
That is, using following formula (6) by θdIt converts between 0~360 °：
Because phase voltage UUWith UαPhase is identical, can be by judging UαAnd UβPositive and negative values, by the practical angle turned over of rotor
It converts to 0~360 ° of section, specifically includes：
When the second opposite potential signal be more than zero when, using the practical angle turned over of obtained rotor as finally
The practical angle turned over of rotor；
It, will be obtained when the second opposite potential signal is less than zero and the first opposite potential signal is less than zero
The practical angle turned over of rotor is plus 180 ° as the practical angle turned over of final rotor；
It, will be obtained when the second opposite potential signal is less than zero and the first opposite potential signal is more than zero
The practical angle turned over of rotor subtracts 180 ° as the practical angle turned over of final rotor.
That is, θ is converted between 0~360 ° using following formula (7)：
Above steps can be as shown in Figure 1 each structure perform, details are not described herein.
Based on same inventive concept, the embodiment of the present invention additionally provides a kind of zero-bit angle test system of rotary transformer,
Since the principle that the system solves the problems, such as is similar to the zero-bit angle test method of aforementioned rotary transformer, the reality of this method
The implementation that may refer to preceding method is applied, overlaps will not be repeated.
Fig. 3 is that the structure diagram of system is tested at the zero-bit angle of rotary transformer provided in an embodiment of the present invention.Such as Fig. 3 institutes
To show, the embodiment of the present invention provides a kind of zero-bit angle test system of rotary transformer, including：
Signal acquisition module 301, for obtaining the back-emf signal and rotary transformer of the arbitrary two-phase of tested motor
Rotation varying signal；The rotation varying signal includes rotation change excitation signal, rotation becomes sinusoidal signal and rotation becomes cosine signal；
Angle estimation block 302, for determining the quilt of estimation based on the rotation varying signal acquired in the signal acquisition module
The angle that the rotor of measured motor turns over；
Actual angle computing module 303, for the back-emf of the arbitrary two-phase acquired in based on the signal acquisition module
Signal determines the three-phase back-emf signal of the tested motor, and identified three opposite potential is believed using default transform method
It number is handled to obtain the practical angle turned over of the rotor of tested motor；
Zero-bit angle determining module 304, angle that the rotor of estimation for the angle estimation block to be determined turns over
The practical angle turned over of rotor that the actual angle computing module calculates is subtracted each other, and using the difference subtracted each other as institute
State the zero-bit angle of rotary transformer.
Further, the angle estimation block 302 is specifically used for：Excitation signal is become based on rotation and becomes excitation signal width with rotation
Value, rotation become excitation signal frequency and the first function relationship between the time, and rotation becomes sinusoidal signal and becomes excitation signal width with no-load voltage ratio, rotation
Value, rotation become the second function relationship and rotation relict between the angle that excitation signal frequency, time and the rotor of estimation turn over
The angle that string signal and no-load voltage ratio, rotation become excitation signal amplitude, rotation becomes excitation signal frequency, time and the rotor of estimation turn over it
Between third functional relation, determine the angle that the rotor of the estimation turns over.
In the present embodiment, the default transform method is converted for CLARKE；Actual angle computing module 303 is become using default
It changes method and identified three-phase back-emf signal is handled and included with obtaining the practical angle turned over of the rotor of tested motor：
Three-phase back-emf signal based on 3 axis, the stator stationary coordinate system of 2 dimensions by CLARKE is converted, obtains the stator based on 2 axis
The two-phase back-emf signal of rest frame；The two-phase back-emf signal of the stator stationary coordinate system includes the first opposite potential
Signal and the second opposite potential signal；Based between three-phase back-emf signal and the practical angle turned over of voltage magnitude and rotor
Functional relation and obtained two-phase back-emf signal obtain the practical angle turned over of the rotor.
Further, system provided in this embodiment further includes correcting module 305, in the rotation pole-changing of rotary transformer
In the case of the rotor number of pole-pairs of logarithm and tested motor is unequal, number of pole-pairs and the rotor number of pole-pairs pair are become based on the rotation
The practical angle turned over of obtained rotor is modified.
Further, system provided in this embodiment further includes section modular converter 306, for being become according to the rotation acquired
The practical angle turned over of angle and rotor that the positive and negative values of signal and the positive and negative values of back-emf signal turn over the rotor of estimation turns
Shift to 0~360 ° of section.
Wherein, the angular transition that the rotor of estimation turns over to 0~360 ° of section is specifically included：When the rotation becomes cosine
When signal and the rotation change excitation signal in the same direction, turned over the angle that the rotor estimated turns over as the rotor of final estimation
Angle；When it is described rotation become cosine signal with it is described rotation become excitation signal it is reversed and described rotation become sinusoidal signal with it is described revolve change encourage
When magnetic signal is in the same direction, the angle that the rotor estimated is turned over adds 180 ° of angles turned over as the rotor of final estimation；
When the rotation change cosine signal and the rotation become, excitation signal is reversed and the rotation change sinusoidal signal and the rotation become excitation signal
When reversed, angle that angle that the rotor estimated is turned over subtracts 180 ° as the rotor of final estimation and turns over.
The practical angular transition turned over of rotor to 0~360 ° of section is specifically included：When second opposite potential is believed
Number be more than zero when, using the practical angle turned over of obtained rotor as the practical angle turned over of final rotor；When described
Two-phase back-emf signal be less than zero and the first opposite potential signal be less than zero when, by the practical angle turned over of obtained rotor
Degree is plus 180 ° as the practical angle turned over of final rotor；
It, will be obtained when the second opposite potential signal is less than zero and the first opposite potential signal is more than zero
The practical angle turned over of rotor subtracts 180 ° as the practical angle turned over of final rotor.
The function of above-mentioned each module may correspond to the respective handling step in flow shown in Fig. 2, and details are not described herein.
The present invention has the advantages that：Can online or off-line calculation rotation become zero-bit；Acquisition rotary coding is not needed to
Device sin envelopes zero and back-emf signal zero crossing avoid noise and single zero crossing from testing the influence generated；By continuous
Acquire the data in several periods, it is filtered can be to avoid the influence of test noise and harmonic wave；Suitable for motor number of pole-pairs and rotation
Initial angle testing scheme when change number of pole-pairs is inconsistent.
Embodiment described above, specific embodiment only of the invention, to illustrate technical scheme of the present invention rather than
It is limited, protection scope of the present invention is not limited thereto, although having been carried out in detail to the present invention with reference to the foregoing embodiments
Illustrate, it will be understood by those of ordinary skill in the art that：Any one skilled in the art the invention discloses
In technical scope, still can modify to the technical solution recorded in previous embodiment or can readily occur in variation or
Person carries out equivalent replacement to which part technical characteristic；And these modifications, variation or replacement, do not make corresponding technical solution
Essence is detached from the spirit and scope of technical solution of the embodiment of the present invention, should be covered by the protection scope of the present invention.Therefore,
Protection scope of the present invention described should be subject to the protection scope in claims.
Claims (10)
1. a kind of zero-bit angle test device of rotary transformer, which is characterized in that including：Power plant, tested motor, rotation become
Depressor, transformer-supplied device, signal pickup assembly and signal conversion and processing unit；Wherein, the power plant with it is described
Tested motor connects, for driving the tested motor to desired speed；The rotary transformer is arranged on the tested motor
On, and connect with the transformer-supplied device and the signal pickup assembly；The signal pickup assembly is also tested with described
Arbitrary the two of motor are connected, and are connect with signal conversion and processing unit；The transformer-supplied device is used for as institute
It states rotary transformer and electric power is provided, the signal pickup assembly is used to acquire rotation varying signal and the institute of the rotary transformer output
It states the back-emf signal of the arbitrary two-phase of tested motor and the back-emf signal of acquisition is sent to the signal and convert and handle
Device is converted and is handled, to obtain the zero-bit angle of the rotary transformer；It is described rotation varying signal include rotation become excitation signal,
Rotation becomes sinusoidal signal and rotation becomes cosine signal.
2. the zero-bit angle test device of rotary transformer according to claim 1, which is characterized in that the signal acquisition dress
It is set to voltage sensor；
The signal conversion and processing unit include sample circuit and signal processor；Wherein, the sample circuit and the letter
The connection of number harvester, the signal for the signal pickup assembly to be acquired be converted to workable signal be simultaneously sent to it is described
Signal processor；
The transformer-supplied device becomes field circuit for rotation.
3. the zero-bit angle test device of rotary transformer according to claim 1, which is characterized in that the signal acquisition dress
It is set to voltage sensor；
The signal is converted and processing unit is channel wave tracer or oscillograph；
The transformer-supplied device becomes field circuit for rotation.
4. the zero-bit angle test method of a kind of rotary transformer, which is characterized in that include the following steps：
Acquire the back-emf signal of arbitrary two-phase of tested motor and the rotation varying signal of rotary transformer；The rotation varying signal
Become excitation signal including rotation, rotation becomes sinusoidal signal and rotation becomes cosine signal；
The angle that the rotor of the tested motor of estimation turns over is determined based on the rotation varying signal acquired；
The three-phase back-emf signal of the tested motor is determined based on the back-emf signal of arbitrary two-phase acquired, and using in advance
If transform method handles identified three-phase back-emf signal to obtain the practical angle turned over of the rotor of tested motor；
It turns over the rotor of the angle that the rotor of the tested motor of obtained estimation turns over and obtained tested motor is practical
Angle subtract each other, and using the difference subtracted each other as the zero-bit angle of the rotary transformer.
5. the zero-bit angle test method of a kind of rotary transformer according to claim 4, which is characterized in that based on being acquired
Rotation varying signal determine that the angle that turns over of rotor of the tested motor of estimation includes：
Excitation signal is become based on rotation and rotation becomes excitation signal amplitude, rotation becomes excitation signal frequency and the first function between the time is closed
System, rotation change sinusoidal signal become excitation signal amplitude, rotation change excitation signal frequency, time and the rotor of estimation with no-load voltage ratio, rotation and turn
Second function relationship and rotation between the angle crossed become cosine signal and become excitation letter with no-load voltage ratio, rotation change excitation signal amplitude, rotation
Third functional relation between the angle that number frequency, time and the rotor of estimation turn over, determines that the rotor of the estimation turns over
Angle.
A kind of 6. zero-bit angle test method of rotary transformer according to claim 4, which is characterized in that the default change
Method is changed to convert for CLARKE；
The rotor handled identified three-phase back-emf signal using default transform method to obtain tested motor
The angle actually turned over includes：
Three-phase back-emf signal based on 3 axis, the stator stationary coordinate system of 2 dimensions by CLARKE is converted, is obtained based on 2 axis
The two-phase back-emf signal of stator stationary coordinate system；It is opposite that the two-phase back-emf signal of the stator stationary coordinate system includes first
Electric potential signal and the second opposite potential signal；
Based on the functional relation between three-phase back-emf signal and the practical angle turned over of voltage magnitude and rotor and acquired
Two-phase back-emf signal, obtain the practical angle turned over of the rotor.
7. the zero-bit angle test method of a kind of rotary transformer according to claim 6, which is characterized in that further include：Root
The angle and rotor for turning over the rotor of estimation according to the rotation positive and negative values of varying signal and the positive and negative values of back-emf signal that are acquired are real
The section of the angular transition that border turns over to 0~360 °.
8. the zero-bit angle test method of a kind of rotary transformer according to claim 7, which is characterized in that by turning for estimation
The angular transition that son turns over to 0~360 ° of section specifically includes：
When the rotation becomes cosine signal and the rotation change excitation signal is in the same direction, the angle that the rotor estimated is turned over is as most
The angle that the rotor of whole estimation turns over；
Become sinusoidal signal and the rotation change excitation with the rotation change excitation signal rotation when the rotation becomes cosine signal
When signal is in the same direction, the angle that the rotor estimated is turned over adds 180 ° of angles turned over as the rotor of final estimation；
When the rotation change cosine signal and the rotation become, excitation signal is reversed and the rotation change sinusoidal signal and the rotation become excitation
When signal is reversed, angle that angle that the rotor estimated is turned over subtracts 180 ° as the rotor of final estimation and turns over.
9. the zero-bit angle test method of a kind of rotary transformer according to claim 7, which is characterized in that by rotor reality
The angular transition turned over to 0~360 ° of section specifically includes：
When the second opposite potential signal is more than zero, using the practical angle turned over of obtained rotor as final rotor
The angle actually turned over；
When the second opposite potential signal is less than zero and the first opposite potential signal is less than zero, by obtained rotor
The angle actually turned over is plus 180 ° as the practical angle turned over of final rotor；
When the second opposite potential signal is less than zero and the first opposite potential signal is more than zero, by obtained rotor
The angle actually turned over subtracts 180 ° as the practical angle turned over of final rotor.
10. a kind of zero-bit angle test system of rotary transformer, which is characterized in that including：
Signal acquisition module becomes for obtaining the rotation of the back-emf signal of the arbitrary two-phase of tested motor and rotary transformer
Signal；The rotation varying signal includes rotation change excitation signal, rotation becomes sinusoidal signal and rotation becomes cosine signal；
Angle estimation block, for determining the tested motor of estimation based on the rotation varying signal acquired in the signal acquisition module
The angle that rotor turns over；
Actual angle computing module, the back-emf signal for the arbitrary two-phase acquired in based on the signal acquisition module determine
The three-phase back-emf signal of the tested motor, and using default transform method to identified three-phase back-emf signal at
It manages to obtain the practical angle turned over of the rotor of tested motor；
Zero-bit angle determining module, the angle that the rotor of estimation for the angle estimation block to be determined turns over and the reality
The practical angle turned over of rotor that angle calculation module calculates is subtracted each other, and is become the difference subtracted each other as the rotation
The zero-bit angle of depressor.
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| CN201810104995.4A CN108196213A (en) | 2018-02-02 | 2018-02-02 | Zero-bit angle test device, the method and system of a kind of rotary transformer |
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| CN201810104995.4A CN108196213A (en) | 2018-02-02 | 2018-02-02 | Zero-bit angle test device, the method and system of a kind of rotary transformer |
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| CN109039176A (en) * | 2018-08-31 | 2018-12-18 | 浙江台运汽车科技有限公司 | A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle |
| CN109239635A (en) * | 2018-09-30 | 2019-01-18 | 合肥巨动力系统有限公司 | A kind of rotation of permanent magnet synchronous motor becomes Zero positioning system and scaling method |
| CN109444622A (en) * | 2018-10-12 | 2019-03-08 | 中国人民解放军海军工程大学 | A kind of shaft angle sends system failure automatic testing method, system and device |
| CN109510542A (en) * | 2018-12-14 | 2019-03-22 | 上海拓为汽车技术有限公司 | A kind of back-emf zero offset angle scaling method based on Intelligent brake system |
| CN109995277A (en) * | 2019-03-22 | 2019-07-09 | 联创汽车电子有限公司 | Permanent-magnetic synchronous motor rotor zero-bit initial angle calibration system and its scaling method |
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| CN110715598A (en) * | 2019-10-22 | 2020-01-21 | 北京动力机械研究所 | Rotary transformer offset detection system and method of rotary transformer |
| CN111025061A (en) * | 2019-12-16 | 2020-04-17 | 北京航天控制仪器研究所 | Automatic testing method and device for rotary transformer |
| CN112019114A (en) * | 2019-05-29 | 2020-12-01 | 联合汽车电子有限公司 | Method for measuring zero offset angle of motor control system |
| CN112504115A (en) * | 2020-11-17 | 2021-03-16 | 中国电子科技集团公司第三十八研究所 | Detection device and method for double-channel rotary transformer installation flatness on rotary table |
| CN112532139A (en) * | 2020-12-16 | 2021-03-19 | 浙江方正电机股份有限公司 | Self-calibration method for initial angle of rotary transformer zero position of permanent magnet synchronous motor |
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| CN109039176A (en) * | 2018-08-31 | 2018-12-18 | 浙江台运汽车科技有限公司 | A kind of permanent magnet synchronous motor rotation becomes the detection device and detection method of zero-bit initial angle |
| CN109239635A (en) * | 2018-09-30 | 2019-01-18 | 合肥巨动力系统有限公司 | A kind of rotation of permanent magnet synchronous motor becomes Zero positioning system and scaling method |
| CN109444622B (en) * | 2018-10-12 | 2020-11-24 | 中国人民解放军海军工程大学 | Automatic fault detection method, system and device for shaft angle sending system |
| CN109444622A (en) * | 2018-10-12 | 2019-03-08 | 中国人民解放军海军工程大学 | A kind of shaft angle sends system failure automatic testing method, system and device |
| CN109510542A (en) * | 2018-12-14 | 2019-03-22 | 上海拓为汽车技术有限公司 | A kind of back-emf zero offset angle scaling method based on Intelligent brake system |
| CN109995277A (en) * | 2019-03-22 | 2019-07-09 | 联创汽车电子有限公司 | Permanent-magnetic synchronous motor rotor zero-bit initial angle calibration system and its scaling method |
| CN112019114A (en) * | 2019-05-29 | 2020-12-01 | 联合汽车电子有限公司 | Method for measuring zero offset angle of motor control system |
| CN110275511A (en) * | 2019-06-25 | 2019-09-24 | 中国第一汽车股份有限公司 | Automatic test equipment suitable for power motor controller hardware |
| CN110715598A (en) * | 2019-10-22 | 2020-01-21 | 北京动力机械研究所 | Rotary transformer offset detection system and method of rotary transformer |
| CN111025061A (en) * | 2019-12-16 | 2020-04-17 | 北京航天控制仪器研究所 | Automatic testing method and device for rotary transformer |
| CN111025061B (en) * | 2019-12-16 | 2022-04-19 | 北京航天控制仪器研究所 | Automatic testing method and device for rotary transformer |
| CN112504115A (en) * | 2020-11-17 | 2021-03-16 | 中国电子科技集团公司第三十八研究所 | Detection device and method for double-channel rotary transformer installation flatness on rotary table |
| CN112504115B (en) * | 2020-11-17 | 2023-05-09 | 中国电子科技集团公司第三十八研究所 | Detection device and method for double-channel rotary-variable mounting flatness on turntable |
| CN112532139A (en) * | 2020-12-16 | 2021-03-19 | 浙江方正电机股份有限公司 | Self-calibration method for initial angle of rotary transformer zero position of permanent magnet synchronous motor |
| CN112821817A (en) * | 2021-02-18 | 2021-05-18 | 深圳市风发科技发展有限公司 | Synchronous motor control position determining method and device, computer equipment and storage medium |
| CN113532264A (en) * | 2021-07-13 | 2021-10-22 | 上海莘汭驱动技术有限公司 | Control method and system of subminiature rotary transformer transmitter |
| CN114578125A (en) * | 2022-03-08 | 2022-06-03 | 广汽埃安新能源汽车有限公司 | System and method for detecting rotary transformer zero crossing point and vehicle |
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