CN110146320B - Method for measuring torque constant of laser scanning galvanometer motor - Google Patents

Method for measuring torque constant of laser scanning galvanometer motor Download PDF

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Publication number
CN110146320B
CN110146320B CN201910467156.3A CN201910467156A CN110146320B CN 110146320 B CN110146320 B CN 110146320B CN 201910467156 A CN201910467156 A CN 201910467156A CN 110146320 B CN110146320 B CN 110146320B
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galvanometer motor
thin wire
torque constant
motor
reflecting mirror
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CN110146320A (en
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陈光胜
周雨时
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University of Shanghai for Science and Technology
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University of Shanghai for Science and Technology
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01L—MEASURING FORCE, STRESS, TORQUE, WORK, MECHANICAL POWER, MECHANICAL EFFICIENCY, OR FLUID PRESSURE
    • G01L3/00—Measuring torque, work, mechanical power, or mechanical efficiency, in general
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M99/00—Subject matter not provided for in other groups of this subclass
    • 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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  • General Physics & Mathematics (AREA)
  • Tests Of Circuit Breakers, Generators, And Electric Motors (AREA)
  • Force Measurement Appropriate To Specific Purposes (AREA)

Abstract

The invention provides a method for measuring a torque constant of a laser scanning galvanometer motor, which comprises the following steps: determining required components, and connecting a reflecting mirror on a rotor shaft of a galvanometer motor; connecting a galvanometer motor with a driving controller, electrifying, winding the thin wire on the reflecting mirror, and leading out two ends of the thin wire from opposite directions to respectively wind around a pulley; hanging weights with equal mass at two ends of the thin wire, adjusting the position of the pulley to change the direction of the force, adjusting the thin wire to be perpendicular to the surface of the reflector so that the force arm is half of the width of the reflector, and then calculating the total moment tau applied to the rotor shaft; a current sampling resistor is connected with a stator coil in series in a current feedback circuit in a drive controller, an oscilloscope is used for measuring the feedback voltage V of the current sampling resistor, and then the coil current i is calculated; calculating a torque constant k from τ and im(ii) a And changing the mass of the weight to carry out a plurality of tests to obtain a plurality of torque constants, wherein the obtained average value is the torque constant of the galvanometer motor.

Description

Method for measuring torque constant of laser scanning galvanometer motor
Technical Field
The invention relates to a performance test method of a laser scanning galvanometer, in particular to a method for measuring a torque constant of a motor of the laser scanning galvanometer.
Background
The galvanometer motor is a mechanical execution part in the laser scanning galvanometer and is a direct object controlled by the galvanometer. At present, the mainstream moving magnetic type galvanometer motor has compact structure and small volume, a rotor adopts a permanent magnet, a stator adopts a pair of coils which are symmetrically distributed, the structure is different from that of the traditional rotating motor, and the moving magnetic type galvanometer motor can only swing in a reciprocating way within a certain range.
The optimal control effect of the galvanometer motor is determined by characteristic parameters of the galvanometer motor, wherein a torque constant is a key performance parameter and represents the relationship between the stator coil current of the galvanometer motor and the output torque of a rotor. Because the structure difference of the galvanometer motor and the common rotating motor is large, the size is small, and the traditional torque constant testing method of the rotating motor is not suitable for the galvanometer motor. At present, most of vibration mirror control researches of researchers adopt foreign vibration mirror motors, characteristic parameters of the vibration mirror motors are directly obtained from manufacturers, domestic vibration mirror manufacturers do not provide the key parameters, and related personnel do not research the characteristic parameter measuring method of the domestic vibration mirror motors.
Disclosure of Invention
The present invention has been made to solve the above problems, and an object of the present invention is to provide a method for measuring a torque constant of a laser scanning galvanometer motor.
The invention provides a method for measuring the torque constant of a laser scanning galvanometer motor, which is used for measuring the torque constant of the galvanometer motor and has the characteristics that the method comprises the following steps:
step 1, determining all parts required by testing, including a galvanometer motor, a driving controller, a thin wire, a pulley, a weight and an oscilloscope, and connecting a reflecting lens on a rotor shaft of the galvanometer motor;
step 2, connecting the galvanometer motor with the driving controller, then electrifying, at the moment, enabling the galvanometer motor to be in an initial balance state under closed-loop control, then winding the thin wire on the reflector, leading out two free ends of the thin wire from opposite directions, and respectively bypassing one pulley;
step 3, hanging weights with equal mass at two free ends of the thin wire respectively, converting the gravity of the weights into a pulling force applied to the reflecting lens, changing the direction of the force by adjusting the position of the pulley, adjusting the thin wire to be perpendicular to the surface of the reflecting lens, enabling the force arm to be half of the width of the reflecting lens, and then calculating to obtain the total moment tau applied to the rotor shaft, wherein the calculation formula is as follows:
Figure GDA0002656219700000021
step 4, a current sampling resistor R is connected with a stator coil in series in a current feedback circuit in the drive controller, the voltage at two ends of the current sampling resistor R is amplified through an operational amplifier and then measured by an oscilloscope to obtain a feedback voltage value V, and then a coil current value i is obtained through calculation, wherein the calculation formula is as follows:
i＝V/K (2)；
step 5, calculating to obtain a torque constant k according to the total moment tau and the coil current value imThe calculation formula is as follows:
Figure GDA0002656219700000031
step 6, changing the mass of the weight to carry out a plurality of tests to obtain a plurality of torque constants, then taking an average value to obtain the torque constant of the galvanometer motor,
in the formulas (1) to (3), M is the mass of the weight in grams, g is the gravitational acceleration, x is the width of the mirror, in millimeters, and K is the current sampling amplification factor.
The method for measuring the torque constant of the laser scanning galvanometer motor provided by the invention can also have the following characteristics: wherein, the initial balance state of the galvanometer motor in the step 2 under the closed-loop control is the position of the reflecting mirror when the command signal is 0.
Action and Effect of the invention
According to the method for measuring the torque constant of the laser scanning galvanometer motor, the gravity generated by the weight can be converted into the pulling force acting on the reflecting mirror of the galvanometer motor, and the direction of the pulling force can be adjusted to be vertical to the mirror surface, so that the force arm is always half of the width of the reflecting mirror, and the moment applied to the rotor shaft of the galvanometer motor can be accurately and quantitatively changed by changing the mass of the weight; under the condition of closed loop, after the moment is applied to the motor shaft of the galvanometer, stable current can be generated in the stator coil, and balance moment is formed, so that the galvanometer motor can be kept in a stable state; because an oscilloscope is adopted to measure the output voltage at two ends of the current sampling resistor R, the current in the stator coil can be obtained through calculation; because the torque constant of the galvanometer motor can be obtained through the corresponding torque and current, and a plurality of torque constant values can be obtained by changing the mass of the weights, the accurate value of the torque constant of the galvanometer motor can be obtained by taking an average value.
Drawings
FIG. 1 is a schematic view of a galvanometer motor in an embodiment of the present invention;
FIG. 2 is a schematic view of an embodiment of the invention showing the filament wound around a pulley in an initial state;
FIG. 3 is a schematic illustration of the application of a moment on a mirror plate in an embodiment of the invention;
fig. 4 is a schematic view showing the measurement of the stator coil current in the embodiment of the present invention.
Detailed Description
In order to make the technical means and functions of the present invention easy to understand, the present invention is specifically described below with reference to the embodiments and the accompanying drawings.
Example (b):
the method for measuring the torque constant of the laser scanning galvanometer motor is used for measuring the torque constant of the galvanometer motor 1 and comprises the following steps:
FIG. 1 is a schematic view of a galvanometer motor in an embodiment of the present invention.
Step 1, determining all parts required by the test, including a galvanometer motor 1, a driving controller 2, a thin wire 3, a pulley 4, a weight and an oscilloscope, and connecting a reflecting lens 6 on a rotor shaft 5 of the galvanometer motor 1, as shown in fig. 1.
Figure 2 is a schematic view of an embodiment of the invention in its initial state after the thread has been passed around the pulley.
And 2, connecting the galvanometer motor 1 with the driving controller 2, electrifying, wherein at the moment, the galvanometer motor 1 is in an initial balance state under closed-loop control, then winding the thin wire 3 on the reflecting mirror 6, leading out two free ends of the thin wire 3 from opposite directions, and respectively bypassing one pulley 4, as shown in fig. 2.
In addition, when an external torque is applied to the galvanometer motor 1, the galvanometer motor 1 generates a current in a coil and forms a torque which is equal to the external torque and opposite to the external torque in order to keep the balanced state, and the proportional relation between the torque and the current is a torque constant.
FIG. 3 is a schematic illustration of the application of a moment on a mirror plate in an embodiment of the invention.
Step 3, hanging weights with equal mass at two free ends of the thin wire 3 respectively, converting the gravity of the weights into a pulling force applied to the reflecting mirror 6, changing the direction of the force by adjusting the position of the pulley 4, adjusting the thin wire 3 to be vertical to the surface of the reflecting mirror 6, enabling the force arm to be half of the width of the reflecting mirror 6, and then calculating to obtain the total moment tau applied to the rotor shaft 5, wherein the unit of the total moment tau is Newton-meter, and the calculation formula is as follows:
Figure GDA0002656219700000051
the moment is applied and the pulley 4 is adjusted as shown in fig. 3, and in addition, the force is simultaneously applied to the upper end and the lower end of the reflector so as to ensure the stress balance of the rotor shaft.
Fig. 4 is a schematic view showing the measurement of the stator coil current in the embodiment of the present invention.
Step 4, a current sampling resistor R is connected in series with the stator coil in a current feedback circuit in the drive controller 2, the voltage at two ends of the current sampling resistor R is amplified by an operational amplifier and then measured by an oscilloscope to obtain a feedback voltage value V, as shown in fig. 4, and then a coil current value i is obtained by calculation, wherein the calculation formula is as follows:
i＝V/K (2)。
step 5, calculating to obtain a torque constant k according to the total moment tau and the coil current value imThe calculation formula is as follows:
Figure GDA0002656219700000052
and 6, changing the mass of the weight to perform multiple tests to obtain multiple torque constants, and then averaging to obtain the torque constant of the galvanometer motor 1.
In the formulas (1) to (3), M is the mass of the weight in grams, g is the gravitational acceleration, x is the width of the mirror, in millimeters, and K is the current sampling amplification factor.
Effects and effects of the embodiments
According to the method for measuring the torque constant of the laser scanning galvanometer motor, the gravity generated by the weight can be converted into the pulling force acting on the reflecting mirror of the galvanometer motor, and the direction of the pulling force can be adjusted to be vertical to the mirror surface, so that the force arm is always half of the width of the reflecting mirror, and the moment applied to the rotor shaft of the galvanometer motor can be accurately and quantitatively changed by changing the mass of the weight; under the condition of closed loop, after the moment is applied to the motor shaft of the galvanometer, stable current can be generated in the stator coil, and balance moment is formed, so that the galvanometer motor can be kept in a stable state; because an oscilloscope is adopted to measure the output voltage at two ends of the current sampling resistor R, the current in the stator coil can be obtained through calculation; because the torque constant of the galvanometer motor can be obtained through the corresponding torque and current, and a plurality of torque constant values can be obtained by changing the mass of the weights, the accurate value of the torque constant of the galvanometer motor can be obtained by taking an average value.
The above embodiments are preferred examples of the present invention, and are not intended to limit the scope of the present invention.

Claims (2)

1. A method for measuring the torque constant of a laser scanning galvanometer motor is used for measuring the torque constant of the galvanometer motor and is characterized by comprising the following steps:
step 1, determining each part required by a test, including the galvanometer motor, a driving controller, a thin wire, a pulley, a weight and an oscilloscope, and connecting a reflecting lens on a rotor shaft of the galvanometer motor;
step 2, connecting the galvanometer motor with the driving controller, then electrifying, wherein the galvanometer motor is in an initial balance state under closed-loop control, then winding the thin wire on the reflecting mirror, leading out two free ends of the thin wire from opposite directions, and respectively bypassing one pulley;
step 3, hanging the weights with the same mass at the two free ends of the thin wire respectively, converting the gravity of the weights into a pulling force applied to the reflecting mirror, changing the direction of the force by adjusting the position of a pulley, adjusting the thin wire to be vertical to the surface of the reflecting mirror, enabling the force arm to be half of the width of the reflecting mirror, and then calculating to obtain the total moment tau applied to the rotor shaft, wherein the calculation formula is as follows:
Figure FDA0002656219690000011
step 4, a current sampling resistor R is connected with a stator coil in series in a current feedback circuit in the drive controller, the voltage at two ends of the current sampling resistor is amplified through an operational amplifier and then measured by an oscilloscope to obtain a feedback voltage value V, and then a coil current value i is obtained through calculation, wherein the calculation formula is as follows:
i＝V/K (2)；
step 5, calculating to obtain a torque constant k according to the total moment tau and the coil current value imThe calculation formula is as follows:
Figure FDA0002656219690000021
step 6, changing the mass of the weight to carry out a plurality of tests to obtain a plurality of torque constants, then averaging to obtain the torque constants of the galvanometer motor,
in the formulas (1) to (3), M is the mass of the weight in grams, g is the gravitational acceleration, x is the width of the mirror, in millimeters, and K is the current sampling amplification factor.
2. The method for determining the torque constant of the motor of the laser scanning galvanometer according to claim 1, characterized in that:
wherein, the initial balance state of the galvanometer motor in the step 2 under closed-loop control is the position of the reflecting mirror when the command signal is 0.
CN201910467156.3A 2019-05-31 2019-05-31 Method for measuring torque constant of laser scanning galvanometer motor Expired - Fee Related CN110146320B (en)

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Citations (5)

* Cited by examiner, † Cited by third party
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
CN101930054B (en) * 2010-05-11 2012-03-21 常州工学院 Portable motor parameter-detecting device
CN203287499U (en) * 2013-05-27 2013-11-13 宁波伊士通技术股份有限公司 Apparatus for testing torque constant of permanent-magnet servo synchronous motor
CN104677534A (en) * 2015-03-01 2015-06-03 叶露微 Micromotor torque measuring device using rope and pulley method
CN206523605U (en) * 2017-02-15 2017-09-26 大澳电器（江苏）有限公司 The torque characteristics test device of wheel hub motor model machine

Patent Citations (5)

* Cited by examiner, † Cited by third party
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
CN101930054B (en) * 2010-05-11 2012-03-21 常州工学院 Portable motor parameter-detecting device
CN203287499U (en) * 2013-05-27 2013-11-13 宁波伊士通技术股份有限公司 Apparatus for testing torque constant of permanent-magnet servo synchronous motor
CN104677534A (en) * 2015-03-01 2015-06-03 叶露微 Micromotor torque measuring device using rope and pulley method
CN206523605U (en) * 2017-02-15 2017-09-26 大澳电器（江苏）有限公司 The torque characteristics test device of wheel hub motor model machine

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