CN110500972B - Motor air gap detection method, device and system and storage medium - Google Patents
Motor air gap detection method, device and system and storage medium Download PDFInfo
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- CN110500972B CN110500972B CN201810468496.3A CN201810468496A CN110500972B CN 110500972 B CN110500972 B CN 110500972B CN 201810468496 A CN201810468496 A CN 201810468496A CN 110500972 B CN110500972 B CN 110500972B
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Abstract
The invention discloses a method, a device and a system for detecting a motor air gap and a storage medium, wherein the detection method comprises the following steps: acquiring a time domain radial vibration signal when a motor to be detected runs at a preset speed, and converting the time domain radial vibration signal into a frequency domain radial vibration signal; determining a polar frequency and a cogging torque frequency according to the preset speed, the number of poles of the motor to be detected and the number of slots of the motor to be detected; determining amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency, respectively; and determining whether the air gap meets the consistency requirement according to the amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency respectively. The invention can detect whether the air gap between the stator teeth and the stator yoke meets the requirement of consistency.
Description
Technical Field
The invention relates to the technical field of motors, in particular to a method, a device and a system for detecting a motor air gap and a storage medium.
Background
For a segmented stator of an electrical machine, there are two air gaps: one is the air gap between the stator and the rotor; the other is the air gap between the stator teeth and the stator yoke. A second type of air gap exists because the stator is formed by the integration of the stator teeth and stator yoke via a mechanical interface. When assembling the stator teeth and the stator yoke into a stator, it is desirable to control the air gap between the stator teeth and the stator yoke to be as small and consistent as possible. If the air gap is not uniform, it means that the magnetic circuit is unbalanced, which in turn may cause motor torque vibration, noise, etc., so uniformity of the air gap between the stator teeth and the stator yoke is very important.
Therefore, there is a need to provide a solution for detecting the uniformity of the air gap between the stator teeth and the stator yoke.
Disclosure of Invention
In view of the above, the present invention provides a method, an apparatus, a system and a storage medium for detecting an air gap of a motor, which can detect whether the air gap between a stator tooth and a stator yoke meets a requirement of consistency.
The invention provides a method for detecting an air gap of a motor, which comprises the following steps:
acquiring a time domain radial vibration signal when a motor to be detected runs at a preset speed, and converting the time domain radial vibration signal into a frequency domain radial vibration signal;
determining a polar frequency and a cogging torque frequency according to the preset speed, the number of poles of the motor to be detected and the number of slots of the motor to be detected;
determining amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency, respectively;
and determining whether the air gap meets the consistency requirement according to the amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency respectively.
In some embodiments, the polar frequency is calculated using a first formula comprising:
in the formula (f)1And p is the pole number and n is the preset speed.
In some embodiments, the cogging torque frequency is calculated using a second equation comprising:
in the formula (f)2And the cogging torque frequency is represented by p, s, LCM (p, s) and n, wherein p is the number of poles, s is the number of grooves, n is the minimum common multiple of the number of poles and the number of grooves, and n is the preset speed.
In some embodiments, the determining whether the air gap meets a uniformity requirement comprises: if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
In some embodiments, the motor to be tested includes a stator core without a coil and a rotor with a magnetic pole, wherein in the step of obtaining the time-domain radial vibration signal when the motor to be tested operates at a preset speed, the motor to be tested is driven by a driving motor to operate.
The invention provides a detection device for a motor air gap, which comprises:
the signal acquisition module is used for acquiring a time domain radial vibration signal when the motor to be detected runs at a preset speed and converting the time domain radial vibration signal into a frequency domain radial vibration signal;
the frequency determination module is used for determining the pole frequency and the cogging torque frequency according to the preset speed, the pole number of the motor to be detected and the slot number of the motor to be detected;
an amplitude determination module for determining amplitudes of the frequency domain radial vibration signal at the polar frequency and the cogging torque frequency, respectively;
and the consistency determining module is used for determining whether the air gap meets the consistency requirement according to the amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency respectively.
In some embodiments, the frequency determination module calculates the pole frequency using a first formula, the first formula comprising:
in the formula (f)1And p is the pole number and n is the preset speed.
In some embodiments, the frequency determination module calculates the cogging torque frequency using a second equation comprising:
in the formula (f)2And the cogging torque frequency is represented by p, s, LCM (p, s) and n, wherein p is the number of poles, s is the number of grooves, n is the minimum common multiple of the number of poles and the number of grooves, and n is the preset speed.
In some embodiments, the consistency determination module is specifically configured to: if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
In some embodiments, the motor to be tested includes a stator core without a coil and a rotor with a magnetic pole, wherein the signal acquisition module is configured to operate the motor to be tested by a driving motor when acquiring a time-domain radial vibration signal when the motor to be tested operates at a preset speed.
The invention also provides a detection system for the air gap of the motor, which comprises:
the driving device is used for driving the motor to run at a preset speed;
the acquisition device is used for acquiring a time domain radial vibration signal of the motor to be detected when the motor to be detected runs at a preset speed; and
the above-mentioned detection device; the signal acquisition module in the detection device is specifically configured to acquire the time-domain radial vibration signal from the acquisition device.
The invention also provides a detection device for the motor air gap, which comprises:
at least one memory and at least one processor, wherein:
the at least one memory is for storing a computer program;
the at least one processor is configured to invoke a computer program stored in the at least one memory to perform the detection method described above.
The present invention provides a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, is operable to implement the above-described detection method.
In summary, the invention first obtains the radial vibration signal of the motor in the steady operation state, then converts the radial vibration signal from the time domain to the frequency domain, then determines the amplitudes of the frequency domain radial vibration signal at the pole frequency and the cogging torque frequency, and then judges whether the air gap between the stator teeth and the stator yoke meets the requirement of consistency based on the two amplitudes. The detection method can be automatically completed by software, so that the detection time can be shortened, and the processing efficiency can be improved. In addition, based on the detection method, whether the air gap between the stator tooth and the stator yoke meets the consistency requirement can be detected, and then correction or adjustment is carried out when the air gap does not meet the consistency requirement, so that the magnetic circuit is balanced as much as possible, the torque vibration, the noise and the like of the motor are reduced, and the product quality is improved.
Drawings
The foregoing and other features and advantages of the invention will become more apparent to those skilled in the art to which the invention relates upon consideration of the following detailed description of a preferred embodiment of the invention with reference to the accompanying drawings, in which:
FIG. 1 is a schematic flow chart of a method for detecting an air gap between a stator tooth and a stator yoke of an electric machine according to an embodiment of the present invention;
FIG. 2 is a block diagram of an apparatus for detecting an air gap between a stator tooth and a stator yoke of an electric motor according to an embodiment of the present invention;
FIG. 3 is a block diagram of a system for detecting an air gap between a stator tooth and a stator yoke of an electric motor according to an embodiment of the present invention;
fig. 4 is a block diagram of a device for detecting an air gap between a stator tooth and a stator yoke of a motor according to an embodiment of the present invention.
Wherein the reference numbers are as follows:
| 101～104 | step (ii) of |
| 200 | Device for detecting air gap between motor stator tooth and |
| 201 | |
| 202 | |
| 203 | |
| 204 | |
| 300 | System for detecting air gap between motor stator tooth and |
| 301 | |
| 302 | Collection device |
| 400 | Device for detecting air gap between motor stator tooth and |
| 410 | |
| 420 | Processor with a memory having a plurality of memory cells |
Detailed Description
In order to more clearly understand the technical features, objects and effects of the present invention, embodiments of the present invention will now be described with reference to the accompanying drawings, in which the same reference numerals indicate the same or structurally similar but functionally identical elements.
"exemplary" means "serving as an example, instance, or illustration" herein, and any illustration, embodiment, or steps described as "exemplary" herein should not be construed as a preferred or advantageous alternative.
For the sake of simplicity, the drawings only schematically show the parts relevant to the present invention, and they do not represent the actual structure as a product. In addition, for simplicity and clarity of understanding, only one of the components having the same structure or function is schematically illustrated or labeled in some of the drawings.
The invention provides a method for detecting an air gap between a stator tooth and a stator yoke of a motor, which comprises the following steps of:
101. acquiring a time domain radial vibration signal when a motor to be detected runs at a preset speed, and converting the time domain radial vibration signal into a frequency domain radial vibration signal;
before obtaining the vibration signal, assembling a stator without a coil and a rotor with a magnet into a motor to be tested, and then driving the motor to be tested to run at a preset speed by adopting a driving motor. Wherein the preset speed can be set according to the requirement, for example, 60 r/min. Then, a time domain radial vibration signal is acquired through the vibration sensor, the detection platform acquires the vibration signal acquired by the vibration sensor, and then the detection platform judges the consistency of an air gap between the stator teeth and the stator yoke based on the acquired vibration signal.
It can be understood that the time-domain radial vibration signal is a vibration signal of the motor to be measured in the radial direction, and the vibration signal is a time-domain signal. The frequency domain radial vibration signal is, for example, a vibration signal having a frequency on the abscissa and an amplitude on the ordinate.
The method provided by the invention can be applied to permanent magnet motors and non-permanent magnet motors. For permanent magnet machines, the rotor is a permanent magnet equipped rotor, and for non-permanent magnet machines, a permanent magnet may be equipped on the rotor in order to apply the method.
102. Determining a polar frequency and a cogging torque frequency according to the preset speed, the number of poles of the motor to be detected and the number of slots of the motor to be detected;
it can be understood that each servo motor has a database, and when the servo motor runs stably, the parameters are fixed, so that the related parameters such as the pole number, the groove number and the like can be obtained from the database.
When the method is used actually, the rotation frequency of the motor to be measured can be calculated firstly:
wherein n is a predetermined speed, f0Is the rotation frequency.
Then, based on the rotation frequency, the polar frequency is calculated:
f1＝p*f0 (2)
in the formula (f)1And p is the pole number.
Therefore, the calculation formula for the pole frequency is summarized as:
the above formula (3) may be referred to as a first formula.
In practical applications, the cogging torque frequency may be calculated based on the above equation (1):
f2＝LCM(p，s)*f0 (4)
in the formula (f)2And the cogging torque frequency is represented by p, s and LCM (p, s), wherein p is the number of poles, s is the number of grooves, and LCM (p, s) is the least common multiple of the number of poles and the number of grooves.
The above equation (4) can also be written as:
the above formula (5) may be referred to as a second formula.
The minimum common multiple of the pole number and the slot number can also be obtained from a database of the servo motor, and can also be obtained by calculation according to the obtained pole number and the slot number.
103. Determining amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency, respectively;
it will be appreciated that the frequency domain radial vibration signal has a frequency on the abscissa and an amplitude on the ordinate, and that since the polar frequency and the cogging torque frequency have been determined, the amplitude of the frequency domain radial vibration signal at the polar frequency and the amplitude at the cogging torque frequency can be determined.
104. And determining whether the air gap meets the consistency requirement according to the amplitudes of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency respectively.
In practical application, the specific determination process may be as follows:
if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
That is, if A (f)2)>A(f1) The air gap between the stator teeth and the stator yoke can be considered to be uniform, and the requirement of consistency is met; when A (f)2)≤A(f1) The air gap between the stator teeth and the stator yoke may be considered to not meet the uniformity requirement.
The detection method provided by the invention comprises the steps of firstly obtaining a radial vibration signal of the motor in a stable running state, then converting the radial vibration signal from a time domain to a frequency domain, then determining the amplitude values of the frequency domain radial vibration signal at a polar frequency and a cogging torque frequency, and further judging whether an air gap between a stator tooth and a stator yoke meets the requirement of consistency or not based on the two amplitude values. The detection method can be automatically completed by software, so that the detection time can be shortened, and the processing efficiency can be improved. In addition, based on the detection method, whether the air gap between the stator tooth and the stator yoke meets the consistency requirement can be detected, and then correction or adjustment is carried out when the air gap does not meet the consistency requirement, so that the magnetic circuit is balanced as much as possible, the torque vibration, the noise and the like of the motor are reduced, and the product quality is improved.
The present invention also provides a device for detecting an air gap between a stator tooth and a stator yoke of a motor, as shown in fig. 2, the device 200 includes:
the signal acquisition module 201 is configured to acquire a time domain radial vibration signal when the motor to be detected operates at a preset speed, and convert the time domain radial vibration signal into a frequency domain radial vibration signal;
the frequency determination module 202 is configured to determine a pole frequency and a cogging torque frequency according to the preset speed, the pole number of the motor to be measured, and the slot number of the motor to be measured;
an amplitude determination module 203 for determining amplitudes of the frequency domain radial vibration signal at the polar frequency and the cogging torque frequency, respectively;
a consistency determination module 204, configured to determine whether the air gap meets a consistency requirement according to amplitudes of the frequency domain radial vibration signal at the polar frequency and the cogging torque frequency, respectively.
In some embodiments, the frequency determination module calculates the pole frequency using a first formula, the first formula comprising:
in the formula (f)1And p is the pole number and n is the preset speed.
In some embodiments, the frequency determination module calculates the cogging torque frequency using a second equation comprising:
in the formula (f)2And the cogging torque frequency is represented by p, s, LCM (p, s) and n, wherein p is the number of poles, s is the number of grooves, n is the minimum common multiple of the number of poles and the number of grooves, and n is the preset speed.
In some embodiments, the consistency determination module is specifically configured to: if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
In some embodiments, the motor to be tested includes a stator core without a coil and a rotor with a magnetic pole, wherein the signal acquisition module is configured to operate the motor to be tested by a driving motor when acquiring a time-domain radial vibration signal when the motor to be tested operates at a preset speed.
It can be understood that the detection apparatus provided by the present invention corresponds to the detection method provided by the present invention, and the explanation, examples, beneficial effects and other parts of the relevant contents can refer to the corresponding parts in the detection method, and are not described herein again.
The present invention also provides a system for detecting an air gap between a stator tooth and a stator yoke of an electric machine, as shown in fig. 3, the system 300 includes:
a driving device 301 for driving the motor to operate at a preset speed;
the acquisition device 302 is used for acquiring a time domain radial vibration signal of the motor to be detected when the motor to be detected runs at a preset speed; and
a detection device 200; the signal acquisition module in the detection device is specifically configured to acquire the time-domain radial vibration signal from the acquisition device.
It is understood that the driving device 301 is, for example, a driving motor. The above-mentioned acquisition device 302 is, for example, a vibration sensor.
The present invention also provides a device for detecting an air gap between a stator tooth and a stator yoke of a motor, as shown in fig. 4, the device 400 includes:
at least one memory 410 and at least one processor 420, wherein:
the at least one memory 410 is for storing a computer program;
the at least one processor 420 is configured to invoke a computer program stored in the at least one memory to perform the detection method described above.
Of course, the detection device may also comprise some other components, such as a communication port or the like, for receiving a radial vibration signal of the motor. These components may communicate over a bus.
Wherein the at least one memory 410 is used for storing computer programs. The computer program may be executable by the at least one processor 420 to implement the detection method described in fig. 1. Alternatively, the computer program may also be understood to comprise the respective modules of the processing apparatus shown in fig. 2, namely the signal acquisition module 201, the frequency determination module 202, the amplitude determination module 203, the consistency determination module 204.
Further, the at least one memory 410 may also store an operating system and the like. Operating systems include, but are not limited to: an Android operating system, a Symbian operating system, a Windows operating system, a Linux operating system, and the like.
The at least one processor 420 is configured to invoke computer programs stored in the at least one memory 410 to perform the detection methods described in embodiments of the present invention based on the functionality of the at least one port to receive data. The processor 420 may be a CPU, processing unit/module, ASIC, logic module, or programmable gate array, etc.
It should be noted that not all steps and modules in the flowchart shown in fig. 1 and the block diagram shown in fig. 2 are necessary, and some steps or modules may be omitted according to actual needs. The execution order of the steps is not fixed and can be adjusted as required. The division of each module is only for convenience of describing adopted functional division, and in actual implementation, one module may be divided into multiple modules, and the functions of multiple modules may also be implemented by the same module, and these modules may be located in the same device or in different devices.
The hardware modules in the various embodiments may be implemented mechanically or electronically. For example, a hardware module may include a specially designed permanent circuit or logic device (e.g., a special purpose processor such as an FPGA or ASIC) for performing specific operations. A hardware module may also include programmable logic devices or circuits (e.g., including a general-purpose processor or other programmable processor) that are temporarily configured by software to perform certain operations. The implementation of the hardware module in a mechanical manner, or in a dedicated permanent circuit, or in a temporarily configured circuit (e.g., configured by software), may be determined based on cost and time considerations.
The present invention also provides a machine-readable storage medium (e.g., a computer-readable storage medium) storing instructions for causing a machine to perform a detection method as described herein. Specifically, a system or an apparatus equipped with a storage medium on which a software program code that realizes the functions of any of the embodiments described above is stored may be provided, and a computer (or a CPU or MPU) of the system or the apparatus is caused to read out and execute the program code stored in the storage medium. Further, part or all of the actual operations may be performed by an operating system or the like operating on the computer by instructions based on the program code. The functions of any of the above-described embodiments may also be implemented by writing the program code read out from the storage medium to a memory provided in an expansion board inserted into the computer or to a memory provided in an expansion unit connected to the computer, and then causing a CPU or the like mounted on the expansion board or the expansion unit to perform part or all of the actual operations based on the instructions of the program code. Examples of the storage medium for supplying the program code include floppy disks, hard disks, magneto-optical disks, optical disks (e.g., CD-ROMs, CD-R, CD-RWs, DVD-ROMs, DVD-RAMs, DVD-RWs, DVD + RWs), magnetic tapes, nonvolatile memory cards, and ROMs. Alternatively, the program code may be downloaded from a server computer via a communications network.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (11)
1. A method for detecting an air gap of a motor is characterized by comprising the following steps:
acquiring a time domain radial vibration signal when a motor to be detected runs at a preset speed, and converting the time domain radial vibration signal into a frequency domain radial vibration signal (101);
determining a pole frequency and a cogging torque frequency (102) according to the preset speed, the pole number of the motor to be tested and the slot number of the motor to be tested;
determining amplitudes (103) of the frequency domain radial vibration signals at the polar frequency and the cogging torque frequency, respectively;
determining (104) whether the air gap meets a conformance requirement based on the amplitudes of the frequency domain radial vibration signals at the pole frequency and the cogging torque frequency, respectively, wherein the determining whether the air gap meets a conformance requirement comprises: if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
2. The detection method of claim 1, wherein the polar frequency is calculated using a first formula comprising:
in the formula (f)1And p is the pole number and n is the preset speed.
3. The detection method of claim 1, wherein the cogging torque frequency is calculated using a second equation comprising:
in the formula (f)2And the cogging torque frequency is represented by p, s, LCM (p, s) and n, wherein p is the number of poles, s is the number of grooves, n is the minimum common multiple of the number of poles and the number of grooves, and n is the preset speed.
4. The detection method according to any one of claims 1 to 3, wherein the motor under test comprises a stator core without coils and a rotor with magnetic poles, and wherein in the step of acquiring the time-domain radial vibration signal when the motor under test is operated at a preset speed, the motor under test is driven by a driving motor to operate.
5. A device (200) for detecting an air gap in an electrical machine, comprising:
the signal acquisition module (201) is used for acquiring a time domain radial vibration signal when the motor to be detected runs at a preset speed and converting the time domain radial vibration signal into a frequency domain radial vibration signal;
the frequency determination module (202) is used for determining the polar frequency and the cogging torque frequency according to the preset speed, the pole number of the motor to be detected and the slot number of the motor to be detected;
an amplitude determination module (203) for determining amplitudes of the frequency domain radial vibration signal at the polar frequency and the cogging torque frequency, respectively;
a consistency determination module (204) for determining whether the air gap meets a consistency requirement based on the amplitudes of the frequency domain radial vibration signals at the pole frequency and the cogging torque frequency, respectively, wherein the consistency determination module (204) is specifically configured to: if the amplitude of the frequency domain radial vibration signal at the cogging torque frequency is greater than the amplitude at the polar frequency, the air gap meets the consistency requirement; otherwise, the air gap does not meet the uniformity requirement.
6. The sensing apparatus of claim 5, wherein the frequency determination module (202) calculates the pole frequency using a first formula, the first formula comprising:
in the formula (f)1And p is the pole number and n is the preset speed.
7. The detection apparatus as recited in claim 5, wherein the frequency determination module (202) calculates the cogging torque frequency using a second equation that includes:
in the formula (f)2And the cogging torque frequency is represented by p, s, LCM (p, s) and n, wherein p is the number of poles, s is the number of grooves, n is the minimum common multiple of the number of poles and the number of grooves, and n is the preset speed.
8. The detection device according to any one of claims 5 to 7, wherein the motor under test comprises a stator core without coils and a rotor with magnetic poles, and wherein the signal acquisition module is used for driving the motor under test to operate by a driving motor when acquiring the time-domain radial vibration signal when the motor under test operates at a preset speed.
9. A detection system (300) of an air gap of an electrical machine, comprising:
the driving device (301) is used for driving the motor to run at a preset speed;
the acquisition device (302) is used for acquiring a time domain radial vibration signal of the motor to be detected when the motor to be detected runs at a preset speed; and
the detection apparatus (200) of any one of claims 5 to 8; wherein the signal acquisition module (201) in the detection device (200) is specifically configured to acquire the time-domain radial vibration signal from the acquisition device (302).
10. A detection device (400) of an air gap of an electric machine, comprising:
at least one memory (410) and at least one processor (420), wherein:
the at least one memory (410) is for storing a computer program;
the at least one processor (420) is configured to invoke a computer program stored in the at least one memory (410) to perform the detection method of any of claims 1-4.
11. A computer-readable storage medium, on which a computer program is stored, characterized in that the detection method according to any one of claims 1 to 4 is implemented when the computer program is executed by a processor.
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