CN112880809A - Inherent frequency testing device and testing method of motor driving system - Google Patents
Inherent frequency testing device and testing method of motor driving system Download PDFInfo
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- CN112880809A CN112880809A CN202110303611.3A CN202110303611A CN112880809A CN 112880809 A CN112880809 A CN 112880809A CN 202110303611 A CN202110303611 A CN 202110303611A CN 112880809 A CN112880809 A CN 112880809A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H13/00—Measuring resonant frequency
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/02—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by magnetic means, e.g. reluctance
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01H—MEASUREMENT OF MECHANICAL VIBRATIONS OR ULTRASONIC, SONIC OR INFRASONIC WAVES
- G01H11/00—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties
- G01H11/06—Measuring mechanical vibrations or ultrasonic, sonic or infrasonic waves by detecting changes in electric or magnetic properties by electric means
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- Control Of Electric Motors In General (AREA)
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Abstract
The invention provides a natural frequency testing device and a method of a motor driving system, the testing device is used for testing the natural frequency of a target motor driving system, and the testing device comprises: the device comprises a control mainboard, a drive board, a measuring module and a power module, wherein the control mainboard is provided with a digital board used for sending SPWM control signals, the drive board is connected to the control mainboard in a manner of inter-board connection, the drive board receives the SPWM control signals and controls the operation of a motor according to the control signals, and the measuring module is connected with a target motor driving system and is used for measuring state parameters of the target motor driving system under the drive of sweep frequency SPWM control signals and acquiring the inherent frequency of the target motor driving system according to the state parameters. The power module supplies power to the control mainboard, the drive board and the measuring module. Therefore, the natural frequency of the target motor driving system can be obtained according to the state parameters of the target motor system under the drive of the sweep SPWM control signal, the measurement is convenient and reliable, and the method has high use value.
Description
Technical Field
The invention relates to the technical field of servo systems, in particular to inherent frequency testing equipment and a testing method of a motor driving system.
Background
In the turntable servo system, the mechanical resonance frequency of the system is different due to the difference of mechanical structure rigidity, elastic coefficient and rotational inertia. The quick response characteristic of the system is reflected by the bandwidth of the frequency band, the quick response capability and the precision of the system can be improved by increasing the bandwidth, when the mechanical resonance frequency is out of the bandwidth range of the system, the influence caused by the bandwidth is small, but when the mechanical resonance frequency is close to the bandwidth of the system, the influence on the performance of the system is large, and when the mechanical resonance frequency is serious, the physical structure can be damaged. Therefore, in the control process of the system, the resonance frequency point of the mechanical structure is tested, the upper limit threshold of the system bandwidth when the mechanical resonance is not influenced can be determined, and therefore whether the bandwidth of the system can meet the given requirement can be estimated before debugging.
Disclosure of Invention
The invention provides a natural frequency testing device and a natural frequency testing method of a motor driving system, and aims to solve the technical problem of how to test the natural frequency of a target motor driving system.
According to the natural frequency test device of the motor drive system of the embodiment of the present invention, the test device is used for testing the natural frequency of the target motor drive system, and the test device includes:
the control mainboard is provided with a digital board used for sending SPWM control signals;
the drive board is connected to the control main board in an inter-board plugging mode, receives the SPWM control signal and controls the operation of the motor according to the SPWM control signal;
the measuring module is connected with the target motor driving system and used for measuring state parameters of the target motor driving system under the drive of the sweep SPWM control signal and acquiring the natural frequency of the target motor driving system according to the state parameters;
and the power supply module is connected to the control mainboard to generate power required by each module, and the drive board and the measuring module are connected with the control mainboard to realize power supply of the control mainboard, the drive board and the measuring module.
According to the inherent frequency testing device of the motor driving system, the measuring module is used for measuring the state parameters of the target motor system under the drive of the sweep SPWM control signal, the inherent frequency of the target motor driving system can be obtained according to the state parameters, and the inherent frequency testing device is convenient and reliable to measure and has high use value.
According to some embodiments of the present invention, the control main board is provided with a control signal selection module and a signal source input module for receiving an external control signal,
the control signal selection module is selectively connected with the digital board and the signal source input module, and when the signal source input module receives an external control signal, the control signal selection module is switched to be connected with the signal source input module.
In some embodiments of the present invention, the driving plate comprises: the permanent magnet synchronous motor drive board and the direct current brush motor drive board are connected between the control mainboard and the drive board in a compatible mode.
According to some embodiments of the invention, the measurement module comprises a magnetoelectric vibration sensor, the magnetoelectric vibration sensor being connected with the target motor drive system to obtain a vibration signal of the target motor drive system;
the control mainboard is equipped with vibration signal processing output module, signal processing output module with magnetoelectric vibration sensor is connected for receive vibration signal handles the back output.
In some embodiments of the present invention, the measurement module further includes a system status measurement module disposed on the control main board, the system status measurement module is connected to both the target motor driving system and the digital board, and the system status measurement module is configured to obtain a position parameter and a speed parameter of the target motor driving system and transmit the position parameter and the speed parameter to the digital board.
According to some embodiments of the invention, the test apparatus further comprises: and the display module comprises a liquid crystal display screen arranged on the control mainboard and an external oscilloscope connected with the control mainboard.
In some embodiments of the present invention, the power module includes an internal power module and an external power module, and the control motherboard is provided with a power selection module connecting the external power module and the internal power module.
According to some embodiments of the invention, the power selection module is provided with an anti-reverse connection circuit.
In some embodiments of the present invention, the control motherboard is provided with a serial port communication interface for connecting an external device.
According to some embodiments of the present invention, an isolation processing module is disposed between the digital board and the driving board, and is configured to isolate signals between the digital board and the driving board.
According to the natural frequency testing method of the motor driving system, the testing method adopts the natural frequency testing device of the motor driving system to test the fixed frequency of the target motor driving system, and the method comprises the following steps:
s100, receiving a control signal by a drive plate, and controlling the motor to operate according to the control signal;
and S200, measuring state parameters of the target motor driving system driven by different control signals through a measuring module, and acquiring the natural frequency of the target motor driving system according to the state parameters.
The natural frequency testing method of the motor driving system disclosed by the embodiment of the invention has the advantages that the application range is wide, two power supply input modes are designed, the method is suitable for wide-range voltage input, when internal power supply works, an external power supply is accessed, the external power supply can be automatically switched to the external power supply for power supply, and reverse connection prevention protection is realized; two motor driving modes are designed, and when the digital board is controlled, the external signal generator is connected in and can be automatically switched to be controlled by the input of the external signal generator. And can be applicable to the system that detects the direct current and have brush motor and PMSM work. Through functions such as position speed detection, vibration sensor signal observation, realize that the multimode judges mechanical resonant frequency point, information such as measured position speed accessible liquid crystal display shows output, conveniently carries, has very high use value.
Drawings
FIG. 1 is a schematic diagram of a natural frequency testing apparatus for a motor drive system according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a natural frequency testing apparatus for a motor drive system according to an embodiment of the present invention;
fig. 3 is a composition view of a digital board of a natural frequency testing apparatus of a motor driving system according to an embodiment of the present invention.
Detailed Description
To further explain the technical means and effects of the present invention adopted to achieve the intended purpose, the present invention will be described in detail with reference to the accompanying drawings and preferred embodiments.
According to a natural frequency test apparatus of a motor drive system according to an embodiment of the present invention, the test apparatus is used for testing a natural frequency of a target motor drive system, as shown in fig. 1 and 2, the test apparatus includes: the device comprises a control mainboard, a drive board, a measuring module and a power module.
Specifically, the control main board is provided with a digital board for transmitting the SPWM control signal. It should be noted that the "SPWM control signal" in this application is a "sinusoidal pulse width modulation control signal".
The drive board is connected to the control mainboard in a manner of inter-board plug-in connection, and the drive board receives the SPWM control signal and controls the operation of the motor according to the SPWM control signal.
The measuring module is connected with the target motor driving system and used for measuring state parameters of the target motor driving system under the drive of the sweep SPWM control signal and acquiring the natural frequency of the target motor driving system according to the state parameters.
The power module is connected to the control mainboard to generate power needed by each module, and the drive board and the measuring module are connected with the control mainboard to realize power supply of the control mainboard, the drive board and the measuring module.
According to the inherent frequency testing device of the motor driving system, the measuring module is used for measuring the state parameters of the target motor driving system under the drive of the sweep SPWM control signal, the inherent frequency of the target motor driving system can be obtained according to the state parameters, and the inherent frequency testing device is convenient and reliable to measure and has high use value.
According to some embodiments of the present invention, as shown in fig. 2, the control main board is provided with a control signal selection module and a signal source input module for receiving an external control signal.
The control signal selection module is selectively connected with the digital board and the signal source input module, and when the signal source input module receives an external control signal, the control signal selection module is switched to be connected with the signal source input module.
It should be noted that the present invention adopts two methods for providing the motor control signal: one is for the external connection signal generator, provide the drive control signal by the signal generator; and the other is to carry out drive signal output control through a digital board on a system control main board. When the digital board is controlled, the external signal generator is switched in, and can be automatically switched to the input control of the external signal generator, so that the abnormal condition of the circuit caused by simultaneously using two control signal input modes can be prevented.
As shown in fig. 3, the digital board includes an FPGA and a DSP processor, external data is transmitted to the FPGA in the digital board, the FPGA and the DSP processor perform processing and then output signals, and the output signals include control signals for the motor and data sent to the liquid crystal display.
In some embodiments of the present invention, a drive plate comprises: the permanent magnet synchronous motor drive board and the direct current brush motor drive board are connected between the control mainboard and the drive board in a compatible mode.
That is, the invention provides two motor driving boards, one is a permanent magnet synchronous motor driving board, and the other is a direct current brush motor driving board, and compatible board-to-board connection is adopted in the design. When a direct-current brush motor is adopted, the torque of the motor is controlled through a direct-current brush motor driving board, the output current of the driving board enters the motor after passing through a current sensor to form a loop, the induction signal of the current sensor is processed by a circuit and then is acquired and calculated, and only one current sensor is needed. When the permanent magnet synchronous motor is adopted, the torque of the motor is controlled through the permanent magnet synchronous motor driving plate, and when the current is collected, 3 paths of current sensors are needed to collect three-phase currents respectively.
According to some embodiments of the invention, the measurement module comprises a magnetoelectric vibration sensor, the magnetoelectric vibration sensor being connected to the target motor drive system to obtain a vibration signal of the target motor drive system;
the control mainboard is provided with a vibration signal processing output module, and the signal processing output module is connected with the magnetoelectric vibration sensor and is used for receiving the vibration signal, processing the vibration signal and outputting the processed vibration signal.
It should be noted that, when the resonant frequency point is determined, the oscilloscope is connected to the output end of the signal processing output module, so as to visually observe the change of the vibration signal, determine the maximum point of the vibration intensity, measure the working state of the system by controlling the frequency sweep of the driving signal, and when the maximum point of the vibration intensity of the system occurs, the frequency sweep of the point is the mechanical resonant frequency of the system.
In some embodiments of the present invention, the measurement module further includes a system status measurement module disposed on the control motherboard, the system status measurement module is connected to both the target motor driving system and the digital board, and the system status measurement module is configured to obtain a position parameter and a speed parameter of the target motor driving system and transmit the position parameter and the speed parameter to the digital board.
It should be noted that, when the resonant frequency point is determined, the measurement module can perform speed detection and position detection on the target motor driving system according to the system state, the digital board determines the maximum value point where the speed and the position of the target motor driving system appear according to the information acquired by the measurement module, the working state of the system is measured by controlling the frequency sweep of the driving signal, and when the maximum value point appears in the speed and the position of the system, the frequency sweep frequency of the point is the mechanical resonant frequency of the system.
According to some embodiments of the invention, the test apparatus further comprises: and the display module comprises a liquid crystal display screen arranged on the control mainboard and an external oscilloscope connected with the control mainboard. It can be understood that the display module is arranged to facilitate the presentation and observation of the test results.
In some embodiments of the present invention, the power module includes an internal power module and an external power module, and the control motherboard is provided with a power selection module connecting the external power module and the internal power module.
It should be noted that the normal operation of the power supply is the guarantee of the system stability, and the power supply input modes of the invention have two types: an internal power input mode and an external power input mode.
The internal power supply is 24V/20A input, the external power supply is 5.9V-47V/20A input, one mode can be selected to access the power supply, when the internal power supply works, the external power supply is accessed, the external power supply can be automatically switched to the external power supply for supplying power, reverse connection prevention protection is provided, and circuit abnormal conditions caused by the fact that the two power supply input modes are used at the same time can be prevented.
In some embodiments of the present invention, the control motherboard is provided with a serial communication interface for connecting an external device. The serial port communication interface can realize the communication between the upper computer and the control panel by building a general RS485/RS422 circuit.
According to some embodiments of the invention, an isolation processing module is arranged between the digital board and the driving board and used for isolating signals between the digital board and the driving board. Therefore, signal interference between the digital board and the driving board can be avoided, and the anti-interference performance of the testing equipment is improved.
According to the natural frequency testing method of the motor driving system, the testing method adopts the natural frequency testing equipment of the motor driving system to test the fixed frequency of the target motor driving system, and the method comprises the following steps:
s100, the driving board receives the control signal and controls the motor to operate according to the control signal;
and S200, measuring the state parameters of the target motor driving system driven by different control signals through the measuring module to obtain the natural frequency of the target motor driving system according to the state parameters.
The natural frequency testing method of the motor driving system disclosed by the embodiment of the invention has the advantages that the application range is wide, two power supply input modes are designed, the method is suitable for wide-range voltage input, when internal power supply works, an external power supply is accessed, the external power supply can be automatically switched to the external power supply for power supply, and reverse connection prevention protection is realized; two motor driving modes are designed, and when the digital board is controlled, the external signal generator is connected in and can be automatically switched to be controlled by the input of the external signal generator. And can be applicable to the system that detects the direct current and have brush motor and PMSM work. Through functions such as position speed detection, vibration sensor signal observation, realize that the multimode judges mechanical resonant frequency point, information such as measured position speed accessible liquid crystal display shows output, conveniently carries, has very high use value.
The natural frequency test apparatus and test method of a motor driving system according to the present invention will be described in detail in one specific embodiment with reference to the accompanying drawings. It is to be understood that the following description is only exemplary in nature and should not be taken as a specific limitation on the invention.
According to the mechanical resonance frequency of the system, the upper limit threshold of the bandwidth of the system can be determined, so that before debugging the system, whether the bandwidth of the system can meet given requirements can be estimated according to the mechanical resonance frequency of the system. After the mechanical resonant frequency is known, the reason of the limited bandwidth can be quickly determined, and the time cost is reduced, so the invention provides the shafting natural frequency testing equipment and the shafting natural frequency testing method for the motor driving system.
In order to expand the application range, the direct current brush motor and the permanent magnet synchronous motor are compatibly designed aiming at different types of motors, and the direct current brush motor and the permanent magnet synchronous motor can be controlled by connecting different types of driving plates between the plates. When a direct-current brush motor is adopted, the torque of the motor is controlled through a direct-current brush motor driving board, the output current of the driving board enters the motor after passing through a current sensor to form a loop, the induction signal of the current sensor is processed by a circuit and then is acquired and calculated, and only one current sensor is needed. When the permanent magnet synchronous motor is adopted, the torque of the motor is controlled through the permanent magnet synchronous motor driving plate, and when the current is collected, 3 paths of current sensors are needed to collect three-phase currents respectively.
The normal work of the power supply is the guarantee of the system stability, the power supply input mode of the invention has two kinds, the built-in power supply input mode and the external power supply input mode, the built-in power supply is 24V/20A input, the external power supply is 5.9V-47V/20A input, one mode can be selected to access the power supply, when the internal power supply works, the external power supply is accessed, the external power supply can be automatically switched to the external power supply for power supply, and the invention has the protection of reverse connection prevention, and can prevent the circuit abnormal condition caused by using the two power supply input modes at the same time.
In order to measure the mechanical resonant frequency of the system, the frequency is swept by a control signal of a motor driving plate, and the working state of the system is measured to judge a resonant frequency point. Two methods are also adopted for providing the motor control signal, one method is an external connection signal generator, the signal generator provides a drive control signal, and the signal between the signal generator and the motor drive plate is subjected to optical coupling isolation processing; a digital board on a system control motherboard is used for carrying out drive signal output control, and control signals between the digital board and a motor drive board are isolated in a magnetic isolation processing mode, so that inter-board interference can be effectively avoided, and inter-board circuit isolation protection is provided.
When the digital board is controlled, the external signal generator is connected, and can be automatically switched to the input control of the external signal generator, so that the circuit abnormal condition caused by simultaneously using two control signal input modes can be prevented.
When the resonant frequency point is judged, the maximum value point of the speed, the position and the vibration intensity of the system is determined according to the information acquired by the speed detection, the position detection, the vibration sensor observation and other modes, the working state of the system is measured by controlling the frequency sweeping of the driving signal, and when the maximum value point of the speed, the position and the vibration intensity of the system appears, the frequency of the frequency sweeping of the point is the mechanical resonant frequency of the system. On the basis, the magnetoelectric vibration sensor is arranged on the system, and the gain-adjustable circuit processing is carried out on the feedback signal of the vibration sensor, so that the vibration state of the system can be directly observed through an external oscilloscope.
The invention uses an incremental encoder and an absolute encoder to realize position measurement; speed detection is realized by using a tachometer under the conditions of low rotating speed and insufficient encoder precision; the magnetoelectric vibration sensor is arranged on the system, and the vibration state of the system can be visually observed on an external oscilloscope by processing and amplifying the feedback signal of the vibration sensor.
On the basis of the functions, the system also comprises the functions of liquid crystal display, serial communication, data storage, network board communication control and the like, the serial communication realizes the communication between the upper computer and the control board by building a general RS485/RS422 circuit, and the measured data of the state of the whole system can be displayed on a liquid crystal display screen after being processed.
In summary, the present invention has a wide application range, and two power input methods are designed: the external power supply input and the internal power supply input are suitable for wide-range voltage input, and when the internal power supply works, the external power supply is accessed, can be automatically switched to the external power supply for power supply, and has reverse connection prevention protection; two motor driving modes are designed: the external PWM signal generator is connected with the digital board and can be automatically switched to be input and controlled by the external signal generator when the digital board is controlled. And can be applicable to the system that detects the direct current and have brush motor and PMSM work. Through functions such as position speed detection, vibration sensor signal observation, realize that the multimode judges mechanical resonant frequency point, information such as measured position speed accessible liquid crystal display shows output, conveniently carries, has very high use value.
While the invention has been described in connection with specific embodiments thereof, it is to be understood that it is intended by the appended drawings and description that the invention may be embodied in other specific forms without departing from the spirit or scope of the invention.
Claims (10)
1. A natural frequency testing apparatus of a motor drive system, the testing apparatus being for testing a natural frequency of a target motor drive system, the testing apparatus comprising:
the control mainboard is provided with a digital board used for sending SPWM control signals;
the drive board is connected to the control main board in an inter-board plugging mode, receives the SPWM control signal and controls the operation of the motor according to the SPWM control signal;
the measuring module is connected with the target motor driving system and used for measuring state parameters of the target motor driving system under the drive of the sweep SPWM control signal and acquiring the natural frequency of the target motor driving system according to the state parameters;
and the power supply module is connected to the control mainboard to generate power required by each module, and the drive board and the measuring module are connected with the control mainboard to realize power supply of the control mainboard, the drive board and the measuring module.
2. The natural frequency testing device of a motor driving system according to claim 1, wherein the control main board is provided with a control signal selection module and a signal source input module for receiving an external control signal,
the control signal selection module is selectively connected with the digital board and the signal source input module, and when the signal source input module receives an external control signal, the control signal selection module is switched to be connected with the signal source input module.
3. The natural frequency testing apparatus of a motor driving system according to claim 1, wherein the driving board comprises: the permanent magnet synchronous motor drive board and the direct current brush motor drive board are connected between the control mainboard and the drive board in a compatible mode.
4. The natural frequency testing device of a motor driving system according to claim 1, wherein the measuring module includes a magnetoelectric vibration sensor, and the magnetoelectric vibration sensor is connected to the target motor driving system to obtain a vibration signal of the target motor driving system;
the control mainboard is equipped with vibration signal processing output module, signal processing output module with magnetoelectric vibration sensor is connected for receive vibration signal handles the back output.
5. The device for testing the natural frequency of a motor driving system according to claim 1, wherein the measurement module further comprises a system status measurement module provided on the control main board, the system status measurement module is connected to both the target motor driving system and the digital board, and the system status measurement module is configured to obtain a position parameter and a speed parameter of the target motor driving system and transmit the position parameter and the speed parameter to the digital board.
6. The natural frequency test apparatus of a motor drive system according to claim 1, further comprising: and the display module comprises a liquid crystal display screen arranged on the control mainboard and an external oscilloscope connected with the control mainboard.
7. The device for testing the natural frequency of a motor drive system according to claim 1, wherein the power supply module includes an internal power supply module and an external power supply module, and the control main board is provided with a power supply selection module connecting the external power supply module and the internal power supply module.
8. The device for testing the natural frequency of a motor drive system according to claim 1, wherein the control main board is provided with a serial communication interface for connecting an external device.
9. The natural frequency testing apparatus of a motor drive system according to any one of claims 1 to 8, wherein an isolation processing module is provided between the digital board and the drive board for isolating signals between the digital board and the drive board.
10. A method for testing a natural frequency of a motor drive system, the method for testing a fixed frequency of a target motor drive system using the natural frequency testing apparatus of a motor drive system according to any one of claims 1 to 9, the method comprising:
s100, receiving a control signal by a drive plate, and controlling the motor to operate according to the control signal;
and S200, measuring state parameters of the motor driving system under the drive of different control signals through a measuring module, and acquiring the natural frequency of the target motor driving system according to the state parameters.
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| CN113739898A (en) * | 2021-08-27 | 2021-12-03 | 中国电子科技集团公司第十一研究所 | Detector signal acquisition system |
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| CN113739898A (en) * | 2021-08-27 | 2021-12-03 | 中国电子科技集团公司第十一研究所 | Detector signal acquisition system |
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