CN115356668B - Motor rotor magnetic field distribution process detection method - Google Patents
Motor rotor magnetic field distribution process detection method Download PDFInfo
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- CN115356668B CN115356668B CN202211285257.7A CN202211285257A CN115356668B CN 115356668 B CN115356668 B CN 115356668B CN 202211285257 A CN202211285257 A CN 202211285257A CN 115356668 B CN115356668 B CN 115356668B
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01R—MEASURING ELECTRIC VARIABLES; MEASURING MAGNETIC VARIABLES
- G01R33/00—Arrangements or instruments for measuring magnetic variables
- G01R33/02—Measuring direction or magnitude of magnetic fields or magnetic flux
- G01R33/10—Plotting field distribution ; Measuring field distribution
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- 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
- G01R31/346—Testing of armature or field windings
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06T—IMAGE DATA PROCESSING OR GENERATION, IN GENERAL
- G06T11/00—2D [Two Dimensional] image generation
- G06T11/20—Drawing from basic elements, e.g. lines or circles
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Abstract
The invention belongs to the field of detection of a motor rotor magnetic field distribution process, and particularly relates to a motor rotor magnetic field distribution process detection method. According to the invention, by designing a magnetic field distribution process detection mode, firstly, the number of magnetic pole pairs of the motor rotor is detected, then, the mechanical angle of the motor rotor at the electric zero position is obtained according to the number of the magnetic pole pairs of the motor rotor, and finally, the uniform magnetic field distribution condition of the motor rotor is analyzed according to the mechanical angle of the motor rotor at the electric zero position; the method for detecting the magnetic field distribution of the motor rotor, provided by the invention, has the advantages that the step flow is simple, the uniformity of the magnetic field distribution of the motor rotor can be quickly and nondestructively detected without adding too many detection devices, the detection cost is saved, the detection efficiency is improved, the process is favorably improved, defective products are screened, and the product quality is improved.
Description
Technical Field
The invention belongs to the field of detection of a motor rotor magnetic field distribution process, and particularly relates to a motor rotor magnetic field distribution process detection method.
Background
The direct-current brushless permanent magnet synchronous motor is widely applied to the field of unmanned aerial vehicles, and because the unmanned aerial vehicle has higher requirements on the control performance of the motor, higher requirements are also provided for the magnetic field uniformity of a motor rotor permanent magnet, and the uniformity of the magnetic field is difficult to guarantee by the installation and processing process of the current permanent magnet, so that the product performance and the qualification of the motor are influenced.
The invention patent with publication number CN108680878B provides a system and a method for testing the magnetic field uniformity of a permanent magnet of a motor rotor, and the system comprises a control system, an assembly experiment platform and a prime mover system, wherein the control system comprises an industrial control computer, a switch control cabinet and a data acquisition card; the industrial control computer is respectively connected with the switch control cabinet and the data acquisition card, the switch control cabinet is connected with the prime motor system, the assembly experiment platform is respectively connected with the prime motor system and the data acquisition card, the data acquisition card acquires induced electromotive force in the assembly experiment platform, the induced electromotive force is analyzed and processed by the industrial control computer, and the symmetry of the induced electromotive force at different rotor positions is compared to judge whether the uniformity of the magnetic field of the tested permanent magnet meets the requirement.
The system and the method have general applicability to the detection of the magnetic field uniformity of the permanent magnet of the motor rotor, but the detection method has complex flow, needs a special detection device and has high detection cost.
Disclosure of Invention
The invention aims to overcome the defects that the detection method for the magnetic field uniformity of the permanent magnet of the motor rotor in the prior art is complex in flow, needs a special detection device and is high in detection cost, and thus the invention provides the detection method for the magnetic field distribution process of the motor rotor.
Further, the method comprises the following steps:
detecting the number N of magnetic pole pairs of a motor rotor of a motor to be detected;
acquiring a mechanical angle of the motor rotor at an electric zero position according to the number N of magnetic pole pairs of the motor rotor;
and analyzing the uniform distribution condition of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor at the electric zero position.
Further, detecting the number N of pairs of magnetic poles of the motor rotor of the motor to be detected includes:
step S201: setting an initial open loop electrical angle to be zero;
step S202: applying a first current to the motor to be measured, controlling the motor to rotate at a first electrical angular speed, and recording the mechanical angle of a motor rotor when the open-loop electrical angle is zero again;
step S203: step S202 is repeatedly executed, and the mechanical angles of the M motor rotors are recorded;
step S204: and taking the difference value of the mechanical angles of two adjacent times and taking the absolute value, then averaging the obtained absolute values of the difference values of the M-1 mechanical angles, dividing the average value by the mechanical angle of the motor rotor rotating for one circle and taking the integer to obtain the magnetic pole pair number N of the motor rotor.
Further, the obtaining of the mechanical angle of the motor rotor at the electrical zero position according to the number N of pole pairs of the motor rotor includes:
step S301: setting an initial open loop electrical angle to be zero;
step S302: applying a second current to the motor to be measured, controlling the motor rotor to rotate at the second angular speed, and recording the mechanical angle of the motor rotor when the open-loop electrical angle is zero again, namely the open-loop electrical angle is positioned at an electrical zero position;
step S303: and step S302 is repeatedly executed, and the mechanical angles of the N motor rotors at the electric zero position are recorded.
Further, the analyzing the uniform distribution of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor at the electrical zero position includes:
step S401: respectively calculating the deviation values of the mechanical angles and theoretical values of the N motor rotors at the electric zero positions;
step S402: drawing a line drawing according to the deviation value, and calculating a mean value of the deviation value and an extreme value of the deviation value according to the deviation value;
step S403: and analyzing the uniform distribution condition of the magnetic field of the motor rotor by combining the line graph, the deviation mean value and the deviation extreme value.
Further, the mechanical angle of the motor rotor is read by an encoder.
Has the advantages that:
1. according to the invention, by designing a magnetic field distribution process detection mode, firstly, the number of magnetic pole pairs of the motor rotor is detected, then, the mechanical angle of the motor rotor at the electric zero position is obtained according to the number of the magnetic pole pairs of the motor rotor, and finally, the uniform magnetic field distribution condition of the motor rotor is analyzed according to the mechanical angle of the motor rotor at the electric zero position; the method for detecting the magnetic field distribution of the motor rotor, provided by the invention, has the advantages that the step flow is simple, the rapid and nondestructive detection on the magnetic field distribution uniformity of the motor rotor can be realized without adding too many detection devices, the detection cost is saved, the detection efficiency is improved, the improvement of the process and the screening of defective products are facilitated, and the product quality is improved.
2. According to the method for detecting the number of the magnetic pole pairs of the motor rotor, the motor is controlled to rotate at the first electrical angular speed by setting the initial open-loop electrical angle to be zero, the mechanical angle of the motor rotor is recorded, and the number of the magnetic pole pairs of the motor rotor can be quickly and accurately obtained through simple analysis and calculation.
3. According to the method for detecting the electric zero position angle value of the motor rotor, the motor rotor is controlled to rotate at the second angular speed by setting the initial open-loop electric angle to be zero, the mechanical angle of the motor rotor is recorded, and the mechanical angle in multiple electric zero positions can be obtained.
4. According to the method for analyzing the uniform distribution condition of the magnetic field of the motor rotor, provided by the invention, the magnetic field distribution uniformity of the motor rotor can be quickly and accurately analyzed by calculating the deviation value of the electric zero position angle value and the theoretical zero position angle value of the motor rotor, drawing a line graph according to the deviation value and calculating the deviation mean value and the deviation extreme value.
Drawings
FIG. 1 is a flow chart of the main steps of the present invention;
FIG. 2 is a line graph of angular values of bias values according to an embodiment of the present invention.
Detailed Description
In order to make those skilled in the art better understand the technical solutions in the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are only a part of the embodiments of the present application, and not all embodiments. All other embodiments obtained by a person of ordinary skill in the art based on the embodiments in the present application without making any creative effort belong to the protection scope of the present application.
The embodiment provides a method for detecting a magnetic field distribution process of a motor rotor, and referring to fig. 1, the method for detecting the magnetic field distribution process of the motor rotor comprises the following steps:
step S1: starting a magnetic field distribution process detection mode through instruction control;
step S2: entering a magnetic field distribution process detection mode, and detecting the magnetic pole pair number N of a motor rotor of the motor to be detected;
and step S3: acquiring a mechanical angle of the motor rotor at an electric zero position according to the magnetic pole pair number N of the motor rotor;
and step S4: and analyzing the uniform distribution condition of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor at the electric zero position.
By designing a magnetic field distribution process detection mode, firstly detecting the number of magnetic pole pairs of the motor rotor, then acquiring the mechanical angle of the motor rotor at the electric zero position according to the number of the magnetic pole pairs of the motor rotor, and finally analyzing the uniform magnetic field distribution condition of the motor rotor according to the mechanical angle of the motor rotor at the electric zero position; the method for detecting the magnetic field distribution of the motor rotor, provided by the invention, has the advantages that the step flow is simple, the rapid and nondestructive detection on the magnetic field distribution uniformity of the motor rotor can be realized without adding too many detection devices, the detection cost is saved, the detection efficiency is improved, the improvement of the process and the screening of defective products are facilitated, and the product quality is improved.
Specifically, detecting the number N of pairs of magnetic poles of the motor rotor of the motor to be tested includes:
step S201: setting an initial open loop electrical angle to be zero;
step S202: applying a first current to the motor to be measured, controlling the motor to rotate at a first electrical angular speed, and recording the mechanical angle of a motor rotor when the open-loop electrical angle is zero again;
step S203: repeatedly executing the step S202, and recording the mechanical angles of the M motor rotors;
step S204: and taking the difference value of the mechanical angles of two adjacent times and taking the absolute value, then averaging the obtained absolute values of the difference values of the M-1 mechanical angles, dividing the average value by the mechanical angle of the motor rotor rotating for one circle and taking the integer to obtain the magnetic pole pair number N of the motor rotor.
The step of obtaining the mechanical angle of the motor rotor at the electric zero position according to the magnetic pole pair number N of the motor rotor comprises the following steps:
step S301: setting an initial open loop electrical angle to be zero;
step S302: applying a second current to the motor to be measured, controlling the motor rotor to rotate at the second angular speed, and recording the mechanical angle of the motor rotor when the open-loop electrical angle is zero again, namely the open-loop electrical angle is positioned at an electrical zero position;
step S303: and step S302 is repeatedly executed, and the mechanical angles of the N motor rotors at the electric zero position are recorded.
The analyzing the uniform distribution condition of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor at the electric zero position comprises the following steps:
step S401: respectively calculating the deviation values of the mechanical angles and theoretical values of the N motor rotors at the electric zero positions;
step S402: drawing a line drawing according to the deviation value, and calculating a mean value of the deviation value and an extreme value of the deviation value according to the deviation value;
step S403: and analyzing the uniform distribution condition of the magnetic field of the motor rotor by combining the line graph, the deviation mean value and the deviation extreme value.
In this embodiment, a command is issued via the CAN bus to turn on the magnetic field distribution process detection mode.
Taking the following data as an example, in the embodiment, the mechanical angle value is recorded in the data type of the uint16, the range is 0 to 65535, and at this time, the uint16 data value corresponding to 360 ° is 65535, wherein the mechanical angle data of the motor rotor is obtained by encoding.
Given an open-loop motor angle, take M =3, i.e. step S202 is performed repeatedly three times, recording 3 mechanical angles of the motor rotor as Zero1=4640, zero2=9344, zero3=14000. Taking the difference values of 3 adjacent mechanical angles of the motor rotor and taking absolute values, wherein Δ Z1= | Zero2-Zero1| =4704, Δ Z2= | Zero3-Zero2| =4656, and taking the average value of the two difference values Δ Z = (Δ Z2+ Δ Z1)/2 =4680, the logarithm of the pole of the motor rotor is detected to be N =65535/4608=14.0032 ≈ 14.
In this embodiment, the number of pole pairs of the motor rotor is 14, a second current is applied to the motor to be measured, the motor rotor is controlled to rotate at the second angular speed, and when the open-loop electrical angle is zero again, that is, when the open-loop electrical angle is located at an electrical zero position, the mechanical angle of the motor rotor is recorded; based on the pole pairs of the motor rotor, 14 cycles were performed and 14 mechanical angles of the motor rotor were recorded.
In the present embodiment, 14 mechanical angles are obtained, which are 4640, 9344, 14000, 18608, 23232, 27872, 32544, 37264, 41984, 46688, 51360, 56048, 60752, 65472, the 14 theoretical zero-position angle values of the motor rotor with 14 pole pairs are 4681, 9362, 14043, 18724, 23405, 28086, 32767, 37448, 42129, 46810, 51491, 56172, 60853, 65534, the 14 mechanical angles and the 14 theoretical values are correspondingly differed by 14 offset values of 41, 18, 43, 116, 173, 214, 223, 184, 145, 122, 131, 124, 101, 62, and the 14 uint data are converted into 14 corresponding offset values (i.14, 14, 122, 131, 124, 101, 62) of 0.01, 0.0, 0.01, 0.0.1, 0.8, 0.1, 0.72, 0.0, 0.72, 0 and 65472, 0.14 respectively.
Referring to fig. 2, a line graph is drawn according to the angle values of the deviation values, wherein the horizontal axis represents the magnetic pole number of the motor rotor, and the vertical axis represents the corresponding angle values of 14 deviation values, so that the magnetic field distribution condition of the motor rotor can be visually reflected. The mean value of the deviation of the angle values of the calculated deviation values was 0.67, and the extreme value of the deviation was 1.22. Through the mean value and the extreme value of deviation of the angle value of analysis deviation value, the magnetic field distribution uniformity degree of motor rotor can be analyzed quantitatively fast to the defective products is selected fast.
In steps S202 and S302, the motor is controlled to rotate at a first electrical angular velocity and a second electrical angular velocity by applying the first current and the second current, respectively. Ensuring that the applied first current and second current can keep the motor rotating, and ensuring that the first angular speed and the second angular speed are as small as possible, thereby ensuring the accuracy of the measurement result; and at the first and second electrical angular velocities, respectively, the open-loop electrical angle is again zero over a determined time.
In the present embodiment, the first current and the second current are applied, and the first electrical angular velocity and the second electrical angular velocity for controlling the rotation of the motor are 1rad/s.
The foregoing is a more detailed description of the invention in connection with specific preferred embodiments and it is not intended that the invention be limited to these specific details. It will be apparent to those skilled in the art that various equivalent substitutions and obvious modifications can be made without departing from the spirit of the invention, and all changes that come within the meaning and range of equivalency of the claims are to be embraced within their scope.
Claims (4)
1. A method for detecting a magnetic field distribution process of a motor rotor is characterized by comprising the following steps:
detecting the number N of magnetic pole pairs of a motor rotor of a motor to be detected;
acquiring a mechanical angle of the motor rotor at an electric zero position according to the number N of magnetic pole pairs of the motor rotor;
analyzing the uniform distribution condition of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor at the electric zero position;
the analyzing the uniform distribution condition of the magnetic field of the motor rotor according to the mechanical angle of the motor rotor in the electrical zero position comprises the following steps:
step S401: respectively calculating the deviation values of the mechanical angles and theoretical values of the N motor rotors at the electric zero positions;
step S402: drawing a line drawing according to the deviation value, and calculating a mean value of the deviation value and an extreme value of the deviation value according to the deviation value;
step S403: and analyzing the uniform distribution condition of the magnetic field of the motor rotor by combining the line graph, the deviation mean value and the deviation extreme value.
2. The method for detecting the magnetic field distribution process of the motor rotor as claimed in claim 1, wherein the step of detecting the number N of the magnetic pole pairs of the motor rotor of the motor to be detected comprises the following steps:
step S201: setting an initial open loop electrical angle to be zero;
step S202: applying a first current to the motor to be measured, controlling the motor to rotate at a first electrical angular speed, and recording the mechanical angle of a motor rotor when the open-loop electrical angle is zero again;
step S203: repeatedly executing the step S202, and recording the mechanical angles of the M motor rotors;
step S204: and taking the difference value of the mechanical angles of two adjacent times and taking the absolute value, then averaging the obtained absolute values of the difference values of the M-1 mechanical angles, dividing the average value by the mechanical angle of the motor rotor rotating for one circle and taking the integer to obtain the magnetic pole pair number N of the motor rotor.
3. The method for detecting the magnetic field distribution process of the motor rotor as claimed in claim 1, wherein the step of obtaining the mechanical angle of the motor rotor at the electrical zero position according to the number N of pole pairs of the motor rotor comprises:
step S301: setting an initial open loop electrical angle to be zero;
step S302: applying a second current to the motor to be measured, controlling the motor rotor to rotate at a second angular speed, and recording the mechanical angle of the motor rotor when the open-loop electrical angle is zero again, namely the open-loop electrical angle is positioned at an electrical zero position;
step S303: and step S302 is repeatedly executed, and the mechanical angles of the N motor rotors at the electric zero position are recorded.
4. The method for detecting the magnetic field distribution process of the motor rotor as claimed in claim 2 or 3, wherein the mechanical angle of the motor rotor is read by an encoder.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6489761B1 (en) * | 1999-09-09 | 2002-12-03 | Delphi Technologies, Inc. | Magnetic arrangement for an analog angle encoder |
| JP2002084791A (en) * | 2000-09-07 | 2002-03-22 | Yazaki Corp | Stepping motor driving circuit |
| JP2004320885A (en) * | 2003-04-16 | 2004-11-11 | Hitachi Ltd | Magnetic field analysis method for rotating machine and program |
| KR100996265B1 (en) * | 2008-12-31 | 2010-11-23 | 재단법인 한국원자력의학원 | Magnetic field profile measuring apparatus for electromagnet of the closed type cyclotron |
| EP2720059B1 (en) * | 2012-10-15 | 2015-03-11 | MagCam NV | Devices and methods for determining a magnetic field distribution of a magnet along a main surface of said magnet. |
| GB201312484D0 (en) * | 2013-07-12 | 2013-08-28 | Trw Ltd | Rotary encoder |
| CN105874344B (en) * | 2013-12-30 | 2019-01-04 | Abb瑞士股份有限公司 | System, mobile phone and its method of status monitoring for motor |
| CN106505926A (en) * | 2016-12-20 | 2017-03-15 | 中国航空工业集团公司雷华电子技术研究所 | A kind of zero method of radar servo system rotor mark |
| CN109600006B (en) * | 2018-11-30 | 2020-12-08 | 浙江大学 | Solving method for electromagnetic design of surface-mounted permanent magnet motor |
| CN110323987B (en) * | 2019-07-12 | 2021-03-23 | 深圳市海浦蒙特科技有限公司 | Parameter calibration method and system for permanent magnet synchronous motor |
| CN110943661B (en) * | 2019-11-25 | 2021-07-20 | 阳光电源股份有限公司 | Rotor magnetic field orientation deviation online correction method and device |
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