CN115694293A - Method for per-unit of current of linear motor - Google Patents
Method for per-unit of current of linear motor Download PDFInfo
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- CN115694293A CN115694293A CN202211388887.7A CN202211388887A CN115694293A CN 115694293 A CN115694293 A CN 115694293A CN 202211388887 A CN202211388887 A CN 202211388887A CN 115694293 A CN115694293 A CN 115694293A
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Abstract
The invention relates to a current per unit method, in particular to a method for per unit of direct current motor current, which comprises the following steps: s1, information acquisition: the method comprises the steps that data during operation of the linear motor are collected through detection equipment, then the data are classified and sorted, and then the data are stored in storage media respectively; s2, establishing a model: inputting the collected data into simulation software, establishing a motor model, and defining parameters of a motor; s3, simulation treatment: inputting parameters to control the simulation software to operate, so that the simulation software obtains the parameter values of the motor in the best state and records the numerical values; the motor current loop after calibration processing designed by the invention has high response, can greatly improve the current control precision of the linear motor, meets the high-precision application requirement of the linear motor, and the simulation software can obtain the linear motor with optimized parameters so as to be matched with a driver and the like for calibration processing subsequently, thereby obtaining a scheme with optimized control precision.
Description
Technical Field
The invention relates to a current per unit method, in particular to a method for per unit of a direct current motor, and belongs to the technical field of per unit of direct current motors.
Background
The linear motor is also called as a linear motor and is applied to the transmission of mechanical equipment in various fields such as machine tools, 3C motor equipment, new energy equipment, war industry, rail transit and the like. The linear motor is a transmission device which converts electric energy into mechanical energy of linear motion without any intermediate conversion. Due to the adoption of zero transmission, compared with the traditional transmission mode, the transmission device has the advantages of obvious advantages, simple structure, no contact, wu abrasion, low noise, high speed, high precision and the like.
Chinese patent No. CN110601175B provides an improved per unit method of excitation current under a traditional xad-based value system, including the following steps: step S1: establishing a six-order practical model of the synchronous generator considering saturation influence; step S2: analyzing the parameter identification error by using the reference current ifB of the excitation winding under the xad base value system; and step S3: the method comprises the steps that actual measurement of no-load rated exciting current if0 (named value), synchronous phasor measurement unit PMU measurement data and dq winding base values are utilized to realize accurate identification of steady-state parameters Xd and Xq of a generator; and calculating an accurate excitation winding base value through Xd and if0 to form complete measurement data per unit. The method improves the identification precision of the generator parameters on the premise of following the traditional per-unit system principle.
However, although the above-mentioned case improves the accuracy of identifying the generator parameters, the case is only suitable for the conventional rotating electrical machine, and the control of the linear electrical machine is more complicated and more demanding than the control of the conventional rotating electrical machine.
The present invention has been made in view of this situation.
Disclosure of Invention
The present invention is directed to solving the above problems by providing a per unit method for linear motor current.
The invention achieves the aim through the following technical scheme, and a method for per unit of the current of the linear motor comprises the following steps:
s1, information acquisition: the method comprises the steps that data during operation of the linear motor are collected through detection equipment, then the data are classified and sorted, and then the data are stored in storage media respectively;
s2, establishing a model: inputting the collected data into simulation software, establishing a motor model, and defining parameters of a motor;
s3, simulation treatment: inputting parameters to control the simulation software to operate, so that the simulation software obtains the parameter value of the motor in the best state to operate, and recording the numerical value;
s4, electric appliance connection: according to the simulation result, wiring is carried out on the motor, so that the motor is connected with the driver and the oscilloscope;
s5, calibration treatment: after the steps are completed, the driver is started to enable the driver to be powered on, the linear motor is operated through given step current, the waveform is recorded by an oscilloscope, the current waveform is detected, and then different parameters are input to determine the optimal state of the driver and record data.
Furthermore, the detection device in S1 is a linear motor tester, and is used to detect the thrust ratio, thrust fluctuation, electrical time constant, thrust linearity, speed output line, and the like of the operation of the linear motor.
Further, the simulation software adopted in S2 is specification linear motor simulation software, and the defined motor parameters are application data and a motion cycle.
Further, when the parameters are input in the step S3, the optimal result of the operation of the motor can be determined by changing different parameters.
And further, when the motor is connected in the step S4, parameter setting is carried out on the motor according to the optimal data obtained in the step S3.
Further, the oscilloscope sampling interval in S5 is set to 0 (= 62.5 us), and the oscilloscope waveform channel selects the Q-axis current and the current given two when the oscilloscope observes.
Furthermore, in the S5, it is preferable to power off and then power on each adjustment of the current loop gain and the integral when the current is per unit, and if the waveform is not adjusted, power is turned on again when the integral variation is greater than or equal to 3, and optionally power is not turned off when the integral variation is within 3, and the overshoot is observed after power off when the final waveform is determined.
Further, after the Q-axis current is set in S5, the power is re-supplied when the rated current is changed.
The invention has the technical effects and advantages that: (1) The motor current loop after calibration processing designed by the invention has high response, can greatly improve the current control precision of the linear motor, and meets the high-precision application requirement of the linear motor; (2) According to the designed simulation software, the simulation software can obtain the linear motor with optimized parameters so as to be convenient for subsequent calibration processing by matching with a driver and the like, and thus a scheme with optimized control precision is obtained; (3) The method designed by the invention per-unit processes the actual values of the motor parameters, so that the difference of the variable values of different motors can be greatly weakened, and the universal control effect of one controller on motor objects with different voltage levels is realized.
Drawings
FIG. 1 is a flow chart of a method of the present invention;
FIG. 2 is a waveform diagram of a current calibration initial test of the present invention;
FIG. 3 is a graph of a current loop gain of 2000 waveforms according to the present invention;
FIG. 4 is a rising waveform at a current loop gain of 2000 in accordance with the present invention;
fig. 5 is a waveform of the present invention at 1.0 times the rated current.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1-5, a method for per unit of dc motor current includes the following steps:
s1, information acquisition: the method comprises the steps that data of a linear motor during operation are collected through detection equipment, and then the data are classified and sorted and are respectively stored in storage media;
s2, establishing a model: inputting the collected data into simulation software, establishing a motor model, and defining parameters of a motor;
s3, simulation treatment: inputting parameters to control the simulation software to operate, so that the simulation software obtains the parameter value of the motor in the best state to operate, and recording the numerical value;
s4, electric appliance connection: according to the simulation result, wiring is carried out on the motor, so that the motor is connected with the driver and the oscilloscope;
s5, calibration treatment: after the steps are completed, the driver is started to enable the driver to be powered on, the linear motor is enabled to operate by giving step current, the waveform is recorded by using an oscilloscope, the current waveform is detected, and then the optimal state of the driver is measured by inputting different parameters and data is recorded.
As a technical optimization scheme of the invention, the detection device in the S1 is a linear motor tester and is used for detecting the running thrust ratio, thrust fluctuation, an electrical time constant, thrust linearity, a speed output line and the like of the linear motor.
As a technical optimization scheme of the invention, simulation software adopted in S2 is Tecnotion linear motor simulation software, and defined motor parameters are divided into application data and a motion cycle.
As a technical optimization scheme of the invention, when the parameters are input in S3, the optimal result of the motor operation can be determined by changing different parameters.
As a technical optimization scheme of the invention, when the motor is connected in S4, the parameter setting is carried out on the motor according to the optimal data obtained in S3.
As a technical optimization scheme of the invention, the sampling interval of the oscilloscope in S5 is set to be 0 (= 62.5 us), the waveform channel of the oscilloscope selects Q-axis current and current to be given when the oscilloscope observes, the adjustment of current loop gain and integral in each time when the current in S5 is per unit is preferably cut off and then powered on, if the waveform is not adjusted, the power is re-powered on when the integral variation is more than or equal to 3, the power can be selected not to be cut off when the integral variation is within 3, the overshoot of the final waveform is observed after the power is cut off when the final waveform is determined, and the power is re-powered on when the rated current is changed after the Q-axis current is given in S5.
Example one
A method for per-unit of a linear motor current, comprising the steps of:
s1, acquiring detection data of a push ratio, a thrust fluctuation, an electric time constant, a thrust linearity, a speed output line and the like of a linear motor during operation by a linear motor tester, classifying and sorting the data, and storing the data in a storage medium respectively;
s2, inputting the acquired data into a specification linear motor simulation software, establishing a motor model, and defining two parameters of application data and a motion period of the motor;
s3, inputting parameters to control the simulation software to operate, and determining the optimal result of the operation of the motor by converting different parameters when the parameters can be input, so that the simulation software obtains the parameter values of the motor in the best state and records the numerical values;
s4, according to the simulation result, wiring is carried out on the motor, and when the motor is connected, parameter setting is carried out on the motor according to the optimal data obtained in the S3, so that the motor is connected with the driver and the oscilloscope;
s5, after the steps are completed, starting a driver to enable the driver to be powered on, enabling the linear motor to operate through given step current, recording waveforms by using an oscilloscope, setting the sampling interval of the oscilloscope to be 0 (= 62.5 us), selecting two current setting of a Q axis and the current setting by an oscilloscope waveform channel when the oscilloscope observes, detecting the current waveform, calibrating the motor to carry out high-frequency vibration at an original position and send out a humming sound, then measuring the optimal state of the driver by inputting different parameters and recording data, at the moment, making the current setting waveform have poor following effect, improving current loop gain to be 2000, calibrating and observing a waveform diagram, wherein the Q axis current obviously follows the current setting, the rising time is Ts =1.6875ms, according to a waveform response curve of the previous step, the method comprises the steps of keeping current loop gain (2000) and integral (5) unchanged, adjusting a rated current parameter to 800, namely 0.8 times of rated current, electrifying again, collecting a waveform, observing a waveform diagram, keeping rising time Ts =2.3125ms, keeping waveform change stable, keeping current loop gain and integral unchanged, adjusting the rated current parameter to 1000 (1.0 times of rated current), electrifying again, observing the waveform diagram, and seeing a relatively obvious overshoot (note that overshoot is not needed when one-time rated current is calibrated or is not more than 1%), adjusting the current loop integral to 3 to reduce the stable error of current calibration, observing the waveform as follows, wherein the stable error is small, under the condition of 1.0 times of rated current, the current loop gain is 3975, when the current loop integral is 2, the effect is best, and then calibrating is finished.
As can be seen from fig. 2 to 5, when the current loop integral is adjusted to 3, the steady-state error is small, and under the condition of 1.0 times of the rated current, the current loop gain is 3975, and the current loop integral is 2, the effect is the best.
When the linear motor tester is used, detection data such as a push ratio, a thrust fluctuation, an electric time constant, a thrust linearity and a speed output line when a linear motor operates are acquired through the linear motor tester, and then the data are classified and sorted and are respectively stored in a storage medium; inputting the collected data into a Tecnotion linear motor simulation software, establishing a motor model, and defining two parameters of application data and a motion cycle of the motor; inputting parameters to control the simulation software to run, and measuring the optimal result of the running of the motor by changing different parameters when the parameters can be input, so that the simulation software obtains the parameter values of the running of the motor in the best state and records the values; according to the simulation result, the motor is connected, and when the motor is connected, the parameter setting is carried out on the motor according to the optimal data obtained in the S3, so that the motor is connected with the driver and the oscilloscope; after the steps are completed, starting a driver to enable the driver to be powered on, enabling the linear motor to operate through given step current, recording a waveform by using an oscilloscope, setting the sampling interval of the oscilloscope to be 0 (= 62.5 us), selecting two of Q-axis current and current given by an oscilloscope waveform channel during the observation of the oscilloscope, detecting the current waveform, calibrating the timing motor to carry out high-frequency vibration at the original position and send out humming sound, then measuring the optimal state of the driver by inputting different parameters and recording data, wherein the given current waveform has poor following effect at the beginning, the current loop gain can be improved to 2000, calibrating and observing a waveform diagram, the Q-axis current obviously follows the current given, the rising time is Ts =1.6875ms, according to a waveform response curve of the previous step, the method comprises the steps of keeping current loop gain (2000) and integral (5) unchanged, adjusting a rated current parameter to 800, namely 0.8 times of rated current, electrifying again, collecting a waveform, observing a waveform diagram, keeping rising time Ts =2.3125ms, keeping waveform change stable, keeping current loop gain and integral unchanged, adjusting the rated current parameter to 1000 (1.0 times of rated current), electrifying again, observing the waveform diagram, and seeing obvious overshoot (note that overshoot is not needed when one time of rated current is calibrated or does not exceed 1%), adjusting current loop integral to 3 to reduce stable error of current calibration, observing the waveform as follows, and keeping stable error small, wherein under the condition of 1.0 times of rated current, current loop gain is 3975, when current loop integral is 2, the effect is best, calibration is finished, and when the current is per unit, current loop gain, overshoot and current per unit are, adjusting the integral, preferably powering off and then powering on each time of adjustment, if the waveform is not adjusted, recommending to power on again when the integral change is more than or equal to 3, and selecting not to power off when the integral change is within 3, but preferably powering off and observing the overshoot when determining the final waveform; the Q-axis current is given, and when the rated current of the Q-axis current is changed, the Q-axis current is recommended to be electrified again every time modification is carried out; the initial parameters determine the motor current calibration environment, then the current loop gain is increased until the Q-axis current is in place, and the Q-axis current setting needs to be changed from 500 to 800 and then to 1000. Increasing the current loop gain until the increase of the current loop gain has little influence on the rise time, adjusting the current loop integral at this time, reducing the overshoot, and finally achieving an optimal rise time and overshoot by adjusting parameters; in the actual current calibration process, the upper limit value can not be reached generally, a saturation interval exists, and the debugging is optimal.
It will be evident to those skilled in the art that the invention is not limited to the details of the foregoing illustrative embodiments, and that the present invention may be embodied in other specific forms without departing from the spirit or essential attributes thereof. The present embodiments are therefore to be considered in all respects as illustrative and not restrictive, the scope of the invention being indicated by the appended claims rather than by the foregoing description, and all changes which come within the meaning and range of equivalency of the claims are therefore intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim concerned.
Furthermore, it should be understood that although the present description refers to embodiments, not every embodiment may contain only a single embodiment, and such description is for clarity only, and those skilled in the art should integrate the description, and the embodiments may be combined as appropriate to form other embodiments understood by those skilled in the art.
Claims (8)
1. A method for per-unit of a linear motor current, comprising the steps of:
s1, information acquisition: the method comprises the steps that data of a linear motor during operation are collected through detection equipment, and then the data are classified and sorted and are respectively stored in storage media;
s2, establishing a model: inputting the collected data into simulation software, establishing a motor model, and defining parameters of a motor;
s3, simulation treatment: inputting parameters to control the simulation software to operate, so that the simulation software obtains the parameter values of the motor in the best state and records the numerical values;
s4, electric appliance connection: according to the simulation result, wiring is carried out on the motor, so that the motor is connected with the driver and the oscilloscope;
s5, calibration treatment: after the steps are completed, the driver is started to enable the driver to be powered on, the linear motor is enabled to operate by giving step current, the waveform is recorded by using an oscilloscope, the current waveform is detected, and then the optimal state of the driver is measured by inputting different parameters and data is recorded.
2. The method for linear motor current per unit according to claim 1, characterized in that: the detection equipment in the S1 is a linear motor tester and is used for detecting the running push ratio, the running thrust fluctuation, the electric time constant, the thrust linearity, the speed output line and the like of the linear motor.
3. The method for linear motor current per unit according to claim 1, characterized in that: the simulation software adopted in S2 is Tecnotion linear motor simulation software, and the defined motor parameters are application data and motion periods.
4. The method for linear motor current per unit according to claim 1, characterized in that: and when the parameters are input in the S3, the optimal result of the motor operation can be determined by changing different parameters.
5. The method for linear motor current per unit according to claim 1, characterized in that: and in the S4, when the motor is connected, parameter setting is carried out on the motor according to the optimal data obtained in the S3.
6. The method for linear motor current per unit according to claim 1, characterized in that: in S5, the oscilloscope sampling interval is set to 0 (= 62.5 us), and the oscilloscope waveform channel selects two given currents, namely, the Q-axis current and the current, when the oscilloscope observes.
7. The method for linear motor current per unit according to claim 1, characterized in that: and in the step S5, the adjustment of the current loop gain and the integral is preferably powered off and then powered on every time when the current is per unit, if the waveform is not adjusted, the power is powered on again when the integral change is more than or equal to 3, the power is not powered off when the integral change is within 3, and the overshoot of the final waveform is observed after the power is powered off when the final waveform is determined.
8. A method for per-unit of linear motor current according to claim 1, characterized by: and in the S5, after the Q-axis current is given, the power is supplied again when the rated current is changed.
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