CN208461724U - Portable electronic magnetic linkage torque tester - Google Patents
Portable electronic magnetic linkage torque tester Download PDFInfo
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- CN208461724U CN208461724U CN201821212550.XU CN201821212550U CN208461724U CN 208461724 U CN208461724 U CN 208461724U CN 201821212550 U CN201821212550 U CN 201821212550U CN 208461724 U CN208461724 U CN 208461724U
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Abstract
The utility model relates to a kind of portable electronic magnetic linkage torque testers, processor (1) is equipped with inside torque tester, processor (1) detects the electric current of tested motor (9) by current sensor (2), the voltage of tested motor (9) is detected by voltage transformer (3), the voltage signal for the motor that current sensor (2) measures the current signal of motor and voltage transformer (3) measures is after carrying out Signal Regulation and filtering in input processor (1) in wave filter (4).The torque tester is convenient for carrying, it is small in size, light-weight, and it can apply on most of motor, the electric current of tested motor can be measured by touchless Rogowski coil, stator current original signal is obtained, voltage transformer can measure the raw voltage signals of motor, then carry out processing calculating to it by being sent in processor after filter process, obtained motor torque error is smaller, and precision is higher.
Description
Technical Field
The utility model relates to a test equipment, concretely relates to portable electron flux linkage torque tester for carry out site efficiency to motor torque and detect.
Background
With the problem of energy shortage and the continuous intensification of greenhouse effect, the development and utilization of clean energy, energy conservation and emission reduction become the focus of attention of all countries in the world. For China with resource shortage and large population, energy conservation is particularly necessary. The medium and small three-phase asynchronous motor is a high-energy-consumption product which is most widely applied, the application range of the medium and small three-phase asynchronous motor extends to various fields of national economy, the power consumption accounts for about 50% of the total power consumption in the whole country, the power consumption accounts for about 2/3 in the industrial field, and the operation efficiency of the motor is generally low, so that the medium and small three-phase asynchronous motor has important significance in improving the operation efficiency of the motor. There are many reasons for the low operating efficiency of the motor, including the problems of the motor itself, but more importantly, the use problems, such as low load factor, motor aging, etc. There are many methods for solving this problem, such as popularizing and using a high-efficiency motor, replacing a motor with significantly lower operating efficiency, or improving the operating efficiency of a motor by a proper control method. To achieve this goal, it is necessary to accurately detect the actual operating efficiency of the motor without interfering with the normal operation of the motor. Conventional laboratory environment-based detection methods cannot be used directly for field testing because no-load testing, short-circuit testing, stator resistance testing, rotational speed testing, and torque testing are difficult to accomplish in field situations.
For large motors, motor state online monitoring systems are often provided, the operating efficiency of the motors can be generally detected, and for small and medium-capacity motors, the monitoring systems are not generally provided from the cost perspective. The medium and small capacity motors account for the vast majority of the motors in terms of both quantity and power consumption. On-line monitoring of all small and medium-sized motors is almost impossible, and the work must be completed by field workers. For this reason, it is necessary to develop a low-cost field efficiency detection device suitable for medium and small motors. In general, field personnel desire that the detection device be as simple to operate as possible, small, lightweight, and portable.
A common portable detection device is a handheld infrared or laser sensor, is low in price compared with a photoelectric encoder, does not need to be installed on a motor, is simple to operate, and is practical for small and medium-sized and low-power motors. However, for large motors which cannot observe a motor shaft, the sensor cannot be used, and the infrared or laser sensor has low measurement accuracy and cannot meet the requirement of a high-precision test system. Comprehensive consideration shows that the direct acquisition of the motor torque by using the sensor is unreliable for a field portable motor test system, so that the research on the sensorless motor torque online identification algorithm has great significance for obtaining a high-precision motor torque result.
SUMMERY OF THE UTILITY MODEL
In order to solve the technical problem that exists among the background art, the utility model provides a light is portable, convenient and practical, and portable electron magnetic linkage torque tester that measurement accuracy is high.
The utility model provides a technical scheme that its technical problem adopted is:
a portable electronic flux linkage torque tester is provided, the top of the shell of the torque tester is provided with a hole for connecting a wire, the torque tester is internally provided with a processor, the processor detects the current of a tested motor through a current sensor, detects the voltage of the tested motor through a voltage transformer, the current signal of the motor measured by the current sensor and the voltage signal of the motor measured by the voltage transformer are input into the processor after signal regulation and filtering in a filter, the processor comprises a micro-processing module, the micro-processing module is connected with a data acquisition module and a data processing module, wherein the data acquisition module is connected with the current sensor and the voltage transformer, the data acquisition module transmits acquired data to the data processing module through the micro-processing module, the processor is also provided with a display module, a keyboard module and a signal processing module, the processor sends the calculated motor torque adjusting value to the control module through the signal processing module, and the control module is connected with the tested motor and can control the action of the tested motor.
The surface of the shell of the torque tester is provided with a display screen and a plurality of buttons for control.
The processor is an ARM microcontroller.
The current sensor is a Rogowski coil.
The utility model has the advantages that:
the portable electronic flux linkage torque tester is convenient to carry, small in size and light in weight, can be applied to most of motors, can measure the current of the tested motor through a non-contact Rogowski coil to obtain a stator current original signal, can measure an original voltage signal of the motor through a voltage transformer, and then sends the signal to a processor for processing and calculation after being processed through a filter, so that the obtained motor torque has small error and high precision.
In addition, the online identification algorithm adopted by the portable electronic flux linkage torque tester has the following advantages:
(1) on the basis of the traditional torque meter method, a sensorless torque online identification method is used for replacing the function of an original torque sensor to obtain torque parameters required by calculating the motor efficiency.
(2) In the research of the sensorless motor torque identification algorithm, a method of estimating the motor shaft end torque through the air gap torque is adopted, so that the identification precision is improved, the structure is simple, the realization is easy, and the stator flux linkage identification precision is higher.
(3) The air gap torque calculation formula under the rotating coordinate system is adopted, three-phase voltage and three-phase current are subjected to Clark conversion and Park conversion respectively, the three-phase static coordinate system is converted into a two-phase rotating coordinate system, and meanwhile, the voltage, the current and the stator flux linkage are also converted into direct current from alternating current. Matlab/Simulink simulation and experiment results show that the identification error of the motor energy efficiency detection method provided by the patent is below 1%, and the effectiveness and the feasibility of the method are shown.
Drawings
The present invention will be further explained with reference to the drawings and examples.
Fig. 1 is a schematic diagram of the portable electronic flux linkage torque tester of the present invention.
Fig. 2 is a schematic diagram of the portable electronic flux linkage torque tester of the present invention.
Fig. 3 is a schematic diagram of internal modules of the processor of fig. 2.
Fig. 4 is a Simulink simulation schematic diagram of the stator flux linkage observer based on the low-pass filter of the present invention.
Fig. 5 is a schematic diagram of Park transformation in Simulink simulation of fig. 4.
Fig. 6 is the utility model discloses stator flux linkage observer emulation's based on low pass filter is the identification result picture.
Fig. 7 is a simulation result comparison diagram of the stator flux linkage observer and the novel integral method based on the low-pass filtering method of the present invention.
Fig. 8 is a diagram of a stator flux linkage calculation result of the stator flux linkage based on the low-pass filtering method in the two-phase stationary coordinate system according to the present invention.
FIG. 9 is a diagram of stator flux linkage and stator current under a two-phase rotating coordinate system obtained by performing Park transformation on the stator flux linkage and the stator current under an alpha-beta-0 coordinate system according to the present invention.
Fig. 10 is a comparison graph of the actual measured torque and the estimated torque of the motor according to the present invention.
In the figure: the device comprises a processor 1, a micro-processing module 1.1, a data acquisition module 1.2, a data processing module 1.3, a current sensor 2, a voltage transformer 3, a filter 4, a display module 5, a keyboard module 6, a signal processing module 7, a control module 8 and a tested motor 9.
Detailed Description
The present invention will be described in further detail with reference to the accompanying drawings.
The utility model relates to a portable electron magnetic linkage torque tester, refer to fig. 1, this kind of portable electron magnetic linkage torque tester's shell top trompil lets the line connect out for detect with being surveyed the motor wiring, display screen and multiple button have been seted up on the shell surface and have been controlled.
The portable electronic flux linkage torque tester is internally provided with a microcontroller, see figure 2, and mainly comprises a processor 1, wherein the processor 1 is an ARM microcontroller, the processor 1 detects the current of a tested motor 9 through a current sensor 2, the voltage of the motor is measured through a voltage transformer 3, the tested motor 9 is a three-phase alternating current asynchronous motor which is widely used, the current sensor 2 is a Rogowski coil, the Rogowski coil is also called a current measuring coil, the measuring principle is based on a Faraday electromagnetic induction law, an output signal of the Rogowski coil is the differential of the current to time, and a real current signal can be restored through an integrating circuit The device has the advantages of high measurement accuracy and high response speed, and is suitable for occasions with high current accuracy, wherein current signals of the motor measured by the current sensor 2 and voltage signals of the motor measured by the voltage transformer 3 are subjected to signal conditioning and filtering in the filter 4 and then input into the processor 1.
Referring to fig. 3 and 4, the processor 1 includes a micro processing module 1.1, the micro processing module 1.1 is connected with a data acquisition module 1.2 and a data processing module 1.3, wherein the data acquisition module 1.2 is connected with the current sensor 2 and the voltage transformer 3 to acquire voltage and current parameters, the data acquisition module 1.2 sends acquired data to the data processing module 1.3 through the micro processing module 1.1, the data processing module 1.3 processes the data, the processor 1 is further provided with a display module 5, a keyboard module 6 and a signal processing module 7, the processor 1 can send a calculated motor torque adjustment value to a control module 8 through the signal processing module 7, and the control module 8 is connected with a motor 9 to be tested to control the action of the motor 9 to be tested.
In addition, the processor 1 can identify and calculate the motor torque on line through an optimized method based on the air gap torque, and the obtained motor torque has small error and high precision.
Wherein the action of the electromagnetic force and the generation of the electromagnetic torque:
the electromagnetic torque generated by the axial electromagnetic force of the rotor of the rotating electric machine is an important factor for the electromechanical energy conversion of the electric machine, and considering the actual structure of the rotor of the electric machine, the electromagnetic force acts on the surface and the inside of the iron core of the rotor of the electric machine, so the patent explains the generation of the electromagnetic force and the electromagnetic torque from the electromagnetic field theory.
When three-phase currents which are symmetrical are introduced into the stator three-phase winding, a rotating magnetic field is generated, and the motor rotor generates induced electromotive force and induced current under the action of the rotating magnetic field, so that electromagnetic force and electromagnetic torque are generated. The generation of electromagnetic force can be explained from the microscopic point of view by the Lorentz force that charges experience in the magnetic field. According to electromagnetic field theory, the electromagnetic force acting on a unit volume of a magnetic object within a magnetic field can be calculated by:
wherein f is the electromagnetic force acting on the volume element;
h is the magnetic field intensity at the volume element;
i is the current density at the volume element;
j0 is the permanent magnetization at the volume element;
ur is the magnetic permeability at the volume element.
In the above formula, the first term is the force applied to the current-carrying conductor in the magnetic field, the second term is the force generated at the place where the magnetic saturation in the core is not uniform or at the boundary between the magnetic substance and the air, and the third term is the force applied to the permanent magnet.
The action of these forces is mainly in the following forms:
(1) acting in the stator winding, i.e. the first term in the above equation.
(2) The action is generated on the surface of the iron core, namely the boundary between the magnetic substance and the air.
(3) Acting on the interior of the core, including where the core's magnetic saturation is not uniform and the forces to which the permanent magnets are subjected.
Finally, the electromagnetic torque can be obtained through the electromagnetic force and the action vector thereof. However, if the electromagnetic force and the electromagnetic torque are obtained by the method, structural parameters of the motor are required to be obtained, and the parameters are difficult to obtain in general, so that the method has great limitation and cannot be applied to the calculation of the motor torque on site.
Motor torque information is generally obtained by a torque sensor at home and abroad, and the sensor is installed between a tested motor and a load motor, but the method has high cost and high installation difficulty, can interfere the operation of the motor during testing, and is not applied to field motor torque measurement. Therefore, many scholars are engaged in the research of sensorless torque identification technology, and through decades of researches, the technology has been developed rapidly, and at present, there are mainly a neural network method, an extended kalman filter method, an air gap torque method, and the like.
The method based on the air gap torque is adopted to identify the motor torque on line. As known from the construction of electrical machines, there is a very thin gap, called the air gap, between the stator and the rotor. The method for calculating the electromagnetic torque only needs the voltage and the current quantity input by the motor end, and is simpler and easier to realize compared with the traditional method. In the air gap torque method, the key for solving the air gap torque is to calculate the flux linkage value of the motor stator. At present, the identification of the stator flux linkage of the motor at home and abroad is mainly divided into two methods: a traditional pure integral method and a novel stator flux linkage observer. The traditional pure integral method has simple structure, convenient calculation and low requirement on hardware, but the calculation precision often cannot meet the requirement. The novel stator flux linkage observer is generally based on a filter algorithm, for example, a stator flux linkage observer based on a low-pass filter, and the method has a complex structure, has high requirements on hardware, but has high calculation accuracy, so that the stator flux linkage observer based on a low-pass filtering method is adopted to identify the motor torque on line.
1) Stator flux linkage observer based on low-pass filtering method
From the above analysis, it is necessary to obtain flux linkage information of the motor in order to obtain the electromagnetic torque of the motor. Because the traditional pure integral calculation of the stator flux linkage brings great errors, in view of the disadvantage of the integral method in calculating the stator flux linkage, a low-pass filter is adopted in the section to replace the pure integral link, and the calculation result is compared with the integral method, so that the most suitable stator flux linkage calculation method is found for calculating the subsequent air gap torque.
The stator flux linkage space vector expression based on the voltage model is as follows
Wherein,respectively a voltage, a current, a flux linkage and an induced electromotive force vector in a motor static coordinate system, esIn order to be a counter-electromotive force,the phase angle and amplitude, ω, of the induced electromotive force vector of the sum EseIs the stator angular frequency.
Considering the problems of zero drift and initial integral value of voltage and current during measurement, the traditional integral method causes the observation result to have the problem of direct current bias, a low-pass filter is adopted to replace a pure integral link, and the expression of stator flux linkage is as follows:
wherein, ω iscIs the cut-off frequency, psi, of the low-pass filtersIs the actual magnetic chain, psi'sTo estimate the flux linkage.
In order to eliminate the steady-state error introduced by the low-pass filter, the low-pass filtered result needs to be compensated in amplitude and phase, and G is a compensation vector function, so the following formula is given.
ψ'sG＝ψs3.41
Wherein:
on the basis of a stator flux linkage observer based on a traditional low-pass filter, a novel improved low-pass filter algorithm is provided, namely, the calculation sequence of amplitude phase compensation and the low-pass filter is exchanged, namely, the amplitude phase compensation is firstly carried out, then the low-pass filter is calculated, and the formula shows that the amplitude and phase compensation needs to be carried out on induced electromotive force firstly, namely:
E'sG＝Es3.44
in order to simplify the calculation and reduce the hardware structure, the Clark transformation is needed to be carried out on the stator voltage and current before the amplitude phase compensation is carried out, and the three-phase stationary a-b-c coordinate system is transformed to the two-phase stationary α - β -0 coordinate system, namely:
the expression of the induced electromotive force in the two-phase stationary α - β -0 coordinate system is:
substituting formula into the formula can obtain:
wherein u issα,usβ，isα,isβIs the voltage and current components of the motor in a stationary α - β -0 coordinate system, esα,esβIs the actual motor back electromotive force stationary α - β -0 coordinate system lower component, e'sα,e'sβThe method is a novel low-pass filter stator flux linkage observer algorithm for the estimated component of the motor back electromotive force under a two-phase static α - β -0 coordinate system.
A Simulink simulation schematic is shown in fig. 4.
Is transformed by Park to obtain
The size of the synchronous angular velocity θ needs to be determined when Park transformation is performed in equation 3.46, which is not easy to obtain voltage and current data acquired in a real-time acquisition state, so that the value of θ is determined by using the relationship between the synthetic flux linkage and the component flux linkage, as follows:
in Simulink, a schematic of the Park transformation is shown in fig. 5.
Therefore, the electromagnetic torque Te of the motor is:
wherein p is the pole pair number of the motor.
2) Stator flux linkage observer simulation based on low-pass filtering
In order to verify the accuracy of the torque online identification algorithm provided by the patent, the stator flux linkage observer simulation based on low-pass filtering is established in Matlab/Simulink, the power supply condition of a motor is 220V alternating current, and the frequency is 50 Hz.
The simulation result is basically completely consistent with the estimated flux linkage and the theoretical flux linkage of the algorithm, and the effectiveness of the algorithm is shown in fig. 6.
In order to find the most suitable stator flux linkage calculation method for the motor energy efficiency calculation of the patent, the simulation results of the stator flux linkage observer based on the low-pass filtering method and the novel integral method, which are provided by the patent, are compared, and the results are shown in fig. 7. It can be seen from the figure that compared with the novel integral method, the low-pass filtering method has high identification precision, after the motor runs stably, the identification error of the low-pass filtering method is basically 0, but the error of the novel integral method fluctuates greatly, and under the condition of requiring absolute accuracy, the low-pass filtering method has obvious advantages and is easy to realize in hardware, so that the stator flux linkage observer based on the low-pass filtering method is adopted for calculating the stator flux linkage in the patent.
The motor air gap torque is determined by the equation 3.48, so the stator flux linkage psi under the two-phase rotating coordinate system d-q-0 is needed for calculating the air gap torqued,ψqAnd stator current id,iqTherefore, it isClark conversion and Park conversion are needed to be carried out on the acquired original voltage and current. Because the voltage and the current obtained by a motor measuring module in Matlab/Simulink are under a two-phase static coordinate system alpha-beta-0, only Park transformation is needed during simulation. And simulating a motor torque online identification algorithm based on Simulink, and acquiring the actual torque of the motor through an oscilloscope for result verification.
The stator flux linkage identification result based on the low-pass filtering method is shown in fig. 8.
And performing Park conversion on the stator flux linkage and the stator current under the alpha-beta-0 coordinate to obtain the stator flux linkage and the stator current under the two-phase rotating coordinate system, as shown in fig. 9, and as can be known from the figure, after the motor operates stably, the stator flux linkage and the stator current components are both converted into direct current quantities.
The air gap torque of the motor can be obtained by substituting the stator flux linkage and the stator current obtained by Park conversion into the formula 3.51, and compared with the actual torque, the result is shown in fig. 10 and table 1, for example, it can be known from the figure that the torque of the motor tends to be stable after the motor runs for about 1s after short oscillation during startup. In the figure, the solid line represents the measured torque, the dotted line represents the estimated torque, and the simulation result shows that the torque curve obtained by applying the online torque identification algorithm provided by the patent is almost completely matched with the actual torque curve, thereby showing the reliability of the algorithm.
From the analysis of the results in table 1, it can be seen that the air gap torque calculated by the algorithm in the simulation is 1.4934Nm, the actual torque is 1.4936Nm, the error is 0.0002Nm, and the relative error is 0.01%, and the result verifies the high precision and effectiveness of the algorithm provided by the patent, and the algorithm can be used for calculating the efficiency of the motor.
TABLE 1 Torque identification Algorithm error analysis
Therefore, the motor torque obtained by the optimized air gap torque-based method is high in accuracy and small in error.
In light of the foregoing, it will be apparent to those skilled in the art from this disclosure that various changes and modifications can be made without departing from the spirit and scope of the invention. The technical scope of the present invention is not limited to the content of the specification, and must be determined according to the scope of the claims.
Claims (4)
1. The utility model provides a portable electron flux linkage torque tester which characterized in that: the torque tester is characterized in that a hole is formed in the top of a shell of the torque tester to lead out a wire for connecting with a tested motor (9), a processor (1) is arranged in the torque tester, the processor (1) detects the current of the tested motor (9) through a current sensor (2), the voltage of the tested motor (9) is detected through a voltage transformer (3), a current signal of the motor detected by the current sensor (2) and a voltage signal of the motor detected by the voltage transformer (3) are input into the processor (1) after signal regulation and filtering in a filter (4), the processor (1) comprises a micro-processing module (1.1), the micro-processing module (1.1) is connected with a data acquisition module (1.2) and a data processing module (1.3), wherein the data acquisition module (1.2) is connected with the current sensor (2) and the voltage transformer (3), and the data acquisition module (1.2) transmits acquired data to the data processing module (1.3) through the micro-processing module (1.1), the processor (1) is also provided with a display module (5), a keyboard module (6) and a signal processing module (7), the processor (1) sends the calculated motor torque adjusting value to the control module (8) through the signal processing module (7), and the control module (8) is connected with the motor to be tested (9) and can control the action of the motor to be tested (9).
2. A portable electronic flux linkage torque tester as claimed in claim 1, wherein: the surface of the shell of the torque tester is provided with a display screen and a plurality of buttons for control.
3. A portable electronic flux linkage torque tester as claimed in claim 1, wherein: the processor (1) is an ARM microcontroller.
4. A portable electronic flux linkage torque tester as claimed in claim 1, wherein: the current sensor (2) is a Rogowski coil.
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| CN201821212550.XU CN208461724U (en) | 2018-07-27 | 2018-07-27 | Portable electronic magnetic linkage torque tester |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108832860A (en) * | 2018-07-27 | 2018-11-16 | 江苏省特种设备安全监督检验研究院 | Portable electronic magnetic linkage torque tester |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN108832860A (en) * | 2018-07-27 | 2018-11-16 | 江苏省特种设备安全监督检验研究院 | Portable electronic magnetic linkage torque tester |
| CN108832860B (en) * | 2018-07-27 | 2023-05-19 | 江苏省特种设备安全监督检验研究院 | Portable electronic flux linkage torque tester |
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