CN215217809U - Inherent frequency testing device of motor driving system - Google Patents

Inherent frequency testing device of motor driving system Download PDF

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CN215217809U
CN215217809U CN202120582319.5U CN202120582319U CN215217809U CN 215217809 U CN215217809 U CN 215217809U CN 202120582319 U CN202120582319 U CN 202120582319U CN 215217809 U CN215217809 U CN 215217809U
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module
board
natural frequency
motor driving
driving system
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CN202120582319.5U
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金刚石
王斯
鲍强
位明壮
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CETC 11 Research Institute
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CETC 11 Research Institute
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Abstract

The utility model provides a motor drive system's natural frequency test equipment, test equipment are used for testing target motor drive system's natural frequency, and test equipment includes: the system comprises a control mainboard, a drive board, a measurement module and a power module, wherein the control mainboard is provided with a digital board used for sending SWPM control signals, the drive board is connected to the control mainboard in an inter-board connection and insertion mode, the drive board receives the SWPM control signals and controls the operation of a motor according to the control signals, and the measurement module is connected with a target motor driving system and 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 driven by different SPWM control signals, the measurement is convenient and reliable, and the method has high use value.

Description

Inherent frequency testing device of motor driving system
Technical Field
The utility model relates to a servo technical field especially relates to a motor drive system's natural frequency test equipment.
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.
SUMMERY OF THE UTILITY MODEL
The utility model discloses the technical problem that solve tests target motor drive system's natural frequency, the utility model provides a motor drive system's natural frequency test equipment.
According to the utility model discloses motor drive system's natural frequency test equipment, test equipment is used for testing target motor drive system's natural frequency, test equipment 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 utility model discloses motor drive system's natural frequency test equipment measures the state parameter of target motor system under sweep frequency SPWM control signal drive through measuring module, can acquire target motor drive system's natural frequency according to state parameter, measures conveniently, reliably, has very 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 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.
According to some embodiments of the present invention, the measurement module comprises a magnetoelectric vibration sensor, the magnetoelectric vibration sensor is connected to 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 utility model, the measurement module is still including locating the system state measurement module of control mainboard, system state measurement module with target motor drive system with the digital board is all connected, system state measurement module is used for acquireing target motor drive system's position parameter and speed parameter, and transmit extremely the digital board.
According to some embodiments of the invention, the test device 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.
The utility model discloses an in some embodiments, power module includes built-in power module and external power module, the control mainboard is equipped with the connection external power module with the power selection module of built-in power module.
According to some embodiments of the invention, the power selection module is provided with an anti-reverse connection circuit.
The utility model discloses an in some embodiments, the control mainboard is equipped with the serial communication interface that is used for connecting external equipment.
According to some embodiments of the utility model, the digital board with be equipped with between the drive plate and keep apart processing module, be used for right the digital board with signal between the drive plate keeps apart.
Drawings
Fig. 1 is a schematic diagram of a natural frequency testing apparatus of a motor driving system according to an embodiment of the present invention;
fig. 2 is a schematic diagram of a natural frequency testing apparatus of a motor driving system according to an embodiment of the present invention;
fig. 3 is a schematic composition diagram 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 illustrate the technical means and effects of the present invention adopted to achieve the predetermined objects, the present invention will be described in detail below with reference to the accompanying drawings and preferred embodiments.
According to the utility model discloses motor drive system's natural frequency test equipment, test equipment are used for testing target motor drive system's natural frequency, and as shown in fig. 1 and fig. 2, test equipment 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. The "SPWM control signal" in this application is a "sinusoidal pulse width modulation control signal".
The drive plate is connected with the control mainboard in a manner of inter-plate plug-in connection, and the drive plate 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 utility model discloses motor drive system's natural frequency test equipment measures the state parameter of target motor drive system under sweep frequency SPWM control signal drive through measuring module, can acquire target motor drive system's natural frequency according to state parameter, measures convenient, reliably, has very 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, the 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 to say, the utility model provides two kinds of motor drive plates, one kind is PMSM drive plate, and another kind has brush motor drive plate for the direct current, takes compatible formula inter-plate to connect 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 present invention, the measuring module comprises a magnetoelectric vibration sensor, 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 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.
The utility model discloses an in some embodiments, measurement module is still including locating the system state measurement module of control mainboard, and system state measurement module all is connected with target motor drive system and digital board, and system state measurement module is used for acquireing target motor drive system's position parameter and speed parameter to transmit 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 present invention, the test device 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.
The utility model discloses an in some embodiments, power module includes internal power module and external power module, and the control mainboard is equipped with the power selection module of connecting external power module and internal power module.
It should be noted that, the normal work of power is the guarantee that the system is stable, the utility model discloses power input mode has two kinds: 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.
The utility model discloses an in some embodiments, the control mainboard is equipped with the serial communication interface that is used for connecting external equipment. 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 the utility model discloses a some embodiments are equipped with between digital board and the drive plate and keep apart processing module for keep apart the signal between digital board and the drive plate. 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.
The natural frequency testing method of the motor driving system adopts the natural frequency testing equipment of the motor driving system to test the fixed frequency of the motor driving system, and 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 inherent frequency testing method of the motor driving system has wide application range, 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 provided; 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 testing apparatus of the motor driving system according to the present invention is described in detail below 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 of 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. Behind known mechanical resonant frequency, its limited reason alright quick determination of bandwidth, reduce time cost, the event the utility model provides a motor drive system's shafting natural frequency test equipment.
In order to expand the application range, the utility model discloses motor to the different grade type has carried out compatible design, through the drive plate of inter-plate connection different grade type, can have brush motor and PMSM to the direct current to control. 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 power is the guarantee that the system is stable, the utility model discloses power input mode has two kinds, built-in power input mode and external power input mode, and built-in power is 24V 20A input, and external power is 5.9V ~ 47V 20A input, and optional one kind mode inserts the power, and external power source inserts when inside power supply work, can automatic switch to external power source power supply and have and prevent the protection of preventing joining conversely, can prevent the circuit abnormal conditions that two kinds of power input modes caused that use simultaneously.
For measurement system mechanical resonance frequency, the utility model discloses a control signal frequency sweep of motor drive board, measurement system's operating condition judges 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 utility model uses the incremental encoder and the absolute encoder to realize the 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 function, the utility model discloses still contained functions such as liquid crystal display, serial communication, data storage, network board communication control, serial communication realizes the communication between host computer and the control panel through setting up general RS485 RS422 circuit, can show on liquid crystal display after the measured data of entire system state handles.
To sum up, the utility model discloses application scope is wide, has designed two kinds of power input modes: 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.
The technical means and functions of the present invention to achieve the intended purpose will be understood more deeply and concretely through the description of the embodiments, however, the attached drawings are only for reference and illustration, and are not intended to limit the present 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 different sweep frequency SPWM control signals 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 apparatus of a motor driving system according to claim 1, wherein the measuring module includes a magnetoelectric vibration sensor connected to the target motor driving system to acquire 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 natural frequency test apparatus of a motor drive system according to claim 1, wherein the power supply module is provided with an anti-reverse connection circuit.
9. 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.
10. The natural frequency testing apparatus of a motor drive system according to any one of claims 1 to 9, 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.
CN202120582319.5U 2021-03-22 2021-03-22 Inherent frequency testing device of motor driving system Active CN215217809U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN202120582319.5U CN215217809U (en) 2021-03-22 2021-03-22 Inherent frequency testing device of motor driving system

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN202120582319.5U CN215217809U (en) 2021-03-22 2021-03-22 Inherent frequency testing device of motor driving system

Publications (1)

Publication Number Publication Date
CN215217809U true CN215217809U (en) 2021-12-17

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Application Number Title Priority Date Filing Date
CN202120582319.5U Active CN215217809U (en) 2021-03-22 2021-03-22 Inherent frequency testing device of motor driving system

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