RU2556884C1 - Ac converter-fed motor adjustment process - Google Patents

Abstract

FIELD: engines and pumps.

SUBSTANCE: in compliance with this process, motor composed by DC torque motor is placed on adjustment test bench. Motor rotor is brought to decelerated mode and its rotor is turned. Control voltage is fed to position transducer input winding. Besides, motor rotor is shifted through the angle whereat signal from position transducer sine output winding equals zero. Shift signal is fed to additional input of sine channel amplifier whereat residual signal at amplifier output is zero. Motor cosine channel start torque is measured to define cosine channel transmission factor by ratio of torque-to-control voltage at transducer input winding. Similarly, sine channel transmission factor is defined. Then, resistance of sine and cosine channel amplifier control resistors is set so that the ratio thereof equals the inverse relation of transmission factors of these channels.

EFFECT: angular stability of motor torque.

3 dwg

Description

The proposed method relates to electric machines with non-contact switching and is intended for tuning during the manufacture and operation of electric machines operating as executive torque motors with unlimited rotation angle as part of electric drives of automatic control systems.

The valve electric motor contains two electric machines: a DC brushless motor (DB) and a position sensor (DP), the rotors of which are mechanically interconnected, and the cosine and sine windings of the DP and DB are interconnected through the respective amplifiers of the cosine and sine channels.

There is a method of tuning a valve motor [1], which consists in the rotation of the stator DP motor relative to the stator DB until the maximum torque of the tuned motor. To test the torque characteristics of a valve motor, a spring compensator is used. The installation allows you to remove the dependence of the moment on the angle of rotation of the rotor with a constant input signal and the dependence of the moment on the input signal with a constant angular position of the rotor.

The disadvantage of this method is the lack of operations to compensate for the "non-identity" of the engine channels.

A known method of tuning a torque valve motor, adopted as a prototype and described in [2]. The DP-DB motor, mechanically connected to the control object, is installed in the tuning stand, which ensures the rotation of the DP-DB rotor and the DP stator, supply of supply and control voltage, conversion and measurement of signals.

The method improves the accuracy of adjustment and consists in applying a control voltage to the input winding of the DP (field winding), while a pulsating voltage is applied to one of the control windings of the DB, the rotor of the DP-DB is rotated to the position corresponding to the zero value of the EMF induced in the other control winding DB, rotate the stator of the DP at an angle at which the signal from one of the output windings of the DP is zero, and the voltage from the phase-sensitive rectifier of the amplified signal from the other output winding of the DP is positive.

The tuning method described in [2] does not reveal the non-identity of the channels of the valve electric motor, which determines the dependence of the torque on the angle of rotation and, thereby, affecting the stability of the rotation speed of the motor.

The objective of the invention is to provide angular stability of the engine torque.

The technical result is achieved by the fact that the valve motor is installed in the tuning stand, the control voltage is applied to the input winding of the DP, according to the invention, the rotor of the DP is rotated to angular positions at which the signals from the output windings of the DP are zero, while they are fed to the corresponding additional inputs of the cosine amplifiers and sine channels, the bias signal, providing zero values of the signals on the cosine and sine channels of the amplifier, measure the starting moments of the DB, in relation to these moments in Nome signal determined transmission ratios, and then adjusting the resistance of resistors R3 ^{c (k)} amplifiers are selected so that the ratio of the sine and cosine channels adjustment resistors is equal to the inverse ratio of the transmission channel coefficient.

In FIG. 1 shows a diagram of a valve electric motor used to implement the claimed method, where the notation is adopted: 1 - DP excitation winding, 2 - DP rotor, 3 - DB rotor, 4 (5) - sine (cosine) output DP winding, 6 (7) - sine (cosine) control winding DB (op-amp ^{with (k)} ). Each of the amplifiers of the cosine and sine channels is a serial connection of an amplifier-converter and a power amplifier: 8 (9) is an amplifier-converter of a sine (cosine) channel (UP ^{with (k)} ), 10 (11) is a power amplifier of a sine channel (UM ^{s (k)} ).

и $$U_{дп}^k$$

, соответственно, пропорциональные синусу и косинусу электрического угла поворота ротора ДП. Эти напряжения подаются на УП^с и УП^k, где они усиливаются по напряжению, выпрямляются и поступают в ОУ^с и ОУ^k через усилитель мощности УМ^с и УМ^k. Токи $$i_{дб}^{с}$$

и $$i_{дб}^k$$

, протекающие в обмотках двигателя, взаимодействуют с магнитным полем ПМ и создают вращающий момент на неограниченном угле поворота ротора ДБ.The AC signal U _dp enters the DP excitation winding, the voltage is removed from the output (signal) windings $$U_{dP}^{\mathrm{from}}$$

and $$U_{dP}^k$$

, respectively, proportional to the sine and cosine of the electric angle of rotation of the rotor DP. These voltages are supplied to the unitary unit ^with and unitary ^k , where they are amplified by voltage, rectified and supplied to the op amp ^with and op amp ^k through the power amplifier Um ^s and Um ^k . Toki $$i_{db}^{\mathrm{from}}$$

and $$i_{db}^k$$

flowing in the motor windings interact with the PM magnetic field and create a torque at an unlimited angle of rotation of the DB rotor.

( $$R_{дб}^k$$

) с общей шиной, а через регулировочный резистор R3 - с инвертирующим входом усилителя У1, соединенного через резистор R2 с дополнительным входом УМ^с (УМ^k), являющимся дополнительным входом усилителя синусного (косинусного) канала, подключенным к источнику сигнала смещения $$U_{см}^{с}$$

( $$U_{см}^k$$

).In FIG. 2 shows the scheme of the PA ^with (PA ^k ), the output connected to the conclusions of the op-amp ^with (op-amp ^k ). The PA of each channel contains an amplifier U1, an inverting input through a resistor R1 connected to the output of the UE of the corresponding channel. The output of amplifier U1 through amplifier U2 (emitter follower according to Darlington's circuit) is connected to the beginning of the op amp ^with (op amp ^k ), the end of which is connected through a resistor $$R_{db}^{\mathrm{from}}$$

( $$R_{db}^k$$

) with a common bus, and through the adjustment resistor R3 - with the inverting input of the amplifier U1, connected through the resistor R2 with an additional input of the amplifier ^with (MIND ^k ), which is an additional input of the sine (cosine) channel amplifier connected to the bias signal source $$U_{\mathrm{from}m}^{\mathrm{from}}$$

( $$U_{\mathrm{from}m}^k$$

)

( $$i_{дб}^k$$

) и напряжение $$U_{дб}^{с}$$

( $$U_{дб}^k$$

) на резисторе $$R_{дб}^{с}$$

( $$R_{дб}^k$$

) определяются по формуламCurrent $$i_{db}^{\mathrm{from}}$$

( $$i_{db}^k$$

) and voltage $$U_{db}^{\mathrm{from}}$$

( $$U_{db}^k$$

) on the resistor $$R_{db}^{\mathrm{from}}$$

( $$R_{db}^k$$

) are determined by the formulas

where R _db <(R1 and R3), R3 is an adjustment resistor.

Such a system allows one to obtain a constant torque at an unlimited angle of rotation of the DP-DB rotor due to the supply of currents to the op amp, the magnitude of which is proportional to the sine and cosine of the electric angle of rotation of the DP-DB rotor and the sinusoidal distribution of induction over the stator bore of the DB.

However, with different channel transfer coefficients and the presence of a zero bias in the amplifiers, there are pulsations of the torque and, therefore, instability of the rotation speed of the DP-DB rotor, the essence of which is as follows:

When the rotor of the DP-DB rotates, the condition

wherein M _dv = K _dp-db · U _dp , where M _α is the moment of resistance, depending on the rotation speed of DP-DB, K _dp-db is the transmission coefficient of DP-DB, U _dp is an AC signal on the DP excitation winding.

From condition (3) it follows that if the coefficient K _{dp-db is} not constant, then when the engine rotates, the moment M _α (rotation speed) should change with a constant signal amplitude U _dp .

The variability of K _dp-db during the rotation of the DP-DB is due to the following:

The signals at the output windings of the DP are described by the equations

- коэффициент передачи синусной обмотки ДП, $${К}_{дп}^k$$

- коэффициент передачи косинусной обмотки ДП, n - число пар полюсов на роторе ДБ, α - угол поворота ротора ДП-ДБ, nα - электрический угол поворота ротора ДП-ДБ.Where $${\mathrm{TO}}_{dP}^c$$

- transmission coefficient of the sinus winding DP, $${\mathrm{TO}}_{dP}^k$$

is the transfer coefficient of the DP cosine winding, n is the number of pole pairs on the DB rotor, α is the rotation angle of the DP-DB rotor, nα is the electric rotation angle of the DP-DB rotor.

The signals at the stator op amps of the motor (DB) are described by the equations

- коэффициент передачи УП^с, $${К}_{уп}^k$$

- коэффициент передачи УП^k, $${К}_{ум}^c$$

- коэффициент передачи УМ^с, $${К}_{ум}^k$$

- коэффициент передачи УМ^k.Where $${\mathrm{TO}}_{\mathrm{at}P}^c$$

- gear ratio UP ^s , $${\mathrm{TO}}_{\mathrm{at}P}^k$$

- gear ratio UP ^k , $${\mathrm{TO}}_{\mathrm{at}m}^c$$

- the transfer coefficient of the MIND ^s , $${\mathrm{TO}}_{\mathrm{at}m}^k$$

is the transfer coefficient of the MIND ^k .

The resulting torque of the DB engine is determined from the expression

- коэффициент передачи синусной обмотки ДБ, $${К}_{дб}^k$$

- коэффициент передачи косинусной обмотки ДБ.Where $${\mathrm{TO}}_{db}^{\mathrm{from}}$$

- transmission coefficient of the sine winding DB, $${\mathrm{TO}}_{db}^k$$

- transmission coefficient of the cosine winding DB.

Expression (6) taking into account (4) and (5) has the form

If the sine and cosine channels of the valve motor are identical, expression (7) takes the form

From the expression (8) it follows that when the channels are identical, the moment M _dv does not depend on the angle of rotation of the DP-DB rotor.

и $${К}_{дп-дб}^k$$

, момент М_дв зависит от угла поворота ротора ДП-ДБ. В этом случае, согласно условию (3), в отсутствии своевременного приращения сигнал U_дп изменяется скорость вращения двигателя, а именно составляющая момента М_α, зависящая от скорости.However, from the expression (7) it follows that with a difference in the transmission coefficients of the channels $${\mathrm{TO}}_{dP-db}^{\mathrm{from}}$$

and $${\mathrm{TO}}_{dP-db}^k$$

, the moment M _dv depends on the angle of rotation of the rotor DP-DB. In this case, according to condition (3), in the absence of a timely increment, the signal U _dp changes the engine rotation speed, namely, the moment component M _α , which depends on the speed.

при $$U_{дб}^{с}=0$$

и $${(U_{дб}^k)}_{о}$$

при $$U_{дб}^k=0$$

, а именно «нулевые» токи (1) в ОУ двигателя ДБ, выражение (7) принимает вид:In addition, if the output of the MIND ^with and MIND ^k (Fig. 1) there are residual signals, $${(U_{db}^{\mathrm{from}})}_{\mathrm{about}}$$

at $$U_{db}^{\mathrm{from}}=0$$

and $${(U_{db}^k)}_{\mathrm{about}}$$

at $$U_{db}^k=0$$

, namely, “zero” currents (1) in the OS of the DB engine, expression (7) takes the form:

Moreover, taking into account expressions (1) and (2), we have

- коэффициент передачи УМ^с, $$K_{ум}^k=\frac{R{3}^k}{R{1}^k}$$

- коэффициент передачи УМ^k, $${(U_{уп}^{с})}_{о}$$

- электрическое смещение нуля в синусном канале, приведенное к выходу УП^с, $${(U_{уп}^k)}_{о}$$

- электрическое смещение нуля в косинусном канале, приведенное к выходу УП^k, $$U_{см}^{с}$$

- сигнал смещения, подаваемый для обнуления $${(U_{дб}^{с})}_{о}$$

, $$U_{см}^k$$

- сигнал смещения, подаваемый для обнуления $${(U_{дб}^k)}_{о}$$

.Where $$K_{\mathrm{at}m}^{\mathrm{from}}=\frac{R{3}^c}{R{\mathrm{one}}^c}$$

- the transfer coefficient of the MIND ^s , $$K_{\mathrm{at}m}^k=\frac{R{3}^k}{R{\mathrm{one}}^k}$$

- the transfer coefficient of the MIND ^k , $${(U_{\mathrm{at}P}^{\mathrm{from}})}_{\mathrm{about}}$$

- electric zero offset in the sinus channel, reduced to the output unitary unit ^s , $${(U_{\mathrm{at}P}^k)}_{\mathrm{about}}$$

- electric zero offset in the cosine channel, reduced to the output unitary enterprise ^k , $$U_{\mathrm{from}m}^{\mathrm{from}}$$

- bias signal supplied for zeroing $${(U_{db}^{\mathrm{from}})}_{\mathrm{about}}$$

, $$U_{\mathrm{from}m}^k$$

- bias signal supplied for zeroing $${(U_{db}^k)}_{\mathrm{about}}$$

.

и $${К}_{дп-дб}^k$$

) и наличии «нулевого» тока (1) в ОУ. Здесь: $${(U_{уп}^{с})}_{\Sigma }=U_{уп}^c+{(U_{уп}^{с})}_{о}$$

, $${(U_{дб}^{с})}_{\Sigma }=U_{дб}^c+{(U_{дб}^{с})}_{о}$$

, $${(U_{уп}^k)}_{\Sigma }=U_{уп}^k+{(U_{уп}^k)}_{о}$$

, $${(U_{дб}^k)}_{\Sigma }=U_{дб}^k+{(U_{дб}^k)}_{о}$$

In FIG. Figure 3 shows the structural diagram of a two-channel valve motor, taking into account the "non-identity" of the channels, namely, for different transmission ratios of the channels ( $${\mathrm{TO}}_{dP-db}^{\mathrm{from}}$$

and $${\mathrm{TO}}_{dP-db}^k$$

) and the presence of "zero" current (1) in the op-amp. Here: $${(U_{\mathrm{at}P}^{\mathrm{from}})}_{\Sigma }=U_{\mathrm{at}P}^c+{(U_{\mathrm{at}P}^{\mathrm{from}})}_{\mathrm{about}}$$

, $${(U_{db}^{\mathrm{from}})}_{\Sigma }=U_{db}^c+{(U_{db}^{\mathrm{from}})}_{\mathrm{about}}$$

, $${(U_{\mathrm{at}P}^k)}_{\Sigma }=U_{\mathrm{at}P}^k+{(U_{\mathrm{at}P}^k)}_{\mathrm{about}}$$

, $${(U_{db}^k)}_{\Sigma }=U_{db}^k+{(U_{db}^k)}_{\mathrm{about}}$$

The proposed method of tuning a valve motor (DP-DB) provides for the following operations:

1. Install DP-DB in the tuning stand, providing a braked mode.

2. Supply voltage to the amplifiers of the sine and cosine channels.

3. Apply the control voltage U _dp to the input winding of the DP, rotate the stator of the DP relative to the stator of a brushless motor (DB) and fix the angular position of the stator of the DP corresponding to the maximum starting torque of the motor.

.4. Turn the rotor DP at an angle at which the signal $$U_{dP}^{\mathrm{from}}=0$$

.

на дополнительный вход усилителя УМ^с, при котором сигнал $${(U_{дб}^{с})}_{о}=0$$

, и измеряют пусковой момент ДБ при неподвижном роторе.5. They give a signal $$U_{\mathrm{from}m}^c$$

to the additional input of the amplifier UM ^s , at which the signal $${(U_{db}^{\mathrm{from}})}_{\mathrm{about}}=0$$

, and measure the starting torque of the DB with the rotor stationary.

по отношению измеренного момента к напряжению U_дп.6. Determine the transmission coefficient of the cosine channel $${\mathrm{TO}}_{dP-db}^k$$

in relation to the measured moment to voltage U _dp .

.7. Turn the rotor DP at an angle at which the signal $$U_{dP}^k=0$$

.

на дополнительный вход усилителя УМ^с, при котором сигнал $${(U_{дб}^k)}_{о}=0$$

, и измеряют пусковой момент ДБ при неподвижном роторе.8. They give a signal $$U_{\mathrm{from}m}^k$$

to the additional input of the amplifier UM ^s , at which the signal $${(U_{db}^k)}_{\mathrm{about}}=0$$

, and measure the starting torque of the DB with the rotor stationary.

по отношению измеренного момента к напряжению U_дп.9. Determine the gain of the sine channel $${\mathrm{TO}}_{dP-db}^c$$

in relation to the measured moment to voltage U _dp .

10. The resistances of the adjustment resistors of the amplifiers of the cosine and sine channels are set so that the ratio of the resistances of the adjustment resistors of the cosine and sine channels is equal to the inverse ratio of the transmission coefficients of these channels:

Thus, the claimed method of setting the valve motor, including installing the motor in the tuning stand, supplying control voltage to the input winding of the position sensor (DP), rotate the stator of the DP relative to the stator of a brushless motor (DB) and fix the angular position of the stator of the DP corresponding to the maximum starting torque engine. A distinctive feature of the method is that the rotor of the DP is installed in an angular position at which the signal from the sine output winding of the DP is zero, an offset signal is applied to the auxiliary input of the sine channel amplifier, at which the residual signal at its output is zero, the starting moment of the cosine is measured the motor channel and in relation to the moment to the control voltage at the input winding of the DP determine the transmission coefficient of the cosine channel, set the rotor of the DP in a different angular position at which the signal from the cosine output winding is equal to zero, the bias signal is applied to the additional input of the amplifier of the cosine channel, at which the residual signal at its output is zero, the starting moment of the sine channel of the motor is measured and the transmission coefficient of the sine channel is determined with respect to the moment of the control voltage at the input winding of the DP, and set the resistance of the control resistors of the amplifiers of the cosine and sine channels so that the ratio of the resistance of the control resistors of the cosine and sine channels is equals the inverse ratio of the transmission channel coefficient.

Therefore, the claimed method allows to eliminate the non-identity of the channels, due to the difference in the transmission coefficients of the channels and the electric zero offset in the amplifiers and thereby eliminate the ripple of the moment during rotation of the valve motor.

Information sources

1. Stolov L.I., Zykov B.N. Permanent magnet torque motors. - M .: Energy, 1977, pp. 98-100.

2. SU 1275677 A1. Publ. 12/07/86. The method of setting the torque valve motor.

Claims (1)

A method of tuning a valve motor, including installing the motor in a tuning stand, supplying control voltage to the input winding of the position sensor (DP), rotating the stator of the DP relative to the stator of a brushless motor (DB), and fixing the angular position of the stator of the DP corresponding to the maximum starting torque of the motor, characterized in that set the rotor of the DP in the angular position at which the signal from the sine output winding of the DP is zero, the bias signal is applied to the additional input of the amplifier of the input channel at which the residual signal at its output is zero, the starting moment of the cosine channel of the motor is measured, and the transmission coefficient of the cosine channel is determined with respect to the moment to the control voltage at the input winding of the DP, the rotor of the DP is set to another angular position at which the signal with the cosine output the winding is equal to zero, the bias signal is applied to the auxiliary input of the cosine channel amplifier, at which the residual signal at its output is zero, the starting moment of the sine channel is measured and relative to the moment to the control voltage at the input winding of the DP determine the transmission coefficient of the sine channel, and set the resistances of the control resistors of the amplifiers of the cosine and sine channels so that the ratio of the resistances of the control resistors of the cosine and sine channels is equal to the inverse ratio of the transmission coefficients of these channels.

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