WO2018102978A1 - 一种永磁同步电机可变惯量伺服特性测试系统及方法 - Google Patents

一种永磁同步电机可变惯量伺服特性测试系统及方法 Download PDF

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WO2018102978A1
WO2018102978A1 PCT/CN2016/108640 CN2016108640W WO2018102978A1 WO 2018102978 A1 WO2018102978 A1 WO 2018102978A1 CN 2016108640 W CN2016108640 W CN 2016108640W WO 2018102978 A1 WO2018102978 A1 WO 2018102978A1
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inertia
motor
permanent magnet
magnet synchronous
test system
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PCT/CN2016/108640
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English (en)
French (fr)
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梅雪松
宋哲
许睦旬
林英行
姜歌东
陈赟
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西安交通大学
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Priority to PCT/CN2016/108640 priority Critical patent/WO2018102978A1/zh
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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01M—TESTING STATIC OR DYNAMIC BALANCE OF MACHINES OR STRUCTURES; TESTING OF STRUCTURES OR APPARATUS, NOT OTHERWISE PROVIDED FOR
    • G01M1/00—Testing static or dynamic balance of machines or structures
    • G01M1/10—Determining the moment of inertia

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  • the invention relates to a servo characteristic test system, in particular to a permanent magnet synchronous motor variable inertia servo characteristic test system and method.
  • Permanent magnet synchronous motors are widely used in servo systems due to their small size, high efficiency, large electromagnetic torque and convenient control.
  • High-performance servo systems have stringent requirements for the follow-up performance of permanent magnet synchronous motors.
  • the change of the load moment of inertia will adversely affect the servo performance of the system and reduce the servo characteristics of the system.
  • the moment of inertia needs to be identified to obtain the exact value of the moment of inertia and used for servo control.
  • the moment of inertia of the servo system needs to be changed to verify the correctness and effectiveness of the identification algorithm.
  • the conventional method is to connect the motor shaft and the magnetic powder clutch. By controlling the disengagement and engagement of the clutch, the total moment of inertia of the servo system before and after the clutch is calculated according to the size and quality of the coupling and the magnetic powder clutch. Although this method can change the moment of inertia of the servo system, only the sudden increase and the sudden release of the inertia can be achieved, which is not consistent with the dynamic time-varying moment of inertia in practical applications.
  • the present invention provides a variable inertia servo characteristic test system and method for a permanent magnet synchronous motor, which can not only realize the sudden change of inertia of the permanent magnet synchronous motor servo system, but also realize permanent magnet synchronization.
  • the inertia of the motor servo system is ramped.
  • a variable inertia servo characteristic test system for a permanent magnet synchronous motor comprising a test motor, a load motor, and first and second reducers, wherein an output end of the test motor is connected to a first reducer, and an output of the first reducer The end is connected with a support rod, and the support rod is horizontally rotated by the test motor and the first reducer; the output end of the loading motor is connected to the second deceleration The output end of the second reducer is connected with a screw, and the screw is provided with a slider, and the slider performs a translational movement under the driving of the screw; the test system adjusts the position and speed of the slider by detecting the position Moment of inertia.
  • the loading motor has an absolute photoelectric encoder for detecting the position and speed of the slider.
  • the second reducer is a single-input and double-output structure, and the output shafts are respectively connected to a lead screw and placed symmetrically.
  • the test system further includes a thrust ball bearing mounted on the intermediate plate and below the support rod.
  • the test system further includes a conductive slip ring, the outer ring of the conductive slip ring is fixed on the top plate, and the inner ring of the conductive slip ring is fixed on the fixing device and rotates synchronously with the support rod.
  • the support rod, the lead screw, the slider, the loading motor, and the second reduction gear are fastened by a fixing device.
  • the first reducer is mounted on the intermediate plate, and the input end of the first reducer is fastened to the output end of the test motor.
  • the test motor is connected to a column on the base through a lifting platform, and the lifting table is provided with a fastening nut for adjusting the position height.
  • the lifting platform is provided with a clamping device, and the testing motor is supported and fixed by the clamping device and the pre-tightening bolt.
  • a method for testing a variable inertia servo characteristic of a permanent magnet synchronous motor comprising the following steps:
  • the beneficial effects of the present invention are: by controlling the quick start and brake of the loading motor, rapidly changing the position of the slider on the lead screw, realizing the sudden increase and sudden release of the system moment of inertia;
  • the speed of the motor and the position of the steering control slider on the lead screw the positional change of the slider is used to change the moment of inertia of the system, and the gradual change of the moment of inertia of the system is realized;
  • the slider is detected by the absolute photoelectric encoder attached to the motor. Position and speed to calculate the total rotation of the system Inertia and its rate of change.
  • the test system of the invention can realize the sudden change of the inertia of the permanent magnet synchronous motor, and can realize the inertia gradual change of the permanent magnet synchronous motor, and can also change the moment of inertia according to a certain change rule, and has high flexibility and adaptability, and does not need
  • the large-sized mechanical inertia disk is further configured, and the structure is compact and the debugging is convenient.
  • FIG. 1 is a schematic structural view of a variable inertia servo characteristic test system for a permanent magnet synchronous motor according to the present invention
  • Figure 2 is a block diagram showing the structure of the upper inertia variable portion of the test system of the present invention.
  • a variable inertia servo characteristic test system for a permanent magnet synchronous motor includes a base 1 , a lifting platform 2 , a clamping device 3 , a test motor 4 , a first reduction gear 5 , a support rod 6 , and a lead screw 7 .
  • the present invention drives the support rod 6 to perform horizontal rotation by controlling the test motor 4 and the first reduction gear 5, and drives the loading motor 12 and the second reduction gear 13 to drive the rotation of the lead screw 7 to cause the slider 8 to perform a translational movement.
  • the positional inertia of the system is changed by the position change of the slider 8, and the position and speed of the slider 8 are detected by the absolute photoelectric encoder attached to the motor 12, thereby calculating the total moment of inertia of the system and its rate of change.
  • the support rod 6, the lead screw 7, the slider 8, the loading motor 12 and the second reduction gear 13 are fixed together by a fixing device 9, and the test motor 4 and the loading motor 12 are permanent magnet synchronous motors, wherein
  • the loading motor 12 is provided with an absolute photoelectric encoder.
  • the second reducer 13 is a single-input and double-output structure, and one output screw is connected to each of the lead screws, and the two lead screws are symmetrically placed.
  • the loading motor 12 and the second reduction gear 13 drive the screw 7 to rotate, so that the two sliders 8 move horizontally outward or inward.
  • a thrust ball bearing 14 is mounted between the intermediate plate 15 and the support rod 6.
  • a conductive slip ring 10 is mounted between the loading motor 12 and the top plate 11, the outer ring of which is fixed to the top plate 11, and the inner ring is connected to the fixing device 9 and rotates synchronously with the support rod 6.
  • the upper surface of the intermediate plate 15 receives the thrust ball bearing 14, and the first reduction gear 5 is fixed below.
  • a lifting table 2 and a clamping device 3 are designed between the base 1 and the test motor 4, a lifting table 2 and a clamping device 3 are designed.
  • the test motor 4 is connected to a column 16 on the base 1 via a lifting table 2, and the lifting table 2 is provided with a fastening nut 18 for adjusting the height of its position.
  • the test motor 4 is supported and fixed by means of a clamping device 3 and a pretensioning bolt 17.
  • the output of the test motor 4 is connected to the first reducer 5, the output of the first reducer 5 is connected to the support rod 6, the support rod 6 is driven to rotate horizontally, and the output of the load motor 12 is connected to the second reducer 13, the second reducer 13
  • the output connecting screw 7 drives the lead screw 7 to rotate so that the slider 8 moves in parallel.
  • the position of the slider 8 on the lead screw 7 is rapidly changed to realize the system inertia. mutation.
  • the positional variation of the slider 8 is used to change the moment of inertia of the system to achieve a gradual change in the system's moment of inertia.
  • the total moment of inertia of the system and its rate of change are calculated, and the speed of the loading motor 12 is controlled to control the slider 8 on the lead screw 7.
  • the movement, the moment of inertia is changed according to a certain law.
  • FIG. 2 it is a schematic diagram of the structure of the upper inertia variable portion of the test system of the present invention.
  • the support rod 6, the lead screw 7, the slider 8, the loading motor 12 and the second reduction gear 13 are fixedly connected together by the fixing device 9, and the first reduction gear 5 is connected to the driving shaft 6 through the test motor 4 for horizontal rotation.
  • the motor 12 is connected to the second reduction gear 13 to drive the screw 7 to rotate so as to be slippery Block 8 is moved in parallel.
  • the double-sided slider 8 performs a rotary motion along the central axis and a linear motion along the lead screw.
  • the length and width of the slider are a and b, respectively, and the mass is m. At any time, the distance from the center of mass of the slider to the central axis is l, which results in:
  • the total moment of inertia J of the test system is:
  • J s is the sum of inertia of the load motor and other supporting transmission parts.
  • v is the speed at which the slider moves parallel on the lead screw.
  • the distance l from the center of mass of the slider to the central axis can be measured in real time by loading the absolute photoelectric encoder of the motor.
  • the machine rotates the angle ⁇ and is calculated by the transmission relationship between the loading motor, the second reducer and the lead screw. Calculated as follows:
  • the mass m of the slider, the lead s of the lead screw and the transmission ratio i of the second reducer are determined, and the rate of change of the moment of inertia J' is the angle ⁇ of the loaded motor and the rotational speed.
  • the rotation angle ⁇ of the loading motor can be obtained by real-time measurement by the built-in absolute photoelectric encoder. Therefore, the control of the moment of inertia change rate J' can be realized by controlling the rotation speed n of the loading motor.
  • the present invention provides a permanent magnet synchronous motor variable inertia servo characteristic test system, which can realize the sudden change of inertia of the permanent magnet synchronous motor, and can realize the inertia gradual change of the permanent magnet synchronous motor, and can also be determined according to certain The law of change changes the moment of inertia, which has higher flexibility and adaptability. It is consistent with the dynamic time-varying moment of inertia in actual working conditions, which provides an effective means for verifying various inertia identification algorithms.

Abstract

一种永磁同步电机可变惯量伺服特性测试系统，包括底座（1）、升降台（2）、夹紧装置（3）、测试电机（4）、第一减速机（5）、支撑杆（6）、丝杠（7）、滑块（8）、固定装置（9）、导电滑环（10）、顶板（11）、加载电机（12）、第二减速机（13）、推力球轴承（14）、中间板（15）、立柱（16）、预紧螺栓（17）和紧固螺母（18）。还提供一种永磁同步电机可变惯量伺服特性测试方法。通过控制测试电机（4）和第一减速机（5）来驱动支撑杆（6）作水平转动，通过控制加载电机（12）和第二减速机（13）来驱动丝杠（7）旋转从而使滑块（8）作平行移动。利用滑块（8）的位置变化来改变系统的转动惯量，通过加载电机（12）自带的绝对式光电编码器检测滑块（8）的位置和速度，进而计算出系统总的转动惯量及其变化率。不仅可以实现伺服系统的惯量突变，而且可以实现伺服系统的惯量渐变，同时还可以按照一定的变化规律改变转动惯量。

Description

一种永磁同步电机可变惯量伺服特性测试系统及方法 【技术领域】
本发明涉及一种伺服特性测试系统，尤其是一种永磁同步电机可变惯量伺服特性测试系统及方法。
【背景技术】
永磁同步电机以体积小、效率高、电磁转矩大、控制方便等优点，越来越广泛的应用于伺服系统中。高性能的伺服系统对永磁同步电机的跟随性能有严格的要求。在电机实际运行过程中，负载转动惯量的变化会对系统的伺服性能造成不良的影响，降低系统的伺服特性。为实现高性能的伺服控制，需要对转动惯量进行辨识，以获得转动惯量的准确数值并用于伺服控制。
在对永磁同步电机进行惯量辨识时，需要改变伺服系统的转动惯量以验证辨识算法的正确性和有效性。常规的方法是将电机轴和磁粉离合器连接，通过控制离合器的脱离和接合，根据联轴器和磁粉离合器的尺寸和质量，计算出离合前后伺服系统总的转动惯量。这种方法虽然能够改变伺服系统的转动惯量，但仅能实现惯量的突加和突卸，与实际应用中转动惯量动态时变的情况不太相符。
【发明内容】
为解决现有技术中存在的问题，本发明提供一种永磁同步电机可变惯量伺服特性测试系统及方法，该系统不仅可以实现永磁同步电机伺服系统的惯量突变，而且可以实现永磁同步电机伺服系统的惯量渐变。
为实现上述目的，本发明采用的技术方案是：
一种永磁同步电机可变惯量伺服特性测试系统，包括测试电机、加载电机，以及第一和第二减速机，所述测试电机的输出端连接第一减速机，该第一减速机的输出端连接有支撑杆，该支撑杆在测试电机和第一减速机的驱动下做水平转动；所述加载电机的输出端连接第二减速 机，该第二减速机的输出端连接有丝杠，所述丝杠上设置有滑块，该滑块在丝杠的带动下做平移运动；该测试系统通过检测滑块的位置和速度调整转动惯量。
所述加载电机带有绝对式光电编码器，用以检测滑块的位置和速度。
所述第二减速机为单输入双输出结构，其输出轴各接一根丝杠，且对称放置。
所述测试系统进一步包括有推力球轴承，该推力球轴承安装在中间板上，且位于支撑杆下方。
所述测试系统进一步包括有导电滑环，该导电滑环的外环固定在顶板上，该导电滑环的内环固定在固定装置上，且随着支撑杆同步转动。
所述支撑杆、丝杠、滑块、加载电机，以及第二减速机通过固定装置紧固连接。
所述第一减速机安装在中间板上，该第一减速机的输入端与测试电机的输出端紧固连接。
所述测试电机通过升降台与底座上的立柱连接，所述升降台上设置有用于调节位置高度的紧固螺母。
所述升降台上设置有夹紧装置，测试电机依靠夹紧装置和预紧螺栓支撑固定。
一种永磁同步电机可变惯量伺服特性测试方法，包括以下步骤：
(1)根据测试系统惯量可变部分的结构模型，推导出滑块的转动惯量Jv，进而计算测试系统总的转动惯量J；
(2)根据测试系统总的转动惯量J计算测试系统总的转动惯量变化率J'；
(3)获取加载电机的转动角度，通过控制加载电机的转速实现对转动惯量变化率的控制。
与现有技术相比，本发明的有益效果是：通过控制加载电机的快速启动和制动，迅速改变滑块在丝杠上的位置，实现系统转动惯量的突加和突卸；通过控制加载电机的转速和转向控制滑块在丝杠上的位置，利用滑块的位置变化来改变系统的转动惯量，实现系统转动惯量的渐变；通过加载电机自带的绝对式光电编码器检测滑块的位置和速度，进而计算出系统总的转动 惯量及其变化率。
本发明测试系统既可以实现永磁同步电机的惯量突变，又可以实现永磁同步电机的惯量渐变，同时还可以按照一定的变化规律改变转动惯量，具有较高的灵活性和适应性，不需要再配置体积较大的机械惯量盘，结构紧凑，调试方便。
【附图说明】
图1是本发明的永磁同步电机可变惯量伺服特性测试系统结构示意图；
图2是本发明的测试系统上层惯量可变部分结构简图。
图中：1-底座 2-升降台 3-夹紧装置 4-测试电机 5-第一减速机 6-支撑杆 7-丝杠 8-滑块 9-固定装置 10-导电滑环 11-顶板 12-加载电机 13-第二减速机 14-推力球轴承 15-中间板 16-立柱 17-预紧螺栓 18-紧固螺母。
【具体实施方式】
为更进一步阐述本发明所采用的技术方案，以下结合附图对本发明的具体实施方式进行详细的说明。该实施方式仅适用于说明和解释本发明，并不构成对发明保护范围的限定。
如图1所示，一种永磁同步电机可变惯量伺服特性测试系统，包括底座1、升降台2、夹紧装置3、测试电机4、第一减速机5、支撑杆6、丝杠7、滑块8、固定装置9、导电滑环10、顶板11、加载电机12、第二减速机13、推力球轴承14、中间板15、立柱16、预紧螺栓17和紧固螺母18。本发明通过控制测试电机4和第一减速机5来驱动支撑杆6作水平转动，通过控制加载电机12和第二减速机13来驱动丝杠7旋转从而使滑块8作平移运动。利用滑块8的位置变化来改变系统的转动惯量，通过加载电机12自带的绝对式光电编码器检测滑块8的位置和速度，进而计算出系统总的转动惯量及其变化率。
所述支撑杆6、丝杠7、滑块8、加载电机12和第二减速机13通过固定装置9固连在一起，所述测试电机4和加载电机12均为永磁同步电机，其中，加载电机12带有绝对式光电编码器。 所述第二减速机13为单输入双输出结构，其输出轴各接一根丝杠，两个丝杠对称放置。所述加载电机12和第二减速机13驱动丝杠7旋转，使两个滑块8向外或向内同时作水平移动。
为增加水平转动的稳定性，在中间板15和支撑杆6之间安装有推力球轴承14。在加载电机12与顶板11之间安装有导电滑环10，其外环与顶板11固定，内环与固定装置9连接并随支撑杆6同步转动。所述中间板15的上面承接推力球轴承14，下面固定第一减速机5。
另外，在底座1与测试电机4之间，设计有升降台2和夹紧装置3。所述测试电机4通过升降台2与底座1上的立柱16连接，所述升降台2上设置有用于调节其位置高度的紧固螺母18。所述测试电机4依靠夹紧装置3和预紧螺栓17支撑固定。
具体实施方式如下：
测试电机4的输出连接第一减速机5，第一减速机5的输出连接支撑杆6，驱动支撑杆6作水平转动，加载电机12的输出连接第二减速机13，第二减速机13的输出连接丝杠7，驱动丝杠7旋转从而使滑块8作平行移动，通过控制加载电机12的快速启动和制动，迅速改变滑块8在丝杠7上的位置，实现系统转动惯量的突变。通过控制加载电机12的转速和转向控制滑块8在丝杠7上的位置，利用滑块8的位置变化来改变系统的转动惯量，实现系统转动惯量的渐变。
通过加载电机12自带的绝对式光电编码器检测滑块的位置和速度，进而计算出系统总的转动惯量及其变化率，通过控制加载电机12的转速进而控制滑块8在丝杠7上的移动，实现转动惯量按照一定的规律变化。
具体实现步骤包括：
如图2所示，为本发明的测试系统上层惯量可变部分结构简图。支撑杆6、丝杠7、滑块8、加载电机12和第二减速机13通过固定装置9固连在一起，通过测试电机4连接第一减速机5驱动支撑杆6作水平转动，通过加载电机12连接第二减速机13驱动丝杠7旋转从而使滑 块8作平行移动。在测试电机4和加载电机12的共同作用下，双侧滑块8作沿中心轴线的旋转运动和沿丝杠的直线运动。
滑块的长度和宽度分别为a和b，质量为m，任一时刻滑块质心到中心轴线的距离为l，由此可得：
滑块对中心轴线的转动惯量Jv为：
Figure PCTCN2016108640-appb-000001
测试系统总的转动惯量J为：
J＝Js+2Jv                 (2)
式中Js为加载电机及其它支撑传动等部分的惯量之和。
为计算系统总的转动惯量J的变化率J'，对式(2)两边求导，则：
Figure PCTCN2016108640-appb-000002
式中Js为常量，又因为
Figure PCTCN2016108640-appb-000003
将式(4)代入式(3)，化简后可得：
J'＝4mlv                  (5)
式中v为滑块在丝杠上平行移动的速度。
根据第二减速机和丝杠的工作原理，有：
Figure PCTCN2016108640-appb-000004
式中n为加载电机的转速；s为丝杠的导程；i为第二减速机输入端与输出端之间的传动比。
将式(6)代入式(5)可得：
Figure PCTCN2016108640-appb-000005
滑块质心到中心轴线的距离l，可通过加载电机自带的绝对式光电编码器实时测量加载电 机转动角度θ，并通过加载电机、第二减速机和丝杠的传动关系计算获取。计算公式如下：
Figure PCTCN2016108640-appb-000006
将式(8)代入式(7)可得：
Figure PCTCN2016108640-appb-000007
由此可见，当测试系统设计完成之后，滑块的质量m、丝杠的导程s以及第二减速机的传动比i即为确定，转动惯量的变化率J'为加载电机转角θ和转速n的函数。加载电机的转动角度θ可以通过自带的绝对式光电编码器实时测量获得，因此，通过控制加载电机的转速n即可实现对转动惯量变化率J'的控制。
综上所述，本发明提供的一种永磁同步电机可变惯量伺服特性测试系统，既可以实现永磁同步电机的惯量突变，又可以实现永磁同步电机的惯量渐变，同时还可以按照一定的变化规律改变转动惯量，具有较高的灵活性和适应性，与实际工况中转动惯量动态时变的情况比较相符，为验证各种惯量辨识算法提供了有效手段。
上面结合附图对本发明的实施方式作了详细说明，并非对本发明作任何限制，凡是根据本发明技术实质对以上实施实例所作的任何简单修改、变更以及等效结构变化，均仍属于本发明技术方案的保护范围内。

Claims (10)

  1. 一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：包括测试电机(4)、加载电机(12)，以及第一和第二减速机(5、13)，所述测试电机(4)的输出端连接第一减速机(5)，该第一减速机(5)的输出端连接有支撑杆(6)，该支撑杆(6)在测试电机(4)和第一减速机(5)的驱动下做水平转动；所述加载电机(12)的输出端连接第二减速机(13)，该第二减速机(13)的输出端连接有丝杠(7)，该丝杠(7)上设置有滑块(8)，该滑块(8)在丝杠(7)的带动下做平移运动；该测试系统通过检测滑块(8)的位置和速度调整转动惯量。
  2. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述加载电机(12)带有绝对式光电编码器，用以检测滑块(8)的位置和速度。
  3. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述第二减速机(13)为单输入双输出结构，其输出轴各接一根丝杠(7)，且对称放置。
  4. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述测试系统进一步包括有推力球轴承(14)，该推力球轴承(14)安装在中间板(15)上，且位于支撑杆(6)下方。
  5. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述测试系统进一步包括有导电滑环(10)，该导电滑环(10)的外环固定在顶板(11)上，该导电滑环(10)的内环固定在固定装置(9)上，且随着支撑杆(6)同步转动。
  6. 根据权利要求1或5所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述支撑杆(6)、丝杠(7)、滑块(8)、加载电机(12)，以及第二减速机(13)通过固定装置(9)紧固连接。
  7. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述第一减速机(5)安装在中间板(15)上，该第一减速机(5)的输入端与测试电机(4)的输出端紧固连接。
  8. 根据权利要求1所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述测试电机(4)通过升降台(2)与底座(1)上的立柱(16)连接，所述升降台(2)上设置有用于调节位置高度的紧固螺母(18)。
  9. 根据权利要求8所述的一种永磁同步电机可变惯量伺服特性测试系统，其特征在于：所述升降台(2)上设置有夹紧装置(3)，测试电机(4)依靠夹紧装置(3)和预紧螺栓(17)支撑固定。
  10. 一种基于权利要求1至9中任一项所述的一种永磁同步电机可变惯量伺服特性测试系统的测试方法，其特征在于：包括以下步骤：
    (1)根据测试系统惯量可变部分的结构模型，推导出滑块的转动惯量Jv，进而计算测试系统总的转动惯量J；
    (2)根据测试系统总的转动惯量J计算测试系统总的转动惯量变化率J'；
    (3)获取加载电机的转动角度，通过控制加载电机的转速实现对转动惯量变化率的控制。
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