CN111766516A - Direct current motor parameter calibration method and device - Google Patents
Direct current motor parameter calibration method and device Download PDFInfo
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Abstract
The invention provides a method and a device for calibrating parameters of a direct current motor, wherein the method comprises the steps of respectively controlling the direct current motor to carry out corresponding operation processes under various different test conditions, acquiring armature current, armature voltage and rotor rotating speed of the direct current motor in the operation process of the direct current motor, calculating to obtain torque coefficients and armature resistances corresponding to a plurality of rotor temperatures, and further calculating to obtain a relation formula of the rotor temperatures, the torque coefficients and the armature resistances. The test conditions include the rotor temperature of the dc motor, the operating voltage of the dc motor, and the load of the dc motor, and thus the same rotor temperature corresponds to various test conditions. The torque coefficient and the armature resistance corresponding to a certain rotor temperature calculated according to various test conditions are more accurate, so that the temperature of the direct current motor calculated by the thermal protection algorithm is more accurate, and the direct current motor can be better protected from being burnt. The running time of the direct current motor under each test condition is shorter, and the whole calibration time is shortened.
Description
Technical Field
The invention relates to the technical field of direct current motors, in particular to a direct current motor parameter calibration method and device.
Background
The direct current motor has the characteristics of low cost, quick response, good speed regulation effect and the like, so the direct current motor is widely applied to the modern automobile industry. Aiming at the problem that the direct current motor is easy to burn due to overheating under the condition of load movement, the direct current motor is prevented from being burnt due to overheating during operation through a thermal protection algorithm at present.
The specific process executed by the thermal protection algorithm is as follows: matching to obtain a torque coefficient K and an armature resistance R of the direct current motor according to the initial temperature of the direct current motor; calculating to obtain the current running current of the direct current motor according to the torque coefficient K and the armature resistance R; according to the current running current, matching to obtain a rotor temperature rise coefficient and a stator temperature rise coefficient, and then calculating to obtain the temperature of the direct current motor; and determining whether to carry out thermal protection on the direct current motor according to whether the calculated temperature reaches a threshold value.
The torque coefficient K and the armature resistance R are substantially linear with the rotor temperature of the dc motor. In the prior art, the calibration of the torque coefficient K and the armature resistance R is performed under a few test conditions, so that the calibration of the torque coefficient K and the armature resistance R is inaccurate. In the existing calibration process, the temperature of the rotor is increased from room temperature to a temperature threshold value, and data in the process are collected; and equally dividing the whole temperature interval into a plurality of sub-temperature intervals, and calculating the torque coefficient K and the armature resistance R of the corresponding sub-temperature interval according to the armature current, the armature voltage and the rotor rotating speed which are acquired by each sub-temperature interval. The whole calibration process takes a long time.
Disclosure of Invention
In view of this, the present invention provides a method and an apparatus for calibrating parameters of a dc motor, which are intended to improve the accuracy of calibrating parameters of the dc motor and reduce the time consumed for calibration.
In order to achieve the above object, the following solutions are proposed:
in a first aspect, a method for calibrating parameters of a dc motor is provided, which is applied to a system for calibrating parameters of a dc motor, and the method for calibrating parameters of a dc motor includes:
under various different test conditions, respectively controlling the direct current motor to perform corresponding operation processes, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; the testing conditions are configured by the direct current motor parameter calibration system, and the rotor temperature, the working voltage and/or the load under different testing conditions are different;
collecting armature current of the direct current motor, armature voltage of the direct current motor and rotor rotating speed of the direct current motor in the running process of the direct current motor;
according to the armature current, the armature voltage and the rotor speed which are acquired under the same rotor temperature test conditions, the torque coefficient and the armature resistance under the same rotor temperature test conditions are respectively calculated by combining an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by utilizing a fitting algorithm according to the calculated torque coefficients and the armature resistances corresponding to the different rotor temperatures.
Optionally, under various different test conditions, the dc motors are respectively controlled to perform corresponding operation processes, which specifically includes:
under various different test conditions, the direct current motor is respectively controlled to run and move from the first position to the second position, then the direct current motor moves back from the second position to the first position, and the distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value.
Optionally, after the step of controlling the dc motor to run from the second position back to the first position, the method further includes:
and cooling the direct current motor to reduce the temperature of the rotor of the direct current motor to the temperature of the rotor under the current test condition, controlling the direct current motor to run from the first position to the second position, and then running back to the first position from the second position.
Optionally, the calculating, according to the armature current, the armature voltage, and the rotor speed collected under each same rotor temperature test condition, and in combination with an armature current formula, respectively obtains the torque coefficient and the armature resistance under each same rotor temperature test condition, specifically including:
and respectively calculating parameters K and R in the armature current formula under the same rotor temperature test condition by utilizing a fitting algorithm according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition.
Optionally, the calculating, according to the armature current, the armature voltage, and the rotor speed collected under each same rotor temperature test condition, and in combination with an armature current formula, respectively obtains the torque coefficient and the armature resistance under each same rotor temperature test condition, specifically including:
for different test conditions of each same rotor temperature, calculating torque coefficients and armature resistances corresponding to the different test conditions of each same rotor temperature according to the collected armature current, the collected armature voltage and the collected rotor speed in combination with an armature current formula;
respectively calculating to obtain torque coefficient average values corresponding to all test conditions of the same rotor temperature, and taking the torque coefficient average values as torque coefficients corresponding to the corresponding rotor temperatures;
and respectively calculating to obtain the armature resistance average value corresponding to all the test conditions of each same rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the corresponding rotor temperature.
Optionally, the dc motor parameter calibration system includes: industrial computer, data acquisition card, power, machine controller and test bench, the test bench includes: the temperature control box, the current sensor, the torque sensor, the temperature measuring instrument and the brake; during testing, the direct current motor, the torque sensor, the temperature measuring instrument and the brake are arranged in the temperature control box, and the method comprises the following steps of;
under various different test conditions, respectively controlling the direct current motor to perform corresponding operation processes by using the motor controller, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; configuring the rotor temperature, the working voltage and the load by a temperature control box, a power supply and a brake, wherein the rotor temperature, the working voltage and/or the load under different test conditions are different;
in the running process of the direct current motor, collecting armature current of the direct current motor by using a current sensor, and collecting armature voltage of the direct current motor and rotor rotating speed of the direct current motor by using a motor controller;
the industrial personal computer respectively calculates and obtains a torque coefficient and an armature resistance under the same rotor temperature test condition according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition in combination with an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and the industrial personal computer obtains a relational formula of the rotor temperature, the torque coefficient and the armature resistance by utilizing a fitting algorithm according to the calculated torque coefficients and armature resistances corresponding to different rotor temperatures.
In a second aspect, a dc motor parameter calibration device is provided, which is applied to a dc motor parameter calibration system, and the dc motor parameter calibration device includes:
the operation control unit is used for respectively controlling the direct current motor to carry out corresponding operation processes under various different test conditions, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; the testing conditions are configured by the direct current motor parameter calibration system, and the rotor temperature, the working voltage and/or the load under different testing conditions are different;
the data acquisition unit is used for acquiring the armature current of the direct current motor, the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor in the running process of the direct current motor;
the parameter calculation unit is used for respectively calculating a torque coefficient and an armature resistance under the same rotor temperature test condition according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition in combination with an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and the fitting unit is used for obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by using a fitting algorithm according to the calculated torque coefficients and armature resistances corresponding to different rotor temperatures.
Optionally, the operation control unit is specifically configured to:
under various different test conditions, the direct current motor is respectively controlled to run and move from the first position to the second position, then the direct current motor moves back from the second position to the first position, and the distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value.
Optionally, the operation control unit is further configured to:
after the direct current motor is controlled to run from the second position to the first position, the direct current motor is cooled so that the temperature of a rotor of the direct current motor is reduced to the temperature of the rotor under the current test condition, then the direct current motor is controlled to run from the first position to the second position, and then the direct current motor is controlled to run from the second position to the first position.
Optionally, the parameter calculating unit is specifically configured to calculate, according to the armature current, the armature voltage, and the rotor speed acquired under each same rotor temperature test condition, parameters K and R in an armature current formula under each same rotor temperature test condition by using a fitting algorithm, respectively.
Optionally, the parameter calculating unit is specifically configured to:
for different test conditions of each same rotor temperature, calculating torque coefficients and armature resistances corresponding to the different test conditions of each same rotor temperature according to the collected armature current, the collected armature voltage and the collected rotor speed in combination with an armature current formula;
respectively calculating to obtain torque coefficient average values corresponding to all test conditions of the same rotor temperature, and taking the torque coefficient average values as torque coefficients corresponding to the corresponding rotor temperatures;
and respectively calculating to obtain the armature resistance average value corresponding to all the test conditions of each same rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the corresponding rotor temperature.
Compared with the prior art, the technical scheme of the invention has the following advantages:
the method comprises the steps of respectively controlling the direct current motor to carry out corresponding operation processes under various different test conditions, collecting armature current, armature voltage and rotor rotating speed of the direct current motor in the operation process of the direct current motor, calculating to obtain torque coefficients and armature resistances corresponding to a plurality of rotor temperatures, and further calculating to obtain a relation formula of the rotor temperatures, the torque coefficients and the armature resistances. The test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor, so that the same rotor temperature can correspond to various test conditions. The torque coefficient and the armature resistance corresponding to a certain rotor temperature calculated according to various test conditions are more accurate, so that the temperature of the direct current motor calculated by the thermal protection algorithm is more accurate, and the direct current motor can be better protected from being burnt. The running time of the direct current motor under each test condition is shorter, and the whole calibration time is shortened.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic diagram of a dc motor parameter calibration system according to an embodiment of the present invention;
fig. 2 is a flowchart of a method for calibrating parameters of a dc motor according to an embodiment of the present invention;
FIG. 3 is a graph of the effect of data fitting at a certain rotor temperature according to an embodiment of the present invention;
fig. 4 is a schematic diagram of a dc motor parameter calibration apparatus according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Referring to fig. 1, a system for calibrating parameters of a dc motor is provided for the embodiments of the present invention, and is used to configure test conditions when calibrating parameters of the dc motor. The direct current motor parameter calibration system comprises an industrial personal computer, a power supply, a motor controller, a data acquisition card and a test bench. The test bench comprises a brake, a temperature measuring instrument, a torque sensor, a current sensor and a temperature control box. The power supply may be a programmable power supply or a battery with different voltage outputs. The brake can adopt a magnetic powder brake or a magnetic eddy current brake and the like. The temperature measuring instrument can adopt an infrared temperature measuring instrument and the like.
In one embodiment, before calibrating the dc motor, the stator of the dc motor is perforated to expose a circular hole of 1cm diameter for the probe of the thermometer to measure the rotor temperature. And the brake penetrates through the temperature control box, the direct current motor is fixed in the temperature control box, and a probe of the thermodetector is arranged at the position of the stator hole and is 2-3cm away from the rotor. Arranging a direct current motor, a torque sensor, a temperature measuring instrument and a brake in a temperature control box; the power supply, the data acquisition card and the industrial personal computer are arranged outside the temperature control box; the current sensor can be arranged inside the temperature control box or outside the temperature control box.
The motor controller is responsible for controlling the operation process of the direct current motor. The DC motor is provided with a load by using a brake. And acquiring the load of the direct current motor by using the torque sensor. And configuring the working voltage of the direct current motor by using the power supply. And the temperature control box is used for configuring the rotor temperature of the direct current motor. And measuring the rotor temperature of the direct current motor by using a temperature measuring instrument. And acquiring terminal current of the motor controller by using a current sensor, namely armature current of the direct current motor. And acquiring data output by the torque sensor, the current sensor and the temperature measuring instrument by using a data acquisition card. And acquiring the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor by using the motor controller. And system control software based on LabVIEW is installed in the industrial personal computer to realize the monitoring of the motor experiment process and data.
For the rotor temperature in the test conditions, it was set by the temperature control box. Specifically, the direct current motor is placed in the temperature control box, and after the temperature control box sets the temperature, the rotor temperature of the direct current motor can be consistent with the temperature in the temperature control box after waiting for a certain time. And determining the condition of the rotor temperature in the testing condition after determining that the actual temperature of the rotor reaches the rotor temperature in the testing condition through the data collected by the infrared thermometer.
Referring to fig. 2, a method for calibrating parameters of a dc motor according to an embodiment of the present invention includes the following steps:
s21: and respectively controlling the direct current motor to perform corresponding operation processes under various different test conditions.
The test conditions in the invention include the rotor temperature of the dc motor, the operating voltage of the dc motor and the load of the dc motor. The rotor temperature of the direct current motor, the operating voltage of the direct current motor and/or the load of the direct current motor are different under different test conditions. Different test conditions cover different rotor temperatures and different combinations between the operating voltage of the dc motor and the load of the dc motor at each rotor temperature. The working conditions of the direct current motor have the conditions of different voltages and different loads, and the working voltage of the direct current motor and the load of the direct current motor are added into the test conditions, so that the actual working conditions of the direct current motor can be more fitted, and further the calculation results of the armature resistance and the torque coefficient are more accurate.
In one embodiment, the dc motors are separately controlled to operate to perform the same positional movement under different test conditions. Specifically, the direct current motor is controlled to run from the first position to the second position and then back from the second position to the first position. The distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value. For example, the temperature rise threshold may be 10 °. Data collected in the starting and stopping processes of the direct current motor are generally inaccurate, so that multiple cycles can be carried out to ensure that enough data of the direct current motor in a stable running state can be collected. A cyclic process refers to controlling the operation of the DC motor to move from a first position to a second position and then back from the second position to the first position. It should be noted that the temperature of the rotor of the dc motor may rise during the movement process, and in order to avoid that the temperature rise of the rotor of the dc motor is too high, which may cause a large difference with the temperature of the rotor under the test condition, and affect the calibration result, after the execution of one cycle, the temperature of the rotor of the dc motor needs to be reduced, so that the temperature of the rotor of the dc motor is reduced to the temperature of the rotor under the test condition, and then the next cycle is performed.
Of course, other embodiments of step S21 are also possible. If different first positions and different second positions can be correspondingly set for different test conditions, the distance between the first position and the second position enables the temperature rise of the direct current motor under the corresponding test conditions to be smaller than the temperature rise threshold value. For another example, under various different test conditions, the direct current motor is respectively controlled to rotate forward for a preset time length and then rotate backward for a preset time length, and the preset time length is set so that the temperature rise of the direct current motor under various test conditions is smaller than a temperature rise threshold.
S22: in the running process of the direct current motor, the armature current of the direct current motor, the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor are collected.
And under each test condition, controlling the direct current motor to perform one operation process. And executing step S22 each time the dc motor runs, and acquiring the armature current of the dc motor, the armature voltage of the dc motor, and the rotor speed of the dc motor under the current test condition. And collecting the armature current of the direct current motor by using the current sensor. And obtaining the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor by using the motor controller.
S23: according to the armature current, the armature voltage and the rotor speed which are collected under the same rotor temperature test condition, the torque coefficient and the armature resistance under the same rotor temperature test condition are respectively calculated by combining an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance.
Embodiments of the present invention provide two methods of calculating the torque coefficient and armature resistance at a certain rotor temperature. The first is to obtain K and R in an armature current formula by using a fitting algorithm according to the armature current, the armature voltage and the rotor speed acquired under all test conditions including a certain rotor temperature, that is, a torque coefficient and an armature resistance corresponding to the rotor temperature. The fitting algorithm may specifically employ a least squares method.
Secondly, for each test condition containing a certain rotor temperature, calculating a torque coefficient and an armature resistance corresponding to each test condition containing the rotor temperature according to the collected armature current, armature voltage and rotor rotation speed and by combining an armature current formula, namely calculating the torque coefficient and the armature resistance under each test condition containing the certain rotor temperature; then, calculating to obtain a torque coefficient average value corresponding to all test conditions including the rotor temperature, and taking the torque coefficient average value as a torque coefficient corresponding to the rotor temperature; and calculating to obtain an armature resistance average value corresponding to all test conditions including the rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the rotor temperature.
The average value of the torque coefficients corresponding to all the test conditions including a certain rotor temperature, that is, the average value of all the torque coefficients corresponding to the respective test conditions including the rotor temperature. The average value of the armature resistances corresponding to all the test conditions including a certain rotor temperature, that is, the average value of all the armature resistances corresponding to the respective test conditions including the rotor temperature. For example, all test conditions including the rotor temperature T1 are test condition 1 and test condition 2; the torque coefficient corresponding to test condition 1 is K1, and the torque coefficient corresponding to test condition 2 is K2, and the average value of the torque coefficients corresponding to all test conditions including the rotor temperature T1 is (K1+ K2)/2.
S24: and obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by utilizing a fitting algorithm according to the calculated torque coefficients and the armature resistances corresponding to the different rotor temperatures.
Specifically, the fitting algorithm may adopt a least square method to obtain a relational formula of the rotor temperature, the torque coefficient and the armature resistance, and further obtain the torque coefficient and the armature resistance corresponding to each temperature.
When a DC motor is calibrated, three DC motor samples are selected for calibration, namely three DC motors are selected from a batch of same DC motors for calibration, so as to eliminate the difference between the DC motors.
In one embodiment, five temperature values of-20 deg.C, 0 deg.C, 20 deg.C, 50 deg.C and 80 deg.C are selected as the rotor temperature in the test condition. Three voltages of 9V, 13.5V and 16V are selected as the working voltage of the direct current motor in the test condition. And selecting all voltages in the vicinity of 0-the working voltage of the direct current motor at intervals of 1 as the load of the direct current motor. Thus, for each rotor temperature, there are multiple test conditions. For example, if the vicinity of the operating voltage of the dc voltage is a voltage value 1V lower than the operating voltage of the dc voltage, and the operating voltage of the dc motor is 9V, 0V, 1V, … …, and 8V are selected as the loads of the dc motor, that is, the operating voltage of the dc motor is 9V, and there are 9 choices for the loads of the dc motor; when the working voltage of the direct current motor is 13.5V, 0V, 1V, … … V and 12V are selected as loads of the direct current motor, namely when the working voltage of the direct current motor is 13.5V, the loads of the direct current motor have 13 choices; when the working voltage of the direct current motor is 16V, selecting 0V, 1V, … … and 15V as the load of the direct current motor, namely when the working voltage of the direct current motor is 16V, the load of the direct current motor has 16 choices; thus, for each rotor temperature, there are 38 test conditions of 9+13+ 16. Therefore, 38 sets of test data exist at each rotor temperature, and the accuracy of calculating the armature resistance and the torque coefficient at the rotor temperature is improved.
Referring to fig. 3, a graph of the effect of data fitting at a certain rotor temperature is shown, voltage represents armature voltage, current represents armature current, and speed represents rotor speed. Finally, the determination coefficient R-square of the fitting effect is greater than 0.9 and approaches to 1; and the root mean square error RMSE <10, approaching 0. The two indexes show a good fitting effect, and the accuracy of data processing is guaranteed. And the accuracy of a relational formula of the rotor temperature, the torque coefficient and the armature resistance is further ensured.
While, for purposes of simplicity of explanation, the foregoing method embodiments have been described as a series of acts or combination of acts, it will be appreciated by those skilled in the art that the present invention is not limited by the illustrated ordering of acts, as some steps may occur in other orders or concurrently with other steps in accordance with the invention.
The following are embodiments of the apparatus of the present invention that may be used to perform embodiments of the method of the present invention. For details which are not disclosed in the embodiments of the apparatus of the present invention, reference is made to the embodiments of the method of the present invention.
Referring to fig. 4, a dc motor parameter calibration apparatus provided for an embodiment of the present invention includes: an operation control unit 41, a data acquisition unit 42, a parameter calculation unit 43 and a fitting unit 44.
The operation control unit 41 is configured to control the dc motor to perform a corresponding operation process under a plurality of different test conditions, where the test conditions include a rotor temperature of the dc motor, a working voltage of the dc motor, and a load of the dc motor; the testing conditions are configured by a direct current motor parameter calibration system, and the rotor temperature of the direct current motor, the working voltage of the direct current motor and/or the load of the direct current motor are different under different testing conditions.
And the data acquisition unit 42 is used for acquiring the armature current of the direct current motor, the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor in the running process of the direct current motor.
The parameter calculating unit 43 is configured to calculate, according to the armature current, the armature voltage, and the rotor speed acquired under each same rotor temperature test condition, a torque coefficient and an armature resistance under each same rotor temperature test condition by combining an armature current formula, where the armature current formula is:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance.
And the fitting unit 44 is used for obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by using a fitting algorithm according to the calculated torque coefficients and armature resistances corresponding to different rotor temperatures.
Optionally, the operation control unit is specifically configured to:
under various different test conditions, the direct current motor is respectively controlled to run and move from the first position to the second position, then the direct current motor moves back from the second position to the first position, and the distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value.
Optionally, the operation control unit is further configured to:
after the direct current motor is controlled to run from the second position to the first position, the direct current motor is cooled so that the temperature of a rotor of the direct current motor is reduced to the temperature of the rotor under the current test condition, then the direct current motor is controlled to run from the first position to the second position, and then the direct current motor is controlled to run from the second position to the first position.
Optionally, the parameter calculating unit is specifically configured to:
and respectively calculating parameters K and R in the armature current formula under the same rotor temperature test condition by using a fitting algorithm according to the armature current, the armature voltage and the rotor speed which are acquired under the same rotor temperature test condition.
Optionally, the parameter calculating unit is specifically configured to:
for different test conditions of each same rotor temperature, calculating torque coefficients and armature resistances corresponding to the different test conditions of each same rotor temperature according to the collected armature current, armature voltage and rotor speed in combination with an armature current formula;
respectively calculating to obtain torque coefficient average values corresponding to all test conditions of the same rotor temperature, and taking the torque coefficient average values as torque coefficients corresponding to the corresponding rotor temperatures;
and respectively calculating to obtain the armature resistance average value corresponding to all the test conditions of each same rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the corresponding rotor temperature.
The above-described embodiments of the apparatus are merely illustrative, and the units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The embodiments in the present description are mainly described as different from other embodiments, the same and similar parts in the embodiments may be referred to each other, and the features described in the embodiments in the present description may be replaced with each other or combined with each other.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.
Claims (10)
1. A direct current motor parameter calibration method is characterized by being applied to a direct current motor parameter calibration system, and comprises the following steps:
under various different test conditions, respectively controlling the direct current motor to perform corresponding operation processes, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; the testing conditions are configured by the direct current motor parameter calibration system, and the rotor temperature, the working voltage and/or the load under different testing conditions are different;
collecting armature current of the direct current motor, armature voltage of the direct current motor and rotor rotating speed of the direct current motor in the running process of the direct current motor;
according to the armature current, the armature voltage and the rotor speed which are acquired under the same rotor temperature test conditions, the torque coefficient and the armature resistance under the same rotor temperature test conditions are respectively calculated by combining an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by utilizing a fitting algorithm according to the calculated torque coefficients and the armature resistances corresponding to the different rotor temperatures.
2. The method for calibrating the parameters of the direct current motor according to claim 1, wherein the step of respectively controlling the direct current motor to perform corresponding operation processes under various different test conditions specifically comprises the steps of:
under various different test conditions, the direct current motor is respectively controlled to run and move from the first position to the second position, then the direct current motor moves back from the second position to the first position, and the distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value.
3. The method for calibrating parameters of a direct current motor according to claim 2, wherein after the step of controlling the operation of the direct current motor to go from the second position back to the first position, the method further comprises:
and cooling the direct current motor to reduce the temperature of the rotor of the direct current motor to the temperature of the rotor under the current test condition, controlling the direct current motor to run from the first position to the second position, and then running back to the first position from the second position.
4. The method for calibrating the parameters of the direct current motor according to claim 1, wherein the torque coefficient and the armature resistance under the same rotor temperature test condition are respectively calculated according to the armature current, the armature voltage and the rotor speed collected under the same rotor temperature test condition in combination with an armature current formula, and specifically comprises:
and respectively calculating parameters K and R in the armature current formula under the same rotor temperature test condition by utilizing a fitting algorithm according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition.
5. The direct current parameter calibration method according to claim 1, wherein the torque coefficient and the armature resistance under each same rotor temperature test condition are respectively calculated according to the armature current, the armature voltage, and the rotor speed collected under each same rotor temperature test condition in combination with an armature current formula, specifically comprising:
for different test conditions of each same rotor temperature, calculating torque coefficients and armature resistances corresponding to the different test conditions of each same rotor temperature according to the collected armature current, the collected armature voltage and the collected rotor speed in combination with an armature current formula;
respectively calculating to obtain torque coefficient average values corresponding to all test conditions of the same rotor temperature, and taking the torque coefficient average values as torque coefficients corresponding to the corresponding rotor temperatures;
and respectively calculating to obtain the armature resistance average value corresponding to all the test conditions of each same rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the corresponding rotor temperature.
6. The direct current parameter calibration method according to any one of claims 1 to 5, wherein the direct current motor parameter calibration system comprises: industrial computer, data acquisition card, power, machine controller and test bench, the test bench includes: the temperature control box, the current sensor, the torque sensor, the temperature measuring instrument and the brake; during testing, the direct current motor, the torque sensor, the temperature measuring instrument and the brake are arranged in the temperature control box, and the method comprises the following steps of;
under various different test conditions, respectively controlling the direct current motor to perform corresponding operation processes by using the motor controller, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; configuring the rotor temperature, the working voltage and the load by a temperature control box, a power supply and a brake, wherein the rotor temperature, the working voltage and/or the load under different test conditions are different;
in the running process of the direct current motor, collecting armature current of the direct current motor by using a current sensor, and collecting armature voltage of the direct current motor and rotor rotating speed of the direct current motor by using a motor controller;
the industrial personal computer respectively calculates and obtains a torque coefficient and an armature resistance under the same rotor temperature test condition according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition in combination with an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and the industrial personal computer obtains a relational formula of the rotor temperature, the torque coefficient and the armature resistance by utilizing a fitting algorithm according to the calculated torque coefficients and armature resistances corresponding to different rotor temperatures.
7. A direct current motor parameter calibration device is characterized in that the device is applied to a direct current motor parameter calibration system, and the device comprises:
the operation control unit is used for respectively controlling the direct current motor to carry out corresponding operation processes under various different test conditions, wherein the test conditions comprise the rotor temperature of the direct current motor, the working voltage of the direct current motor and the load of the direct current motor; the testing conditions are configured by the direct current motor parameter calibration system, and the rotor temperature, the working voltage and/or the load under different testing conditions are different;
the data acquisition unit is used for acquiring the armature current of the direct current motor, the armature voltage of the direct current motor and the rotor rotating speed of the direct current motor in the running process of the direct current motor;
the parameter calculation unit is used for respectively calculating a torque coefficient and an armature resistance under the same rotor temperature test condition according to the armature current, the armature voltage and the rotor rotating speed which are acquired under the same rotor temperature test condition in combination with an armature current formula, wherein the armature current formula is as follows:
the torque coefficient and the armature resistance under each same rotor temperature test condition correspond to the rotor temperature in the same rotating system temperature test condition, I is armature current, U is armature voltage, omega is rotor rotating speed, K is torque coefficient, and R is armature resistance;
and the fitting unit is used for obtaining a relational formula of the rotor temperature, the torque coefficient and the armature resistance by using a fitting algorithm according to the calculated torque coefficients and armature resistances corresponding to different rotor temperatures.
8. The device for calibrating parameters of a direct current motor according to claim 7, wherein the operation control unit is specifically configured to:
under various different test conditions, the direct current motor is respectively controlled to run and move from the first position to the second position, then the direct current motor moves back from the second position to the first position, and the distance between the first position and the second position enables the temperature rise of the direct current motor under various test conditions to be smaller than the temperature rise threshold value.
9. The dc motor parameter calibration apparatus according to claim 8, wherein the operation control unit is further configured to:
after the direct current motor is controlled to run from the second position to the first position, the direct current motor is cooled so that the temperature of a rotor of the direct current motor is reduced to the temperature of the rotor under the current test condition, then the direct current motor is controlled to run from the first position to the second position, and then the direct current motor is controlled to run from the second position to the first position.
10. The direct current parameter calibration device according to claim 7, wherein the parameter calculation unit is specifically configured to:
for different test conditions of each same rotor temperature, calculating torque coefficients and armature resistances corresponding to the different test conditions of each same rotor temperature according to the collected armature current, the collected armature voltage and the collected rotor speed in combination with an armature current formula;
respectively calculating to obtain torque coefficient average values corresponding to all test conditions of the same rotor temperature, and taking the torque coefficient average values as torque coefficients corresponding to the corresponding rotor temperatures;
and respectively calculating to obtain the armature resistance average value corresponding to all the test conditions of each same rotor temperature, and taking the armature resistance average value as the armature resistance corresponding to the corresponding rotor temperature.
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