CN107543640B - Motor torque measurement method and device - Google Patents
Motor torque measurement method and device Download PDFInfo
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Abstract
The present invention is suitable for technical field of motors, and the present invention provides motor torque measurement method and device, and motor torque measurement method is the following steps are included: obtain each phase current of motor, and each phase current of motor is converted into direct-axis current and quadrature axis current；D-axis torque and quadrature axis torque are obtained according to direct-axis current and quadrature axis current；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；It obtains rotor-position and electric angle is obtained according to rotor-position；Motor effective torque is obtained according to electric angle and resultant moment, cost is relatively low for whole device, and does not need new hardware device is arranged and can accurately obtain motor effective torque.
Description
Technical field
The present invention relates to technical field of motors more particularly to motor torque measurement method and devices.
Background technique
The test method of industry torque is divided into two kinds at present, and one is torque sensor methods of testing, in motor and load
Between plus a torque sensor, this method is limited by mechanical structure, and the price is very expensive.Another method is that power pushes away
Algorithm first tests out the electric power of motor, electric power is then converted to machine output power according to a certain percentage, should
Method test is direct, but error is larger.In conclusion the power that torgue measurement method and device is measured exists in the prior art
The problem of square inaccuracy.
Summary of the invention
The purpose of the present invention is to provide motor torque measurement method and devices, are surveyed with solving to exist in the prior art torque
The problem for the torque inaccuracy that amount method and device is measured.
First aspect present invention provides a kind of motor torque measurement method, and the motor torque measurement method includes following step
It is rapid:
Each phase current of motor is obtained, and each phase current of motor is converted into direct-axis current and quadrature axis current；
D-axis torque and quadrature axis torque are obtained according to the direct-axis current and the quadrature axis current；
Vector modulation is carried out to the d-axis torque and the quadrature axis torque and obtains resultant moment；
It obtains rotor-position and electric angle is obtained according to the rotor-position；
Motor effective torque is obtained according to the electric angle and the resultant moment.
With reference to first aspect, in the first possible implementation of the first aspect, described according to the direct-axis current
The step of obtaining d-axis torque and quadrature axis torque with the quadrature axis current specifically:
D-axis torque and quadrature axis torque are obtained according to the following formula:
Ta=Ia × Kt, Tb=Ib × Kt, wherein Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is torque coefficient.
With reference to first aspect, in the second possible implementation of the first aspect, the acquisition rotor-position and root
The step of obtaining electric angle according to the rotor-position specifically:
Electric angle is obtained according to the following formula:
Wherein, θ is electric angle, and p is rotor-position.
With reference to first aspect, in a third possible implementation of the first aspect, described according to the electric angle
The step of obtaining motor effective torque with the resultant moment specifically:
Motor torque is obtained according to the following formula:
T2=T1 × COS θ, wherein T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
With reference to first aspect, in a fourth possible implementation of the first aspect, described according to the electric angle
It is further comprising the steps of after the step of obtaining motor effective torque with the resultant moment:
It is shown after carrying out integral filtering to the motor effective torque.
Second aspect of the present invention provides a kind of motor torque measuring device, and the motor torque measuring device includes:
Shaft current obtains module, is converted into d-axis electricity for obtaining each phase current of motor, and by each phase current of motor
Stream and quadrature axis current；
Axle power square obtains module, for obtaining d-axis torque and quadrature axis power according to the direct-axis current and the quadrature axis current
Square；
Resultant moment obtains module, obtains synthesis for carrying out Vector modulation to the d-axis torque and the quadrature axis torque
Torque；
Electric angle obtains module, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque obtains module, for obtaining motor effective torque according to the electric angle and the resultant moment.
In conjunction with second aspect, in the first possible implementation of the second aspect, module is obtained after the axle power square
The process of d-axis torque and quadrature axis torque is obtained according to the direct-axis current and the quadrature axis current are as follows:
D-axis torque and quadrature axis torque are obtained according to the following formula:
Ta=Ia × Kt, Tb=Ib × Kt, wherein Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is torque coefficient.
In conjunction with second aspect, in a second possible implementation of the second aspect, the electric angle obtains module
It obtains rotor-position and obtains the process of electric angle according to the rotor-position are as follows:
Electric angle is obtained according to the following formula:
Wherein, θ is electric angle, and p is rotor-position.
In conjunction with second aspect, in the third possible implementation of the second aspect, the effective torque obtains module
The process of motor effective torque is obtained according to the electric angle and the resultant moment are as follows:
Motor torque is obtained according to the following formula:
T2=T1 × COS θ, wherein T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
In conjunction with second aspect, in the fourth possible implementation of the second aspect, the motor torque measuring device
It further include integral filtering module and display module；
The integral filtering module carry out by the display module after integral filtering to the motor effective torque
Display.
The present invention provides motor torque measurement method and device, and motor torque measurement method is the following steps are included: according to electricity
Each phase current of machine obtains direct-axis current and quadrature axis current；D-axis torque and friendship are obtained according to direct-axis current and the quadrature axis current
Axle power square；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；Obtain rotor-position and according to rotor position
Set acquisition electric angle；Motor effective torque is obtained according to electric angle and resultant moment, cost is relatively low for whole device, and
Motor effective torque can accurately be obtained by not needing new hardware device is arranged.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will group embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment, group is for those of ordinary skill in the art, without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is a kind of flow chart for motor torque measurement method that an embodiment of the present invention provides；
Fig. 2 is the signal that resultant moment is obtained in a kind of motor torque measurement method of an embodiment of the present invention offer
Figure；
Fig. 3 is a kind of structural schematic diagram for motor torque measuring device that another embodiment of the invention provides.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, group
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
In order to illustrate technical solution of the present invention, the following is a description of specific embodiments.
The embodiment of the present invention provides a kind of motor torque measurement method, as shown in Figure 1, motor torque measurement method include with
Lower step:
Step S101. obtains each phase current of motor, and each phase current of motor is converted into direct-axis current and quadrature axis electricity
Stream.
In step s101, specifically, motor driver and motor are connected via Hall sensor.Pass through Hall
Current sensor can extract each phase current of machine winding, pass through by electric current in the case where not influencing input current
AD conversion is input in digital signal processor DSP, by clark, park convert, convert electrical current into biphase current Ia and
Ib。
Step S102. obtains d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current.
In step s 102, specifically, obtaining d-axis torque and quadrature axis torque according to the following formula:
Ta=Ia × Kt, Tb=Ib × Kt, wherein Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is torque coefficient, wherein torque coefficient can be obtained by locked rotor torque method of testing.Method particularly includes:
It is that any two-phase of motor is passed through a steady state value electric current a by continuous current source, is then slowly gone to pull motor with spring scale
Axis, until the maximum value F, Kt=F/a that axis rotates, and record spring scale is shown.
Wherein, magnetic field generates Lorentz force, this power acts on the rotor made of permanent magnet, and rotor connection is external negative
Load rotates just raw torque.Mathematical model by electric current to torque is extremely complex, and the size approximation of electric current and torque is directly proportional,
Coefficient between them is known as torque coefficient, is indicated with Kt.
Step S103. carries out Vector modulation to d-axis torque and quadrature axis torque and obtains resultant moment.
In step s 103, specifically, as shown in Fig. 2, the angle of d-axis torque and quadrature axis torque is right angle, pass through progress
Vector modulation, it can obtain resultant moment T1.
Step S104. obtains rotor-position and obtains electric angle according to rotor-position.
In step S104, specifically, obtaining the mechanical location of motor by position sensor, pass through the side of space symmetr
Method, calculates electric angle, and a such as n obtains the motor of pole using the position sensor of a m line by position sensor
Position be p, then electric angleWherein, θ is electric angle, and p is rotor position
It sets.
The position that electromechanics are obtained by position sensor, the electricity of rotor can be calculated by above-mentioned calculation formula
Air horn degree.
Step S105. obtains motor effective torque according to electric angle and resultant moment.
In step s105, specifically, obtaining motor torque according to the following formula:
T2=T1 × COS θ, wherein T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
Space vector transformation torque test philosophy of the present invention is as follows: the rotation of rotor is the rotation generated by machine winding
Turn magnetic field control, what the torque size of output was determined by the intensity of rotating excitation field and with the differential seat angle of rotor.Rotating excitation field
Analysis and calculation model is extremely complex and it is that polyphase windings synthesize to obtain, and rotating magnetic field model is become by space vector
It changes, establishes the coordinate system rotationally-varying with rotor.Modern composite stepper motor possesses more number of pole-pairs, sky between every pole
Between it is symmetrical, converted by space vector, can be electric angle by machine operation angle change, obtain with model as a pair of of pole
Further according to resultant moment after electric angle, both available motor effective torques.
Further, after the step S105 further include step:
It is shown after obtaining motor effective torque, then after motor effective torque is carried out integral filtering.
Specifically, entire measuring and calculating process needs 1ms or so, although the operating of motor is a continuous process, but from
It is the process of a jump from the perspective of microcosmic, just as the operating of clock and watch, should be measuring and calculating is derived from microcosmic principle
, so, the value that torque is also a jump is measured, measured value is needed by certain integral filtering, so that the torque of output
Curve is smooth as far as possible.
Another kind embodiment of the invention provides a kind of motor torque measuring device, as shown in figure 3, motor torque measuring device
Include:
Shaft current obtains module 201, is converted into d-axis for obtaining each phase current of motor, and by each phase current of motor
Electric current and quadrature axis current；
Axle power square obtains module 202, for obtaining d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current；
Resultant moment obtains module 203, obtains resultant moment for carrying out Vector modulation to d-axis torque and quadrature axis torque；
Electric angle obtains module 204, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque obtains module 205, for obtaining motor effective torque according to electric angle and resultant moment.
Specifically, motor driver and motor are connected via Hall sensor.It can by Hall current sensor
In the case where not influencing input current, to extract each phase current of machine winding, electric current is being input to by AD conversion
In digital signal processor DSP, is converted by clark, park, convert electrical current into biphase current Ia and Ib.
Specifically, axle power square, which obtains module 202, obtains d-axis torque and quadrature axis torque according to direct-axis current and quadrature axis current
Process are as follows:
D-axis torque and quadrature axis torque are obtained according to the following formula:
Ta=Ia × Kt, Tb=Ib × Kt, wherein Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, Ib
For quadrature axis current, Kt is torque coefficient, wherein torque coefficient can be obtained by locked rotor torque method of testing.Method particularly includes:
It is that any two-phase of motor is passed through a steady state value electric current a by continuous current source, is then slowly gone to pull motor with spring scale
Axis, until the maximum value F, Kt=F/a that axis rotates, and record spring scale is shown.
Specifically, electric angle obtains the mistake that module 204 obtains rotor-position and obtains electric angle according to rotor-position
Journey are as follows:
Electric angle is obtained according to the following formula:
Wherein, θ is electric angle, and p is rotor-position.
The position that electromechanics are obtained by position sensor, the electricity of rotor can be calculated by above-mentioned calculation formula
Air horn degree.
Specifically, effective torque obtains the mistake that module 205 obtains motor effective torque according to electric angle and resultant moment
Journey are as follows:
Motor torque is obtained according to the following formula:
T2=T1 × COS θ, wherein T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
Further, motor torque measuring device further includes integral filtering module and display module, is had for obtaining motor
It is shown after effect square, then after motor effective torque is carried out integral filtering.
Specifically, entire measuring and calculating process needs 1ms or so, although the operating of motor is a continuous process, but from
It is the process of a jump from the perspective of microcosmic, just as the operating of clock and watch, should be measuring and calculating is derived from microcosmic principle
, so, the value that torque is also a jump is measured, measured value is needed by certain integral filtering, so that the torque of output
Curve is smooth as far as possible.
The motor torque measuring device can obtain the electricity of motor in the case where not influencing motor itself normally operating
Stream and rotor-position, specific: the power line of motor driver is being connected to the motor after the motor torque measuring device, electricity
The encoder line of machine driver is parallel to this motor torque measuring device, this motor torque measuring device only obtains the motor driven
The information of device, but have no effect on the signal of test motor.The electricity in power line is obtained by the Hall sensor inside device
Stream information, and then obtain motor torque.
The present invention provides motor torque measurement method and device, and motor torque measurement method is the following steps are included: according to electricity
Each phase current of machine obtains direct-axis current and quadrature axis current；D-axis torque and friendship are obtained according to direct-axis current and the quadrature axis current
Axle power square；Vector modulation is carried out to d-axis torque and quadrature axis torque and obtains resultant moment；Obtain rotor-position and according to rotor position
Set acquisition electric angle；Motor effective torque is obtained according to electric angle and resultant moment, cost is relatively low for whole device, and
Motor effective torque can accurately be obtained by not needing new hardware device is arranged.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
It is apparent to those skilled in the art that for convenience and simplicity of description, the system of foregoing description,
The specific work process of device and unit, can refer to corresponding processes in the foregoing method embodiment, and details are not described herein.
In several embodiments provided herein, it should be understood that disclosed systems, devices and methods, it can be with
It realizes by another way.For example, the apparatus embodiments described above are merely exemplary, for example, the unit
It divides, only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components
It can be combined or can be integrated into another system, or some features can be ignored or not executed.Another point, it is shown or
The mutual coupling, direct-coupling or communication connection discussed can be through some interfaces, the indirect coupling of device or unit
It closes or communicates to connect, can be electrical property, mechanical or other forms.
The unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.It can select some or all of unit therein according to the actual needs to realize the mesh of this embodiment scheme
's.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.
It, can be with if the function is realized in the form of SFU software functional unit and when sold or used as an independent product
It is stored in a computer readable storage medium.Based on this understanding, technical solution of the present invention is substantially in other words
The part of the part that contributes to existing technology or the technical solution can be embodied in the form of software products, the meter
Calculation machine software product is stored in a storage medium, including some instructions are used so that a computer equipment (can be a
People's computer, server or network equipment etc.) it performs all or part of the steps of the method described in the various embodiments of the present invention.
And storage medium above-mentioned includes: that USB flash disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), arbitrary access are deposited
The various media that can store program code such as reservoir (RAM, Random Access Memory), magnetic or disk.
The above content is a further detailed description of the present invention in conjunction with specific preferred embodiments, and it cannot be said that
Specific implementation of the invention is only limited to these instructions.For those of ordinary skill in the art to which the present invention belongs, In
Several equivalent substitute or obvious modifications are made under the premise of not departing from present inventive concept, and performance or use is identical, all should
It is considered as belonging to present invention scope of patent protection determined by the appended claims.
Claims (6)
1. a kind of motor torque measurement method, which is characterized in that the motor torque measurement method the following steps are included:
Each phase current of motor is obtained, and each phase current of motor is converted into direct-axis current and quadrature axis current；
D-axis torque and quadrature axis torque are obtained according to the direct-axis current and the quadrature axis current；
Vector modulation is carried out to the d-axis torque and the quadrature axis torque and obtains resultant moment；
It obtains rotor-position and electric angle is obtained according to the rotor-position；
Motor effective torque is obtained according to the electric angle and the resultant moment；
Described the step of d-axis torque and quadrature axis torque are obtained according to the direct-axis current and the quadrature axis current specifically:
D-axis torque and quadrature axis torque are obtained according to the following formula:
Ta=Ia × Kt, Tb=Ib × Kt, wherein Ta is d-axis torque, and Ia is direct-axis current, and Tb is quadrature axis torque, and Ib is to hand over
Shaft current, Kt are torque coefficient；
Described the step of motor effective torque is obtained according to the electric angle and the resultant moment specifically:
Motor torque is obtained according to the following formula:
T2=T1 × COS θ, wherein T1 is resultant moment, and T2 is motor effective torque, and θ is electric angle.
2. motor torque measurement method as described in claim 1, which is characterized in that the acquisition rotor-position and according to described
Rotor-position obtains the step of electric angle specifically:
Electric angle is obtained according to the following formula:
Wherein, θ is electric angle, and p is rotor-position, and m is the line of position sensor
Number, n are the number of pole-pairs of motor.
3. motor torque measurement method as described in claim 1, which is characterized in that described according to the electric angle and described
It is further comprising the steps of after the step of resultant moment acquisition motor effective torque:
It is shown after carrying out integral filtering to the motor effective torque.
4. a kind of motor torque measuring device, which is characterized in that the motor torque measuring device includes:
Shaft current obtains module, is converted into d-axis electricity for obtaining each phase current of motor, and by the acquisition of each phase current of motor
Stream and quadrature axis current；
Axle power square obtains module, for obtaining d-axis torque and quadrature axis torque according to the direct-axis current and the quadrature axis current；
Resultant moment obtains module, obtains composite force for carrying out Vector modulation to the d-axis torque and the quadrature axis torque
Square；
Electric angle obtains module, for obtaining rotor-position and obtaining electric angle according to rotor-position；
Effective torque obtains module, for obtaining motor effective torque according to the electric angle and the resultant moment.
5. motor torque measuring device as claimed in claim 4, which is characterized in that the electric angle, which obtains module and obtains, to be turned
Sub- position and the process that electric angle is obtained according to the rotor-position are as follows:
Electric angle is obtained according to the following formula:
Wherein, θ is electric angle, and p is rotor-position, and m is position sensor
Line number, n indicate the number of pole-pairs of motor.
6. motor torque measuring device as claimed in claim 4, which is characterized in that the motor torque measuring device further includes
Integrate filtering module and display module；
The integral filtering module show by the display module after integral filtering to the motor effective torque.
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| CN112090024B (en) * | 2020-09-23 | 2022-04-29 | 广州视源电子科技股份有限公司 | Exercise machine torque output control method and device, exercise machine and medium |
| CN112678260A (en) * | 2021-01-07 | 2021-04-20 | 弗兰卡餐饮设备安装技术服务（中国）有限公司 | Weighing and dispensing device, weighing and dispensing method, and computer-readable storage medium |
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| CN101603997A (en) * | 2009-07-03 | 2009-12-16 | 哈尔滨工业大学 | Testing parameters of synchronous motor and realize the device of this method |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN103226062A (en) * | 2012-01-31 | 2013-07-31 | 上海大郡动力控制技术有限公司 | Passive loading method of load motor during motor performance test |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
| CN104579042A (en) * | 2013-10-22 | 2015-04-29 | 广东美的制冷设备有限公司 | Control system and torque fluctuation suppression method thereof for permanent magnet synchronous motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101603997A (en) * | 2009-07-03 | 2009-12-16 | 哈尔滨工业大学 | Testing parameters of synchronous motor and realize the device of this method |
| CN101860300A (en) * | 2010-06-09 | 2010-10-13 | 东南大学 | Method for suppressing torque ripple of permanent-magnet motor based on space vector modulation |
| CN103226062A (en) * | 2012-01-31 | 2013-07-31 | 上海大郡动力控制技术有限公司 | Passive loading method of load motor during motor performance test |
| CN103441715A (en) * | 2013-08-05 | 2013-12-11 | 四川长虹电器股份有限公司 | Control method for current compensation of permanent magnet synchronous motor |
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