CN114705117B - Precision testing method for rotary transformer - Google Patents
Precision testing method for rotary transformer Download PDFInfo
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- CN114705117B CN114705117B CN202210380533.1A CN202210380533A CN114705117B CN 114705117 B CN114705117 B CN 114705117B CN 202210380533 A CN202210380533 A CN 202210380533A CN 114705117 B CN114705117 B CN 114705117B
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- 238000012360 testing method Methods 0.000 title claims abstract description 45
- 238000005259 measurement Methods 0.000 claims abstract 2
- 238000005070 sampling Methods 0.000 claims description 18
- 230000003068 static effect Effects 0.000 claims description 14
- 238000013178 mathematical model Methods 0.000 claims description 11
- 238000000034 method Methods 0.000 claims description 10
- 101150069538 ROT1 gene Proteins 0.000 claims description 6
- 230000004907 flux Effects 0.000 claims description 6
- 230000009466 transformation Effects 0.000 claims description 6
- 238000012935 Averaging Methods 0.000 claims description 3
- 238000001514 detection method Methods 0.000 abstract description 5
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- 230000009286 beneficial effect Effects 0.000 description 1
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- 238000009434 installation Methods 0.000 description 1
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01B—MEASURING LENGTH, THICKNESS OR SIMILAR LINEAR DIMENSIONS; MEASURING ANGLES; MEASURING AREAS; MEASURING IRREGULARITIES OF SURFACES OR CONTOURS
- G01B7/00—Measuring arrangements characterised by the use of electric or magnetic techniques
- G01B7/30—Measuring arrangements characterised by the use of electric or magnetic techniques for measuring angles or tapers; for testing the alignment of axes
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Abstract
The invention discloses a precision testing method of a rotary transformer, which is characterized in that a reference angle observer is constructed, the angle of a motor is observed in real time and is used as a reference value for precision testing, and the reference value is compared with the real-time measurement angle of the rotary transformer to obtain a precision testing result of the rotary transformer. The invention can reduce the cost and improve the test performance without an external professional test device or an additional position detection device.
Description
Technical Field
The invention relates to the field of rotary transformers, in particular to a precision testing method of a rotary transformer.
Background
The Permanent Magnet Synchronous Motor (PMSM) has the advantages of simple structure, flexible control, high power density and the like, and is widely applied to the fields of aerospace, biomedical treatment, clean energy and the like. The high-precision detection of the PMSM rotor position has important significance for improving the control precision of the system. Currently, the position sensors commonly used by PMSM include Hall, photoelectric encoder, rotary transformer, etc. The Hall element has the advantages of small volume, low price, easy realization and the like when used for detecting the position of the rotor, but the detection precision is greatly influenced by factors such as the precision of the installation position, the working environment and the like; the photoelectric code disc has higher detection precision, but is easy to damage due to vibration impact when being used in the aerospace field; the rotary transformer detects the rotor position based on the electromagnetic principle, has the advantages of high detection precision, good reliability and the like, and is widely applied to the fields of aerospace and the like.
In the related art, when the rotary transformer leaves the factory, an external professional testing device or a calibrating device is used for testing the precision of the rotary transformer, so that the precision of the rotary transformer is ensured. However, in the actual use process of the rotary transformer, the precision of the rotary transformer may be changed due to factors such as loosening of the structure of the rotary transformer, offset of the stator and the rotor, distortion of the exciting signal, and harmonic interference. However, in the use process of the resolver after leaving the factory, how to test the accuracy of the resolver without an external professional testing device or an additional position detecting device, and improve the testing performance and reduce the cost are the problems to be solved.
Disclosure of Invention
The present invention has been made in view of the above problems, and has as its object to provide a precision testing method of a resolver which is capable of testing the precision of the resolver without an external professional testing device or an additional position detecting device, and improving the testing performance and reducing the cost.
The invention provides a precision testing method of a rotary transformer, which comprises the following steps:
s1, when the precision test starts, constructing a reference angle observer according to a motor mathematical model;
s2, driving the motor to perform forward stable operation at a preset rotating speed;
step S3, sampling three-phase output voltage and three-phase output current of the motor at preset time, and observing a reference angle of the motor by using a reference angle observer;
step S4, sampling output voltage signals of a rotary transformer arranged on the motor at the same preset time, and calculating to obtain a measuring angle of the rotary transformer;
step S5, repeating step S3 and step S4 for the 1 st preset time, the 2 nd preset time, the … … th preset time and the N th preset time respectively to obtain N reference angles theta ref1 、……、θ refN And N measured angles θ rot1 、……、θ rotN Wherein N is more than or equal to 2;
s6, driving the motor to perform reverse stable operation at a preset rotating speed;
step S7, sampling three-phase output voltage and three-phase output current of the motor at preset time, and observing a reference angle of the motor by using a reference angle observer;
and S8, sampling the output voltage signal of the resolver at the same preset time, and calculating to obtain the measuring angle of the resolver.
Step S9, repeating step S7 and step S8 for N+1th preset time, … … th preset time and 2Nth preset time respectively to obtain N reference angles theta ref(N+1) 、……、θ ref2N And N measured angles θ rot(N+1) 、……、θ rot2N 。
Step S10, for 2N reference angles θ in step S5 and step S9 ref1 、……、θ ref2N And 2N measured angles θ rot1 ……、θ rot2N Respectively comparing to obtain 2N angle errors theta err1 、……、θ err2N ；
Step S11, for 2N angle errors θ err1 、……、θ err2N And (5) averaging and calculating to obtain the precision of the rotary transformer.
Further, the step S1 further includes the following steps:
s1-1, constructing a motor mathematical model;
and S1-2, constructing a reference angle observer according to a motor mathematical model.
Further, the motor mathematical model is:
wherein,for flux linkage components of motor rotor flux linkage in two-phase stationary coordinate system, u α 、u β For voltage components of the motor output voltage in a two-phase stationary coordinate system, i α 、i β Outputting current components of current for motor in two-phase stationary coordinate systemR is stator phase resistance, L is motor excitation inductance, and t is time.
Further, the reference angle observer is:
wherein θ ref Is the motor reference angle.
Further, the step S3 further includes the following steps:
s3-1, sampling three-phase output voltage and three-phase output current of the motor at preset time;
s3-2, converting the three-phase output voltage and the three-phase output current into a voltage component and a current component under a two-phase static coordinate system by using Clarke transformation;
s3-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
Further, the step S7 further includes the following steps:
s7-1, sampling three-phase output voltage and three-phase output current of the motor at preset time;
s7-2, converting the three-phase output voltage and the three-phase output current into a voltage component and a current component under a two-phase static coordinate system by using Clarke transformation;
s7-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
Further, θ err2N ＝θ rot2N -θ ref2N 。
Further, the rotary transformer is a sine-cosine rotary transformer.
The beneficial technical effects of the invention are as follows:
(1) According to the invention, the motor angle can be observed in real time by constructing the reference angle observer under the condition of no external professional testing device or additional position detecting device, and the motor angle is used as a reference value for precision testing, so that the cost is reduced.
(2) According to the invention, the reference angle observer and the rotary transformer can obtain the angle information at the same moment and are subjected to the same external interference, so that the precision test performance of the rotary transformer can be improved.
(3) The invention respectively drives the motor to stably run in the forward direction and the reverse direction at the preset rotating speed, can integrally test the precision of the rotary transformer, and further improves the precision test performance.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions of the prior art, the following description will briefly explain the drawings used in the embodiments or the description of the prior art, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a method for testing accuracy of a resolver according to the present invention;
fig. 2 is a specific flowchart of step S3 in the resolver precision testing method provided by the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The invention provides a precision testing method of a rotary transformer, which can test the precision of the rotary transformer without an external professional testing device or an additional position detecting device, improve the testing performance and reduce the cost.
The invention will be described in further detail with reference to the accompanying drawings and specific examples.
Fig. 1 is a flowchart of a precision testing method of a resolver according to the present invention. The invention is applicable to any type of resolver, in particular a sine-cosine resolver. The method can be executed by a precision testing device of the rotary transformer, the device can be realized by a software and/or hardware mode, and the precision testing method specifically comprises the following steps:
and S1, when the precision test starts, constructing a reference angle observer according to a motor mathematical model.
Specifically, the step S1 of the present invention may further include the following steps:
s1-1, constructing a motor mathematical model:
wherein,for flux linkage components of motor rotor flux linkage in two-phase stationary coordinate system, u α 、u β For voltage components of the motor output voltage in a two-phase stationary coordinate system, i α 、i β The current component of the motor output current in a two-phase static coordinate system is represented by R, L, and t.
S1-2, constructing a reference angle observer according to a motor mathematical model:
wherein θ ref Is the motor reference angle.
In the invention, an external professional testing device or an additional position detecting device is omitted, and the motor angle is observed in real time only by constructing a reference angle observer and is used as a reference value for precision testing, so that the cost is reduced.
And S2, driving the motor to perform forward stable operation at a preset rotating speed.
In step S2, the rotation speed of the motor may be controlled by using an analog speed command, and the motor is driven to stably run at a predetermined rotation speed, so as to avoid a severe change in the rotation speed of the motor and a noise precision error.
And S3, sampling three-phase output voltage and three-phase output current of the motor at a preset time, and observing a reference angle of the motor by using a reference angle observer.
Specifically, the step S3 further includes the following steps, as shown in fig. 2:
s3-1, sampling three-phase output voltage and three-phase output current of the motor at a preset time.
S3-2, converting the three-phase output voltage and the three-phase output current into voltage components and current components under a two-phase static coordinate system by using Clarke transformation.
S3-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
And S4, sampling output voltage signals of the rotary transformer arranged on the motor at the same preset time, and calculating to obtain the measuring angle of the rotary transformer.
In the invention, the reference angle observer and the rotary transformer can acquire the angle information at the same moment and are subjected to the same external interference, so that the precision test performance of the rotary transformer can be improved.
Step S5, repeating step S3 and step S4 for the 1 st preset time, the 2 nd preset time, the … … th preset time and the N th preset time respectively to obtain N reference angles theta ref1 、……、θ refN And N measured angles θ rot1 、……、θ rotN Wherein N is more than or equal to 2.
And S6, the driving motor stably runs in the opposite direction at a preset rotating speed.
In step S6, the rotation speed of the motor may be controlled by using an analog speed command, and the motor is driven to stably run at a predetermined rotation speed, so as to avoid a severe change in the rotation speed of the motor and a noise precision error.
In the invention, the motors are respectively driven to stably run in the forward direction and the reverse direction at the preset rotating speed, so that the precision of the rotary transformer can be integrally tested, and the precision testing performance is further improved.
And S7, sampling three-phase output voltage and three-phase output current of the motor at a preset time, and observing a reference angle of the motor by using a reference angle observer.
Specifically, the step S7 further includes the following steps:
s7-1, sampling three-phase output voltage and three-phase output current of the motor at a preset time.
S7-2, converting the three-phase output voltage and the three-phase output current into voltage components and current components under a two-phase static coordinate system by using Clarke transformation.
S7-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
And S8, sampling the output voltage signal of the resolver at the same preset time, and calculating to obtain the measuring angle of the resolver.
Step S9, repeating step S7 and step S8 for N+1th preset time, … … th preset time and 2Nth preset time respectively to obtain N reference angles theta ref(N+1) 、……、θ ref2N And N measured angles θ rot(N+1) 、……、θ rot2N 。
Step S10, for 2N reference angles θ in step S5 and step S9 ref1 、……、θ ref2N And 2N measured angles θ rot1 ……、θ rot2N Respectively comparing to obtain 2N angle errors theta err1 、……、θ err2N The method comprises the steps of carrying out a first treatment on the surface of the Wherein the method comprises the steps of
θ err2N ＝θ rot2N -θ ref2N
Step S11, for 2N angle errors θ err1 、……、θ err2N And (5) averaging and calculating to obtain the precision of the rotary transformer.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a product or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such product or system. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a commodity or system comprising such elements.
While the foregoing description illustrates and describes the preferred embodiments of the present invention, it is to be understood that the invention is not limited to the forms disclosed herein, but is not to be construed as limited to other embodiments, and is capable of numerous other combinations, modifications and environments and is capable of changes or modifications within the scope of the inventive concept as described herein, either as a result of the foregoing teachings or as a result of the knowledge or technology in the relevant art. And that modifications and variations which do not depart from the spirit and scope of the invention are intended to be within the scope of the appended claims.
Claims (6)
1. A method for testing accuracy of a resolver, comprising:
s1, when the precision test starts, constructing a reference angle observer according to a motor mathematical model;
s2, driving the motor to perform forward stable operation at a preset rotating speed;
step S3, sampling three-phase output voltage and three-phase output current of the motor at preset time, and observing a reference angle of the motor by using a reference angle observer;
step S4, sampling output voltage signals of a rotary transformer arranged on the motor at the same preset time, and calculating to obtain a measuring angle of the rotary transformer;
step S5, repeating the step S3 and the step S4 for the 1 st preset time, the 2 nd preset time and the N th preset time to obtain N reference angles theta ref1 、......、θ refN And N measurementsAngle theta rot1 、......、θ rotN Wherein N is more than or equal to 2;
s6, driving the motor to perform reverse stable operation at a preset rotating speed;
step S7, sampling three-phase output voltage and three-phase output current of the motor at preset time, and observing a reference angle of the motor by using a reference angle observer;
step S8, sampling output voltage signals of the rotary transformer in the same preset time, and calculating to obtain a measurement angle of the rotary transformer;
step S9, repeating the step S7 and the step S8 for N reference angles theta at the (n+1) th preset time, the (2) th preset time and the (2) th preset time respectively ref(N+1) 、......、θ ref2N And N measured angles θ rot(N+1) 、......、θ rot2N ；
Step S10, for 2N reference angles θ in step S5 and step S9 ref1 、......、θ ref2 N and 2N measured angles θ rot1 ......、θ rot2N Respectively comparing to obtain 2N angle errors theta err1 、......、θ err2N ；
Step S11, for 2N angle errors θ err1 、......、θ err2N Averaging, and calculating to obtain the precision of the rotary transformer;
step S1 further comprises the steps of:
s1-1, constructing a motor mathematical model;
s1-2, constructing a reference angle observer according to a motor mathematical model;
the motor mathematical model is as follows:
wherein,for flux linkage components of motor rotor flux linkage in two-phase stationary coordinate system, u α 、u β For voltage components of the motor output voltage in a two-phase stationary coordinate system, i α 、i β The current component of the motor output current in a two-phase static coordinate system is represented by R, L, and t.
2. The method for testing precision of a resolver according to claim 1, wherein the reference angle observer is:
wherein θ ref Is the motor reference angle.
3. The precision testing method of a resolver according to claim 1, wherein the step S3 further includes the steps of:
s3-1, sampling three-phase output voltage and three-phase output current of the motor at preset time;
s3-2, converting the three-phase output voltage and the three-phase output current into a voltage component and a current component under a two-phase static coordinate system by using Clarke transformation;
s3-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
4. The precision testing method of a resolver according to claim 1, wherein the step S7 further includes the steps of:
s7-1, sampling three-phase output voltage and three-phase output current of the motor at preset time;
s7-2, converting the three-phase output voltage and the three-phase output current into a voltage component and a current component under a two-phase static coordinate system by using Clarke transformation;
s7-3, observing the reference angle of the motor according to the voltage component and the current component under the two-phase static coordinate system by using a reference angle observer.
5. The method for testing precision of resolver according to claim 1, wherein,
θ err2N ＝θ rot2N -θ ref2N 。
6. the method for testing precision of a resolver according to claim 1, wherein the resolver is a sine-cosine resolver.
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| CN101105388A (en) * | 2007-07-25 | 2008-01-16 | 常州市恒力机械有限公司 | Magnetic induction angle meter |
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