A linear motor characteristic test bench

Abstract

A linear motor characteristic test bench comprises a platform support and an electric control cabinet, wherein the platform support comprises a bottom plate and a top plate, wherein a stator of a motor to be tested is installed on the bottom plate, and a mover of the motor to be tested is movably installed above the bottom plate through a first connecting plate; a stator of a load motor is installed below the top plate, and a mover of the load motor is movably connected below the top plate through a second connecting plate; a tension and pressure sensor is arranged between the first connecting plate and the second connecting plate; a measurement and control system, a digital signal transfer system, a motor driver to be tested, a load motor driver and a bidirectional power supply are fixedly installed in the electric control cabinet, respectively, and the measurement and control system is connected to the measurement and control software signal, and the measurement and control system is connected to the host computer signal. The present invention overcomes the shortcomings of the prior art, and remotely collects signals such as thrust, pressure, speed, temperature, voltage, and current, thereby avoiding manual on-site operation, performing rapid test design, and testing the characteristics of the motor to be tested and the accuracy and response of its control system.

Description

Technical Field

[0001] The invention relates to the technical field of linear motor characteristic testing, and in particular to a linear motor characteristic testing bench. Background Art

[0002] Linear motors have become one of the motors that have been actively researched and developed at home and abroad in recent years due to their simple structure, high positioning accuracy, fast response speed, and safe and reliable operation. At the same time, test requirements have been put forward for the performance and quality indicators of linear motors. The test requires the thrust, speed and output power test of the motor, voltage and current detection, temperature rise, thrust fluctuation, control accuracy and other process tests. However, most traditional test equipment and methods use manual operation, which has the defects of low efficiency and unsafety; therefore, in order to reduce the time cost of the test and improve the test efficiency, it is particularly necessary to study a fast, real-time, comprehensive and reliable linear motor characteristic test system. Summary of the invention

[0003] In view of the deficiencies in the prior art, the present invention provides a linear motor characteristic test bench, which overcomes the deficiencies in the prior art and has a reasonable design. It adopts a method based on a real-time simulation controller to remotely collect signals such as thrust, pressure, speed, temperature, voltage, current, etc., thereby avoiding manual on-site operation, performing rapid test design, and testing the characteristics of the motor under test and the accuracy and response of its control system.

[0004] To achieve the above objectives, the present invention is implemented through the following technical solutions:

[0005] A linear motor characteristic test bench comprises a platform bracket and an electric control cabinet, the platform bracket comprises a bottom plate and a top plate, the bottom plate and the top plate are fixedly connected via a supporting fixing plate, the stator of the motor to be tested is fixedly installed on the upper surface of the bottom plate, a first connecting plate is movably connected above the bottom plate, a mover of the motor to be tested is fixedly installed on the lower surface of the first connecting plate, and the mover of the motor to be tested matches the stator of the motor to be tested; a stator of a load motor is fixedly installed on the lower surface of the top plate, a second connecting plate is movably connected below the top plate, a mover of the load motor is fixedly installed on the upper surface of the second connecting plate, and the mover of the load motor matches the stator of the load motor; a tension and pressure sensor is arranged between the first connecting plate and the second connecting plate, and the tension and pressure sensor is connected to the first connecting plate and the second connecting plate respectively via two connecting frames. The connecting board is fixedly connected; the measuring and controlling system, the digital signal switching system, the measured motor driver, the load motor driver and the bidirectional power supply are respectively fixedly installed in the electric control cabinet, and the measuring and controlling system is respectively connected to the measured motor driver and the load motor driver through the digital signal switching system; the AC output end of the measured motor driver is connected to the measured motor mover through the first terminal row, and the AC output end of the load motor mover is connected to the load motor driver through the second terminal row, the DC input end of the measured motor driver and the DC input end of the load motor driver are both connected to the output end of the bidirectional power supply, the signal output end of the tension and pressure sensor is connected to the load motor driver through a transmitter, the measuring and controlling system is connected to the measuring and controlling software signal, and the measuring and controlling system is connected to the host computer signal.

[0006] Preferably, a first guide rail is fixedly installed on the upper surface of the bottom plate, first sliders are fixedly installed on both sides of the lower surface of the first connecting plate, the first connecting plate is slidably connected to the first guide rail through the first slider, a second guide rail is fixedly installed on the lower surface of the top plate, second sliders are fixedly installed on both sides of the upper surface of the second connecting plate, and the second connecting plate is slidably connected to the second guide rail through the second slider.

[0007] Preferably, a water cooling chamber is provided in the platform bracket, and a water inlet and a water outlet are respectively provided on the platform bracket, and the water inlet and the water outlet are respectively connected to the water outlet and the water inlet of the water cooler.

[0008] Preferably, a grating ruler is fixedly embedded on the load motor stator, the power supply of the grating ruler is provided by the load motor driver, the signal end of the grating ruler is connected to the second terminal block through the load motor stator, and then connected to the measurement and control system through the digital signal switching system.

[0009] Preferably, the length of the stator of the motor under test is smaller than the length of the stator of the load motor.

[0010] Preferably, the motor driver under test is provided with a voltage sensor and a current sensor.

[0011] The present invention provides a linear motor characteristic test bench. It has the following beneficial effects: adopting an upper load and lower adjustable bench structure, providing a forward and backward, four-quadrant energy feedback test environment for flat linear motors of different sizes; the present invention is based on a real-time simulation controller design, which can not only perform dynamic loading, but also is more conducive to embedding automated characteristic testing and upper-level design of specific working conditions, providing the possibility for continuous and rapid upgrade and iteration of test items; the present invention performs remote real-time online testing, avoiding on-site testing and protecting the personal safety of testers. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] In order to more clearly illustrate the present invention or the technical solutions in the prior art, the drawings required for describing the prior art are briefly introduced below.

[0013] Figure 1 A schematic diagram of the structure of the present invention;

[0014] Figure 2 Schematic diagram of the structure of the platform support in the present invention Figure 1 ;

[0015] Figure 3 Schematic diagram of the structure of the platform support in the present invention Figure 2 ;

[0016] Description of the numbers in the figure:

[0017] 1. Platform bracket; 2. Electric control cabinet; 3. Stator of motor under test; 4. First connecting plate; 5. Mover of motor under test; 6. Stator of load motor; 7. Mover of load motor; 8. Tension and pressure sensor; 9. Second connecting plate; 10. Measurement and control system; 11. Digital signal switching system; 12. Driver of motor under test; 13. Driver of load motor; 14. Bidirectional power supply; 15. Transmitter; 16. Measurement and control software; 17. Connecting frame; 18. First guide rail; 19. First slider; 20. Second guide rail; 21. Second slider; 22. First terminal block; 23. Second terminal block; 24. Water cooler; 25. Host computer; 101. Bottom plate; 102. Top plate; 103. Support fixing plate. DETAILED DESCRIPTION

[0018] In order to make the purpose, technical solutions and advantages of the present invention more clear, the technical solutions of the present invention will be clearly and completely described below in conjunction with the accompanying drawings of the present invention.

[0019] like Figure 1-3As shown, a linear motor characteristic test bench includes a platform bracket 1 and an electric control cabinet 2. The platform bracket 1 includes a bottom plate 101 and a top plate 102. The bottom plate 101 and the top plate 102 are fixedly connected by a supporting fixing plate 103. The stator 3 of the motor to be tested is fixedly installed on the upper surface of the bottom plate 101. A first connecting plate 4 is movably connected above the bottom plate 101. A mover 5 of the motor to be tested is fixedly installed on the lower surface of the first connecting plate 4. The mover 5 of the motor to be tested matches the stator 3 of the motor to be tested; a load motor stator 6 is fixedly installed on the lower surface of the top plate 102. A second connecting plate 9 is movably connected below the top plate 102. A load motor mover 7 is fixedly installed on the upper surface of the second connecting plate 9. The load motor mover 7 matches the load motor stator 6; a tension pressure sensor 8 is arranged between the first connecting plate 4 and the second connecting plate 9. The tension pressure sensor 8 is connected to the first connecting plate 4 and the second connecting plate 9 through two connecting frames 17 respectively. Fixed connection; a measurement and control system 10, a digital signal switching system 11, a motor driver 12 under test, a load motor driver 13 and a bidirectional power supply 14 are fixedly installed in the electric control cabinet 2, and the measurement and control system 10 is respectively connected to the motor driver 12 under test and the load motor driver 13 through the digital signal switching system 11; the AC output end of the motor driver 12 under test is connected to the motor mover 5 under test through the first terminal row 22, the AC output end of the load motor mover 7 is connected to the load motor driver 13 through the second terminal row 23, the DC input end of the motor driver 12 under test and the DC input end of the load motor driver 13 are both connected to the output end of the bidirectional power supply 14, the signal output end of the tension and pressure sensor 8 is connected to the load motor driver 13 through the transmitter 15, the measurement and control system 10 is connected to the measurement and control software 16, and the measurement and control system 10 is connected to the host computer 25.

[0020] In this embodiment, the measurement and control system 10 communicates with the motor driver 12 under test through the digital signal switching system 11, and satisfies the test of different test items by giving different instructions; the motor mover 5 under test is connected to the tension and pressure sensor 8, and the output signal of the tension and pressure sensor 8 is a voltage signal, which is transmitted to the load motor driver 13 through the transmitter 15, and then passes through the digital signal switching system 11, so that the real-time load state can be obtained; the other end of the tension and pressure sensor 8 is connected to the load motor mover end through the connecting block, and a grating ruler is fixedly embedded on the load motor stator 6, and the power supply of the grating ruler is provided by the load motor driver 13. The signal end of the grating ruler is connected to the second terminal row 23 through the load motor stator 6, and then connected to the measurement and control system 10 through the digital signal switching system 11. The measurement and control software 16 is compiled and downloaded to the measurement and control system 10 by the host computer, and the user performs tests and observations in the test result output module of the host computer 25 to obtain the output results. At the same time, the user setting and secondary development interface module are configured on the host computer 25 for the user to perform secondary development.

[0021] In this embodiment, a water cooling chamber is provided in the platform bracket 1, and a water inlet and a water outlet are provided on the platform bracket 1, respectively, and the water inlet and the water outlet are respectively connected to the water outlet and the water inlet of the water cooler 24. The water cooler 24 is used to achieve a water cooling effect on the entire device during operation.

[0022] In this embodiment, the length of the stator 3 of the motor under test is less than the length of the stator 6 of the load motor. A first guide rail 18 is fixedly mounted on the upper surface of the bottom plate 101, first sliders 19 are fixedly mounted on both sides of the lower surface of the first connecting plate 4, and the first connecting plate 4 is slidably connected to the first guide rail 18 through the first sliders 19, a second guide rail 20 is fixedly mounted on the lower surface of the top plate 102, and second sliders 21 are fixedly mounted on both sides of the upper surface of the second connecting plate 9, and the second connecting plate 9 is slidably connected to the second guide rail 20 through the second sliders 21. It is used to adapt to linear motors of different thicknesses.

[0023] In this embodiment, the motor driver 12 under test is equipped with a voltage sensor and a current sensor, so that the measurement and control system 10 can obtain the back electromotive force and current curve in real time, transmit them to the measurement and control system in real time, and display and record them in real time in the test result output module.

[0024] During operation, the measurement and control software 16 is compiled and downloaded on the user setting and secondary development interface module, and the test result output module is opened on the host computer for real-time measurement and control. The measurement and control system 10 transmits instructions to the motor under test through the digital interface, so that it runs in a specific test working mode. The current signal collected by the load motor driver 13 is transmitted to the load motor driver 13 through the digital signal conversion system 11 through the bottom-level control via the PWM and other signals to the load motor driver 13, so that the load motor runs under specific experimental conditions to meet the experimental environment requirements of the test items.

[0025] When performing a four-quadrant loading test, the load motor or the motor under test will obtain mechanical energy through the first connecting plate 4 and the second connecting plate 9 and convert it into electrical energy and operate in the power generation mode. In this process, the tension and pressure sensor 8 will obtain the real-time torque signal and transmit it to the measurement and control system 10. The electrical energy emitted by the load motor or the motor under test will be converted into DC form through the load motor driver 13 or the motor driver under test 12 and absorbed by the bidirectional power supply 14. The DC voltage of the load motor driver 13 and the motor driver under test 12 is stabilized by the bidirectional power supply 14. During the running test, the measurement and control system 10 can obtain the pushing force signal in real time, and then perform thrust fluctuation analysis. Combined with the grating signal obtained in real time by the measurement and control system 10, real-time calculation of the mechanical power of the motor under test and analysis of the time constant can be performed.

[0026] In this embodiment, the measurement and control system 10 can use Desbais' MicroLabBox, including a GNU compiler, a CDP control development software package, an RTICAN interface module, an RTIEMC motor control module, an RTIEthernet Ethernet interface template and 1302T hardware. The measurement and control system 10 in the present invention is used for: (1) collecting voltage and current signals of the servo drive device, and the digital signals transferred by the digital signal transfer system, which include the servo drive device digital input signal, the grating scale signal and the push force sensor signal; (2) for sending the digital signals transferred by the digital signal transfer system, the servo drive device digital output signal, and the servo drive device PWM signal; (3) for loading the bottom program of the measurement and control software and performing calculations; (4) for connecting to the host computer via Ethernet, so that the host computer test result output module can output the test results; (5) for providing a corresponding hardware carrier for the user setting and secondary development interface module.

[0027] In this embodiment, the digital signal switching system 11 adopts Unitech's SD800-1202, which has a digital signal isolation protection function and is compatible with a specified real-time simulation controller. The PWM signal is not less than 24 channels, using 5V / 20mA, and the dead time is about 2us; the digital signal / switch input is not less than 10 channels, 5V / 20mA, the digital signal / switch input is not less than 10 channels, 5V / 20mA, and the differential signal input is not less than 6 pairs of 5V / 20mA. The digital signal switching system 11 in the present invention is used for: (1) adapting and switching the digital signal interface form between the servo drive device (load motor driver 13 and measured motor driver 12) and the measurement and control system 10; (2) protecting the DIO digital signal channel of the measurement and control system 10 from damage due to external connection, thereby avoiding long-term after-sales maintenance time; (3) using digital signal processing methods such as isolation optimization to improve the stability and anti-interference of high-precision digital signals such as encoders and PWM; (4) using customized hardware dead zone settings to save channels for the measurement and control system, reduce the setting range of software dead zone, adapt to more motor types, and increase the diversity of motor control methods.

[0028] In this embodiment, the load motor driver 13 adopts Unitech's SD800 series, which supports multiple specifications of input voltage: AC single-phase 220V / three-phase 220V / three-phase 380V input, DC 0-600V; its rated output power (current) is 75KW (140A); its PWM signal switching frequency is as high as 200KHZ; the bus voltage supports rated DC 600V, Maximum 720V (overvoltage threshold); its overload capacity currently supports a maximum of 2.5 times overload (overload time 1 second); voltage sampling module (7 channels in total): 1 bus voltage, 3 network voltage sampling, 3 load voltage sampling; accuracy 0.3%, response time less than 40us, frequency 100Hz; current sampling module (13 channels in total): 1 bus current, 4 driver UVWN output currents, 4 network current samplings, 4 load current samplings; accuracy 0.5%, response time less than 1us, frequency 100KHz; digital DI input function module: 3 high-speed / ordinary bidirectional isolated inputs, maximum frequency 50KHZ; digital DO output function module: 3 high-speed / ordinary isolated outputs, maximum frequency 50KHZ, current 3A / AC250V, 1A / DC30V; with braking function, bus overvoltage, UVW output current overcurrent, over-temperature protection and other protection functions; its circuit board uses 6 layers, Strong anti-interference ability; with EMC electromagnetic compatibility function; the power module has module power undervoltage and short-circuit protection functions; it uses SIC driver chip and AVAGO high-performance driver chip with a driving current of 2.5A, with power undervoltage and short-circuit protection functions. The load motor driver 13 in the present invention is used to: (1) drive the load motor to operate in torque mode and speed mode, and provide a static and dynamic test environment for the motor under test; (2) drive the motor under test to realize work area test, overspeed, torque, speed response and other test experiments; (3) provide the underlying PWM open source interface to provide the hardware foundation for users to carry out secondary development; (4) adopt SiC's high-frequency PWM hardware structure to provide the hardware premise for the setting of precise speed and loading environment; (5) adopt open source driver to provide open source hardware foundation for the controller design of the motor driver under test; (6) the motor driver under test adopts SiC open source structure, which provides a wider range of hardware environment for controller design compared with IGBT.

[0029] In this embodiment, the bidirectional power supply 14 is mainly used for: (1) providing a four-quadrant test environment for the load motor and the motor under test; and (2) providing a power source for the platform.

[0030] In this embodiment, the water cooler 24 adopts a circulating water-cooled chassis shell, and the water inlet and outlet of the equipment are connected to the water outlet and inlet of the load motor casing, thereby forming a water circulation structure, continuously cooling the load motor, thereby facilitating the stable operation of the dynamometer platform.

[0031] In this embodiment, the host computer 25 includes a test result output module and a user setting and secondary development interface module. The test result output module adopts Unitech's Caps-mk-028 series, which is used to: (1) present the motor characteristic test results; (2) document the results in the form of a document, connect to the printer, and complete editing and printing with one click; (3) include data reports, curve graphics, text descriptions, specification parameters, test time and other information.

[0032] The user setting and secondary development interface module adopts Unitech's Caps-mk-004 series. Its host computer monitoring software mainly includes data display, distribution and storage functions. In terms of form: (1) Data display includes real-time values ​​and real-time curves, etc. The values ​​can be set in the form of tables and lists, and the curves can set the display step, different variable comparison methods, color line type, etc.; (2) Command distribution includes real-time value adjustment, curve variable adjustment, trigger judgment modification, curve dragging, etc.; (3) Data storage includes measurement cache storage, Plotter display data storage, long-term recorder storage, etc. In terms of operation, the sdf file of simulink can be updated in real time, all intermediate variables of the controller in simulink can be connected, and the sdf files of different algorithms can be quickly replaced.

[0033] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit the same. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that the technical solutions described in the aforementioned embodiments may still be modified, or some of the technical features may be replaced by equivalents. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A linear motor characteristic test bench, characterized in that: The invention comprises a platform support (1) and an electric control cabinet (2), wherein the platform support (1) comprises a bottom plate (101) and a top plate (102), wherein the bottom plate (101) and the top plate (102) are fixedly connected via a support fixing plate (103), a stator (3) of a motor to be tested is fixedly mounted on the upper surface of the bottom plate (101), a first connecting plate (4) is movably connected above the bottom plate (101), a mover (5) of the motor to be tested is fixedly mounted on the lower surface of the first connecting plate (4), and the mover (5) of the motor to be tested matches the stator (3) of the motor to be tested; A load motor stator (6) is fixedly mounted on the lower surface of the top plate (102); a second connecting plate (9) is movably connected below the top plate (102); a load motor mover (7) is fixedly mounted on the upper surface of the second connecting plate (9); the load motor mover (7) matches the load motor stator (6); a tension and pressure sensor (8) is provided between the first connecting plate (4) and the second connecting plate (9); the tension and pressure sensor (8) is fixedly connected to the first connecting plate (4) and the second connecting plate (9) via two connecting frames (17), respectively; The electric control cabinet (2) is respectively fixedly installed with a measurement and control system (10), a digital signal switching system (11), a motor driver (12) to be measured, a load motor driver (13) and a bidirectional power supply (14); the measurement and control system (10) is respectively connected to the motor driver (12) to be measured and the load motor driver (13) via the digital signal switching system (11); the AC output end of the motor driver (12) to be measured is connected to the motor mover (5) to be measured via a first terminal block (22); the load motor mover ( The AC output end of the measured motor driver (12) and the load motor driver (13) are connected to the output end of the bidirectional power supply (14); the signal output end of the tension and pressure sensor (8) is connected to the load motor driver (13) through a transmitter (15); the measurement and control system (10) is connected to the measurement and control software (16) by signal; and the measurement and control system (10) is connected to the host computer (25) by signal; A first guide rail (18) is fixedly mounted on the upper surface of the bottom plate (101); first sliders (19) are fixedly mounted on both sides of the lower surface of the first connecting plate (4); the first connecting plate (4) is slidably connected to the first guide rail (18) via the first sliders (19); a second guide rail (20) is fixedly mounted on the lower surface of the top plate (102); second sliders (21) are fixedly mounted on both sides of the upper surface of the second connecting plate (9); the second connecting plate (9) is slidably connected to the second guide rail (20) via the second sliders (21); A grating ruler is fixedly embedded on the load motor stator (6), and the power supply of the grating ruler is provided by the load motor driver (13). The signal end of the grating ruler is connected to the second terminal block (23) through the load motor stator (6), and then connected to the measurement and control system (10) through the digital signal switching system (11).

2. A linear motor characteristic test bench according to claim 1, characterized in that: A water cooling chamber is provided in the platform support (1), and a water inlet and a water outlet are respectively provided on the platform support (1), wherein the water inlet and the water outlet are respectively connected to the water outlet and the water inlet of the water cooling machine (24).

3. A linear motor characteristic test bench according to claim 1, characterized in that: The length of the measured motor stator (3) is smaller than the length of the load motor stator (6).

4. A linear motor characteristic test bench according to claim 1, characterized in that: The motor driver (12) under test is provided with a voltage sensor and a current sensor.

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