A device for torque tracking and dynamic compensation with varying sampling periods for motor load.

Abstract

A torque tracking and dynamic compensation device for motor load with variable sampling period, belonging to the field of motor torque technology, is characterized by comprising a motor, a photoelectric tachometer with second-level precision, and a processor. In the latter, the rated sampling period of the motor is set as the time Tm required for the motor to rotate m × the rated number of rotations nH. When the time Tm is variable, the time required for the motor to rotate m × nH is the variable sampling period duration T'mP. Under the control of the microprocessor, the photoelectric tachometer sequentially outputs the actual measured torque to the microprocessor according to the variable sampling period sequence p. The number of rotations n'mp is calculated by the microprocessor, which calculates (m×nH) / n'mp sequentially according to the variable sampling period number as the multiplier K, where K>1. K is then used as the multiplier for adjusting the motor terminal voltage to adjust the torque in real time according to T'mp. Here, m=(0.1~0.9), p=(1,2,...p), p=10Tmp / >TH. Adjusting the accuracy coefficient m can adjust the duration of T'mp. This invention is applicable to various types of motors and has the advantage of real-time and flexible torque adjustment according to the variable sampling period number.

Description

Technical Field

[0001] Torque tracking and dynamic compensation device with variable sampling period for motor load belongs to the field of motor torque technology. Background Technology

[0002] Most current motor torque adjustment devices use speed feedback control. A drawback is that the adjustment step size, measured in minutes, is too long. The cycle assumes the motor speed remains constant within one minute, essentially making it a discontinuous control that cannot be measured in seconds. Instead, a set number of rotations is used as the step size. Torque is adjusted by changing the speed in seconds. The time required for m nH rotations is used as the variable sampling period. This means adjusting the motor's terminal voltage to adjust the torque based on the ratio of the actual number of rotations (mnH) under rated operation to the actual number of rotations in the variable sampling period.

[0003] Where: m is the accuracy adjustment coefficient, the symbol "·" indicates the variable sampling state used when the load increases and the speed decreases, P is the total number of variable sampling periods, and n'Hm is the actual number of rotations measured within the variable sampling period.

[0004] The invention provides a device capable of timely tracking and dynamic compensation of the torque of a motor under increased load. The invention is characterized by a variable sampling torque adjustment device, comprising a microprocessor, a photoelectric tachometer with second-level precision, and a motor, wherein: the microprocessor:

[0005] Internal components include: a storage module, a cache module, and a division module, among which:

[0006] The storage module stores the following parameters:

[0007] Rated operating parameters: motor rated voltage UH, rated speed w = nh / min, where nH is the rated number of rotations of the motor, and rated sampling period TH.

[0008] The time required for the motor to rotate m nH times is given, where m = (0.1~0.9), and the symbol (·) represents an open interval. The variable sampling operating parameters are: Tm / , which is the time required for the motor to rotate m nH times when the variable number is 0.1; T / mp, which is the time required for the motor to rotate m nH times within the variable sampling period p, where p = (1.2.pP), and P is the total number of variable sampling periods; n'mp is the number of rotations of the motor within the variable sampling period p. Input and output ports are defined as follows: parameters p, T'mp, and n'mp, each with its own input port connected to the corresponding output port of the second-level precision photoelectric tachometer.

[0009] Output ports: The output port for parameter P of the photoelectric tachometer is connected at one end to the corresponding input port of the photoelectric tachometer. The two output ports for the multiplier K are respectively connected to the input ports of the voltage inverter of the three-phase AC motor and the voltage adjustment circuit of the DC motor terminal. The buffer module has an input port for the rated rotational speeds m and nH of the motor, where the rated rotational speeds are a set value. This input port is connected to the corresponding output port of the CPU.

[0010] The division module includes:

[0011] The input terminal of the rated number of motor cycles n'mp collected within the variable sampling period p is connected to the corresponding output terminal of the buffer module.

[0012] The input terminal of nH is the input of the rated number of rotations m / nH collected within the rated sampling period Tm, where m = 0.1.

[0013] There are two output ports for the multiplier K, denoted by K1 and K2.

[0014] This invention can use a photoelectric velocimeter with second-level calculation accuracy to instantly track and dynamically compensate for the decrease in torque when the load increases. Attached Figure Description

[0015] Figure 1 The hardware structure diagram of the present invention.

[0016] Figure 2 A schematic diagram of the variable sampling period principle.

[0017] The accompanying diagrams are labeled as follows:

[0018] uH: Rated voltage of the motor; wH = nH (points); Rated speed of the motor.

[0019] nH motor rated speed

[0020] TH is the rated sampling period, the time required for the motor to rotate m nH times, in seconds, where m = (0.1~0.9), () represents an open interval, and m = 0.1 is taken.

[0021] Tm', the variable sampling period, represents the time required for the motor to rotate m nH times when the load increases, in seconds. T'mp > Tm.

[0022] T'mp: Represents the variable sampling period for index p, where p is the variable.

[0023] P is a variable sampling period, and the total number of samples is p = (1, 2, ..., p)P = 10

[0024] n'mp: The number of rotations of the motor in the p-th variable sampling period; Detailed Implementation

[0025] This invention has the following characteristics:

[0026] 1. Regardless of whether the motor is operating at rated speed or variable speed, the duration of its cycle will be measured in seconds, replacing the existing unit of minutes. This is to adapt to the reality that the motor speed varies over time in minutes during variable speed operation, rather than remaining constant. This allows for real-time torque adjustment and dynamic torque accuracy compensation in seconds, as existing photoelectric tachometers already achieve second-level measurement accuracy. The principle of variable sampling period is explained below. Figure 2 .

[0027] 2. Due to increased load and decreased torque, the motor transitions from rated operation to variable speed operation. To replace the existing parameter of motor speed (in centimeters), a variable that simultaneously satisfies both rated and variable speed operation needs to be found. This leads to the concept of the parameter `m nH`, which can measure the rated number of rotations in both states. This also introduces the concept of a variable sampling period. The photoelectric tachometer can simultaneously measure both the rated number of rotations and the variable sampling period duration. By comparing the constant `m nH` (rated number of rotations) under rated operation with the rotations measured simultaneously under each variable sampling period according to the variable sampling period number, the change rate of the motor terminal voltage can be calculated, thus solving the problem of real-time torque tracking and dynamic compensation.

[0028] 3. The specific implementation steps are as follows: Figure 1 As shown in the figure, it is roughly divided into several stages: CPU initialization, the end time of the measured variable sampling period flag and the start time of the next sampling period, the rated number of rotations, and the calculation of the multiplier value. These stages will continue in sequence according to the variable sampling period until the allowable error value of the torque is met.

Claims

1. A torque tracking and dynamic compensation device for motor load with varying sampling period, characterized in that: It is a variable sampling torque adjustment device, comprising: a microprocessor, a photoelectric tachometer with second-level accuracy, and a motor, wherein: Microprocessor: Includes a storage module, a cache module, and a division module, among which... The storage module stores the following parameters: Rated operating parameters: Rated motor voltage uH, rated speed w = nH / min, where nH is the rated number of rotations of the motor, and the rated sampling period TH refers to the time required for the motor to rotate mnH times, where m = (0.1~0.9). The symbol (*) indicates an open interval. The setting m = 0.1 is the same below. Variable sampling operating parameters: Tm / , is the time required for the motor to rotate mnH times when the variable value is used, m = 0.1; Tmp, is the time required for the motor to rotate mnH times within the variable sampling period of sequence number p, p = (1.2.pP)P, where P is the total number of variable sampling periods; n'mp, is the number of times the motor rotates within the variable sampling period of sequence number p. Also, input and output ports are defined as: parameters p, T'mp, n'mp, the input ports for each parameter, which are respectively connected to the corresponding output ports of the photoelectric tachometer with second-level accuracy. Output port: The output port of the microprocessor CPU outputs parameter P to the photoelectric tachometer, and one end is connected to the corresponding input port of the photoelectric tachometer. The photoelectric tachometer can simultaneously measure two parameters: rated rotation number and variable sampling period duration. By comparing the constant rated rotation number (mnH) under rated operating conditions with the rotation number measured simultaneously under each variable sampling period according to the sequence number of the variable sampling period, the change factor of the motor terminal voltage can be calculated, thus solving the problem of real-time torque tracking and dynamic compensation. The two output ports of the multiplier K are respectively connected to the input ports of the voltage inverter for a three-phase AC motor or the voltage adjustment circuit for a DC motor: The cache module is equipped with an input port for the rated rotation number of the motor, m*nH, where nH is a set value, and the input port is connected to the corresponding output port of the CPU. The division module has: an input terminal for the number of motor rotations n'mp collected within the variable sampling period p, which is connected to the corresponding output terminal of the buffer module; an input terminal for the number of rated rotations m*nH collected within the rated sampling period Tm, where m = 0.1; and two output ports for the multiplier K, denoted as K1 and K2.

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