A method and system for automatically identifying wiring matching between a synchronous motor and a driver

Abstract

The present application relates to the technical field of dual-drive systems, and in particular to a method and system for automatically identifying wiring matching between a synchronous motor and a driver. The method comprises: selecting one motor from two motors as a motor to be tested, and the other motor as a drive motor; after the motor to be tested is locked to zero, a first feedback signal fed back by the motor to be tested and the drive motor is obtained; by injecting a first preset DC current into the d-axis of the drive motor, the drive motor is rotated forward, and a second feedback signal fed back by the motor to be tested and the drive motor is obtained; the drive motor is then rotated in the reverse direction to obtain a third feedback signal fed back by the motor to be tested and the drive motor; the first feedback signal, the second feedback signal, and the third feedback signal of the motor to be tested and the drive motor are compared to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the corresponding connected encoder. The present application can improve the recognition efficiency of wiring matching between the motor and the driver.

Description

Technical Field

[0001] The present application relates to the technical field of dual-drive systems, and in particular to a method and system for automatically identifying wiring matching between a synchronous motor and a drive. Background Art

[0002] A dual-drive system refers to a system where the driver controls two synchronous motors, and the two synchronous motors drive the same load. The drivers can be two independent drivers, or one driver can contain two drive units. The driver or drive unit distributes the output torque and drag load of the two synchronous motors through a torque distribution algorithm. The wiring between the two synchronous motors and the driver includes power cables: U, V, W and encoder feedback cables. In actual applications, the wiring between the motor and the driver must be correctly matched, that is, the power cable of the motor and the feedback cable of the encoder must be connected to the power port and encoder interface of the corresponding driver or drive unit. At the same time, the phase sequence of the power cable must be consistent with the wiring direction of the encoder, so that the driver can operate normally, otherwise it will report a fault or even damage the equipment.

[0003] At present, the cables of the two motors are easily confused after being connected to the drive through the electrical cabinet. The usual practice is to confirm them by manually checking the wires, but the specific implementation process takes a long time and is troublesome, and even requires disassembling the electrical cabinet on site for wiring, increasing safety hazards. Summary of the invention

[0004] In order to improve the recognition efficiency of wiring matching between motors and drivers and reduce safety hazards caused by wiring errors, the present application provides a method and system for automatically identifying wiring matching between synchronous motors and drivers.

[0005] In a first aspect, the present application provides a method for automatically identifying wiring matching between a synchronous motor and a driver, which adopts the following technical solution:

[0006] A method for automatically identifying wiring matching between a synchronous motor and a driver is applied to a dual-drive system, wherein the dual-drive system comprises: two motors, each of which is connected to an inverter unit and an encoder, and comprises the following steps:

[0007] From the two motors, one motor is selected as the motor to be tested, and the other motor is selected as the driving motor;

[0008] The motor to be tested is subjected to zero-locking control by an inverter unit connected to the motor to be tested, and after the zero-locking is stable, a first feedback signal of the motor to be tested and a first feedback signal of the drive motor feedback in a current state are respectively obtained by the two encoders;

[0009] Injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor, rotating the drive motor in a forward direction, and obtaining a second feedback signal of the motor to be tested and a second feedback signal fed back by the drive motor in a current state through the two encoders; and then rotating the drive motor in a reverse direction, and obtaining a third feedback signal of the motor to be tested and a third feedback signal fed back by the drive motor in a current state through the two encoders;

[0010] The first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor are compared with each other to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and information on the current power cable sequence of the motor to be tested is obtained based on the determination result.

[0011] By adopting the above technical solution, one motor is selected from two motors as the motor to be tested and the other motor is selected as the driving motor; the motor to be tested is subjected to zero lock control, and after the zero lock is stable, the first feedback signal of the motor to be tested and the first feedback signal of the driving motor feedback in the current state are respectively obtained through two encoders; the first preset DC current is injected into the d-axis of the driving motor, the driving motor is rotated forward, and the second feedback signal of the motor to be tested and the second feedback signal of the driving motor feedback in the current state are respectively obtained through two encoders; the driving motor is rotated reversely, and the third feedback signal of the motor to be tested and the third feedback signal of the driving motor feedback in the current state are respectively obtained through two encoders; the first feedback signal, the second feedback signal, the third feedback signal of the motor to be tested and the first feedback signal, the second feedback signal, and the third feedback signal of the driving motor are then compared with each other to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and the information of the power cable sequence of the current motor to be tested is obtained according to the judgment result, so as to realize the rapid determination of whether the wiring of the motor to be tested and the driver are matched, improve the recognition efficiency of wiring matching, and reduce the safety hazards caused by wiring errors.

[0012] Optionally, after the step of obtaining information about the power cable sequence of the current motor to be tested according to the judgment result, the following steps are also included:

[0013] The motor for which the power cable sequence information has been obtained is selected as the driving motor, and the motor for which the power cable sequence information has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked to zero through the inverter unit connected to the motor to be tested until the power cable sequence information of the current motor to be tested is obtained according to the judgment result.

[0014] By adopting the above technical solution, the motor for which the information of the power cable sequence has been obtained is selected as the driving motor, and the motor for which the information of the power cable sequence has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked and controlled by the inverter unit connected to the motor to be tested, so as to judge whether each motor in the synchronous motor matches the driver wiring, improve the recognition efficiency of wiring matching, and reduce the safety hazards caused by wiring errors.

[0015] Optionally, the step of injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor further includes the following steps:

[0016] The inverter unit injects the preset DC current into the d-axis of the drive motor, and the drive motor rotates forward according to the direction of the first preset DC current;

[0017] After the driving motor rotates forward by a certain preset angle, the second feedback signal of the motor to be tested in the current state and the second feedback signal fed back by the driving motor are respectively obtained through the two encoders;

[0018] The inverter unit injects the first preset DC current into the d-axis of the drive motor, and the drive motor is reversed according to the direction of the first preset DC current;

[0019] After the driving motor is reversed by a certain preset angle, the third feedback signal of the motor to be tested in the current state and the third feedback signal fed back by the driving motor are respectively obtained through the two encoders.

[0020] By adopting the above technical solution, a first preset DC current is injected into the d-axis of the drive motor through the inverter unit, and the drive motor rotates forward and reverse according to the first preset DC current. The second feedback signal and the third feedback signal of the test motor and the drive motor can be obtained through two encoders.

[0021] Optionally, in the step of comparing the acquired first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor, to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtaining information on the current power cable sequence of the motor to be tested according to the determination result, the following steps are also included:

[0022] Determine whether the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, and the third feedback signal of the motor to be tested are all less than a set threshold, and determine whether the second feedback signal of the drive motor is simultaneously greater than the first feedback signal of the drive motor and the third feedback signal of the drive motor;

[0023] If any one of the above is judged to be negative, information that the power cable sequence of the motor to be tested is inconsistent with the feedback cable sequence of the encoder is fed back;

[0024] If both are judged to be yes, the information that the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the encoder is fed back.

[0025] By adopting the above technical solution, by judging whether the first feedback signal, the second feedback signal and the third feedback signal of the motor to be tested are all less than the set threshold value, and judging whether the second feedback signal of the driving motor is simultaneously greater than the first feedback signal and the third feedback signal of the driving motor, it is possible to judge whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the encoder.

[0026] Optionally, the step of injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor further includes the following steps:

[0027] Determine whether a brake device is connected to the drive motor, and if the brake device is connected to the drive motor, the inverter unit outputs a release voltage to the brake device of the drive motor;

[0028] The inverter unit injects the first preset direct current into the d-axis of the drive motor.

[0029] By adopting the above technical solution, for a drive motor with a brake device, the inverter unit is required to first output a release voltage to the brake device, so that the drive motor can rotate after the inverter unit injects a first preset DC current into the d-axis of the drive motor.

[0030] Optionally, the step of performing zero-lock control on the motor to be tested by an inverter unit connected to the motor to be tested further includes the following steps:

[0031] It is determined whether a brake device is connected to the motor to be tested. If a brake device is connected to the motor to be tested, the inverter unit does not output a release voltage to the brake device of the motor to be tested, thereby achieving zero lock control of the motor to be tested.

[0032] By adopting the above technical solution, for a motor to be tested having a brake device, it is possible to not output a release voltage to the brake device, so as to perform zero lock control on the motor to be tested.

[0033] Optionally, the step of performing zero-lock control on the motor to be tested by an inverter unit connected to the motor to be tested further includes the following steps:

[0034] Determine whether a brake device is connected to the motor to be tested, if the brake device is not connected to the motor to be tested, the inverter unit injects a second preset DC current into the d-axis of the motor to be tested;

[0035] The second preset DC current drags the test motor to the second preset DC current direction for zero lock control.

[0036] By adopting the above technical solution, for the operation in which the motor to be tested is not connected to a brake device, the second preset DC current can be injected into the d-axis of the motor to be tested through the inverter unit, and the test motor can be dragged to the second preset DC current direction for zero lock control.

[0037] Optionally, the second preset direct current is greater than the first preset direct current.

[0038] By adopting the above technical solution, the second preset DC current is made greater than the first preset DC current, which can ensure that the drive motor will not drag the motor under test to rotate, thereby affecting the zero lock control of the motor under test and causing inaccurate signal feedback.

[0039] In a second aspect, the present application provides a synchronous motor and driver wiring matching automatic identification system, which adopts the following technical solution:

[0040] A synchronous motor and driver wiring matching automatic identification system includes a dual-drive system, the dual-drive system includes: two motors, each of the motors is connected to an inverter unit and an encoder, the inverter unit and the encoder are both connected to a control instruction unit, and the control instruction unit includes:

[0041] A motor selection module for testing, used to select one motor from the two motors as the motor to be tested and the other motor as the driving motor;

[0042] A zero-lock control module, the zero-lock control module is connected to the motor selection module to be tested, and is used to perform zero-lock control on the motor to be tested through an inverter unit connected to the motor to be tested, and after the zero-lock is stable, obtain the first feedback signal of the motor to be tested and the first feedback signal of the drive motor feedback in the current state through the two encoders respectively;

[0043] A preset DC current injection module, which is connected to the zero lock control module, is used to inject a preset DC current into the d-axis of the drive motor through an inverter unit connected to the drive motor, rotate the drive motor in a forward direction, and obtain the second feedback signal of the motor to be tested and the second feedback signal fed back by the drive motor in a current state through the two encoders; and then rotate the drive motor in a reverse direction, and obtain the third feedback signal of the motor to be tested and the third feedback signal fed back by the drive motor in a current state through the two encoders;

[0044] A judgment and information acquisition module, the judgment and information acquisition module is connected to the preset DC current injection module, and is used to compare the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor, to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtain information on the current power cable sequence of the motor to be tested based on the judgment result.

[0045] By adopting the above technical solution, one motor is selected as the motor to be tested and the other motor is selected as the drive motor through the motor selection module to be tested; the motor to be tested is locked to zero through the zero lock control module, and after the zero lock is stable, the first feedback signal of the motor to be tested and the first feedback signal of the drive motor feedback in the current state are respectively obtained through two encoders; the first preset DC current is injected into the d-axis of the drive motor through the preset DC current injection module, the drive motor is rotated forward, and the second feedback signal of the motor to be tested and the second feedback signal of the drive motor feedback in the current state are respectively obtained through the two encoders; then the drive motor is rotated in the reverse direction, and the two encoders are respectively used to obtain Take the third feedback signal of the motor to be tested and the third feedback signal of the drive motor feedback in the current state; then compare the first feedback signal, the second feedback signal, the third feedback signal of the motor to be tested and the first feedback signal, the second feedback signal, the third feedback signal of the drive motor through the judgment and information acquisition module, and judge whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the corresponding encoder, and obtain the information of the power cable sequence of the current motor to be tested according to the judgment result, so as to realize the rapid judgment whether the wiring of the motor to be tested and the driver match, greatly improve the recognition efficiency of wiring matching, so as to reduce the safety hazards caused by wiring errors.

[0046] Optionally, the automatic identification system for wiring matching of synchronous motors and drivers also includes: a motor conversion module to be tested, which is connected to the judgment and information acquisition module, and is used to select a motor for which the information on the power cable sequence has been obtained as a drive motor, and a motor for which the information on the power cable sequence has not been obtained as a motor to be tested; and re-locking the motor to be tested through an inverter unit connected to the motor to be tested until the information on the power cable sequence of the current motor to be tested is obtained according to the judgment result.

[0047] By adopting the above technical solution, the motor for which the power cable sequence information has been obtained is selected as the drive motor through the motor conversion module to be tested, and the motor for which the power cable sequence information has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked and controlled by the inverter unit connected to the motor to be tested, so as to determine whether each motor in the synchronous motor matches the driver wiring, greatly improve the recognition efficiency of wiring matching, and reduce the safety hazards caused by wiring errors.

[0048] In summary, the present application includes at least one of the following beneficial technical effects:

[0049] 1. From two motors, one motor is selected as the motor to be tested and the other motor is selected as the driving motor; the motor to be tested is subjected to zero lock control, and after the zero lock is stable, the first feedback signal of the motor to be tested and the first feedback signal of the driving motor feedback in the current state are respectively obtained through two encoders; the first preset DC current is injected into the d-axis of the driving motor, the driving motor is rotated forward, and the second feedback signal of the motor to be tested and the second feedback signal of the driving motor feedback in the current state are respectively obtained through the two encoders; the driving motor is then rotated reversely, and the third feedback signal of the motor to be tested and the third feedback signal of the driving motor feedback in the current state are respectively obtained through the two encoders; the first feedback signal, the second feedback signal, the third feedback signal of the motor to be tested and the first feedback signal, the second feedback signal, and the third feedback signal of the driving motor are then compared with each other to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and the information of the power cable sequence of the current motor to be tested is obtained according to the judgment result, so as to realize the rapid determination of whether the wiring of the motor to be tested and the driver are matched, and the recognition efficiency of wiring matching is greatly improved to reduce the safety hazards caused by wiring errors.

[0050] 2. The motor for which the power cable sequence information has been obtained is selected as the driving motor, and the motor for which the power cable sequence information has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked and controlled by the inverter unit connected to the motor to be tested until the power cable sequence information of the current motor to be tested is obtained according to the judgment result. It is possible to judge whether each motor in the synchronous motor matches the driver wiring, greatly improving the recognition efficiency of wiring matching, so as to reduce the safety hazards caused by wiring errors. BRIEF DESCRIPTION OF THE DRAWINGS

[0051] Figure 1 It is a flow chart of the automatic identification method of the wiring matching between the synchronous motor and the driver in the present application;

[0052] Figure 2 for Figure 1 A schematic diagram of an implementation process of step S20 shown in ;

[0053] Figure 3 for Figure 1 A schematic diagram of an implementation process of step S30 shown in ;

[0054] Figure 4 for Figure 1 Another implementation flow diagram of step S30 shown in FIG.

[0055] Figure 5 for Figure 1 A schematic diagram of an implementation flow of step S40 shown in FIG.

[0056] Figure 6 This is a schematic diagram of an example flow chart of a method for automatically identifying wiring matching between a synchronous motor and a driver in this application;

[0057] Figure 7 It is a module schematic diagram of the automatic identification system for synchronous motor and driver wiring matching in this application.

[0058] Description of reference numerals:

[0059] 10. Module for selecting the motor to be tested; 20. Module for locking zero; 30. Module for injecting a preset DC current; 40. Module for judging and acquiring information; 50. Module for converting the motor to be tested. DETAILED DESCRIPTION

[0060] The present application is further described in detail below in conjunction with the accompanying drawings.

[0061] In order to improve the recognition efficiency of wiring matching between a motor and a driver and reduce the potential safety hazards caused by wiring errors, the embodiment of the present application specifically discloses a method and system for automatically identifying wiring matching between a synchronous motor and a driver. Figure 1, which is a flowchart of the steps of the method for automatically identifying the wiring matching between a synchronous motor and a driver, wherein the method for automatically identifying the wiring matching between a synchronous motor and a driver is applied to a dual-drive system, wherein the dual-drive system comprises: two motors, each of which is connected to an inverter unit and an encoder, and the method comprises:

[0062] S10: From the two motors, one motor is selected as the motor to be tested, and the other motor is selected as the driving motor;

[0063] Among them, step S10 can be understood as the driver starting to enter the automatic identification program after receiving the automatic identification command, and selecting motor No. 1 in the dual-drive system as the motor to be tested, and selecting motor No. 2 in the dual-drive system as the drive motor. It is noted here that before entering the automatic identification step, the driver has met the operating status by default, the hardware detection is normal, and the bus voltage meets the operating requirements.

[0064] S20: performing zero-lock control on the motor to be tested through an inverter unit connected to the motor to be tested, and after the zero-lock is stable, obtaining a first feedback signal PosA1 of the motor to be tested and a first feedback signal PosB1 of the drive motor feedback in a current state through the two encoders respectively;

[0065] Among them, the zero lock control can be understood as a "brake" control, which stops and locks the current state. The first feedback signal PosA1 of the motor to be tested can be understood as a pulse signal or a sine wave signal fed back by the encoder, which is used as the initial position signal of the motor to be tested after the zero lock control. The first feedback signal PosB1 fed back by the drive motor is used as the current initial position signal of the drive motor. In step S20, refer to Figure 2 , further comprising the following steps:

[0066] S21: determining whether a brake device is connected to the motor to be tested. If no brake device is connected to the motor to be tested, the inverter unit injects a second preset DC current into the d-axis of the motor to be tested.

[0067] Among them, step S21 is for the operation without a brake device in the motor to be tested. If a brake device is connected to the motor to be tested, the inverter unit does not output a release voltage to the brake device of the motor to be tested, so as to achieve zero lock control of the motor to be tested. In addition, the d-axis can be understood as the direction obtained by subtracting the rotor magnetic deflection angle from the encoder feedback angle. Injecting a second preset DC current into the d-axis of the motor to be tested can realize the rotation of the motor to be tested.

[0068] S22: After the second preset DC current is input into the test motor, the test motor is dragged to the direction of the second preset DC current and is locked to zero.

[0069] S30: Inject a first preset DC current into the d-axis of the drive motor through an inverter unit connected to the drive motor, rotate the drive motor forward, and obtain the second feedback signal PosA2 of the motor to be tested in the current state and the second feedback signal PosB2 fed back by the drive motor through the two encoders; then rotate the drive motor in the reverse direction, and obtain the third feedback signal PosA3 of the motor to be tested in the current state and the third feedback signal PosB3 fed back by the drive motor through the two encoders.

[0070] Among them, the driving motor can rotate forward first and then reversely according to the direction of the preset DC current, so as to record the state signals of the motor to be tested and the driving motor after the forward and reverse rotations, namely the second feedback signal (PosA2, PosB2) and the third feedback signal (PosA3, PosB3). It is explained here that the second preset DC current is greater than the first preset DC current, which can ensure that the driving motor will not drag the motor to be tested to rotate, so as to affect the zero lock control of the motor to be tested, resulting in inaccurate signal feedback.

[0071] Specifically, in step S30, see Figure 3 , further comprising the following steps:

[0072] S31: the inverter unit injects the first preset DC current into the d-axis of the drive motor, and the drive motor rotates forward according to the direction of the first preset DC current.

[0073] S32: After the driving motor rotates forward by a certain preset angle, the second feedback signal PosA2 of the motor to be tested and the second feedback signal PosB2 fed back by the driving motor are respectively obtained through the two encoders in the current state;

[0074] The preset forward rotation angle of the driving motor may be any angle between 0° and 360°, which is not limited here, for example, 45°, 60°, etc.

[0075] S33: the inverter unit injects the first preset DC current into the d-axis of the drive motor, and the drive motor reverses according to the direction of the first preset DC current.

[0076] S34: After the driving motor is reversed by a certain preset angle, the third feedback signal PosA3 of the motor to be tested and the third feedback signal PosB3 fed back by the driving motor are respectively obtained through the two encoders in the current state;

[0077] The preset angle for driving the motor to reverse is the same as above, and can be any angle between 0 and 360 degrees, which is not limited here, for example, 45 degrees, 60 degrees, etc.

[0078] In another embodiment, see Figure 4 , step S30 comprises the following steps:

[0079] S35: Determine whether a brake device is connected to the drive motor. If a brake device is connected to the drive motor, the inverter unit outputs a release voltage to the brake device of the drive motor.

[0080] S36: The inverter unit injects the first preset direct current into the d-axis of the drive motor.

[0081] Among them, step S35 and step S36 are for the case where the driving motor has a built-in brake device, and the driving motor is first released.

[0082] S40: Compare the first feedback signal PosA1 of the motor to be tested, the second feedback signal PosA2 of the motor to be tested, the third feedback signal PosA3 of the motor to be tested, and the first feedback signal PosB1 of the drive motor, the second feedback signal PosB2 of the drive motor, and the third feedback signal PosB3 of the drive motor to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtain the information of the current power cable sequence of the motor to be tested based on the determination result.

[0083] Among them, step S40 is used to determine the sizes of the first feedback signal (PosA1, PosB1), the second feedback signal (PosA2, PosB2) and the third feedback signal (PosA3, PosB3) of the motor to be tested and the drive motor, determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the corresponding connected encoder, and obtain the information of the power cable sequence of the current motor to be tested based on the judgment result, so as to quickly determine whether the wiring of the motor to be tested and the driver match, improve the recognition efficiency of wiring matching, and reduce the safety hazards caused by wiring errors.

[0084] Specifically, in step S40, see Figure 5 , further comprising the following steps:

[0085] S41: Determine whether the first feedback signal PosA1 of the motor to be tested, the second feedback signal PosA2 of the motor to be tested, and the third feedback signal PosA3 of the motor to be tested are all less than a set threshold, and determine whether the second feedback signal PosB2 of the drive motor is simultaneously greater than the first feedback signal PosB1 of the drive motor and the third feedback signal PosB3 of the drive motor;

[0086] The judgment and comparison of the feedback signal of the motor to be tested and the judgment and comparison of the feedback signal of the driving motor are performed, and the order of judgment is limited, and the judgment and comparison can be performed simultaneously.

[0087] S42: If any one of the above is judged to be negative, then feeding back information that the power cable sequence of the motor to be tested is inconsistent with the feedback cable sequence of the encoder;

[0088] The feedback information about inconsistent cable sequence may be in the form of text “wiring misalignment”, or may be an alarm sound, or trigger an alarm indicator light, etc.

[0089] S43: If both are judged to be yes, then feeding back information that the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the encoder;

[0090] The consistent information fed back may be in the form of text "connection is correct", or may be an alarm sound, or an alarm indicator light, etc. At this point, in this embodiment, the wiring information of the motor to be tested, that is, motor No. 1, can be obtained.

[0091] In order to obtain the wiring information of another motor, after step S43, the method may further include:

[0092] S50: The motor for which the power cable sequence information has been obtained is selected as the driving motor, and the motor for which the power cable sequence information has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked to zero through the inverter unit connected to the motor to be tested until the power cable sequence information of the current motor to be tested is obtained according to the judgment result;

[0093] Specifically, the No. 2 motor in the dual-drive system can be selected as the motor to be tested, and the No. 1 motor in the dual-drive system can be selected as the driving motor; and steps S20-S40 can be repeated to obtain the information of the power cable sequence of the No. 2 motor.

[0094] Among them, step S50 can be used to determine whether each motor in the synchronous motor matches the driver wiring, thereby improving the recognition efficiency of wiring matching and reducing safety hazards caused by wiring errors.

[0095] In addition, in order to more clearly understand the method for automatically identifying the wiring matching between a synchronous motor and a driver disclosed in this application, please refer to Figure 6 , to give an example of the method flow, as follows:

[0096] S101: The system receives an automatic recognition command;

[0097] S102: Randomly select one motor A from two motors as the motor to be tested, and the other motor B as the driving motor.

[0098] S103: Inverter unit A performs zero-lock control on motor A and records the position signal PosA1 of motor A and the position signal PosB1 of motor B fed back by two encoders.

[0099] S104: Inverter unit B injects direct current into the d-axis of motor B, firstly rotates motor B in the forward direction, records the position signal PosA2 of motor A and the position signal PosB2 of motor B fed back by two encoders, and then rotates motor B in the reverse direction, records the position signal PosA3 of motor A and the position signal PosB3 of motor B fed back by two encoders;

[0100] S105: Determine whether the differences among PosA3, PosA2 and PosA1 are all less than the set threshold. If not, it can be directly determined that the wiring between motor B and the driver is wrong, and error information is fed back; if yes, continue to determine;

[0101] S106: Determine whether PosB2 is greater than PosB1, and PosB3 is less than PosB2. If not, it can be directly determined that the wiring between motor A and the driver is wrong, and error information is fed back; if yes, it can be directly determined that the wiring between motor A and the driver is correct;

[0102] S107: Motor B is selected as the motor to be tested, and motor A is selected as the driving motor. Inverter unit B performs zero lock control on motor B, and records position signals PosA4 and PosB4 of motor A and B fed back by two encoders.

[0103] S108: Inverter unit A injects direct current into the d-axis of motor A, firstly rotates motor B in the forward direction, records the position signal PosA5 of motor A and the position signal PosB5 of motor B fed back by two encoders, and then rotates motor B in the reverse direction, records the position signal PosA6 of motor A and the position signal PosB6 of motor B fed back by two encoders;

[0104] S109: Determine whether the differences among PosB6, PosB5 and PosB4 are all less than the set value. If not, it can be directly determined that the wiring between motor B and the driver is wrong, and error information is fed back. If yes, continue to determine;

[0105] S110: Determine whether PosA5 is greater than PosA4 and PosA6 at the same time. If not, it can be directly determined that the wiring between motor B and the driver is wrong, and an error message is fed back; if yes, it can be directly determined that the wiring between motor B and the driver is correct, and a prompt indicating that the identification is completed.

[0106] In summary, the method for automatically identifying the wiring matching of a synchronous motor and a driver disclosed in the present application selects one motor as the motor to be tested and the other motor as the drive motor from two motors; performs zero lock control on the motor to be tested, and after the zero lock is stable, obtains the first feedback signal of the motor to be tested and the first feedback signal of the drive motor in the current state through two encoders respectively; injects a first preset DC current into the d-axis of the drive motor, rotates the drive motor forward, and obtains the second feedback signal of the motor to be tested and the second feedback signal of the drive motor in the current state through two encoders respectively; then rotates the drive motor in the reverse direction, and obtains the third feedback signal of the motor to be tested and the third feedback signal of the drive motor in the current state through two encoders respectively; and then obtains the first feedback signal, the second feedback signal, and the third feedback signal of the motor to be tested obtained are respectively obtained. The feedback signal and the first feedback signal, the second feedback signal, and the third feedback signal of the drive motor are compared with each other to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and the information of the power cable sequence of the current motor to be tested is obtained according to the judgment result, so as to quickly determine whether the wiring of the motor to be tested and the driver match, greatly improve the recognition efficiency of wiring matching, and reduce the safety hazards caused by wiring errors; in addition, by selecting the motor whose power cable sequence information has been obtained as the drive motor, and the motor whose power cable sequence information has not been obtained as the motor to be tested; and re-locking the motor to be tested through the inverter unit connected to the motor to be tested, it is possible to determine whether each motor in the synchronous motor matches the driver wiring, and improve the recognition efficiency of wiring matching.

[0107] In addition, the numbers of the steps in this embodiment are only for convenience of explanation and do not limit the execution order of the steps. In practical applications, the execution order of the steps can be adjusted as needed, or performed simultaneously. These adjustments or replacements are all within the scope of protection of the present invention.

[0108] In the second aspect, the present application provides a synchronous motor and driver wiring matching automatic identification system, including: a dual-drive system, the dual-drive system includes: two motors, each of which is connected to an inverter unit and an encoder, and the inverter unit and the encoder are connected to a control instruction unit, referring to Figure 7The control instruction unit includes: a motor selection module 10 to be tested, a zero lock control module 20, a preset DC current injection module 30, a judgment and information acquisition module 40 and a motor conversion module 50 to be tested. The motor selection module 10 to be tested is used for the motor selection module to be tested, and is used to select one motor from the two motors to be selected as the motor to be tested and the other motor to be selected as the drive motor; the zero lock control module 20 is connected to the motor selection module 10 to perform zero lock control on the motor to be tested through the inverter unit connected to the motor to be tested, and after the zero lock is stable, the first feedback signal of the motor to be tested and the first feedback signal of the drive motor feedback in the current state are respectively obtained through the two encoders; the preset DC current injection module 30 is connected to the zero lock control module 20, and is used to inject a preset DC current into the d-axis of the drive motor through the inverter unit connected to the drive motor, and rotate the drive motor in the forward direction, and obtain the second feedback signal of the motor to be tested and the second feedback signal of the drive motor feedback in the current state through the two encoders; and then the drive motor is rotated in the reverse direction, and the two encoders are used to obtain the second feedback signal of the motor to be tested and the second feedback signal of the drive motor feedback in the current state. The encoder obtains the third feedback signal of the motor to be tested and the third feedback signal fed back by the drive motor in the current state respectively; the judgment and information acquisition module 40 is connected to the preset DC current injection module 30, and is used to compare the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor, to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtain the information of the power cable sequence of the current motor to be tested according to the judgment result; the motor conversion module 50 to be tested is connected to the judgment and information acquisition module 40, and is used to select the motor whose power cable sequence information has been obtained as the drive motor, and the motor whose power cable sequence information has not been obtained as the motor to be tested; and the motor to be tested is re-locked to zero through the inverter unit connected to the motor to be tested until the information of the power cable sequence of the current motor to be tested is obtained according to the judgment result.

[0109] It should be noted that the automatic identification system for wiring matching of a synchronous motor and a drive disclosed in this embodiment implements the automatic identification method for wiring matching as described in the above embodiment, so it will not be described in detail here. Optionally, each module, unit and the above other operations or functions in this embodiment are respectively for implementing the methods in the above embodiment.

[0110] The above are all preferred embodiments of the present application, and the protection scope of the present application is not limited thereto. Therefore, any equivalent changes made according to the structure, shape, and principle of the present application should be included in the protection scope of the present application.

Claims

1. A method for automatically identifying wiring matching between a synchronous motor and a driver, applied to a dual-drive system, the dual-drive system comprising: Two motors, each of which is connected to an inverter unit and an encoder, are characterized in that the steps include: From the two motors, one motor is selected as the motor to be tested, and the other motor is selected as the driving motor; The motor to be tested is subjected to zero-locking control by an inverter unit connected to the motor to be tested, and after the zero-locking is stable, a first feedback signal of the motor to be tested and a first feedback signal of the drive motor feedback in a current state are respectively obtained by the two encoders; Injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor, rotating the drive motor in a forward direction, and obtaining a second feedback signal of the motor to be tested and a second feedback signal fed back by the drive motor in a current state through the two encoders; and then rotating the drive motor in a reverse direction, and obtaining a third feedback signal of the motor to be tested and a third feedback signal fed back by the drive motor in a current state through the two encoders; Compare the acquired first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtain information on the current power cable sequence of the motor to be tested according to the determination result; Among them, in the step of comparing the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor, to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtaining the information of the current power cable sequence of the motor to be tested according to the determination result, the following steps are also included: Determine whether the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, and the third feedback signal of the motor to be tested are all less than a set threshold, and determine whether the second feedback signal of the drive motor is simultaneously greater than the first feedback signal of the drive motor and the third feedback signal of the drive motor; If any one of the above is judged to be negative, information that the power cable sequence of the motor to be tested is inconsistent with the feedback cable sequence of the encoder is fed back; If both are judged to be yes, the information that the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the encoder is fed back.

2. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 1 is characterized in that: After the step of obtaining the information of the power cable sequence of the current motor to be tested according to the judgment result, the following steps are also included: The motor for which the power cable sequence information has been obtained is selected as the driving motor, and the motor for which the power cable sequence information has not been obtained is selected as the motor to be tested; and the motor to be tested is re-locked to zero through the inverter unit connected to the motor to be tested until the power cable sequence information of the current motor to be tested is obtained according to the judgment result.

3. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 1, characterized in that: The step of injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor further includes the following steps: The inverter unit injects the first preset DC current into the d-axis of the drive motor, and the drive motor rotates forward according to the direction of the first preset DC current; After the driving motor rotates forward by a certain preset angle, the second feedback signal of the motor to be tested in the current state and the second feedback signal fed back by the driving motor are respectively obtained through the two encoders; The inverter unit injects the first preset DC current into the d-axis of the drive motor, and the drive motor is reversed according to the direction of the first preset DC current; After the driving motor is reversed by a certain preset angle, the third feedback signal of the motor to be tested in the current state and the third feedback signal fed back by the driving motor are respectively obtained through the two encoders.

4. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 1, characterized in that: The step of injecting a first preset direct current into the d-axis of the drive motor through an inverter unit connected to the drive motor further includes the following steps: Determining whether a brake device is connected to the drive motor, and if the brake device is connected to the drive motor, the inverter unit outputs a release voltage to the brake device of the drive motor; The inverter unit injects the first preset direct current into the d-axis of the drive motor.

5. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 1, characterized in that: The step of performing zero-lock control on the motor to be tested by the inverter unit connected to the motor to be tested further includes the following steps: It is determined whether a brake device is connected to the motor to be tested. If a brake device is connected to the motor to be tested, the inverter unit does not output a release voltage to the brake device of the motor to be tested, thereby achieving zero lock control of the motor to be tested.

6. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 4, characterized in that: The step of performing zero-lock control on the motor to be tested by the inverter unit connected to the motor to be tested further includes the following steps: Determine whether a brake device is connected to the motor to be tested, if the brake device is not connected to the motor to be tested, the inverter unit injects a second preset DC current into the d-axis of the motor to be tested; The second preset DC current drags the motor to be tested to the direction of the second preset DC current to perform zero lock control.

7. The method for automatically identifying wiring matching between a synchronous motor and a driver according to claim 6, characterized in that: The second preset direct current is greater than the first preset direct current.

8. A synchronous motor and driver wiring matching automatic identification system, characterized in that: include: A dual-drive system, the dual-drive system comprises: two motors, each of which is connected to an inverter unit and an encoder, the inverter unit and the encoder are both connected to a control instruction unit, and the control instruction unit comprises: A motor selection module for testing, used to select one motor from the two motors as the motor to be tested and the other motor as the driving motor; A zero-lock control module, the zero-lock control module is connected to the motor selection module to be tested, and is used to perform zero-lock control on the motor to be tested through an inverter unit connected to the motor to be tested, and after the zero-lock is stable, obtain the first feedback signal of the motor to be tested and the first feedback signal of the drive motor feedback in the current state through the two encoders respectively; A preset DC current injection module, which is connected to the zero lock control module, is used to inject a preset DC current into the d-axis of the drive motor through an inverter unit connected to the drive motor, rotate the drive motor in a forward direction, and obtain the second feedback signal of the motor to be tested and the second feedback signal fed back by the drive motor in a current state through the two encoders; and then rotate the drive motor in a reverse direction, and obtain the third feedback signal of the motor to be tested and the third feedback signal fed back by the drive motor in a current state through the two encoders; A judgment and information acquisition module, the judgment and information acquisition module is connected to the preset DC current injection module, and is used to compare the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, the third feedback signal of the motor to be tested, and the first feedback signal of the drive motor, the second feedback signal of the drive motor, and the third feedback signal of the drive motor, to determine whether the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the correspondingly connected encoder, and obtain information on the current power cable sequence of the motor to be tested according to the judgment result; Wherein, the judgment and information acquisition module further includes the following steps: Determine whether the first feedback signal of the motor to be tested, the second feedback signal of the motor to be tested, and the third feedback signal of the motor to be tested are all less than a set threshold, and determine whether the second feedback signal of the drive motor is simultaneously greater than the first feedback signal of the drive motor and the third feedback signal of the drive motor; If any one of the above is judged to be negative, information that the power cable sequence of the motor to be tested is inconsistent with the feedback cable sequence of the encoder is fed back; If both are judged to be yes, the information that the power cable sequence of the motor to be tested is consistent with the feedback cable sequence of the encoder is fed back.

9. The automatic identification system for synchronous motor and driver wiring matching according to claim 8 is characterized in that: Also includes: The motor conversion module to be tested is connected to the judgment and information acquisition module, and is used to select the motor whose power cable sequence information has been obtained as the drive motor, and the motor whose power cable sequence information has not been obtained as the motor to be tested; and re-lock the motor to be tested through the inverter unit connected to the motor to be tested until the power cable sequence information of the current motor to be tested is obtained according to the judgment result.

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