A permanent magnet synchronous motor detection method, system and device

Abstract

The present invention discloses a permanent magnet synchronous motor detection method, system and device. By extracting the position information of the motor rotor through a position sensor, the extraction of the rotor position signal is simplified, and a rotor position signal is output based on the motor position information obtained by the position sensor to perform a torque test. At the same time, during the test process, the accuracy of the motor position obtained by the position sensor is judged by detecting the accuracy of the installation position of the position sensor. Only when the judgment result is accurate, the motor position information is provided to obtain the rotor position signal and perform a torque test, thereby improving the accuracy of the rotor position signal and avoiding motor drive abnormalities.

Description

Technical Field

[0001] The present invention relates to the technical field of permanent magnet synchronous motor testing, and in particular to a permanent magnet synchronous motor testing method, system and device. Background Art

[0002] Currently, most permanent magnet synchronous motors on the market are equipped with position sensors to detect rotor signals. However, there are many different types of position sensors, and each type processes the rotor position signal differently. Using different position sensors to detect rotor signals not only increases equipment cost but also complicates rotor position signal processing. To reduce costs and simplify processing, a small number of permanent magnet synchronous motors are equipped without position sensors, making it impossible to extract rotor position information. Consequently, vector control, torque, and torque fluctuation testing of permanent magnet synchronous motors are currently difficult to implement. Summary of the Invention

[0003] The technical problem to be solved by the present invention is to provide a permanent magnet synchronous motor detection method and system to simplify the extraction of rotor position signals and improve the accuracy of rotor position signals.

[0004] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0005] A permanent magnet synchronous motor detection method comprises the following steps:

[0006] Obtain the motor position information and motor theoretical angle information fed back by the position sensor;

[0007] Obtaining a motor angle signal according to the motor position information;

[0008] The accuracy of the installation position of the position sensor is determined based on the motor angle signal and the motor theoretical angle information. If accurate, the rotor position signal is obtained based on the motor angle signal, and a torque test is performed based on the rotor position signal.

[0009] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0010] A permanent magnet synchronous motor detection system includes a host computer, a position sensor, a motor, a high-precision angle encoder, a torque meter, and a controller; the host computer is connected to the position sensor, motor, high-precision angle encoder, torque meter, and controller respectively; the controller is also connected to the motor; the position sensor includes a Hall position sensor, a rotary transformer, and a tunneling magnetoresistive effect sensor; the motor, high-precision angle encoder, and torque meter are connected in sequence; the output end of the torque meter is used to connect to a load; the host computer is used to implement the steps in the above-mentioned permanent magnet synchronous motor detection method.

[0011] In order to solve the above technical problems, another technical solution adopted by the present invention is:

[0012] A permanent magnet synchronous motor detection device comprises a motor, a coupling, a high-precision angle encoder, a torque meter, a controller, and a mounting frame; the motor, coupling, high-precision angle encoder, and torque meter are mechanically connected in sequence and arranged on the mounting frame; the motor is provided with a position sensor, which includes a Hall position sensor, a rotary transformer, and a tunneling magnetoresistive effect sensor; the torque meter is connected to a device to be tested at one end away from the high-precision angle encoder; an installation cabinet is provided on a side of the mounting frame away from the motor, and the controller is arranged in the installation cabinet; the controller is connected to the motor.

[0013] The beneficial effects of the present invention are as follows: by extracting the position information of the motor rotor through the position sensor, the extraction of the rotor position signal is simplified, so that the rotor position signal is output based on the motor position information obtained by the position sensor to perform a torque test. At the same time, during the test process, the accuracy of the motor position obtained by the position sensor is judged by detecting the accuracy of the installation position of the position sensor. Only when the judgment result is accurate is the motor position information provided to obtain the rotor position signal and perform a torque test, thereby improving the accuracy of the rotor position signal and avoiding motor drive abnormalities. BRIEF DESCRIPTION OF THE DRAWINGS

[0014] Figure 1 This is a flowchart of a method for detecting a permanent magnet synchronous motor according to an embodiment of the present invention;

[0015] Figure 2 Schematic diagram of determining the accuracy of a Hall effect position sensor in a method for detecting a permanent magnet synchronous motor according to an embodiment of the present invention;

[0016] Figure 3 Schematic diagram of accuracy determination of a rotary transformer and a tunneling magnetoresistance effect sensor in a permanent magnet synchronous motor detection method according to an embodiment of the present invention;

[0017] Figure 4 Schematic diagram of a module of a permanent magnet synchronous motor detection system according to an embodiment of the present invention;

[0018] Figure 5 Schematic diagram of another module of a permanent magnet synchronous motor detection system according to an embodiment of the present invention;

[0019] Figure 6 A diagram showing the relationship between the Hall signal and the motor driving potential in a permanent magnet synchronous motor detection system according to an embodiment of the present invention;

[0020] Figure 7 1 is a diagram showing the corresponding relationship between the rotary transformer, the tunneling magnetoresistance effect sensor, and the rotor angle in a permanent magnet synchronous motor detection system according to an embodiment of the present invention;

[0021] Figure 8 Schematic diagram of the relationship between torque and current in a permanent magnet synchronous motor detection system according to an embodiment of the present invention;

[0022] Figure 9 Schematic diagram of the structure of a permanent magnet synchronous motor detection device according to an embodiment of the present invention;

[0023] Figure 10 This is a structural side view of a permanent magnet synchronous motor detection device according to an embodiment of the present invention;

[0024] Description of labels:

[0025] 1. Host computer; 2. Position sensor; 3. Motor; 4. High-precision angle encoder; 5. Torque meter; 6. Controller; 7. Coupling; 8. Mounting bracket; 9. Mounting cabinet; 10. Motor under test. DETAILED DESCRIPTION

[0026] To illustrate the technical content, achieved objectives and effects of the present invention in detail, the following description is given in conjunction with the embodiments and accompanying drawings.

[0027] Please refer to Figure 1 , a permanent magnet synchronous motor detection method, comprising the steps of:

[0028] Obtain the motor position information and motor theoretical angle information fed back by the position sensor;

[0029] Obtaining a motor angle signal according to the motor position information;

[0030] The accuracy of the installation position of the position sensor is determined based on the motor angle signal and the motor theoretical angle information. If accurate, the rotor position signal is obtained based on the motor angle signal, and a torque test is performed based on the rotor position signal.

[0031] From the above description, it can be seen that the beneficial effect of the present invention is that: by extracting the position information of the motor rotor through the position sensor, the extraction of the rotor position signal is simplified, so that the rotor position signal is output based on the motor position information obtained by the position sensor to perform a torque test. At the same time, during the test process, the accuracy of the motor position obtained by the position sensor is judged by detecting the accuracy of the installation position of the position sensor. Only when the judgment result is accurate is the motor position information provided to obtain the rotor position signal and perform a torque test, thereby improving the accuracy of the rotor position signal and avoiding motor drive abnormalities.

[0032] Furthermore, the position sensor includes a Hall position sensor; the motor theoretical angle information includes the motor induced electromotive force;

[0033] The determining the accuracy of the installation position of the position sensor according to the motor angle signal and the motor theoretical angle information includes:

[0034] Obtaining voltage angle information fed back by the Hall position sensor;

[0035] It is determined whether the voltage angle information is aligned with the motor induced electromotive force information. If not, the determination result is output as inaccurate.

[0036] From the above description, it can be seen that by obtaining the voltage angle information of the Hall position sensor and using an alignment comparison method to compare the voltage angle information corresponding to the Hall position sensor with the induced electromotive force corresponding to the motor, when the result is misaligned, the installation position of the Hall position sensor is adjusted so that the adjusted Hall position sensor can obtain accurate motor position information.

[0037] Furthermore, the determining whether the voltage angle information is aligned with the motor induced electromotive force information, and if not, outputting a determination result as inaccurate includes:

[0038] Extracting the rising edge signal and the falling edge signal of the voltage angle information, and extracting the zero-crossing voltage signal of the motor induced electromotive force information;

[0039] Calculating the difference between the zero-crossing voltage signal and the rising edge signal and the falling edge signal to obtain a first angle error value;

[0040] It is determined whether the first angle error value is less than a preset error threshold; if not, the determination result is output as inaccurate.

[0041] From the above description, it can be seen that by comparing the zero-crossing voltage signal of the motor's induced electromotive force with the rising edge signal and falling edge signal of the Hall position sensor's voltage angle information, it is possible to detect alignment deviations caused by position sensor installation errors, motor assembly errors, etc., thereby reducing the error and improving the detection accuracy of the position sensor by adjusting the position of the position sensor or motor assembly.

[0042] Furthermore, the position sensor includes an angle position sensor; the motor theoretical angle information includes a motor theoretical angle value;

[0043] The determining the accuracy of the installation position of the position sensor according to the motor angle signal and the motor theoretical angle information includes:

[0044] Acquiring voltage angle information of the angle position sensor;

[0045] It is determined whether the voltage angle information is aligned with the motor theoretical angle value. If not, the determination result is output as inaccurate.

[0046] From the above description, it can be seen that by obtaining the voltage angle information of the angle position sensor and using the alignment comparison method to compare the voltage angle information corresponding to the angle position sensor with the theoretical angle value corresponding to the motor, when the result is misaligned, the angle position sensor is detected and optimized so that the optimized angle position sensor can obtain accurate motor position information.

[0047] Furthermore, the determining whether the voltage angle information is aligned with the motor theoretical angle value, and if not, outputting the determination result as inaccurate includes:

[0048] Extracting an angle signal of the voltage angle information;

[0049] Calculating the difference between the angle signal and the theoretical angle value of the motor to obtain a second angle error value;

[0050] It is determined whether the second angle error value is less than a preset error threshold; if not, the determination result is output as inaccurate.

[0051] From the above description, it can be seen that by calculating the difference between the angle signal corresponding to the voltage angle information of the angle position sensor and the theoretical angle value, the detection accuracy of the angle position sensor can be verified by the size of the difference, thereby optimizing the position of the angle position sensor, reducing the error and improving the detection accuracy of the position sensor.

[0052] Furthermore, the angular position sensor includes a rotary transformer and / or a tunneling magnetoresistive effect sensor;

[0053] Acquiring the voltage angle information of the angle position sensor includes:

[0054] Acquiring a voltage angle signal of the rotary transformer or tunneling magnetoresistive effect sensor;

[0055] The determining whether the voltage angle information is aligned with the motor theoretical angle value, and if not, outputting a determination result as inaccurate includes:

[0056] It is determined whether the voltage angle signal is aligned with the motor theoretical angle value. If not, the determination result is output as inaccurate.

[0057] From the above description, it can be seen that by obtaining the voltage angle signal of the rotary transformer or the tunneling magnetoresistive effect sensor and aligning and comparing the voltage angle signal with the theoretical angle value, the test can only be performed when the rotary transformer or the tunneling magnetoresistive effect sensor passes the test, thereby improving the detection accuracy of the angle position sensor.

[0058] Furthermore, it also includes:

[0059] Obtain target torque current and target flux current, as well as the three-phase current signals of the motor;

[0060] Performing Clarke transform and Park transform on the three-phase current signal to obtain a transformed current signal;

[0061] The output current is adjusted according to the conversion current signal, the target torque current and the target flux current.

[0062] From the above description, it can be seen that by collecting the three-phase current signals of the motor and obtaining the target torque current and target flux current, feedback control of the output current is achieved to ensure the normal operation of the system.

[0063] Furthermore, the step of obtaining the motor position information and the motor theoretical angle information fed back by the position sensor includes:

[0064] Determine whether the motor position information fed back by the position sensor is received, and if not, obtain the motor position information fed back by the high-precision angle encoder.

[0065] From the above description, it can be seen that when there is no position sensor in the motor, a high-precision angle encoder is used for position feedback to ensure that the system can operate normally without a position sensor and output the rotor position signal.

[0066] Please refer to Figure 4 Another embodiment of the present invention provides a permanent magnet synchronous motor detection system, including a host computer, a position sensor, a motor, a high-precision angle encoder, a torque meter, and a controller; the host computer is connected to the position sensor, motor, high-precision angle encoder, torque meter, and controller respectively; the controller is also connected to the motor; the position sensor includes a Hall position sensor, a rotary transformer, and a tunneling magnetoresistance effect sensor; the motor, high-precision angle encoder, and torque meter are connected in sequence; the output end of the torque meter is used to connect to a load; the host computer is used to implement the steps in the above-mentioned permanent magnet synchronous motor detection method.

[0067] Please refer to Figure 9 and 10Another embodiment of the present invention provides a permanent magnet synchronous motor detection device, comprising a motor, a coupling, a high-precision angle encoder, a torque meter, a controller and a mounting bracket; the motor, coupling, high-precision angle encoder and torque meter are mechanically connected in sequence and arranged on the mounting bracket; a position sensor is provided on the motor, and the position sensor includes a Hall position sensor, a rotary transformer and a tunneling magnetoresistance effect sensor; the end of the torque meter away from the high-precision angle encoder is used to connect to a device to be tested; an installation cabinet is provided on the side of the mounting bracket away from the motor, and the controller is arranged in the installation cabinet; the controller is connected to the motor.

[0068] The above-mentioned permanent magnet synchronous motor detection method, system and device of the present invention can be applied to permanent magnet synchronous motor vector control, torque and torque fluctuation testing, and detect the position sensor during the test process to ensure the accuracy of the rotor position signal and improve the test reliability. The following is an explanation through specific embodiments:

[0069] Example 1

[0070] Please refer to Figure 1 , a permanent magnet synchronous motor detection method, comprising the steps of:

[0071] S1, obtaining the motor position information and the motor theoretical angle information fed back by the position sensor 2; taking the Hall position sensor as an example, the voltage angle information and the motor induced electromotive force fed back by the Hall position sensor are obtained; that is, the motor 3 to be tested works in the generator mode, the motor driver does not output current, the induced electromotive force of the motor to be tested is collected by the host computer 1, and the Hall signal fed back by the Hall position sensor is detected; the motor position information is the voltage angle information fed back by the Hall position sensor, and the motor theoretical angle information is the motor induced electromotive force;

[0072] S2. Obtain a motor angle signal according to the motor position information; specifically, extract the rising edge signal and the falling edge signal of the voltage angle information, that is, the motor angle signal is the rising edge signal and the falling edge signal corresponding to the Hall position sensor, such as the rising edge signal and the falling edge signal corresponding to HALL-A, HALL-B, and HALL-C;

[0073] S3, judging the accuracy of the installation position of the position sensor 2 according to the motor angle signal and the motor theoretical angle information, if accurate, obtaining the rotor position signal according to the motor angle signal, and performing a torque test according to the rotor position signal; please refer to Figure 2 , specifically:

[0074] S31a, obtaining the zero-crossing voltage signal of the motor induced electromotive force information; such as obtaining the zero-crossing voltage signals corresponding to the three-phase voltages Vba, Vbb and Vbc;

[0075] S32a, calculating the difference between the zero-crossing voltage signal and the rising edge signal and the falling edge signal to obtain a first angle error value; taking the Hall-C of the Hall position sensor and the induced electromotive force Vbc as an example, the obtained angle errors include ΔC1, ΔC2 and ΔC3. Similarly, the angle errors ΔA1, ΔA2, ΔA3; ΔB1, ΔB2, ΔB3 corresponding to phases A and B can be obtained;

[0076] S33a. Determine whether the first angle error value is less than a preset error threshold. If not, output the judgment result as inaccurate. Comprehensively judge the angle errors corresponding to phases A, B, and C, and extract the maximum angle error as the first angle error value, i.e., Max(ΔA1, ΔA2, ΔA3; ΔB1, ΔB2, ΔB3; ΔC1, ΔC2, ΔC3). If the preset error threshold is 2°, then when the error is greater than 2°, the test system issues an alarm.

[0077] Example 2

[0078] The difference between this embodiment and the first or second embodiment is that the accuracy analysis of the position sensor 2 is performed on a system using a rotary transformer or a tunneling magnetoresistive effect sensor;

[0079] S1. Obtain the motor position information and the motor theoretical angle information fed back by the position sensor 2; that is, the motor position information is the voltage angle information fed back by the rotary transformer or the tunneling magnetoresistance effect sensor, and the motor theoretical angle information is the motor theoretical angle value input by the high-precision angle encoder 4; wherein, the rotary transformer and the tunneling magnetoresistance effect sensor output sin(θ) and cos(θ) voltage signals, which are input to the host computer 1 for angle calculation;

[0080] S2. Obtaining a motor angle signal according to the motor position information; that is, extracting the angle signal θ of the voltage angle information;

[0081] S3, judging the accuracy of the installation position of the position sensor 2 according to the motor angle signal and the motor theoretical angle information; if it is accurate, obtaining a rotor position signal according to the motor angle signal, and performing a torque test according to the rotor position signal;

[0082] S31b, calculate the difference between the angle signal and the motor theoretical angle value to obtain a second angle error value; please refer to Figure 3 , respectively obtain the angle differences ΔE1 and ΔE2, and calculate the maximum angle error Max(ΔE1, ΔE2) as the second angle error value;

[0083] S32b. Determine whether the second angle error value is less than a preset error threshold. If not, output the judgment result as inaccurate. If the preset error threshold is 2°, when Max(ΔE1, ΔE2) is greater than 2°, the test system issues an alarm.

[0084] Example 3

[0085] Please refer to Figure 4 A permanent magnet synchronous motor detection system includes a host computer 1, a position sensor 2, a motor 3, a high-precision angle encoder 4, a torque meter 5, and a controller 6; the host computer 1 includes a terminal such as a computer (PC) for inputting parameters of the motor 3 for testing; the entire system is powered by a power supply device such as a battery; the host computer 1 is used to implement the steps corresponding to the permanent magnet synchronous motor detection method in Examples 1 and 2;

[0086] The host computer 1 is respectively connected to the position sensor 2, motor 3, high-precision angle encoder 4, torque meter 5, and controller 6; the controller 6 is also connected to the motor 3; the motor 3, high-precision angle encoder 4 and torque meter 5 are connected in sequence; the output end of the torque meter 5 is used to connect to the load, and the host computer 1 is also connected to the load to be tested; wherein, the position sensor 2 includes a Hall position sensor, a resolver, and a tunneling magnetoresistance effect (TMR) sensor; the test system integrates three signal processing methods corresponding to the Hall position sensor, resolver, and tunneling magnetoresistance effect sensor 2; each motor 3 in the system uses a position sensor 2, and when selecting the sensor to be used for the motor 3, it can be determined according to the feedback accuracy and the usage scenario; in an optional embodiment, this embodiment uses a high-power servo motor 3 as the load, which can achieve precise control and adjustment of the speed compared to the traditional motor 3 test platform using a magnetic powder brake as the load; please refer to Figure 5 When the load mechanism is removed, the no-load performance test of motor 3, such as no-load speed, no-load current and other parameters, can be achieved through open-loop testing, and system integration can be improved.

[0087] Please refer to Figure 6When the position sensor 2 adopts a Hall position sensor, the host computer 1 is set to send the position feedback information of the motor 3 to the controller 6, and the controller 6 performs commutation control on the motor 3; specifically: a current feedback system is used to perform vector control on the test system; by collecting the three-phase current signal of the motor 3, and performing Clark transform and Park transform inside the controller 6 to obtain a conversion current signal, and then comparing and adjusting the conversion current signal with the target torque current and target flux current input by the host computer 1, thereby realizing vector control; when ensuring maximum torque control through real-time current feedback, Id=0A, and at the same time, the feedback signal of the high-precision angle encoder 4 in the test system can be used to subdivide the drive current, and the host computer 1 outputs the rotor position signal θ after calculation.

[0088] Please refer to Figure 7 When motor 3 is a rotary transformer or tunneling magnetoresistance effect sensor, the sensor outputs position signals sin(θ) and cos(θ) related to the rotor angle. The host computer 1 then calculates and outputs the rotor position signal θ. If motor 3 does not have a corresponding position sensor 2, feedback is provided via the high-precision angle encoder 4. Specifically, the high-precision angle encoder 4 extracts the rotor position signal, which the host computer 1 processes and then outputs.

[0089] The above system can be used to quickly perform different current tests and analyze the linearity of the motor torque characteristics; for example, testing the current and torque of a permanent magnet brushless synchronous motor;

[0090] Please refer to Figure 8 Theoretically, the relationship between motor torque and current should be linear, i.e., torque T = torque constant Kt * current I. However, the actual output torque of the motor may differ from the theoretical value, and this error will lead to inaccurate motor control. The test equipment can test the output torque at different currents to see whether the motor's torque constant Kt is stable, i.e., whether the motor's output torque linearity is good. Specifically, currents I_1 and I_2 are input to the motor, torques T_1 and T_2 are measured, and the torque constants Kt1 = T_1 / I / 1 and Kt2 = T_2 / I_2 are calculated.

[0091] Theoretically, Kt1=Kt2. When Kt1-Kt2>the specified value, the linearity between the motor torque and current is poor.

[0092] In the test system, the torque sensor and high-precision angle encoder 4 are used to collect the actual output torque T and speed n of the motor 3, and the voltage U and current I are measured at the power supply end, so that the efficiency of the motor 3 can be monitored in real time:

[0093]

[0094] Example 4

[0095] Please refer to Figure 9 and Figure 10 , a permanent magnet synchronous motor detection device, comprising a motor 3, a coupling 7, a high-precision angle encoder 4, a torque meter 5, a controller 6 and a mounting bracket 8; the torque of the coupling 7 is adjustable; the motor 3, the coupling 7, the high-precision angle encoder 4 and the torque meter 5 are mechanically connected in sequence and arranged on the mounting bracket 8; a position sensor 2 is provided on the motor 3, and the position sensor 2 includes a Hall position sensor, a rotary transformer and a tunneling magnetoresistance effect sensor; the end of the torque meter 5 away from the high-precision angle encoder 4 is used to connect to the device to be tested; an installation cabinet 9 is provided on the side of the mounting bracket 8 away from the motor 3, and the controller 6 is arranged in the installation cabinet 9; the controller 6 is connected to the motor 3; the bottom of the mounting bracket 8 is also provided with casters and foot cups.

[0096] In summary, the present invention provides a permanent magnet synchronous motor detection method, system and device, which simplifies the extraction of the rotor position signal by extracting the position information of the motor rotor through the position sensor, thereby outputting the rotor position signal for torque testing based on the motor position information obtained by the position sensor. At the same time, during the test process, the accuracy of the motor position obtained by the position sensor is judged by detecting the accuracy of the installation position of the position sensor. Only when the judgment result is accurate is the motor position information provided to obtain the rotor position signal and perform the torque test, thereby improving the accuracy of the rotor position signal and avoiding motor drive abnormalities.

[0097] The above descriptions are merely embodiments of the present invention and are not intended to limit the patent scope of the present invention. Any equivalent transformations made using the contents of the present invention's description and drawings, or directly or indirectly applied in related technical fields, are also included in the patent protection scope of the present invention.

Claims

1. A permanent magnet synchronous motor detection method, characterized in that: Including steps: Obtain the motor position information and motor theoretical angle information fed back by the position sensor; Obtaining a motor angle signal according to the motor position information; Determining the accuracy of the installation position of the position sensor according to the motor angle signal and the motor theoretical angle information; if accurate, obtaining a rotor position signal according to the motor angle signal, and performing a torque test according to the rotor position signal; The position sensor includes an angle position sensor; the motor theoretical angle information includes a motor theoretical angle value; the angle position sensor includes a rotary transformer and / or a tunneling magnetoresistance effect sensor; The determining the accuracy of the installation position of the position sensor according to the motor angle signal and the motor theoretical angle information includes: Acquiring voltage angle information of the angle position sensor; Determine whether the voltage angle information is aligned with the motor theoretical angle value, and if not, output a determination result of inaccuracy; The determining whether the voltage angle information is aligned with the motor theoretical angle value, and if not, outputting a determination result as inaccurate includes: Extracting an angle signal of the voltage angle information; Calculating the difference between the angle signal and the theoretical angle value of the motor to obtain a second angle error value; determining whether the second angle error value is less than a preset error threshold, and if not, outputting a determination result of inaccuracy; The step of obtaining the motor position information and the motor theoretical angle information fed back by the position sensor includes: Determine whether the motor position information fed back by the position sensor is received, and if not, obtain the motor position information fed back by the high-precision angle encoder; By testing the output torque at different currents, the torque constant of the motor is tested to see if it is stable. The actual torque and speed output by the motor are collected through a torque sensor and a high-precision angle encoder, and the voltage and current are measured at the power supply end to monitor the efficiency of the motor in real time.

2. A permanent magnet synchronous motor detection method according to claim 1, characterized in that: The position sensor includes a Hall position sensor; the motor theoretical angle information includes the motor induced electromotive force; The determining the accuracy of the installation position of the position sensor according to the motor angle signal and the motor theoretical angle information includes: Obtaining voltage angle information fed back by the Hall position sensor; It is determined whether the voltage angle information is aligned with the motor induced electromotive force information. If not, the determination result is output as inaccurate.

3. A permanent magnet synchronous motor detection method according to claim 2, characterized in that: The determining whether the voltage angle information is aligned with the motor induced electromotive force information, and if not, outputting a determination result as inaccurate includes: Extracting the rising edge signal and the falling edge signal of the voltage angle information, and extracting the zero-crossing voltage signal of the motor induced electromotive force information; Calculating the difference between the zero-crossing voltage signal and the rising edge signal and the falling edge signal to obtain a first angle error value; It is determined whether the first angle error value is less than a preset error threshold; if not, the determination result is output as inaccurate.

4. A permanent magnet synchronous motor detection method according to claim 1, characterized in that: Acquiring the voltage angle information of the angle position sensor includes: Acquiring a voltage angle signal of the rotary transformer or tunneling magnetoresistive effect sensor; The determining whether the voltage angle information is aligned with the motor theoretical angle value, and if not, outputting a determination result as inaccurate includes: It is determined whether the voltage angle signal is aligned with the motor theoretical angle value. If not, the determination result is output as inaccurate.

5. A permanent magnet synchronous motor detection method according to claim 1, characterized in that: Also includes: Obtain target torque current and target flux current, as well as the three-phase current signals of the motor; Performing Clarke transform and Park transform on the three-phase current signal to obtain a transformed current signal; The output current is adjusted according to the conversion current signal, the target torque current and the target flux current.

6. A permanent magnet synchronous motor detection system, characterized in that: Including host computer, position sensor, motor, high-precision angle encoder, torque meter, and controller; The host computer is connected to the position sensor, motor, high-precision angle encoder, torque meter, and controller respectively; the controller is also connected to the motor; The position sensor includes a Hall position sensor, a rotary transformer and a tunneling magnetoresistive effect sensor; The motor, high-precision angle encoder and torque meter are connected in sequence; The output end of the torque meter is used to connect to a load; The host computer is used to implement the steps in a permanent magnet synchronous motor detection method as described in any one of claims 1 to 5.

7. A permanent magnet synchronous motor detection device, characterized in that: Used to implement the permanent magnet synchronous motor detection system as claimed in claim 6, comprising a motor, a coupling, a high-precision angle encoder, a torque meter, a controller and a mounting bracket; The motor, coupling, high-precision angle encoder and torque meter are mechanically connected in sequence and arranged on the mounting frame; The motor is provided with a position sensor, which includes a Hall position sensor, a rotary transformer and a and tunneling magnetoresistance effect sensors; One end of the torque meter away from the high-precision angle encoder is used to connect to the device to be tested; A mounting cabinet is provided on a side of the mounting frame away from the motor, and the controller is provided in the mounting cabinet; The controller is connected to the motor.

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