A method for correcting the initial position of a motor

Abstract

The application discloses a kind of drive motor initial position correction methods in the field of drive motor zero correction, the method is corrected by drive motor initial position correction device, the device includes support and controller, support is concave, one side of support protruding end is fixedly connected with fixed platform, fixed platform top is equipped with the motor to be measured and power supply, the motor to be measured is electrically connected with power supply;The motor to be measured is detachably connected with fixed platform, and the output shaft of the motor to be measured is detachably connected with force block, and force block outside is equipped with rotary transducer sensor.The rotary transducer sensor is used to detect the maximum pressure value F1 when drive block and force block are changed from static state to rotating state and the stable pressure value F2 in rotating state;Rotary transducer sensor is also used to obtain the angle θ of actual measurement output of the motor to be measured, and the zero offset angle δ is obtained according to the angle θ of actual measurement output;Controller is used to obtain the best starting angle information of the motor to be measured according to the fitting relationship between preset F1 and F2.

Description

TECHNICAL FIELD

[0001] The application belongs to the field of zero correction of driving motor, and particularly relates to a method for correcting initial position of driving motor. BACKGROUND

[0002] The zero offset angle (i.e. the resolver zero offset angle or initial angle) of the motor position sensor is crucial to the accuracy of the motor output torque. When the resolver zero offset angle has a + / -2 electrical angle offset, the motor output torque will have an error of about + / -3 Nm in the low-speed no-field-weakening zone and an error of about + / -8 Nm in the high-speed field-weakening zone. In the production process of the driving motor for vehicles, due to various reasons such as assembly and process, the zero of the driving motor will have a deviation, and the existence of the deviation will cause the motor starting current to be too large, the working efficiency to be low, and the speed regulation range to be affected, and even the motor to be reversed. Therefore, it is necessary to eliminate the zero of the motor, and currently the zero adjustment is generally manually repeated for a long time, and there is no related equipment for correcting the zero of the motor.

[0003] In order to solve the above problems, a method for correcting initial position of driving motor is disclosed in Chinese Patent Publication No. CN 110871355 A, which comprises a rotary adjustment mechanism, a feeding mechanism and a lifting mechanism connected in sequence from top to bottom. The rotary adjustment mechanism comprises a servo motor and a resolver adjustment part connected to the output end of the servo motor, and the resolver adjustment part is provided with a grabbing part at the end away from the servo motor, and the grabbing part is provided with a protruding structure consistent with the groove shape on the resolver stator. The feeding mechanism is connected with the servo motor and controls the forward and backward movement of the servo motor. The device uses an adjusting screw for feeding movement and positioning, which improves the efficiency of motor zero correction. For driving motors of different models, the resolver adjustment part of the corresponding grabbing part can be replaced, so that the initial position of driving motors of different models can be adjusted, and the use range is wide.

[0004] The above device first detects the size of the zero offset angle of the driving motor, and then feeds back the size of the zero offset angle to the above correction device. However, during the correction process, the resolver sensor may cause errors under the action of inertia and friction when detecting the zero offset angle, thereby causing inaccurate correction. Therefore, it is necessary to propose a method for correcting the initial position of the driving motor which can overcome the action of inertia and friction to some extent to improve the correction accuracy. SUMMARY

[0005] The purpose of the present application is to propose a method for correcting the initial position of the driving motor which can overcome the action of inertia and friction to some extent to improve the correction accuracy.

[0006] To achieve the above-mentioned object, the technical solution of the present invention is as follows: a method for correcting the initial position of a drive motor, the method performing correction by a drive motor initial position correction device, the device comprising a bracket and a controller, the bracket being concave in shape, a fixed platform being fixedly connected to one side of a protruding end of the bracket, a motor to be tested and a power supply being provided on the top of the fixed platform, the motor to be tested being electrically connected to the power supply; the motor to be tested being detachably connected to the fixed platform, a force-bearing block being detachably connected to the output shaft of the motor to be tested, and a resolver sensor being sleeved on the outer side of the force-bearing block;

[0007] A transmission assembly is provided on the bracket, the transmission assembly is fixedly connected to the second motor, the second motor is electrically connected to the controller, and the output shaft of the second motor is fixedly connected to a driving block that contacts the force block and drives the output shaft of the motor to be tested to rotate when the output shaft of the second motor rotates;

[0008] During use, the motor to be tested is electrically connected to a DC power supply, and the angle θ of the actual measured output of the motor to be tested is measured by a resolver sensor to obtain a zero-position deflection angle δ. If 90<θ<360, the zero-position deflection angle δ of the resolver sensor is 360-θ; if θ≤90, the zero-position deflection angle δ of the resolver sensor is θ. Then, the second motor is transmitted by the transmission component, and the transmission distance is such that the driving block on the output shaft of the second motor contacts the force-bearing block on the output shaft of the motor to be tested. Then, the second motor is started by the controller, and the driving block on the output shaft of the second motor drives the output shaft of the motor to be tested to rotate synchronously with the second motor.

[0009] At the same time, the rotary sensor on the force-bearing block detects the maximum pressure value F1 when the driving block and the force-bearing block change from a static state to a rotating state and the stable pressure value F2 in the rotating state, and feeds F1 and F2 back to the controller. The controller then obtains the optimal starting angle information of the motor to be tested based on the preset fitting relationship between F1 and F2. The optimal angle information is that when the second motor drives the motor to be tested to rotate, the starting potential of the motor to be tested coincides with the zero-position deviation angle; and then adjusts the output shaft angle of the second motor through the fitting relationship between F1 and F2. After the adjustment, the controller controls the output shaft of the second motor to rotate according to the optimal starting angle information to drive the output shaft of the motor to be tested to rotate to the optimal starting angle, thereby correcting the initial position of the motor to be tested.

[0010] The following beneficial effects are achieved by adopting the above scheme:

[0011] In use, the motor to be measured is electrically connected with a direct current power supply, the angle θ of the actual measurement output of the motor to be measured is measured through the rotary variable differential transformer sensor, so as to obtain the zero position offset angle δ, if 90 < θ < 360, the zero position offset angle δ of the rotary variable differential transformer sensor is: δ = 360- θ, if θ ≤ 90, the zero position offset angle δ of the rotary variable differential transformer sensor is: δ = θ, then the second motor is conveyed through the conveying assembly, the conveying distance is: so that the driving block on the output shaft of the second motor is in contact with the force receiving block on the output shaft of the motor to be measured, then the second motor is started through the controller, and the driving block on the output shaft of the second motor drives the output shaft of the motor to be measured to rotate synchronously with the second motor.

[0012] At the same time, the rotary variable differential transformer sensor on the force receiving block detects the maximum pressure value F1 when the driving block and the force receiving block change from the static state to the rotating state and the stable pressure value F2 in the rotating state, and feeds back F1 and F2 to the controller, and the controller obtains the optimal starting angle information of the motor to be measured according to the preset fitting relationship between F1 and F2, the optimal angle information is that the starting position of the motor to be measured coincides with the zero position offset angle when the second motor drives the motor to be measured 6 to rotate, then the fitting relationship between F1 and F2 is used to adjust the angle of the output shaft of the second motor, after adjustment, the controller controls the output shaft of the second motor to rotate to drive the output shaft of the motor to be measured to rotate to the optimal starting angle according to the optimal starting angle information, so that the initial position of the motor to be measured is corrected.

[0013] The difference between the present application and the prior art is that the present application considers that in the detection process, the motor to be measured may be affected by inertia, friction and air resistance, so that the starting point of the motor to be measured cannot completely coincide with the zero position offset angle, so the present application first measures the angle θ of the actual measurement output of the motor to be measured through the rotary variable differential transformer sensor, so as to obtain the zero position offset angle δ, then the rotary variable differential transformer sensor detects the maximum pressure value F1 when the driving block and the force receiving block change from the static state to the rotating state and the stable pressure value F2 in the rotating state, and feeds back F1 and F2 to the controller, and the controller obtains the optimal starting angle information of the motor to be measured according to the preset fitting relationship between F1 and F2, the fitting relationship between F1 and F2 is used to adjust the position of the second motor, so that the effects of inertia and friction are overcome to a certain extent.

[0014] Further, the conveying assembly comprises a bottom plate, the bottom plate is fixedly connected with the support away from the side of the fixed table, a first motor is fixedly connected on the top of the bottom plate, the output shaft of the first motor penetrates through the support and is coaxially fixedly connected with a lead screw, the end of the lead screw away from the first motor is rotationally matched with the side wall of the fixed table; a nut seat is sleeved on the lead screw, the nut seat and the lead screw form a ball screw structure, and the second motor is located on the top of the nut seat.

[0015] Beneficial effect: the first motor drives the screw rod to rotate, the screw rod drives the nut seat to move when rotating, thereby driving the second motor to move, until the driving block on the second motor can contact the force block on the motor to be measured.

[0016] Further, it further comprises a marking assembly for marking the rotation angle of the motor to be measured.

[0017] Beneficial effect: in order to more intuitively observe the rotation angle of the motor to be measured, when the second motor drives the motor to be measured to rotate once, the first stopping point of the motor to be measured needs to be marked, and then the fitting relationship between F1 and F2 is adjusted to adjust the angle of the output shaft of the second motor. After adjustment, the second motor is started again, so that the second motor drives the motor to be measured to rotate, and when the motor to be measured stops rotating, whether the mark point coincides with the zero angle is observed.

[0018] Further, the second motor is slowly rotated, the second motor drives the motor to be measured to rotate synchronously through the driving block, and after slow rotation, the maximum pressure value F1 and the stable pressure value F2 of the second motor in the rotation state are obtained based on multiple experimental data; wherein, F1 is the force generated by the second motor to overcome inertia and friction, and F2 is the force gradually stabilized by the second motor to overcome inertia and friction.

[0019] Beneficial effect: since there is air resistance factor when the second motor rotates, in order to ensure the accuracy of F1 and F2 measurement, the second motor needs to be slowly rotated to reduce air resistance to a certain extent, so as to ensure the accuracy of F1 and F2 measurement.

[0020] Further, the power supply is a low-voltage direct current power supply.

[0021] Beneficial effect: since the device is an initial position correction device, low voltage can realize correction when in use, and low voltage can also ensure the safety of the operator to a certain extent.

[0022] Further, the motor to be measured and the low-voltage direct current power supply are electrically connected through a knife switch.

[0023] Beneficial effect: when the motor to be measured needs to be connected to the low-voltage direct current power supply, the motor to be measured and the low-voltage direct current power supply can be connected through the knife switch. The knife switch has good insulation and simple operation, and can be manually switched to clearly observe the working state of the knife switch.

[0024] Further, the bottom of the support is fixedly connected with an anti-skid assembly.

[0025] Beneficial effect: the anti-skid assembly can increase the friction between the support and the supporting surface to a certain extent, and increase the stability when using the device to a certain extent.

[0026] Further, the anti-skid component is a rubber layer.

[0027] Beneficial effects: the rubber layer has strong friction, and can increase the friction between the bottom of the device and the supporting surface during use of the device, and increase the stability during use of the device to a certain extent. BRIEF DESCRIPTION OF DRAWINGS

[0028] Fig. 1 is the axonometric view of the embodiment of the application.

[0029] Fig. 2 is the coordinate graph of the embodiment F1 and F2 of the application changing over time. DETAILED DESCRIPTION

[0030] The following will be further described in detail through specific embodiments:

[0031] The reference signs in the drawings of the specification include: support 1, fixed table 2, bottom plate 3, first motor 4, second motor 5, motor to be measured 6, lead screw 7, nut seat 8, driving block 9, force receiving block 10.

[0032] Example 1

[0033] The embodiment is basically as shown in the accompanying drawings: Figs. 1-2

[0034] A method for correcting the initial position of a driving motor, which is corrected by a driving motor initial position correction device, the device comprising a support 1 and a controller, the support 1 being concave, one side of the protruding end of the support 1 being fixedly connected with a fixed table 2 through a bolt, the fixed table 2 being provided at the top with a motor to be measured 6 and a power supply, the motor to be measured 6 being electrically connected with the power supply; the motor to be measured 6 being detachably connected with the fixed table 2, the output shaft of the motor to be measured 6 being detachably connected with a force receiving block 10, the force receiving block 10 being sleeved with a rotary transducer sensor (not shown in the figure) outside.

[0035] The support 1 is provided with a conveying assembly, which can be a conveying belt, the conveying assembly being fixedly connected with a second motor 5 through a bolt, the second motor 5 being electrically connected with the controller, the output shaft of the second motor 5 being fixedly connected with a driving block 9 which is in contact with the force receiving block 10 and drives the output shaft of the motor to be measured 6 to rotate when the output shaft of the second motor 5 rotates.

[0036] ​The rotary variable sensor is used for detecting the maximum pressure value F1 when the driving block 9 and the force receiving block 10 are changed from the static state to the rotating state and the stable pressure value F2 in the rotating state, and feeding back F1 and F2 to the controller; the rotary variable sensor is also used for obtaining the actual measurement output angle θ of the motor 6 to be measured, and obtaining the zero offset angle δ according to the actual measurement output angle θ; the controller is used for obtaining the optimal starting angle information of the motor 6 to be measured according to the preset fitting relationship between F1 and F2, and the optimal angle information is that the starting potential energy of the motor 6 to be measured coincides with the zero offset angle; the controller is also used for controlling the output shaft of the second motor 5 to rotate to drive the output shaft of the motor 6 to be measured to the optimal starting angle according to the optimal starting angle information.

[0037] The specific implementation process is as follows:

[0038] In use, the motor 6 to be measured is electrically connected with the direct current power supply, the actual measurement output angle θ of the motor 6 to be measured is measured by the rotary variable sensor, so as to obtain the zero offset angle δ, if 90<θ<360, the zero offset angle δ of the rotary variable sensor is 360-θ; if θ≤90, the zero offset angle δ of the rotary variable sensor is θ; then the second motor 5 is transmitted by the transmission assembly, and the transmission distance is: the driving block 9 on the output shaft of the second motor 5 can contact the force receiving block 10 on the output shaft of the motor 6 to be measured; then the second motor 5 is started by the controller, and the driving block 9 on the output shaft of the second motor 5 drives the output shaft of the motor 6 to be measured to rotate synchronously with the second motor 5.

[0039] At the same time, the rotary variable sensor on the force receiving block 10 detects the maximum pressure value F1 when the driving block 9 and the force receiving block 10 are changed from the static state to the rotating state and the stable pressure value F2 in the rotating state, and feeds back F1 and F2 to the controller, and the controller obtains the optimal starting angle information of the motor 6 to be measured according to the preset fitting relationship between F1 and F2, and the optimal angle information is that the starting potential energy of the motor 6 to be measured coincides with the zero offset angle when the second motor 5 drives the motor 6 to be measured to rotate; then the fitting relationship between F1 and F2 is adjusted, the output shaft angle of the second motor 5 is adjusted, after the adjustment, the controller controls the output shaft of the second motor 5 to rotate to drive the output shaft of the motor 6 to be measured to the optimal starting angle according to the optimal starting angle information, so as to correct the initial position of the motor 6 to be measured.

[0040] Example two

[0041] Differences from the above embodiments are that the conveying assembly comprises a bottom plate 3, the bottom plate 3 is fixedly connected with the side of the support 1 away from the fixed table 2 through bolts, the first motor 4 is fixedly connected on the top of the bottom plate 3 through bolts, the output shaft of the first motor 4 penetrates through the support 1 and is coaxially fixedly connected with the lead screw 7 through bolts, and the end of the lead screw 7 away from the first motor 4 is rotationally matched with the side wall of the fixed table 2; the nut seat 8 is sleeved on the lead screw 7, and the nut seat 8 and the lead screw 7 form a ball screw structure, and the second motor 5 is located on the top of the nut seat 8.

[0042] The specific implementation process is as follows:

[0043] The first motor 4 drives the lead screw 7 to rotate, the lead screw 7 drives the nut seat 8 to move when rotating, thereby driving the second motor 5 to move, until the driving block 9 on the second motor 5 can contact the force receiving block 10 on the motor to be measured 6.

[0044] Embodiment three

[0045] Differences from the above embodiments are that the marking assembly is further included, and the marking assembly is used for marking the rotation angle of the motor to be measured 6, and the marking assembly here can be a paint spray gun.

[0046] The specific implementation process is as follows:

[0047] In order to more intuitively observe the rotation angle of the motor to be measured 6, when the second motor 5 drives the motor to be measured 6 to rotate once, the first stop point of the motor to be measured 6 needs to be marked, then the angle of the output shaft of the second motor 5 is adjusted through the fitting relationship between F1 and F2, after the adjustment, the second motor 5 is started again to drive the motor to be measured 6 to rotate, and when the motor to be measured 6 stops rotating, whether the mark point coincides with the zero angle is observed.

[0048] Embodiment four

[0049] Differences from the above embodiments are that the second motor 5 is slowly rotated, the second motor 5 drives the motor to be measured 6 to rotate synchronously through the driving block 9, after the slow rotation, the maximum pressure value F1 when the rotation state of the second motor 5 is fitted and obtained based on multiple experimental data, and the stable pressure value F2 when the rotation state of the second motor 5 is fitted and obtained based on multiple experimental data; wherein F1 is the force that the second motor 5 needs to overcome the inertia and friction, and F2 is the force that the second motor 5 gradually stabilizes after overcoming the inertia and friction.

[0050] The specific implementation process is as follows:

[0051] Since there is an air resistance factor when the second motor 5 rotates, in order to ensure the accuracy of the measurement of F1 and F2, the second motor 5 needs to be slowly rotated to reduce the air resistance to a certain extent, thereby ensuring the accuracy of the measurement of F1 and F2 as much as possible.

[0052] Embodiment five

[0053] The difference from the above-mentioned embodiments is that the power supply is a low-voltage direct-current power supply.

[0054] The specific implementation process is as follows:

[0055] Since the device is an initial position correction device, low voltage can achieve correction during use, and low voltage can also ensure the safety of the operator to a certain extent.

[0056] Example six

[0057] The difference from the above-mentioned embodiments is that the to-be-tested motor 6 and the low-voltage direct-current power supply are electrically connected through a knife switch.

[0058] The specific implementation process is as follows:

[0059] When it is necessary to connect the to-be-tested motor 6 to the low-voltage direct-current power supply, the to-be-tested motor 6 can be connected to the low-voltage direct-current power supply through the knife switch. The knife switch has good insulation and is simple to operate, can be manually switched, and the working state of the knife switch can be clearly observed.

[0060] Example seven

[0061] The difference from the above-mentioned embodiments is that the bracket 1 is adhesively fixed with an anti-skid component at the bottom.

[0062] The specific implementation process is as follows:

[0063] The anti-skid component can increase the friction between the bracket 1 and the supporting surface to a certain extent, and increase the stability of the device to a certain extent.

[0064] Example eight

[0065] The difference from the above-mentioned embodiments is that the anti-skid component is a rubber layer.

[0066] The specific implementation process is as follows:

[0067] The rubber layer has strong friction, and when the device is used, the rubber layer can increase the friction between the bottom of the device and the supporting surface, and increase the stability of the device to a certain extent.

[0068] The above-mentioned are only embodiments of the present application, and the common knowledge of specific structures and characteristics in the scheme is not described too much herein. The ordinary skilled person in the art knows all the ordinary technical knowledge in the field of the present application before the application date or the priority date, can know all the prior art in the field, and has the ability to apply conventional experimental means before that date. The ordinary skilled person in the art can perfect and implement the present scheme under the guidance of the present application, combined with their own ability. Some typical known structures or known methods should not be an obstacle for the ordinary skilled person in the art to implement the present application. It should be noted that, for those skilled in the art, without departing from the structure of the present application, a number of modifications and improvements can be made, which should also be considered as the protection scope of the present application. These will not affect the effect and practicality of the patent. The protection scope of the present application should be subject to the content of its claims, and the specific implementation mode and the like in the specification can be used to explain the content of the claims.

Claims

1. A method for correcting the initial position of a drive motor, characterized by: The method performs correction by driving a motor initial position correction device, which includes a bracket and a controller. The bracket is concave, and one side of a protruding end of the bracket is fixedly connected to a fixed platform. A motor to be tested and a power supply are provided on the top of the fixed platform. The motor to be tested is electrically connected to the power supply. The motor to be tested is detachably connected to the fixed platform. A force-bearing block is detachably connected to the output shaft of the motor to be tested, and a rotary sensor is sleeved on the outer side of the force-bearing block. A transmission assembly is provided on the bracket, the transmission assembly is fixedly connected to the second motor, the second motor is electrically connected to the controller, and the output shaft of the second motor is fixedly connected to a driving block that contacts the force block and drives the output shaft of the motor to be tested to rotate when the output shaft of the second motor rotates; During use, the motor to be tested is electrically connected to a DC power supply, and the angle θ of the actual measured output of the motor to be tested is measured by a resolver sensor to obtain a zero-position deflection angle δ. If 90<θ<360, the zero-position deflection angle δ of the resolver sensor is 360-θ; if θ≤90, the zero-position deflection angle δ of the resolver sensor is θ. Then, the second motor is transmitted by the transmission component, and the transmission distance is such that the driving block on the output shaft of the second motor contacts the force-bearing block on the output shaft of the motor to be tested. Then, the second motor is started by the controller, and the driving block on the output shaft of the second motor drives the output shaft of the motor to be tested to rotate synchronously with the second motor. At the same time, the rotary sensor on the force-bearing block detects the maximum pressure value F1 when the driving block and the force-bearing block change from a static state to a rotating state and the stable pressure value F2 in the rotating state, and feeds F1 and F2 back to the controller. The controller then obtains the optimal starting angle information of the motor to be tested based on the preset fitting relationship between F1 and F2. The optimal angle information is that when the second motor drives the motor to be tested to rotate, the starting potential of the motor to be tested coincides with the zero-position deviation angle; and then adjusts the output shaft angle of the second motor through the fitting relationship between F1 and F2. After the adjustment, the controller controls the output shaft of the second motor to rotate according to the optimal starting angle information to drive the output shaft of the motor to be tested to rotate to the optimal starting angle, thereby correcting the initial position of the motor to be tested.

2. The method for correcting the initial position of a driving motor according to claim 1, wherein: The transmission assembly includes a base plate, which is fixedly connected to the side of the bracket away from the fixed platform. The top of the base plate is fixedly connected to a first motor. The output shaft of the first motor passes through the bracket and is coaxially fixedly connected to a screw rod. The end of the screw rod away from the first motor rotates with the side wall of the fixed platform; a nut seat is provided on the screw rod, and the nut seat and the screw rod constitute a ball screw structure. The second motor is located on the top of the nut seat.

3. The method for correcting the initial position of a driving motor according to claim 2, wherein: It also includes a marking component, which is used to mark the rotation angle of the motor to be measured.

4. The method for correcting the initial position of a driving motor according to claim 3, wherein: The second motor is made to rotate slowly. The second motor drives the motor to be tested to rotate synchronously through the driving block. After slow rotation, the maximum pressure value F1 of the second motor in the rotating state and the stable pressure value F2 in the rotating state are fitted based on multiple experimental data; wherein, F1 is the force generated by the inertia and friction that the second motor needs to overcome, and F2 is the force that the second motor needs to gradually and steadily overcome the inertia and friction.

5. The method for correcting the initial position of a driving motor according to claim 4, wherein: The power supply is a low voltage DC power supply.

6. The method for correcting the initial position of a driving motor according to claim 5, wherein: The motor to be tested and the low-voltage DC power supply are electrically connected through a knife switch.

7. The method for correcting the initial position of a driving motor according to claim 6, wherein: The bottom of the bracket is fixedly connected with an anti-slip component.

8. The method for correcting the initial position of a driving motor according to claim 7, wherein: The anti-slip component is a rubber layer.

Images