Permanent magnet synchronous motor rotary transformer installation detection device and detection method

Abstract

The present invention discloses a permanent magnet synchronous motor rotary transformer installation detection device, comprising a host computer, a high voltage DC power supply, a low voltage DC power supply and a motor controller, wherein the host computer controls the high voltage DC power supply and / or the low voltage DC power supply to supply power to the motor controller, the host computer controls the motor controller to invert DC power into three-phase AC power and output it to the permanent magnet synchronous motor and perform speed closed-loop control, the motor controller performs torque closed-loop control on the permanent magnet synchronous motor, and transmits the demodulated rotary transformer low voltage signal to the host computer for concentricity detection. A detection method for the above-mentioned permanent magnet synchronous motor rotary transformer installation detection device is also disclosed. The present invention does not rely on visual detection or external detection equipment, but uses the electromagnetic induction characteristics of the rotary transformer itself to cleverly realize the detection function, with high detection accuracy and good detection effect, which helps to improve the motor offline quality detection level.

Description

Technical Field

[0001] The present invention relates to the technical field of motor detection equipment, and in particular to a permanent magnet synchronous motor rotary transformer installation detection device and a detection method thereof. Background Art

[0002] Offline testing is the process of identifying and confirming product defects in the production process through certain testing methods and based on certain testing standards, so as to control product quality. The resolver is an electromagnetic sensor, which is very suitable for collecting the rotor angle and speed of the permanent magnet synchronous motor of electric vehicles. The use of a reluctance resolver requires the stator and rotor of the resolver to be fixed on the stator and rotor corresponding to the permanent magnet synchronous motor respectively. There may be axial and radial concentricity deviations during the installation process, which will directly affect the induced voltage output by the resolver, and then affect the accuracy of the motor rotor angle decoding and the effect of the motor control, and ultimately affect the motor external characteristic efficiency.

[0003] Currently, there are very limited means for off-line installation inspection of resolvers for permanent magnet synchronous motors used in new energy electric vehicles. Some manufacturers even skip this process directly and focus more on zeroing the resolver or decoding accuracy of the resolver, while often ignoring the most fundamental axial and radial concentricity deviations that may exist between the resolver stator and rotor during installation.

[0004] The only existing detection methods for rotary transformers are basically centered around the detection of the rotary transformer body, such as a magnetic resistance rotary transformer detection fixture disclosed in Chinese patent application CN112743463A, a rotary transformer fault detection method and device disclosed in Chinese patent application CN116008868A, etc., rather than the detection of rotary transformer installation deviation.

[0005] Therefore, the applicant has found a solution to the above-mentioned problem through beneficial exploration and research, and the technical solution to be introduced below is produced in this context. Summary of the invention

[0006] One of the technical problems to be solved by the present invention is: to address the deficiencies of the prior art and to provide a permanent magnet synchronous motor rotary transformer installation detection device based on soft decoding technology, which is used to detect the concentricity deviation of the rotary transformer on the permanent magnet synchronous motor.

[0007] The second technical problem to be solved by the present invention is to provide a detection method for the above-mentioned permanent magnet synchronous motor rotary transformer installation detection device.

[0008] As a first aspect of the present invention, a permanent magnet synchronous motor rotary transformer installation detection device includes a host computer, a high-voltage DC power supply, a low-voltage DC power supply and a motor controller. The host computer controls the high-voltage DC power supply and / or the low-voltage DC power supply to power the motor controller. The host computer controls the motor controller to invert DC power into three-phase AC power and output it to the permanent magnet synchronous motor and perform speed closed-loop control. The motor controller performs torque closed-loop control on the permanent magnet synchronous motor and transmits the demodulated rotary transformer low-voltage signal to the host computer for concentricity detection.

[0009] In a preferred embodiment of the present invention, the host computer is connected to the high-voltage DC power supply and the low-voltage DC power supply respectively through a universal serial interface.

[0010] In a preferred embodiment of the present invention, the host computer is connected to the motor controller via a CAN bus.

[0011] As a second aspect of the present invention, a detection method of the above-mentioned permanent magnet synchronous motor rotary transformer installation detection device comprises the following steps:

[0012] Step S10, controlling the high voltage DC power supply and / or the low voltage DC power supply to supply power to the motor controller through the host computer;

[0013] Step S20, controlling the motor controller to output torque through the host computer, and controlling the permanent magnet synchronous motor to enter a speed closed loop, so that the permanent magnet synchronous motor maintains a preset speed;

[0014] Step S30, the upper computer controls the motor controller to output a high-frequency low-voltage excitation signal to be injected into the rotor excitation winding of the rotary transformer of the permanent magnet synchronous motor. The excitation voltage applied to the excitation winding on the rotor is:

[0015] u ref =U m sinωt

[0016] Where, ω is the angular frequency of the excitation signal, U m is the winding terminal voltage amplitude;

[0017] Step S40, the motor controller collects and analyzes the induced voltage signal returned from the stator winding of the rotary transformer. At this time, the voltages induced on the sine and cosine output windings of the stator are:

[0018] U sin =KU m sinωt•sinθ

[0019] U cos =KU m sinωt•cosθ

[0020] Where K is the ratio of the resolver, and θ is the rotor angle of the resolver;

[0021] Step S50, demodulating the returned sine and cosine signals through the motor controller, and obtaining the sine and cosine envelope signals:

[0022] u sin =KDU m d1•sinθ+k1

[0023] u cos =KDU m d2·cosθ+k2

[0024] Wherein, D is the amplitude variation coefficient generated in the signal demodulation process, d1 is the amplitude variation coefficient of the sine signal due to the installation offset, d2 is the amplitude variation coefficient of the cosine signal due to the installation offset, k1 is the amplitude offset coefficient of the sine signal due to the installation offset, k2 is the amplitude offset coefficient of the cosine signal due to the installation offset;

[0025] Step S60: The demodulated signal is transmitted to the host computer through the motor controller, and the host computer detects the concentricity of the stator and rotor of the rotary transformer by analyzing the change characteristics of the signal amplitude.

[0026] In a preferred embodiment of the present invention, in step S10, the high voltage DC power supply and / or the low voltage DC power supply are controlled by the host computer to supply power to the motor controller, including the following steps:

[0027] Step S11, the host computer controls the low-voltage DC power supply to power the motor controller through the universal serial interface, the motor controller completes the low-voltage power-on initialization check, and can inject a high-frequency low-voltage excitation signal into the rotary transformer of the permanent magnet synchronous motor through the rotary transformer low-voltage wiring harness;

[0028] Step S12, the host computer controls the high-voltage DC power supply to supply power to the motor controller through the universal serial interface, and the motor controller completes the high-voltage power-on initialization detection and enters a waiting state.

[0029] In a preferred embodiment of the present invention, in step S60, the host computer detects the concentricity of the stator and rotor of the resolver by analyzing the signal amplitude change characteristics, including the following steps:

[0030] Step S61, determining whether d1 and d2 are equal and whether k1 and k2 are zero, if so, the rotary transformer does not have concentricity deviation caused by installation, otherwise proceeding to step S62;

[0031] Step S62, detecting the stator and rotor concentricity of the rotary transformer of the permanent magnet synchronous motor from the following aspects:

[0032] 1) Radial eccentricity detection

[0033] The error caused by the radial eccentricity of the stator and rotor of the resolver is in the form of zero position error and amplitude imbalance, that is, k1 and k2 are not equal to zero, and d1 is not equal to d2, which is mainly reflected in the large and small waves generated by the demodulated sine and cosine signals;

[0034] 2) Axial offset detection

[0035] The error caused by the axial offset of the stator and rotor of the resolver only affects the transformation ratio K of the resolver, which is mainly reflected in the decrease of the amplitude of the demodulated sine and cosine signals.

[0036] 3) Stator tilt detection

[0037] The inclination of the resolver stator can be regarded as a combination of stator eccentricity and stator axial offset, which is mainly manifested as large and small waves, and the amplitude of the returned sine and cosine signals becomes smaller.

[0038] Due to the adoption of the above technical scheme, the beneficial effect of the present invention is that: based on the soft decoding technology, the present invention utilizes the advantages of the main control chip of the motor controller, and realizes the decoding process of the entire sensor through software rather than hard decoding chip, including generating excitation signals, collecting and processing return signals, and signal demodulation to calculate the rotor angle speed. On this basis, the structural characteristics and electromagnetic characteristics of the stator and rotor of the permanent magnet synchronous motor and the stator and rotor of the rotary transformer, that is, the winding loop of the stator armature, and the coaxial structure of the rotor permanent magnet, are utilized, and a high-frequency low-voltage excitation signal is injected into the rotary transformer rotor through a motor controller with a soft decoding function, and then the induced voltage signal returned from the stator of the rotary transformer is collected and demodulated, and the concentricity deviation of the stator and rotor of the rotary transformer is detected by processing and comparing the amplitude of the demodulated sine and cosine signals. The present invention does not rely on visual detection or external detection equipment, but utilizes the electromagnetic induction characteristics of the rotary transformer itself, and cleverly realizes the detection function, with high detection accuracy and good detection effect, which helps to improve the level of motor offline quality detection. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0040] Figure 1 It is a structural schematic diagram of a permanent magnet synchronous motor rotary transformer installation detection device of the present invention.

[0041] Figure 2It is a flow chart of a detection method of a permanent magnet synchronous motor rotary transformer installation detection device of the present invention.

[0042] Figure 3 It is a schematic diagram of the radial eccentricity of the stator and rotor of the rotary transformer and the return voltage signal of the present invention.

[0043] Figure 4 It is a schematic diagram of the axial displacement of the stator and rotor of the rotary transformer and the return voltage signal of the present invention;

[0044] Figure 5 It is a schematic diagram of the stator tilt of the rotary transformer of the present invention. DETAILED DESCRIPTION

[0045] In order to make the technical means, creative features, objectives and effects achieved by the present invention easy to understand, the present invention is further explained below with reference to specific diagrams.

[0046] See also Figure 1 , a permanent magnet synchronous motor rotary transformer installation detection device is shown in the figure, including a host computer 100, a high voltage DC power supply 200, a low voltage DC power supply 300 and a motor controller 400. The host computer 100 is connected to the high voltage DC power supply 200 and the low voltage DC power supply 300 respectively through a universal serial interface, and is used to control the high voltage DC power supply 200 and / or the low voltage DC power supply 300 to supply power to the motor controller 400. The host computer 100 is connected to the motor controller 400 through a CAN bus, and is used to control the motor controller 400 to invert DC power into three-phase AC power and output it to the permanent magnet synchronous motor 10 and perform speed closed-loop control. The motor controller 400 performs torque closed-loop control on the permanent magnet synchronous motor 10, and transmits the demodulated rotary transformer low-voltage signal to the host computer 100 for concentricity detection.

[0047] See also Figure 2 In combination with 1, the figure shows a detection method for the permanent magnet synchronous motor rotary transformer installation detection device of the present invention, comprising the following steps:

[0048] Step S10, controlling the high voltage DC power supply 200 and / or the low voltage DC power supply 300 to supply power to the motor controller 400 through the host computer 100;

[0049] Step S20, controlling the motor controller 400 to output torque through the host computer 100, and controlling the permanent magnet synchronous motor 10 to enter a speed closed loop, so that the permanent magnet synchronous motor 10 is maintained at a preset speed, for example, 1000 rpm;

[0050] Step S30, the host computer 100 controls the motor controller 400 to output a high-frequency low-voltage excitation signal to be injected into the rotor excitation winding of the rotary transformer 11 of the permanent magnet synchronous motor 10. The excitation voltage applied to the rotor excitation winding is:

[0051] u ref =U m sinωt

[0052] Where, ω is the angular frequency of the excitation signal, U m is the winding terminal voltage amplitude;

[0053] Step S40, the motor controller 400 collects and analyzes the induced voltage signal returned from the stator winding of the rotary transformer 11. At this time, the voltages induced on the sine and cosine output windings of the stator are respectively:

[0054] U sin =KU m sinωt·sinθ

[0055] U cos =KU m sinωt·cosθ

[0056] Where K is the ratio of the resolver, and θ is the rotor angle of the resolver;

[0057] Step S50: demodulate the returned sine and cosine signals through the motor controller 400, and obtain the sine and cosine envelope signals as follows:

[0058] u sin =KDU m d1·sinθ+k1

[0059] u cos =KDU m d2·cosθ+k2

[0060] Wherein, D is the amplitude variation coefficient generated in the signal demodulation process, d1 is the amplitude variation coefficient of the sine signal due to the installation offset, d2 is the amplitude variation coefficient of the cosine signal due to the installation offset, k1 is the amplitude offset coefficient of the sine signal due to the installation offset, k2 is the amplitude offset coefficient of the cosine signal due to the installation offset;

[0061] Step S60 , the demodulated signal is transmitted to the host computer 100 through the motor controller 400 , and the host computer 100 detects the concentricity of the stator and rotor of the rotary transformer 11 by analyzing the signal amplitude variation characteristics.

[0062] In step S10, the host computer controls the high voltage DC power supply 200 and / or the low voltage DC power supply 300 to supply power to the motor controller 400, including the following steps:

[0063] Step S11, the host computer 100 controls the low-voltage DC power supply 300 to power the motor controller 400 through the universal serial interface, the motor controller 400 completes the low-voltage power-on initialization check, and can inject a high-frequency low-voltage excitation signal into the rotary transformer 11 of the permanent magnet synchronous motor 10 through the rotary transformer low-voltage wiring harness;

[0064] Step S12, the host computer controls the high-voltage DC power supply 200 to supply power to the motor controller 400 through the universal serial interface, and the motor controller 400 completes the high-voltage power-on initialization detection and enters a waiting state.

[0065] In step S60, the host computer detects the concentricity of the stator and rotor of the resolver by analyzing the signal amplitude variation characteristics, including the following steps:

[0066] Step S61, judging whether d1 and d2 are equal and whether k1 and k2 are zero, if so, the installation of the rotary transformer of the permanent magnet synchronous motor is qualified, that is, the rotary transformer does not have concentricity deviation caused by installation (and also does not have other design defects such as manufacturing deviation and controller decoding circuit), otherwise, proceeding to step S62;

[0067] Step S62, detecting the stator and rotor concentricity of the rotary transformer of the permanent magnet synchronous motor from the following aspects:

[0068] 1) Radial eccentricity detection

[0069] The error caused by the radial eccentricity of the stator and rotor of the resolver is in the form of zero position error and amplitude imbalance, that is, k1 and k2 are not equal to zero, and d1 is not equal to d2. It is mainly manifested in the large and small waves generated by the demodulated sine and cosine signals, such as Figure 3 As shown;

[0070] 2) Axial offset detection

[0071] The error caused by the axial offset of the stator and rotor of the resolver only affects the transformation ratio K of the resolver, which is mainly reflected in the decrease of the amplitude of the demodulated sine and cosine signals, such as Figure 4 As shown;

[0072] 3) Stator tilt detection

[0073] The inclination of the resolver stator can be regarded as a combination of stator eccentricity and stator axial offset, which is mainly manifested as large and small waves, and the amplitude of the returned sine and cosine signals becomes smaller, such as Figure 5 shown.

[0074] In this way, poor concentricity of the rotary transformer caused by installation deviations, including stator radial eccentricity, rotor radial eccentricity, stator-rotor axial offset, and stator tilt, can be detected and identified.

[0075] The present invention is based on soft decoding technology, takes advantage of the main control chip of the motor controller, and implements the decoding process of the entire sensor through software rather than hard decoding chip, including generating excitation signals, collecting and processing return signals, and signal demodulation to calculate the rotor angle speed. Based on this, the structural characteristics and electromagnetic characteristics of the stator and rotor of the permanent magnet synchronous motor and the stator and rotor of the rotary transformer, that is, the winding loop of the stator armature, and the coaxial structure of the rotor permanent magnet, are used. A high-frequency and low-voltage excitation signal is injected into the rotary transformer rotor through a motor controller with a soft decoding function, and then the induced voltage signal returned from the stator of the rotary transformer is collected and demodulated. The concentricity deviation of the stator and rotor of the rotary transformer is detected by processing and comparing the amplitude of the demodulated sine and cosine signals.

[0076] The present invention does not rely on visual detection or external detection equipment, but instead uses the electromagnetic induction characteristics of the rotary transformer itself to cleverly achieve the detection function, with high detection accuracy and good detection effect, helping to improve the level of motor off-line quality detection.

[0077] The above shows and describes the basic principles and main features of the present invention and the advantages of the present invention. It should be understood by those skilled in the art that the present invention is not limited to the above embodiments. The above embodiments and descriptions are only for explaining the principles of the present invention. Without departing from the spirit and scope of the present invention, the present invention may have various changes and improvements, which fall within the scope of the present invention to be protected. The scope of protection of the present invention is defined by the attached claims and their equivalents.

Claims

1. A permanent magnet synchronous motor rotary transformer installation detection device, characterized in that: It includes a host computer, a high-voltage DC power supply, a low-voltage DC power supply and a motor controller, wherein the host computer controls the high-voltage DC power supply and / or the low-voltage DC power supply to supply power to the motor controller, the host computer controls the motor controller to invert DC power into three-phase AC power and output it to the permanent magnet synchronous motor and perform speed closed-loop control, the motor controller performs torque closed-loop control on the permanent magnet synchronous motor, and transmits the demodulated resolver low-voltage signal to the host computer for concentricity detection; The detection method of the permanent magnet synchronous motor rotary transformer installation detection device comprises the following steps: Step S10, controlling the high voltage DC power supply and / or the low voltage DC power supply to supply power to the motor controller through the host computer; Step S20, controlling the motor controller to output torque through the host computer, and controlling the permanent magnet synchronous motor to enter a speed closed loop, so that the permanent magnet synchronous motor maintains a preset speed; Step S30, the upper computer controls the motor controller to output a high-frequency low-voltage excitation signal to be injected into the rotor excitation winding of the rotary transformer of the permanent magnet synchronous motor. The excitation voltage applied to the excitation winding on the rotor is: the ref =U m sinωt Where, ω is the angular frequency of the excitation signal, U m is the winding terminal voltage amplitude; Step S40, the motor controller collects and analyzes the induced voltage signal returned from the stator winding of the rotary transformer. At this time, the voltages induced on the sine and cosine output windings of the stator are: You sin =TO m sinωt·sinθ You cos =TO m sinωt·cosθ Where K is the ratio of the resolver, and θ is the rotor angle of the resolver; Step S50, demodulating the returned sine and cosine signals through the motor controller, and obtaining the sine and cosine envelope signals: in sin =KD U m d1·sinθ+k1 <h2 style=";text-align:left;direction:ltr">u<h2 style=";text-align:left;direction:ltr"> cos <h2 style=";text-align:left;direction:ltr"> =KDU<h2 style=";text-align:left;direction:ltr"> m <h2 style=";text-align:left;direction:ltr"> d2·cosθ+k2 Wherein, D is the amplitude variation coefficient generated in the signal demodulation process, d1 is the amplitude variation coefficient of the sine signal due to the installation offset, d2 is the amplitude variation coefficient of the cosine signal due to the installation offset, k1 is the amplitude offset coefficient of the sine signal due to the installation offset, k2 is the amplitude offset coefficient of the cosine signal due to the installation offset; Step S60: The demodulated signal is transmitted to the host computer through the motor controller, and the host computer detects the concentricity of the stator and rotor of the rotary transformer by analyzing the change characteristics of the signal amplitude.

2. The permanent magnet synchronous motor rotary transformer installation detection device according to claim 1, characterized in that: The host computer is connected to the high-voltage DC power supply and the low-voltage DC power supply respectively through a universal serial interface.

3. The permanent magnet synchronous motor rotary transformer installation detection device according to claim 1, characterized in that: The host computer is connected to the motor controller via a CAN bus.

4. The permanent magnet synchronous motor rotary transformer installation detection device according to claim 1, characterized in that: In step S10, the host computer controls the high voltage DC power supply and / or the low voltage DC power supply to supply power to the motor controller, including the following steps: Step S11, the host computer controls the low-voltage DC power supply to power the motor controller through the universal serial interface, the motor controller completes the low-voltage power-on initialization check, and can inject a high-frequency low-voltage excitation signal into the rotary transformer of the permanent magnet synchronous motor through the rotary transformer low-voltage wiring harness; Step S12, the host computer controls the high-voltage DC power supply to supply power to the motor controller through the universal serial interface, and the motor controller completes the high-voltage power-on initialization detection and enters a waiting state.

5. The permanent magnet synchronous motor rotary transformer installation detection device according to claim 1, characterized in that: In step S60, the host computer detects the concentricity of the stator and rotor of the resolver by analyzing the signal amplitude variation characteristics, including the following steps: Step S61, determining whether d1 and d2 are equal and whether k1 and k2 are zero, if so, the rotary transformer does not have concentricity deviation caused by installation, otherwise proceeding to step S62; Step S62, detecting the stator and rotor concentricity of the rotary transformer of the permanent magnet synchronous motor from the following aspects: 1) Radial eccentricity detection The error caused by the radial eccentricity of the stator and rotor of the resolver is in the form of zero position error and amplitude imbalance, that is, k1 and k2 are not equal to zero, and d1 is not equal to d2, which is mainly reflected in the large and small waves generated by the demodulated sine and cosine signals; 2) Axial offset detection The error caused by the axial offset of the stator and rotor of the resolver only affects the transformation ratio K of the resolver, which is mainly reflected in the decrease of the amplitude of the demodulated sine and cosine signals. 3) Stator tilt detection The inclination of the resolver stator can be regarded as a combination of stator eccentricity and stator axial offset, which is mainly manifested as large and small waves, and the amplitude of the returned sine and cosine signals becomes smaller.

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