A DC brushless motor drive synchronous test system and method

Abstract

The present invention relates to the field of motor drive control technology, and specifically to a DC brushless motor drive synchronous test system and method. The method includes: obtaining angle error and response time; determining the drive synchronization index according to the changes in the angle error and response time; performing difference analysis according to the changes in the drive synchronization index under different loads, and determining the theoretical difference index between each load and the preset theoretical change characteristic function; determining the preferred index of the interference of different preset theoretical change characteristic functions on the motor according to the output power and theoretical difference index under different loads; determining the cleaning output power of the motor according to the preferred index, and performing a synchronous test on the motor drive based on the cleaning output power to obtain a synchronous test result. The embodiment of the present invention obtains the optimal change characteristic function by screening, thereby eliminating the influence of the driver power loss as much as possible, and improving the stability and accuracy of the motor drive synchronous control.

Description

Technical Field

[0001] The present invention relates to the technical field of motor drive control, and in particular to a direct current brushless motor drive synchronous test system and method. Background Art

[0002] The rotor of a brushless DC motor usually has permanent magnets fixed on it, while the stator contains windings. The electronic commutator controls the current of the stator winding in real time through sensors or back EMF detection, so that the rotor always remains in the correct position. The electronic commutator adjusts the phase and magnitude of the current according to the rotor position to ensure that the rotor rotates in the correct direction at the right time, that is, the actual position of the motor rotor is synchronized with the position expected by the control system.

[0003] In the related art, a position sensor or encoder is installed on the motor shaft to detect the position and speed of the motor rotor in real time, and feedback information from the position sensor or encoder is received in real time to achieve synchronization testing. In this way, since the motor driver has power loss, there is lag or instability in the feedback response, which leads to an increase in position error in the synchronization test. At the same time, the time delay between the drive signal and the actual motor response increases, affecting the stability and accuracy of the motor drive synchronization control. Summary of the invention

[0004] In order to solve the technical problem that there is hysteresis or instability in the feedback response in the related art, which leads to an increase in the position error in the synchronous test, and at the same time, the time delay between the drive signal and the actual motor response increases, affecting the stability and accuracy of the motor drive synchronous control, the present invention provides a DC brushless motor drive synchronous test system and method, and the technical scheme adopted is as follows:

[0005] The present invention proposes a direct current brushless motor drive synchronous testing method, the method comprising:

[0006] When the rotor of the motor is at different speeds under different loads, obtaining an angle error corresponding to a preset standard angle position and a response time for the motor to rotate to reach the preset standard angle position;

[0007] According to the changes of angle error and response time under different speeds with the same load, determine the drive synchronization index of the motor under each load;

[0008] According to the numerical changes of the driving synchronization index under different loads, different preset theoretical change characteristic functions are used to perform difference analysis to determine the theoretical difference index between each load and the preset theoretical change characteristic function, wherein the preset theoretical change characteristic function of the driving synchronization index under different loads is a linear function;

[0009] According to the output power and theoretical difference index under different loads, the preferred index of different preset theoretical change characteristic functions for the interference of the motor is determined; the optimal change characteristic function is screened according to the preferred index, the cleaning output power of the motor is determined, and the motor drive is synchronously tested based on the cleaning output power to obtain the synchronous test result.

[0010] Furthermore, the determination of the driving synchronization index of the motor under each load according to the changes in the angle error and the response time under different speeds under the same load includes:

[0011] Determine the error variation range based on the numerical variation of the angle error at different speeds with the same load;

[0012] According to the numerical distribution of response time under different speeds under the same load, the load response rate of the motor under each load is determined;

[0013] Under the same load, the product of the load response rate and the error change amplitude is calculated and normalized as the drive synchronization index.

[0014] Further, the error variation range is determined according to the numerical variation of the angle error at different speeds under the same load, including:

[0015] Under the same load, the angle errors are sorted in order from small to large according to the rotation speed to obtain an error sequence;

[0016] The difference between the latter angle error and the previous angle error in the error sequence is used as an error change indicator;

[0017] The mean of all error changes corresponding to the error sequence is taken as the error change amplitude.

[0018] Further, the load response rate of the motor under each load is determined according to the numerical distribution of the response time under different speeds under the same load, including:

[0019] Under the same load, the response stability index is determined based on the numerical distribution of all response times;

[0020] Calculate the product of the response stability index and the numerical mean of all response times to obtain a load impact index;

[0021] The inverse number of the load impact index is normalized to obtain a load response rate.

[0022] Furthermore, determining the response stability index according to the numerical distribution of all response times includes:

[0023] The numerical variance of all response times is taken as the response time dispersion index;

[0024] The inverse of the response time dispersion index is normalized to obtain a response stability index.

[0025] Furthermore, the method for obtaining the theoretical difference index between each load and a preset theoretical change characteristic function includes:

[0026] Determine the preset theoretical value corresponding to each load according to the preset theoretical change characteristic function;

[0027] The difference between the driving synchronization index and the preset theoretical value under the same load is taken as the load difference coefficient;

[0028] Determine the load influence weight of each load according to the numerical change of the driving synchronization index of each load within the preset load range;

[0029] The product of the load difference coefficient and the load influence weight under the same load is calculated as the theoretical difference index under the corresponding load.

[0030] Furthermore, the method for obtaining the load impact weight includes:

[0031] Select a target load and determine a preset number of other loads with the smallest numerical difference from the target load as neighboring loads;

[0032] Determine the absolute value of the difference between each neighborhood load and the driving synchronization index corresponding to the target load as the neighborhood synchronization change index;

[0033] The sum of all neighborhood synchronization change indices is normalized to obtain the load impact weight of the target load.

[0034] Furthermore, according to the output power and theoretical difference index under different loads, the preferred index of different preset theoretical change characteristic functions on the motor interference is determined, and the corresponding calculation formula is:

[0035] ; In the formula, represents the preferred index, Indicates the total number of all loads during the test; represents the index of the load, Indicates The difference between the load value and the actual output power, Indicates Theoretical difference index of load, Indicates The difference between the load value and the actual output power, Indicates The theoretical difference index of load, Indicates absolute value.

[0036] Further, determining the cleaning output power of the motor includes:

[0037] When the value of the preferred index is the largest, the corresponding As the optimal power change value;

[0038] The difference between each load and the corresponding optimal power change value is taken as the cleaning output power of the motor at the corresponding load.

[0039] On the other hand, the present invention also provides a DC brushless motor drive synchronous test system, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the steps of a DC brushless motor drive synchronous test method as described in any one of the foregoing items when executing the computer program.

[0040] The present invention has the following beneficial effects:

[0041] The embodiment of the present invention specifically analyzes the angular error and response time of the rotor at different speeds under different loads, and determines the drive synchronization index through the change law of the angular error and the response time. The drive synchronization index is a synchronization index without considering the power loss of the motor driver, which has certain limitations. Therefore, the embodiment of the present invention further sets a preset theoretical change characteristic function, combines the numerical change of the drive synchronization index under different loads with the preset theoretical change characteristic function to perform difference analysis, determines the preferred index of different preset theoretical change characteristic functions on the motor interference, screens out the preset theoretical change characteristic function that best meets the ideal state, determines the cleaning output power of the motor, and performs a synchronization test on the motor drive based on the cleaning output power to obtain a synchronization test result. That is to say, the embodiment of the present invention obtains the optimal change characteristic function through screening, thereby eliminating the influence of the driver power loss as much as possible and improving the stability and accuracy of the motor drive synchronization control. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] In order to more clearly illustrate the technical solutions and advantages in the embodiments of the present invention or the prior art, the drawings required for use in the embodiments or the prior art descriptions are 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.

[0043] Figure 1 A flow chart of a synchronous testing method for a brushless DC motor drive provided by an embodiment of the present invention;

[0044] Figure 2A schematic diagram of a brushless DC motor provided by an embodiment of the present invention;

[0045] Figure 3 A schematic diagram of a motor synchronization test scenario provided by an embodiment of the present invention;

[0046] Figure 4 A flow chart of a method for obtaining a theoretical difference index provided by an embodiment of the present invention;

[0047] Figure 5 A structural diagram of a brushless DC motor drive synchronous test system provided by one embodiment of the present invention. DETAILED DESCRIPTION

[0048] In order to further explain the technical means and effects adopted by the present invention to achieve the predetermined invention purpose, the following is a detailed description of the specific implementation, structure, features and effects of a DC brushless motor drive synchronous test system and method proposed by the present invention in combination with the accompanying drawings and preferred embodiments. In the following description, different "one embodiment" or "another embodiment" does not necessarily refer to the same embodiment. In addition, specific features, structures or characteristics in one or more embodiments may be combined in any suitable form.

[0049] Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs.

[0050] The specific scheme of the synchronous testing method for driving a brushless DC motor provided by the present invention is described in detail below with reference to the accompanying drawings.

[0051] See also Figure 1 , which shows a flow chart of a DC brushless motor drive synchronous test method provided by an embodiment of the present invention, the method comprising:

[0052] S101: The motor rotor obtains an angle error from a preset standard angle position and a response time for the motor rotor to rotate to reach the preset standard angle position at different speeds under different loads.

[0053] An implementation scenario of the present invention is a drive test scenario of a brushless DC motor, and the specific test process is a synchronization test.

[0054] The brushless DC motor consists of a permanent magnet rotor, a multi-pole winding stator, a position sensor, etc. The position sensor commutates the current of the stator winding in a certain order according to the change of the rotor position (that is, it detects the position of the rotor pole relative to the stator winding, and generates a position sensing signal at a certain position, which is processed by the signal conversion circuit to control the power switch circuit and switch the winding current according to a certain logical relationship). The working voltage of the stator winding is provided by the electronic switch circuit controlled by the output of the position sensor.

[0055] See also Figure 2 , Figure 2 A schematic diagram of a brushless DC motor provided for one embodiment of the present invention. Brushless motor drive synchronization means that during the operation of the brushless motor, the rotation speed of its rotor is synchronized with the rotating magnetic field generated by the stator, that is, the rotor rotates at a fixed speed following the changes in the stator's rotating magnetic field. This state of synchronous operation is achieved through precise control and regulation of the motor to ensure efficient operation and stable performance of the motor. In layman's terms, the purpose of synchronization is to ensure that the phase and frequency of the drive signal match the actual position of the motor rotor. In this way, the phase windings of the motor can be energized at the right time to generate appropriate electromagnetic force to drive the rotor to rotate.

[0056] It should be noted that in order to ensure the accuracy of the motor efficiency and motor driver test, the efficiency of the motor and motor driver must be measured under the same load, that is, the data must be collected at the same time. Multi-channel power measurement equipment (such as a power analyzer) is generally used for measurement.

[0057] See also Figure 3 , Figure 3 A schematic diagram of a motor synchronization test scenario provided by an embodiment of the present invention. Among them, the current and voltage of the power grid are input to the motor driver to control the rotation of the motor. Under the same load condition, the current inside the stator is adjusted to increase the rotor speed. The rotor position feedback signal provided by the Hall sensor or encoder is used to record the actual position of the rotor, and the preset standard angle position of the rotor under the current instruction is obtained. The angle difference between the two positions is obtained, which can be used to represent the angle error between the actual position and the preset standard angle position. Then, under the premise of ensuring that the load size does not exceed the rated load of the motor, the load is adjusted from small to large, the above operation is repeated, and the corresponding angle error is obtained. Thus, the angle error with the preset standard angle position at different speeds with different loads is obtained.

[0058] Among them, the preset standard angle position is specifically the position of the motor working under ideal conditions at a certain moment. Under ideal conditions, when the motor moves at a uniform speed, the interval time can be determined according to the current change, and the preset standard angle position can be analyzed according to the interval time.

[0059] For example, in the actual analysis process, according to the current and voltage phase analysis, the rotor rotation on the horizontal line is the standard position under normal circumstances, and the horizontal line can be used as the preset standard angle position. However, in the actual process, due to the influence of the load on the motor rotation and the difference in synchronization between the driver and the motor, the motor rotor will have a certain angle difference between the actual position and the horizontal line. This angle difference is the angle error.

[0060] Among them, the time required for the rotor to stabilize in the actual position after the acquisition instruction is issued can be called the response time.

[0061] Continue to combine Figure 3 After analysis, the obtained angle error and response time are input into the power measurement equipment for subsequent analysis and processing.

[0062] S102: Determine the driving synchronization index of the motor under each load according to the changes of the angle error and the response time under different speeds under the same load.

[0063] Furthermore, the error variation amplitude is determined based on the numerical variation of the angle error at different speeds under the same load; the load response rate of the motor under each load is determined based on the numerical distribution of the response time at different speeds under the same load; and the drive synchronization index of the motor under any load is determined by combining the error variation amplitude and the load response rate.

[0064] It should be noted that the motor driver has efficiency loss, which causes hysteresis (angle error) and instability (change in response time) in the feedback response, resulting in increased position error in the synchronization test. At the same time, the time delay between the drive signal and the actual motor response increases, affecting the stability and accuracy of the synchronization performance. Therefore, it is necessary to clean the errors generated by the driver itself.

[0065] Based on prior knowledge, larger loads usually require higher output power to keep the motor running. If the load increases, the motor needs more torque to overcome the load, which in turn requires more power to maintain the required speed. The output power of a motor is usually directly related to its speed. Increasing the speed of the motor can increase its output power, provided that the torque remains unchanged or is adjusted within a reasonable range.

[0066] Therefore, when a speed change command is issued, the motor output power increases as the speed increases. At this time, if the actual load is much smaller than the output power, the torque required for the motor to maintain the speed gradually decreases. Therefore, theoretically, the angle error value generated during the synchronization process gradually decreases, while the response time remains unchanged. Based on this logic, the drive synchronization of the motor under any load can be obtained.

[0067] In the embodiment of the present invention, the change of the angle error may be characterized by the error change amplitude.

[0068] Further, in some embodiments of the present invention, under the same load, the angle errors are sorted in order of rotation speed from small to large to obtain an error sequence; the difference between the latter angle error and the previous angle error in the error sequence is used as the error change indicator; and the mean of all error changes corresponding to the error sequence is used as the error change amplitude.

[0069] Among them, since the output power of the motor increases with the increase of the rotation speed, the angle error value generated during the synchronization process theoretically gradually decreases.

[0070] This scheme uses error sequence to realize change analysis, that is, in the error sequence, the latter angle error should be smaller than the previous angle error under normal circumstances. The difference between the latter angle error and the previous angle error in the error sequence is used as the error change indicator; the mean of all error changes corresponding to the error sequence is used as the error change amplitude. The larger the value of the error change amplitude, the greater the reduction in the angle error.

[0071] Furthermore, in some embodiments of the present invention, the load response rate of the motor under each load is determined based on the numerical distribution of response time under the same load and different speeds, including: under the same load, according to the numerical distribution of all response times, a response stability index is determined; the product of the response stability index and the numerical mean of all response times is calculated to obtain a load influence index; and the opposite of the load influence index is normalized as the load response rate.

[0072] Among them, the response stability index is a numerical representation of the stability of the response time at different speeds under the same load. The response stability index is determined according to the numerical distribution of all response times, including: taking the numerical variance of all response times as the response time discrete index; normalizing the opposite number of the response time discrete index to obtain the response stability index.

[0073] That is to say, the numerical discreteness can be characterized by variance, and the opposite of the variance can be normalized as a response stability index. In other embodiments of the present invention, the standard deviation or other discreteness analysis methods can also be calculated, and then the response stability index can be obtained by negative correlation analysis of discreteness, which is not limited.

[0074] In the embodiment of the present invention, the product value of the response stability index and the numerical mean of all response times may be calculated as the load impact index.

[0075] It should be noted that in order to ensure that the calculation results are meaningful, when performing fractional operations in the embodiments of the present invention, when encountering the phenomenon that the denominator may be 0, a parameter adjustment factor greater than 0 may be added to the denominator to prevent the denominator from being 0. The value of the parameter adjustment factor is set by the implementer according to actual conditions, and this application does not impose any special restrictions.

[0076] It should be noted that, in order to facilitate calculation, all indicator data involved in the calculation in the embodiment of the present invention are preprocessed to eliminate the dimension effect. The specific means of eliminating the dimension effect are technical means well known to those skilled in the art and are not limited here.

[0077] In an embodiment of the present invention, the opposite number of the load influence index is normalized as the load response rate. That is, when the value of the load influence index is 10, it can be determined that the opposite number of the load influence index is -10, and -10 is normalized to the maximum and minimum values ​​to obtain the load response rate. The larger the value of the load response rate, the smaller the corresponding response time, and the higher the response time stability of the same load at different speeds.

[0078] Therefore, in the embodiment of the present invention, the load response rate and the error variation amplitude can be forwardly integrated under the same load as the drive synchronization index, wherein the value of the drive synchronization index is a normalized value.

[0079] Among them, the product value of the load response rate and the error change amplitude can be calculated, and the product value can be linearly normalized as the drive synchronization index. The larger the value of the drive synchronization index, the greater the reduction of the angle error, the smaller the overall response time, and the higher the response time stability.

[0080] S103: According to the numerical changes of the driving synchronization index under different loads, different preset theoretical change characteristic functions are used to perform difference analysis to determine the theoretical difference index between each load and the preset theoretical change characteristic function, wherein the preset theoretical change characteristic function of the driving synchronization index under different loads is a linear function.

[0081] Among them, the synchronization index between the motor and the drive will change under different loads, and this change characteristic is caused by the efficiency loss of the motor driver.

[0082] According to the analysis, the efficiency loss of the motor under any load is different. According to the above logic, when the error and delay increase, the drive synchronization will decrease, which will appear as a local convexity in the curve and make the drive synchronization process of the motor under this load more difficult. The embodiment of the present invention can analyze this feature in detail.

[0083] Further, in some embodiments of the present invention, see Figure 4 , Figure 4 A flow chart of a method for obtaining a theoretical difference index provided by an embodiment of the present invention includes:

[0084] S701: Determine a preset theoretical value corresponding to each load according to a preset theoretical variation characteristic function.

[0085] The preset theoretical change characteristic function is a functional representation for analyzing the overall drive synchronization, which is a preset linear function.

[0086] In an ideal scenario, as the load increases, the corresponding drive synchronization should show a uniform decrease effect. Therefore, the preset theoretical change characteristic function is a linear function, and its specific expression can be , It indicates the preset theoretical value when the load is g, and represents the slope of the linear change, represents the constant term, and both the slope and the constant term can be adjusted to different values, so as to obtain different preset theoretical change characteristic functions, which is convenient for subsequent screening of the optimal preset theoretical change characteristic function. Thus, the preset theoretical value corresponding to each load is determined through the preset theoretical change characteristic function.

[0087] S702: The difference between the driving synchronization index under the same load and the preset theoretical value is used as the load difference coefficient.

[0088] In the embodiment of the present invention, the greater the difference between the driving synchronization index and the preset theoretical value under the same load, the greater the difference between the actual load and the situation represented by the preset theoretical change characteristic function.

[0089] S703: Determine the load influence weight of each load according to the value change of the driving synchronization index of each load within the preset load range.

[0090] It should be noted that, since the driving synchronization under different loads will undergo certain changes in actual situations, different loads have different importance to the overall synchronization analysis. In order to reflect this feature, the load influence weight of each load is analyzed in the embodiment of the present invention to characterize its importance.

[0091] Furthermore, in some embodiments of the present invention, a method for obtaining a load influence weight includes: selecting any target load, and determining a preset number of other loads having the smallest numerical difference with the target load as neighborhood loads; determining the absolute value of the difference between the driving synchronization index corresponding to each neighborhood load and the target load as a neighborhood synchronization change index; and normalizing the sum of all neighborhood synchronization change indicators to obtain the load influence weight of the target load.

[0092] Among them, the preset number is the number of preset neighboring loads when performing load impact weight analysis for any load. The preset number can be specifically 6, for example, when the loads are sorted in order from small to large as "1kw, 2kw, 3kw, 4kw, 5kw, 6kw, 7kw and 8kw", the neighboring loads corresponding to the load "5kw" are "2kw, 3kw, 4kw, 6kw, 7kw and 8kw".

[0093] In the embodiment of the present invention, since load changes will produce abnormal bulges, the bulges indicate that the synchronization difficulty of the motor under the load is higher at this time, and the bulges will affect multiple adjacent loads. Therefore, through neighborhood load analysis, the influence weight of the bulges is increased, which facilitates the accuracy of the overall synchronization analysis.

[0094] Among them, the neighborhood synchronization change index represents the change of the driving synchronization index corresponding to the neighborhood load and the target load. The larger its value is, the more the target load is in the convex effect, and thus, the greater the load influence weight is.

[0095] S704: Forward fusion of the load difference coefficient and the load influence weight under the same load as a theoretical difference index under the corresponding load.

[0096] In the embodiment of the present invention, the product of the load difference coefficient and the load influence weight can be calculated to obtain a theoretical difference index, and the theoretical difference index represents the numerical distribution of the drive synchronization index that satisfies linear changes under ideal conditions.

[0097] S104: Determine the preferred index of the interference of different preset theoretical change characteristic functions on the motor according to the output power and theoretical difference index under different loads; determine the cleaning output power of the motor according to the preferred index, perform a synchronous test on the motor drive based on the cleaning output power, and obtain a synchronous test result.

[0098] Among them, an optimization function can be constructed to realize the analysis of the preferred index, that is, to analyze the theoretical difference index obtained by the preset theoretical change characteristic function and the function of the actual output power change characteristic.

[0099] Furthermore, in some embodiments of the present invention, the formula of the optimization function is:

[0100]

[0101] In the formula, represents the preferred index, Indicates the total number of all loads during the test; represents the index of the load, Indicates The difference between the load value and the actual output power, Indicates The theoretical difference index of load, Indicates The difference between the load value and the actual output power, Indicates The theoretical difference index of load, Indicates absolute value.

[0102] It should be noted that according to the existing power calculation formula P=T×v, P represents the actual output power, T is the torque, and v is the speed. The actual output power can be directly obtained based on existing technical means, and no further limitation or elaboration is made on this.

[0103] Then for this formula, and Respectively indicate the corresponding The load and The correction of power difference under different loads, where the greater the cost of satisfying the theoretical linear change under the corresponding load, the greater the corresponding load difference, that is, the greater the correction amplitude, so it is expressed in the form of product.

[0104] By subtracting the corresponding correction differences under two adjacent loads and traversing all loads, the sum of the difference values ​​of the corrected load differences and the sum of the absolute values ​​of the differences are obtained respectively, and the two are expressed by fractions, thus obtaining , which shows the degree to which the corrected load difference satisfies the linear change. The value range is [-1,1]. The absolute value is finally obtained. , the range is [0,1], then The closer the value is to 1, the higher the degree of linear change is, which also indicates that the corrected power difference curve has a better cleaning effect on motor interference.

[0105] It should be noted that, for different preset theoretical change characteristic functions, the theoretical difference index values ​​of the corresponding loads are different, and thus, the preferred index values ​​obtained by different preset theoretical change characteristic functions are different.

[0106] Further, in some embodiments of the present invention, the cleaning output power of the motor is determined according to the preferred index, including: when the value of the preferred index is the largest, the corresponding power under different loads is as the optimal power change value; the difference between each load and the corresponding optimal power change value is used as the cleaning output power of the motor at the corresponding load.

[0107] It can be understood that the value of the preferred index is the largest, indicating The closer the value is to 1, the higher the degree of linear change is, which also indicates that the corrected power difference curve has a better cleaning effect on motor interference.

[0108] By continuously changing the slope and intercept of the preset theoretical change characteristic function in the above steps, As the independent variable changes, When the value takes the maximum value, the corresponding preset theoretical change characteristic function is used as the optimal change characteristic function.

[0109] Then under the influence of the optimal change characteristic function, The optimal power change value, that is, the difference between the actual output power and the power under the ideal condition after eliminating the power loss in the motor driver, can realize the synchronous output performance analysis of the motor and the driver based on the optimal power change value under different loads, and take the difference between each load and the corresponding optimal power change value as the cleaning output power of the motor under the corresponding load, that is, the output power under the influence of the power loss in the motor driver. The embodiment of the present invention can eliminate the influence of the motor driver on the existing power loss when performing synchronization analysis.

[0110] The embodiment of the present invention specifically analyzes the angular error and response time of the rotor at different speeds under different loads, and determines the drive synchronization index through the change law of the angular error and the response time. The drive synchronization index is a synchronization index without considering the power loss of the motor driver, which has certain limitations. Therefore, the embodiment of the present invention further sets a preset theoretical change characteristic function, combines the numerical change of the drive synchronization index under different loads with the preset theoretical change characteristic function to perform difference analysis, determines the preferred index of different preset theoretical change characteristic functions on the motor interference, screens out the preset theoretical change characteristic function that best meets the ideal state, determines the cleaning output power of the motor, and performs a synchronization test on the motor drive based on the cleaning output power to obtain a synchronization test result. That is to say, the embodiment of the present invention obtains the optimal change characteristic function through screening, thereby eliminating the influence of the driver power loss as much as possible and improving the stability and accuracy of the motor drive synchronization control.

[0111] The present invention also provides a DC brushless motor drive synchronous test system, see Figure 5 , Figure 5 A structural diagram of a DC brushless motor drive synchronous test system provided in one embodiment of the present invention, the system 600 includes a memory 601, a processor 602, and a computer program 603 stored in the memory 601 and executable on the processor 602, and the processor 602 implements the steps of the aforementioned DC brushless motor drive synchronous test method when executing the computer program 603.

[0112] It should be noted that the sequence of the above embodiments of the present invention is only for description and does not represent the advantages and disadvantages of the embodiments. The processes depicted in the accompanying drawings do not necessarily require the specific order or continuous order shown to achieve the desired results. In some embodiments, multitasking and parallel processing are also possible or may be advantageous.

[0113] The various embodiments in this specification are described in a progressive manner, and the same or similar parts between the various embodiments can be referenced to each other, and each embodiment focuses on the differences from other embodiments.

Claims

1. A DC brushless motor drive synchronous test method, characterized in that: The method comprises: When the rotor of the motor is at different speeds under different loads, obtaining an angle error corresponding to a preset standard angle position and a response time for the motor to rotate to reach the preset standard angle position; According to the changes of angle error and response time under different speeds with the same load, determine the drive synchronization index of the motor under each load; According to the numerical changes of the driving synchronization index under different loads, different preset theoretical change characteristic functions are used to perform difference analysis to determine the theoretical difference index between each load and the preset theoretical change characteristic function, wherein the preset theoretical change characteristic function of the driving synchronization index under different loads is a linear function; According to the output power and theoretical difference index under different loads, determine the preferred index of different preset theoretical change characteristic functions for the interference of the motor; select and obtain the optimal change characteristic function according to the preferred index, determine the cleaning output power of the motor, perform synchronous test on the motor drive based on the cleaning output power, and obtain the synchronous test result; The method for obtaining the theoretical difference index between each load and a preset theoretical change characteristic function includes: Determine the preset theoretical value corresponding to each load according to the preset theoretical change characteristic function; The difference between the driving synchronization index and the preset theoretical value under the same load is taken as the load difference coefficient; Determine the load influence weight of each load according to the numerical change of the driving synchronization index of each load within the preset load range; Calculate the product of the load difference coefficient and the load influence weight under the same load as the theoretical difference index under the corresponding load; The method for obtaining the load influence weight includes: Select a target load and determine a preset number of other loads with the smallest numerical difference from the target load as neighboring loads; Determine the absolute value of the difference between each neighborhood load and the driving synchronization index corresponding to the target load as the neighborhood synchronization change index; The sum of all neighborhood synchronization change indices is normalized to obtain the load impact weight of the target load; According to the output power and theoretical difference index under different loads, the preferred index of different preset theoretical change characteristic functions on the motor interference is determined, and the corresponding calculation formula is: ; In the formula, represents the preferred index, Indicates the total number of all loads during the test; represents the index of the load, Indicates The difference between the load value and the actual output power, Indicates Theoretical difference index of load, Indicates The difference between the load value and the actual output power, Indicates Theoretical difference index of load, Indicates absolute value; Determine the cleaning output power of the motor, including: When the value of the preferred index is the largest, the corresponding As the optimal power change value; The difference between each load and the corresponding optimal power change value is taken as the cleaning output power of the motor at the corresponding load.

2. A brushless DC motor drive synchronous test method as claimed in claim 1, characterized in that: Determining the driving synchronization index of the motor under each load according to the changes in the angle error and the response time under different speeds under the same load includes: Determine the error variation range based on the numerical variation of the angle error at different speeds with the same load; According to the numerical distribution of response time under different speeds under the same load, the load response rate of the motor under each load is determined; Under the same load, the product of the load response rate and the error change amplitude is calculated and normalized as the drive synchronization index.

3. A brushless DC motor drive synchronous test method as claimed in claim 2, characterized in that: Determining the error variation range according to the numerical variation of the angle error at different speeds under the same load includes: Under the same load, the angle errors are sorted in order from small to large according to the rotation speed to obtain an error sequence; The difference between the latter angle error and the previous angle error in the error sequence is used as an error change indicator; The mean of all error changes corresponding to the error sequence is taken as the error change amplitude.

4. A brushless DC motor drive synchronous test method as claimed in claim 2, characterized in that: Determining the load response rate of the motor under each load according to the numerical distribution of the response time under different speeds under the same load includes: Under the same load, the response stability index is determined based on the numerical distribution of all response times; Calculate the product of the response stability index and the numerical mean of all response times to obtain a load impact index; The inverse number of the load impact index is normalized to obtain a load response rate.

5. A brushless DC motor drive synchronous test method as claimed in claim 4, characterized in that: Determining the response stability index according to the numerical distribution of all response times includes: The numerical variance of all response times is taken as the response time dispersion index; The inverse of the response time dispersion index is normalized to obtain a response stability index.

6. A DC brushless motor drive synchronous test system, the system comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that: When the processor executes the computer program, the steps of a DC brushless motor drive synchronous testing method as described in any one of claims 1 to 5 are implemented.

Images