Motor parameter online detection system and method

Abstract

The invention relates to the technical field of motor detection, and discloses a motor parameter online detection system and method, and the system comprises a driver which is used for measuring the real-time parameters of a to-be-detected motor, and calculating the state parameters of the to-be-detected motor based on the real-time parameters; the real-time parameters at least comprise current, induced electromotive force and real-time speed information, and the state parameters comprise inductance, resistance, temperature and load parameters; and the upper computer communicates with the driver through a bus and is used for receiving the state parameters and judging whether the current state of the motor to be detected is abnormal or not. According to the invention, real-time and accurate on-line detection can be carried out on the motor parameters in the operation process of the equipment, and potential abnormity of the motor equipment can be found in advance, so that continuity and stability of production can be ensured.

Description

Technical Field

[0001] The present invention relates to the technical field of motor detection, and in particular to a system and method for online detection of motor parameters. Background Art

[0002] In the belt conveyor system of industrial automation equipment, a large number of stepper motors are used as driving components. Traditional motor detection methods have many disadvantages: common motor detection schemes are mostly offline detection, which can only measure the parameters of the motor before installation. Once the equipment is put into operation, the real-time state changes of the motor during operation cannot be effectively monitored. Most of the existing online detection schemes indirectly measure motor noise or induced motor current, with limited detection accuracy and cannot fully reflect the actual operating conditions of the motor. These deficiencies make it difficult to detect and handle abnormalities in the motor equipment during operation, which often leads to unexpected line shutdowns for maintenance, seriously affecting production efficiency and increasing production costs. Therefore, it is necessary to improve the existing technology. Summary of the invention

[0003] The present invention provides a motor parameter online detection system and method to solve the problems existing in the prior art.

[0004] To achieve the above object, the present invention provides the following technical solutions:

[0005] A motor parameter online detection system, comprising:

[0006] A driver, the driver is used to measure the real-time parameters of the motor to be tested, and calculate the state parameters of the motor to be tested based on the real-time parameters; the real-time parameters include at least current, induced electromotive force and real-time speed information, and the state parameters include inductance, resistance, temperature and load parameters;

[0007] The host computer communicates with the driver through a bus, and is used to receive the state parameter and determine whether the current state of the motor to be tested is abnormal.

[0008] Optionally, a detection circuit is integrated inside the driver, and the detection circuit is used to obtain the current waveform of the motor to be tested, including:

[0009] Power connection terminal VCC and ground terminal GND;

[0010] Four MOS tubes, namely a first MOS tube and a second MOS tube connected in parallel to a power connection terminal VCC, and a third MOS tube and a fourth MOS tube connected in parallel to a ground terminal GND; wherein the first MOS tube and the second MOS tube are located on the same side, and a first end of a motor coil of a motor to be tested is connected between the first MOS tube and the second MOS tube; the third MOS tube and the fourth MOS tube are located on the same side, and a second end of the motor to be tested is connected between the third MOS tube and the fourth MOS tube;

[0011] Two current sampling resistors, namely a first current sampling resistor connected between the third MOS transistor and the ground terminal GND, and a second current sampling resistor connected between the fourth MOS transistor and the ground terminal GND;

[0012] The driver measures the voltage at both ends of each coil of the motor to be tested, and samples the resistor current through the first current sampling resistor and the second current sampling resistor to obtain the amplitude, frequency and phase information of the coil voltage and current.

[0013] Optionally, the detection circuit further includes a resistor-capacitor voltage divider module, and the resistor-capacitor voltage divider module is used to obtain the induced electromotive force of the motor to be tested.

[0014] Optionally, a status register is provided in the driver, and the status register is used to obtain the real-time speed of the motor by detecting the number of clock cycles between two adjacent steps of the motor current feedback.

[0015] Optionally, a threshold register is further provided in the host computer, and the threshold register is used to monitor the state parameter and issue an alarm when the state parameter is abnormal.

[0016] Optionally, the threshold register monitors whether the real-time speed of the motor is lower than a preset speed threshold;

[0017] The driver is used for measuring the real-time parameters of the motor to be tested when the real-time speed of the motor is lower than a preset speed threshold, and calculating the state parameters of the motor to be tested based on the real-time parameters.

[0018] Optionally, the driver is further used for:

[0019] The motor temperature is calculated according to the formula: TCR=(R-R0) / (R0*(T-T0)), where R is the current resistance, R0 is the initial resistance, T is the current temperature, and T0 is the initial temperature.

[0020] Optionally, the driver is further used for:

[0021] The relationship between the load angle and the motor load is calibrated at different speeds, the motor load angle is calculated, and the motor load condition is fed back, where the load angle is the electrical angle between the rotor magnetic field and the stator magnetic field.

[0022] Optionally, the host computer is also used for:

[0023] Configure the detection frequency to enable detection;

[0024] The driver is also used to:

[0025] According to the detection frequency, detection is performed once at fixed intervals.

[0026] The present invention also provides a method for online detection of motor parameters, which is implemented based on the online detection system for motor parameters as described in any one of the above items, and comprises:

[0027] Starting the driver to measure the real-time parameters of the motor to be tested, wherein the real-time parameters include at least current, induced electromotive force and real-time speed information;

[0028] Calculating state parameters of the motor to be tested based on the measured real-time parameters using the driver, wherein the state parameters include inductance, resistance, temperature and load parameters;

[0029] The calculated state parameters are transmitted to the host computer via the bus;

[0030] After receiving the state parameters, the host computer determines whether the current state of the motor to be tested is abnormal according to a preset determination rule.

[0031] Compared with the prior art, the present invention has the following beneficial effects:

[0032] The present invention provides a motor parameter online detection system and method, which can perform real-time and accurate online detection of motor parameters during equipment operation, and detect potential abnormalities of motor equipment in advance to ensure the continuity and stability of production.

[0033] The present invention has other features and advantages, which will be apparent from or will be described in detail in the accompanying drawings and the following detailed description incorporated herein, which together serve to explain the specific principles of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] 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.

[0035] Figure 1 It is a structural schematic diagram of a motor parameter online detection system provided by an embodiment of the present invention;

[0036] Figure 2 is a schematic diagram of a detection circuit in an online detection system for motor parameters provided by an embodiment of the present invention;

[0037] Figure 3 It is a topological diagram of a motor parameter online detection system provided by an embodiment of the present invention;

[0038] Figure 4 The present invention provides a flow chart of a motor parameter online detection system during the process of detecting motor parameters.

[0039] Figure numerals: 10, driver; 20, host computer; 30, motor to be tested. DETAILED DESCRIPTION

[0040] In order to explain in detail the possible application scenarios, technical principles, specific schemes that can be implemented, and the purposes and effects that can be achieved, the following is a detailed description of the specific embodiments listed in conjunction with the accompanying drawings. The embodiments described herein are only used to more clearly illustrate the technical solutions of the present application, and are therefore only used as examples, and cannot be used to limit the scope of protection of the present application.

[0041] Reference to "embodiment" herein means that the specific features, structures or characteristics described in conjunction with the embodiment may be included in at least one embodiment of the present application. The term "embodiment" appearing in various places in the specification does not necessarily refer to the same embodiment, nor does it particularly limit its independence or association with other embodiments. In principle, in the present application, as long as there is no technical contradiction or conflict, the various technical features mentioned in the embodiments can be combined in any way to form a corresponding implementable technical solution.

[0042] Unless otherwise defined, the technical terms used in this document have the same meanings as those generally understood by those skilled in the art to which this application belongs; the use of relevant terms in this document is only for describing specific embodiments and is not intended to limit this application.

[0043] In the description of this application, the term "and / or" is an expression used to describe the logical relationship between objects, indicating that three relationships may exist, for example, A and / or B, which means: A exists, B exists, and A and B exist at the same time. In addition, the character " / " in this article generally indicates that the objects before and after are in an "or" logical relationship.

[0044] In the present application, terms such as “first” and “second” are merely used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship of quantity, priority or sequence between these entities or operations.

[0045] Without further limitations, in this application, the words "include", "comprises", "has" or other similar expressions used in sentences are intended to cover non-exclusive inclusion. These expressions do not exclude the presence of additional elements in the process, method or product including the elements, so that the process, method or product including a series of elements may include not only those limited elements, but also other elements not explicitly listed, or also include elements inherent to such process, method or product.

[0046] Similar to the understanding in the Examination Guidelines, in this application, expressions such as "greater than", "less than", "exceed" and the like are understood to exclude the number itself; expressions such as "above", "below", "within" and the like are understood to include the number itself. In addition, in the description of the embodiments of this application, "multiple" means more than two (including two), and similar expressions related to "multiple" are also understood in this way, such as "multiple groups", "multiple times", etc., unless otherwise clearly and specifically limited.

[0047] In the description of the embodiments of the present application, space-related expressions used, such as "center", "longitudinal", "lateral", "length", "width", "thickness", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "vertical", "top", "bottom", "inside", "outside", "clockwise", "counterclockwise", "axial", "radial", "circumferential", etc., indicate the orientation or position relationship based on the orientation or position relationship shown in the specific embodiments or drawings, and are only for the convenience of describing the specific embodiments of the present application or facilitating the reader's understanding, and do not indicate or imply that the referred device or component must have a specific position, a specific orientation, or be constructed or operated in a specific orientation, and therefore cannot be understood as a limitation on the embodiments of the present application.

[0048] Unless otherwise expressly specified or limited, in the description of the embodiments of the present application, the terms such as "install", "connect", "connect", "fix", "set", etc. used should be understood in a broad sense. For example, the "connection" can be a fixed connection, a detachable connection, or an integrated setting; it can be a mechanical connection, an electrical connection, or a communication connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium; it can be the internal connection of two elements or the interaction relationship between two elements. For technicians in the technical field to which the present application belongs, the specific meanings of the above terms in the embodiments of the present application can be understood according to the specific circumstances.

[0049] Please refer to Figure 1 An embodiment of the present invention provides a motor parameter online detection system, including a driver 10 and a host computer 20.

[0050] The driver 10 is used to measure more than 30 real-time parameters of the motor to be tested, and to calculate the state parameters of the motor to be tested 30 based on the real-time parameters. The real-time parameters at least include current, induced electromotive force and real-time speed information.

[0051] At the same time, the driver 10 is internally integrated with a detection circuit, through which the current waveform of the motor 30 to be tested can be accurately obtained.

[0052] like Figure 2 As shown, specifically, the detection circuit includes a power connection terminal VCC, a ground terminal GND and four MOS tubes, the four MOS tubes are respectively a first MOS tube Q1 and a second MOS tube Q2 connected in parallel to the power connection terminal VCC, and a third MOS tube Q3 and a fourth MOS tube 34 connected in parallel to the ground terminal GND, and both ends of the motor coil L1 of the motor 30 to be tested are connected between these MOS tubes, that is, the first end of the motor coil L1 is connected between the first MOS tube and the second MOS tube, and the second end is connected between the third MOS tube and the fourth MOS tube.

[0053] In addition, the detection circuit also includes two current sampling resistors, namely a first current sampling resistor connected between the third MOS tube and the ground terminal GND, and a second current sampling resistor connected between the fourth MOS tube and the ground terminal GND. For each set of coils of the motor, the voltages at points A+ and A-, and the sampling resistor currents at points I1 and I2 are measured to obtain the amplitude, frequency and phase information of the coil voltage and current.

[0054] Based on this, the driver 10 can measure the voltage across each coil of the motor 30 to be tested, and sample the resistor current through two current sampling resistors, thereby accurately obtaining the amplitude, frequency and phase information of the coil voltage and current.

[0055] The detection circuit further includes a resistor-capacitor voltage divider module, which is used to obtain the induced electromotive force of the motor 30 to be tested.

[0056] Furthermore, the driver 10 also has a built-in status register, which detects the number of clock cycles between two adjacent steps of the motor current feedback to accurately obtain the real-time speed of the motor.

[0057] In addition, the driver 10 also calculates the state parameters of the motor 30 to be tested, such as inductance, resistance, temperature and load parameters, etc., based on the measured real-time parameters using a built-in algorithm.

[0058] The driver 10 calculates the motor temperature according to the formula: TCR=(R-R0) / (R0*(T-T0)), where R is the current resistance, R0 is the initial resistance, T is the current temperature, and T0 is the initial temperature. Since the motor options in the system are the same and have similar TCR, the resistance at each temperature can be tested and the TCR can be calibrated to generate a relationship table between resistance change and temperature rise. For each motor, the initial resistance R0 is recorded at the beginning of operation, and the current temperature can be obtained by looking up the table based on the resistance R.

[0059] In practical applications, multiple motors are selected and the temperature is recorded using a multi-channel temperature measuring instrument. In the laboratory, the test starts at 20°C and the resistance value data is recorded every time the motor temperature rises by 5°C until 80°C. The average of the data of multiple motors is taken as the basis for making a resistance-temperature correspondence table.

[0060] In this embodiment, the relationship between the load angle and the motor load is calibrated at different speeds, the motor load angle is calculated, and the motor load condition is fed back, wherein the load angle is the electrical angle between the rotor magnetic field and the stator magnetic field.

[0061] Among them, the load angle is the electrical angle between the rotor magnetic field and the stator magnetic field. 0 degrees is the torque of 0, and 90 degrees is the maximum torque. The load angle represents the ratio of the load torque to the maximum torque. The load angle is a function of coil inductance, coil resistance, speed, current, bus voltage and back electromotive force.

[0062] Assuming that the coil parameters of the two-phase stepper motor are consistent and self-inductance and mutual inductance are ignored, the voltage equation can be simplified to:

[0063]

[0064]

[0065] in , is the coil voltage, , is the coil current, L is the winding inductance, R is the winding resistance, , is the induced electromotive force.

[0066]

[0067]

[0068] in is the maximum magnetic flux, is the electrical angular velocity, The electrical angle.

[0069] Electromagnetic torque T:

[0070] By determination , , , , and using the sliding mode observer we can measure , , and then calculate the load angle .

[0071] In this embodiment, the host computer 20 establishes a stable and efficient communication connection with the driver 10 through the bus to receive state parameters from the driver 10, and analyzes these parameters according to preset judgment rules to determine whether the current state of the motor 30 to be tested is abnormal.

[0072] The host computer 20 is specially provided with a threshold register, which monitors the state parameters at all times. Once it is found that the state parameters deviate from the normal range, an alarm is immediately issued to promptly remind the operator to take corresponding measures.

[0073] Furthermore, the threshold register monitors whether the real-time speed of the motor is lower than a preset speed threshold; the driver 10 is used to measure the real-time parameters of the motor 30 to be tested when the real-time speed of the motor is lower than the preset speed threshold, and calculate the state parameters of the motor 30 to be tested based on the real-time parameters. By setting the speed threshold, the inductor resistance is measured at low speed or at rest to avoid back electromotive force interference.

[0074] Specifically, the stepper motor has coil resistance. According to I=U / R, for the voltage controlled by PWM, there is a current proportional to the duty cycle on the coil. At the same time, the motor generates a back-EMF voltage proportional to the speed, which offsets the bus voltage and reduces the coil current. For example, the motor selection and drive mode used are consistent, and the speed threshold can be confirmed in the design stage: compare the current of the motor when it is rotating normally and when it is stalled under the same PWM control, and obtain the speed range where the back-EMF has no obvious effect on the current test.

[0075] Furthermore, the host computer 20 also has the function of configuring the detection frequency to enable detection. By reasonably setting the detection frequency, the detection timing and frequency of the motor parameters can be flexibly adjusted according to actual production needs.

[0076] In this embodiment, the driver 10 stably transmits the calculated state parameters to the host computer 20 via a high-speed bus. After receiving the state parameters, the host computer 20 analyzes the current state of the motor according to a preset judgment rule to determine whether the current state of the motor 30 to be tested is abnormal. If the motor state is determined to be abnormal, the threshold register of the host computer 20 immediately issues an alarm to notify the operator to handle it in time.

[0077] In order to more clearly demonstrate the overall architecture of the motor parameter online detection system and the relationship between the various components, the following is an explanation with examples and drawings.

[0078] like Figure 3 As shown in FIG. 1 , it is a topological diagram of the system, in which the top layer is an industrial computer, which is used to communicate with the host computer 20 and analyze and record the detection data. The industrial computer is connected to the bus controller through a communication link, and the bus controller is the aforementioned driver 10. In actual applications, there are multiple groups of bus controllers, which are the key hubs in the system and are responsible for data interaction and command transmission with each motor and its related detection control module.

[0079] Each bus controller is connected to multiple motors and their corresponding control modules. These control modules mainly include online detection, calibration, threshold setting and monitoring modules. The online detection module contains the detection circuit, which is responsible for real-time monitoring of various parameters of the motor; the calibration module is used to calibrate the parameters of the motor under different working conditions to ensure the accuracy of the measurement; the threshold setting comparison and alarm module, that is, the threshold register mentioned above, is used to set the normal threshold range of the motor parameters and monitor in real time whether the motor parameters exceed the range, so as to detect abnormal conditions of the motor in time.

[0080] In addition, the control module of each motor also includes motion control and electrical signal acquisition and processing modules. The motion control module can accurately control the running state of the motor so that it works according to the preset running mode; the electrical signal acquisition and processing module is responsible for collecting electrical signals during the operation of the motor, such as current, voltage, etc. These collected signals are the basic data for calculating various parameters of the motor, such as inductance, resistance, temperature, load, etc.

[0081] Based on the foregoing embodiments, a method for online detection of motor parameters is provided in this embodiment, which is implemented based on the online detection system for motor parameters as described in any one of the above embodiments, and includes:

[0082] Starting the driver 10 to measure the real-time parameters of the motor 30 to be tested, wherein the real-time parameters at least include current, induced electromotive force and real-time speed information;

[0083] Utilizing the driver 10 to calculate state parameters of the motor 30 to be tested based on the measured real-time parameters, the state parameters including inductance, resistance, temperature and load parameters;

[0084] The calculated state parameters are transmitted to the host computer 20 via the bus;

[0085] After receiving the state parameters, the host computer 20 determines whether the current state of the motor 30 to be tested is abnormal according to a preset determination rule.

[0086] Based on this, before actual application, a series of initialization settings need to be made for the system. First, the motor selection is consistent and the control method is the same, which can provide a good basic condition for subsequent tests. The detection frequency is configured on the host computer 20, and an enable test instruction is sent to the driver 10 according to the setting. At the same time, according to the test frequency, the internal program of the driver 10 sets a fixed period interval to enable a test to ensure the regularity and timeliness of the detection.

[0087] In practical applications, when the driver 10 enters the working state, it starts to measure the real-time parameters of the motor 30 to be tested, including current, induced electromotive force and real-time speed information. During the measurement process, for each set of coils of the motor, the driver 10 uses two current sensors to test the current, and uses the difference as the phase current; uses two voltage sensors to test the potential at the front and rear ends of the coil, and determines the phase voltage by the difference; and uses the difference between the voltage zero crossing point and the current zero crossing point as the phase angle, and then obtains the complex impedance of the coil according to Z=U / I, and according to Z=R+jXL, separates the real part of Z to obtain the resistance, and the imaginary part to obtain the inductive reactance.

[0088] It is understandable that the driver 10 itself has the computing capability to calculate the state parameters of the motor 30 to be tested, such as inductance, resistance, temperature and load parameters, based on the measured real-time parameters combined with a pre-built-in algorithm model.

[0089] For example, when measuring the motor temperature, since the temperature sensor of the driver 10 can only obtain the temperature of the driver board, in order to accurately obtain the temperature of the motor itself, the motor temperature is tested using the internal resistance of the motor coil. By calibrating the resistance temperature coefficient TCR, a corresponding relationship table between resistance change and temperature rise is generated. For each motor, the initial resistance R0 is recorded when it starts running, and the current temperature can be obtained later by looking up the table based on the real-time resistance R.

[0090] When calculating the load angle, given that the load angle is a function of coil inductance, coil resistance, speed, current, bus voltage and back EMF, for a given motor, the coil inductance, coil resistance, set current and bus voltage are all constants. For different speeds, the relationship between back EMF and load angle is calibrated respectively, and then the load angle is calculated through back EMF, and the current load condition is fed back in real time.

[0091] After the detection is enabled, the driver 10 first detects the real-time speed of the motor. Since in this embodiment, the method of detecting the number of clock cycles between two adjacent steps of the motor current feedback is used to obtain the real-time speed, the instantaneous speed information of the motor can be accurately obtained without increasing the additional hardware cost. In the transportation system, the motor will perform acceleration and deceleration operations according to the instruction flow of the host computer 20, and the driver 10 will continuously monitor the speed. Only when the speed meets the testable conditions, the next parameter measurement is performed. The speed condition here is determined by a large number of experimental optimizations in the early stage. Considering that the speed is too small, the reaction electromotive force is not easy to measure, and when the speed is too large, the driver 10 will have a current waveform distortion, and the current cannot reach the set value. The present embodiment has determined the appropriate speed range through repeated experiments as follows: the load is measured only at medium speed, and 5 representative speed points are selected to calibrate the relationship between the back electromotive force and the load angle to ensure the accuracy of the load measurement.

[0092] For each phase (i.e., coil) of the motor, the driver 10 independently performs fine measurements according to the established measurement process. Use two current sensors to test the current, and use the difference algorithm to accurately obtain the phase current; use two voltage sensors to test the potential at the front and back ends of the coil, and use the difference to determine the phase voltage; use the difference between the voltage zero crossing point and the current zero crossing point as the phase angle, and obtain the complex impedance of the coil according to Z=U / I, and then separate the real part of Z to obtain the resistance and the imaginary part to obtain the inductive reactance according to Z=R+jXL. At the same time, the driver 10 measures the voltage at both ends of each group of coils of the motor through the built-in detection circuit, and uses the first current sampling resistor and the second current sampling resistor to sample the resistor current to fully obtain the amplitude, frequency, and phase information of the coil voltage and current.

[0093] In order to more clearly explain the operating logic of the motor parameter online detection system, the following is an explanation with reference to the accompanying drawings. Figure 4 As shown, this figure shows the process logic of the system during the process of detecting motor parameters.

[0094] The system first determines whether there is a test in progress. If not, the system continues to perform periodic motion control and waits for the next test instruction.

[0095] If there is a test in progress, the system goes to the next step to confirm the current speed.

[0096] After confirming the current speed, the system will make two conditional judgments:

[0097] (1) Whether the impedance test conditions are met:

[0098] If it meets the requirements, the system will collect voltage and current, then calculate the complex impedance of the motor coil, and further calculate the motor temperature.

[0099] After calculating the motor temperature, the system checks whether all tests are completed.

[0100] If all tests are completed, the test results are sent to the host computer 20, and then the periodic motion control continues.

[0101] If all tests are not completed, the system proceeds to the next test operation.

[0102] (2) Whether the back EMF measurement conditions are met:

[0103] If it does, the system measures the back EMF and calculates the load.

[0104] After calculating the load, the system also checks whether all detections are completed.

[0105] If all tests are completed, the test results are sent to the host computer 20, and then the periodic motion control continues.

[0106] If all tests are not completed, the system proceeds to the next test operation.

[0107] If the current speed does not meet the impedance test conditions or the back electromotive force measurement conditions, it is judged as unsuitable for measurement, and the system directly performs periodic motion control and waits for the next detection to determine again whether the speed conditions meet the requirements.

[0108] Through a logically rigorous detection process, the motor parameters can be detected online in an orderly manner to ensure that each parameter can be accurately measured under appropriate conditions, and the results can be fed back to the host computer 20 in a timely manner, so as to achieve comprehensive monitoring and effective management of the motor operation status.

[0109] Such a process design fully considers the feasibility and accuracy of measuring various parameters of the motor at different operating speeds, and is an important guarantee for the present invention to achieve efficient and accurate online detection of motor parameters.

[0110] The beneficial effects of the present invention are as follows:

[0111] 1. Realize online detection of motor parameters and implement planned maintenance;

[0112] 2. The test circuit is integrated inside the driver 10, which can provide more accurate direct measurement;

[0113] 3. Through calibration, common problems can be directly identified without relying on the host computer 20 and big data models;

[0114] 4. Based on the bus and the host computer 20, various parameters can be obtained and recorded, and it is easy to access various cloud and data server systems.

[0115] Finally, it should be noted that although the above embodiments have been described in the specification and drawings of this application, this does not limit the scope of patent protection of this application. All technical solutions generated by replacing or modifying equivalent structures or equivalent processes based on the essential concept of this application using the contents recorded in the specification and drawings of this application, as well as directly or indirectly implementing the technical solutions of the above embodiments in other related technical fields, are included in the scope of patent protection of this application.

Claims

1. A motor parameter online detection system, characterized in that: include: A driver, the driver is used to measure real-time parameters of the motor to be tested, and calculate state parameters of the motor to be tested based on the real-time parameters; The real-time parameters include at least current, induced electromotive force and real-time speed information, and the state parameters include inductance, resistance, temperature and load parameters; The host computer communicates with the driver through a bus, and is used to receive the state parameter and determine whether the current state of the motor to be tested is abnormal.

2. The motor parameter online detection system according to claim 1, characterized in that: The driver is internally integrated with a detection circuit, which is used to obtain the current waveform of the motor to be tested, including: Power connection terminal VCC and ground terminal GND; Four MOS tubes, namely a first MOS tube and a second MOS tube connected in parallel to a power connection terminal VCC, and a third MOS tube and a fourth MOS tube connected in parallel to a ground terminal GND; wherein the first MOS tube and the second MOS tube are located on the same side, and a first end of a motor coil of a motor to be tested is connected between the first MOS tube and the second MOS tube; the third MOS tube and the fourth MOS tube are located on the same side, and a second end of the motor to be tested is connected between the third MOS tube and the fourth MOS tube; Two current sampling resistors, namely a first current sampling resistor connected between the third MOS transistor and the ground terminal GND, and a second current sampling resistor connected between the fourth MOS transistor and the ground terminal GND; The driver measures the voltage at both ends of each coil of the motor to be tested, and samples the resistor current through the first current sampling resistor and the second current sampling resistor to obtain the amplitude, frequency and phase information of the coil voltage and current.

3. The motor parameter online detection system according to claim 2, characterized in that: The detection circuit also includes a resistor-capacitor voltage divider module, which is used to obtain the induced electromotive force of the motor to be tested.

4. The motor parameter online detection system according to claim 3, characterized in that: The driver is provided with a status register, and the status register is used to obtain the real-time speed of the motor by detecting the number of clock cycles between two adjacent steps of the motor current feedback.

5. The motor parameter online detection system according to claim 4, characterized in that: The host computer is also provided with a threshold register, which is used to monitor the state parameter and issue an alarm when the state parameter is abnormal.

6. The motor parameter online detection system according to claim 5, characterized in that: The threshold register monitors whether the real-time speed of the motor is lower than a preset speed threshold; The driver is used for measuring the real-time parameters of the motor to be tested when the real-time speed of the motor is lower than a preset speed threshold, and calculating the state parameters of the motor to be tested based on the real-time parameters.

7. The motor parameter online detection system according to claim 1, characterized in that: The driver is also used to: The motor temperature is calculated according to the formula: TCR=(R-R0) / (R0*(T-T0)), where R is the current resistance, R0 is the initial resistance, T is the current temperature, and T0 is the initial temperature.

8. The motor parameter online detection system according to claim 1, characterized in that: The driver is also used to: The relationship between the load angle and the motor load is calibrated at different speeds, the motor load angle is calculated, and the motor load condition is fed back, where the load angle is the electrical angle between the rotor magnetic field and the stator magnetic field.

9. The motor parameter online detection system according to claim 1, characterized in that: The host computer is also used for: Configure the detection frequency to enable detection; The driver is also used to: According to the detection frequency, detection is performed at fixed intervals.

10. A method for online detection of motor parameters, characterized in that: The motor parameter online detection system according to any one of claims 1 to 9 is implemented, comprising: Starting the driver to measure the real-time parameters of the motor to be tested, wherein the real-time parameters include at least current, induced electromotive force and real-time speed information; Calculating state parameters of the motor to be tested based on the measured real-time parameters using the driver, wherein the state parameters include inductance, resistance, temperature and load parameters; The calculated state parameters are transmitted to the host computer via the bus; After receiving the state parameters, the host computer determines whether the current state of the motor to be tested is abnormal according to a preset determination rule.

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